+ python -m lidar_slam --result /working/result.json --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.16 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters Centerline goodness : 0.507062 with order 2 Centerline is valid? [0, False] SLAMing on 0.064012739 meters Centerline goodness : 0.420307 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999967e-01 -2.51306164e-04 -4.50580885e-05 2.70756813e-03] [ 2.51300355e-04 9.99999960e-01 -1.28881248e-04 1.48807774e-04] [ 4.50904754e-05 1.28869921e-04 9.99999991e-01 -1.33403640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters Centerline goodness : 0.443422 with order 2 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999913e-01 -3.81532911e-04 -1.71054190e-04 1.03849857e-02] [ 3.81498413e-04 9.99999907e-01 -2.01662206e-04 2.25843327e-03] [ 1.71131115e-04 2.01596932e-04 9.99999965e-01 -7.08189790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters Centerline goodness : 0.401152 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999916e-01 -4.06667077e-04 5.87251941e-05 1.19170514e-02] [ 4.06685000e-04 9.99999871e-01 -3.05511805e-04 2.68313362e-03] [-5.86009449e-05 3.05535662e-04 9.99999952e-01 -7.55191846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters Centerline goodness : 0.385595 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999304e-01 -1.13567147e-03 -3.21253309e-04 2.25626047e-02] [ 1.13546187e-03 9.99999143e-01 -6.51878245e-04 2.73676946e-03] [ 3.21993354e-04 6.51513020e-04 9.99999736e-01 -1.49584913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters Centerline goodness : 0.318752 with order 2 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999533e-01 -8.61038063e-04 -4.39980337e-04 2.76084710e-02] [ 8.60939227e-04 9.99999604e-01 -2.24777142e-04 -5.43678388e-05] [ 4.40173704e-04 2.24398240e-04 9.99999878e-01 -1.77071048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters Centerline goodness : 0.362809 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999825e-01 -5.32124616e-04 -2.59726323e-04 3.06377035e-02] [ 5.32192353e-04 9.99999824e-01 2.60804505e-04 -3.87802070e-03] [ 2.59587496e-04 -2.60942684e-04 9.99999932e-01 -1.93406756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters Centerline goodness : 0.322828 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.02 [[ 9.99998854e-01 1.35911344e-03 -6.67465640e-04 3.93586713e-02] [-1.35837837e-03 9.99998472e-01 1.10051338e-03 -2.52041257e-03] [ 6.68960343e-04 -1.09960544e-03 9.99999172e-01 -2.44268976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters Centerline goodness : 0.334725 with order 2 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.03 [[ 9.99996826e-01 2.43876677e-03 -6.32789910e-04 4.19211163e-02] [-2.43838269e-03 9.99996843e-01 6.07033223e-04 2.69967856e-03] [ 6.34268325e-04 -6.05488312e-04 9.99999616e-01 -2.52828173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters Centerline goodness : 0.347141 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 0.99996664 0.00808329 -0.00117737 0.05230656] [-0.00807819 0.99995822 0.00427777 0.00913751] [ 0.0012119 -0.00426812 0.99999016 -0.03105273] [ 0. 0. 0. 1. ]] SLAMing on 0.604012739 meters Centerline goodness : 0.329357 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.04 [[ 0.99995465 0.00934198 -0.00184894 0.06363944] [-0.00933562 0.99995057 0.00342139 0.02080109] [ 0.00188081 -0.00340397 0.99999244 -0.03831224] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters Centerline goodness : 0.309725 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 0.99998796 0.00460643 -0.00168921 0.06637355] [-0.00460951 0.99998771 -0.00182592 0.03236324] [ 0.00168077 0.00183369 0.99999691 -0.03820629] [ 0. 0. 0. 1. ]] SLAMing on 0.724012739 meters Centerline goodness : 0.326272 with order 2 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 0.9999886 0.00433012 -0.00201201 0.06858932] [-0.00433366 0.99998906 -0.00175959 0.03114389] [ 0.00200437 0.00176829 0.99999643 -0.0390364 ] [ 0. 0. 0. 1. ]] SLAMing on 0.784012739 meters Centerline goodness : 0.323724 with order 2 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.04 [[ 9.99996235e-01 -7.12631237e-04 -2.64995208e-03 7.93923378e-02] [ 6.96508762e-04 9.99981274e-01 -6.08001652e-03 3.52904542e-02] [ 2.65423527e-03 6.07814792e-03 9.99978005e-01 -4.45486687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844012739 meters Centerline goodness : 0.287308 with order 3 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.05 [[ 0.99997988 -0.00540818 -0.00331563 0.08998916] [ 0.00537409 0.99993348 -0.01020601 0.03733839] [ 0.00337061 0.01018799 0.99994242 -0.05004781] [ 0. 0. 0. 1. ]] SLAMing on 0.9040127389999999 meters Centerline goodness : 0.277648 with order 2 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.06 [[ 0.99993096 -0.01098506 -0.00417082 0.10123217] [ 0.01092622 0.99984399 -0.01387883 0.03115381] [ 0.00432263 0.0138323 0.99989499 -0.0559277 ] [ 0. 0. 0. 1. ]] SLAMing on 0.964012739 meters Centerline goodness : 0.267120 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.05 [[ 0.99976744 -0.02041642 -0.00694528 0.12529049] [ 0.02031275 0.99968584 -0.01468363 0.0212589 ] [ 0.00724289 0.01453914 0.99986807 -0.04796841] [ 0. 0. 0. 1. ]] SLAMing on 1.024012739 meters Centerline goodness : 0.264034 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.05 [[ 0.99977295 -0.02020494 -0.00676841 0.12745478] [ 0.02011237 0.9997069 -0.01347645 0.01129039] [ 0.00703872 0.01333726 0.99988628 -0.04812079] [ 0. 0. 0. 1. ]] SLAMing on 1.084012739 meters Centerline goodness : 0.235032 with order 2 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.05 [[ 0.99979542 -0.0190897 -0.00668549 0.13295206] [ 0.01901106 0.99975157 -0.0116351 -0.00131752] [ 0.00690594 0.01150562 0.99990996 -0.05039098] [ 0. 0. 0. 1. ]] SLAMing on 1.144012739 meters Centerline goodness : 0.236709 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.05 [[ 0.99984006 -0.01452575 -0.01043302 0.16425399] [ 0.01439971 0.99982364 -0.01205589 -0.01513798] [ 0.0106063 0.01190373 0.9998729 -0.05102022] [ 0. 0. 0. 1. ]] SLAMing on 1.204012739 meters Centerline goodness : 0.059916 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.06 [[ 0.99983991 -0.01401253 -0.01112628 0.17617639] [ 0.01389133 0.99984414 -0.01089644 -0.02689144] [ 0.01127723 0.01074014 0.99987873 -0.05786828] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters Centerline goodness : 0.235986 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 0.9999008 -0.0086882 -0.01108648 0.18135444] [ 0.00862794 0.99994781 -0.00547156 -0.03653833] [ 0.01113344 0.00537537 0.99992357 -0.05976874] [ 0. 0. 0. 1. ]] SLAMing on 1.3240127389999998 meters Centerline goodness : 0.245509 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.06 [[ 9.99929802e-01 -3.75333878e-03 -1.12384864e-02 1.85253935e-01] [ 3.74197992e-03 9.99992467e-01 -1.03156822e-03 -4.03736832e-02] [ 1.12422736e-02 9.89441619e-04 9.99936314e-01 -6.12682815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3840127389999999 meters Centerline goodness : 0.069144 with order 2 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.08 [[ 9.99982481e-01 5.18480035e-03 -2.85595862e-03 2.16194745e-01] [-5.18604467e-03 9.99986461e-01 -4.28461792e-04 -3.58380837e-02] [ 2.85369847e-03 4.43265414e-04 9.99995830e-01 -7.64050566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444012739 meters Centerline goodness : 0.068645 with order 2 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.08 [[ 9.99973480e-01 6.25462169e-03 -3.73073028e-03 2.28864179e-01] [-6.25711167e-03 9.99980209e-01 -6.56127399e-04 -3.00451948e-02] [ 3.72655261e-03 6.79453594e-04 9.99992826e-01 -8.35757271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.504012739 meters Centerline goodness : 0.057498 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.09 [[ 9.99984072e-01 5.21459930e-03 2.15937821e-03 2.75239177e-01] [-5.21281439e-03 9.99986068e-01 -8.31393231e-04 -2.81092441e-02] [-2.16368351e-03 8.20123551e-04 9.99997323e-01 -9.01496132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564012739 meters Centerline goodness : 0.113228 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.09 [[ 0.99998725 0.00447864 0.00233471 0.27895239] [-0.00447546 0.99998905 -0.00136671 -0.02523951] [-0.00234081 0.00135625 0.99999634 -0.09053644] [ 0. 0. 0. 1. ]] SLAMing on 1.6240127389999999 meters Centerline goodness : 0.058576 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.09 [[ 0.99998866 0.00413152 0.00236732 0.28198831] [-0.00412691 0.99998958 -0.00195246 -0.0210392 ] [-0.00237536 0.00194267 0.99999529 -0.09105256] [ 0. 0. 0. 1. ]] SLAMing on 1.684012739 meters Centerline goodness : 0.060223 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.10 [[ 0.99999345 0.00337534 0.00130309 0.29535204] [-0.00337191 0.99999087 -0.00262455 -0.01803901] [-0.00131193 0.00262014 0.99999571 -0.09874237] [ 0. 0. 0. 1. ]] SLAMing on 1.744012739 meters Centerline goodness : 0.059030 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.10 [[ 9.99998786e-01 1.45789316e-03 5.50229756e-04 3.07737528e-01] [-1.45606542e-03 9.99993470e-01 -3.30768793e-03 -1.64314357e-02] [-5.55048418e-04 3.30688275e-03 9.99994378e-01 -1.04334661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8040127389999998 meters Centerline goodness : 0.106851 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.11 [[ 9.99999499e-01 -1.00110928e-03 -2.23499922e-05 3.16925154e-01] [ 1.00100503e-03 9.99990432e-01 -4.25846016e-03 -1.84094457e-02] [ 2.66129624e-05 4.25843565e-03 9.99990932e-01 -1.08687522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8640127389999999 meters Centerline goodness : 0.059745 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.11 [[ 9.99997541e-01 -2.04808985e-03 -8.50918158e-04 3.29233155e-01] [ 2.04419402e-03 9.99987540e-01 -4.55429058e-03 -1.75662081e-02] [ 8.60235151e-04 4.55253994e-03 9.99989267e-01 -1.14633370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.924012739 meters Centerline goodness : 0.060723 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.02, Z:-0.12 [[ 0.99999266 -0.0034781 -0.00160536 0.33949447] [ 0.00347055 0.999983 -0.00468527 -0.02270714] [ 0.00162163 0.00467966 0.99998774 -0.11932684] [ 0. 0. 0. 1. ]] SLAMing on 1.984012739 meters Centerline goodness : 0.531241 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.12 [[ 0.99999033 -0.00372697 -0.00233501 0.34519294] [ 0.00371718 0.99998436 -0.00417924 -0.02769936] [ 0.00235055 0.00417052 0.99998854 -0.12160335] [ 0. 0. 0. 1. ]] SLAMing on 2.0440127390000002 meters Centerline goodness : 0.578707 with order 2 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:-0.12 [[ 0.99997143 -0.00714573 -0.00246732 0.35200826] [ 0.0071277 0.99994839 -0.00723969 -0.03349686] [ 0.00251892 0.00722189 0.99997075 -0.12463725] [ 0. 0. 0. 1. ]] SLAMing on 2.1040127390000003 meters SLAMing on 2.1640127390000004 meters Centerline goodness : 0.519007 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.13 [[ 0.99997021 -0.00698887 -0.00327612 0.36869647] [ 0.00697208 0.99996264 -0.00511054 -0.05375259] [ 0.00331171 0.00508754 0.99998157 -0.1311668 ] [ 0. 0. 0. 1. ]] SLAMing on 2.224012739 meters Centerline goodness : 0.107754 with order 2 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.14 [[ 0.99996828 -0.00662944 -0.00441543 0.38156797] [ 0.00661269 0.99997093 -0.00379693 -0.06604607] [ 0.00444048 0.00376761 0.99998304 -0.1380616 ] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters Centerline goodness : 0.101009 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.14 [[ 0.99997657 -0.00518781 -0.00446613 0.38587365] [ 0.00517627 0.99998324 -0.00259275 -0.072917 ] [ 0.00447951 0.00256957 0.99998667 -0.13871946] [ 0. 0. 0. 1. ]] SLAMing on 2.344012739 meters Centerline goodness : 0.184060 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.14 [[ 0.99998168 -0.00355866 -0.0048967 0.38986951] [ 0.00354901 0.99999175 -0.00197814 -0.07479639] [ 0.0049037 0.00196073 0.99998605 -0.13895351] [ 0. 0. 0. 1. ]] SLAMing on 2.404012739 meters Centerline goodness : 0.179865 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.14 [[ 0.99997879 0.00333171 -0.00559686 0.39927707] [-0.0033105 0.99998732 0.00379465 -0.07949452] [ 0.00560943 -0.00377604 0.99997714 -0.14263841] [ 0. 0. 0. 1. ]] SLAMing on 2.464012739 meters Centerline goodness : 0.173704 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.14 [[ 0.99997325 0.00445635 -0.00580019 0.40419123] [-0.0044323 0.99998155 0.00415326 -0.08010204] [ 0.00581859 -0.00412744 0.99997455 -0.14343236] [ 0. 0. 0. 1. ]] SLAMing on 2.5240127390000002 meters Centerline goodness : 0.079184 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.14 [[ 0.99997205 0.00434419 -0.00608436 0.40839283] [-0.00431828 0.99998158 0.00426528 -0.08132122] [ 0.00610277 -0.00423889 0.99997239 -0.14430874] [ 0. 0. 0. 1. ]] SLAMing on 2.5840127390000003 meters Centerline goodness : 0.080441 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.14 [[ 0.99997154 0.0040692 -0.00635328 0.41220556] [-0.00404244 0.99998292 0.0042201 -0.08139497] [ 0.00637034 -0.0041943 0.99997091 -0.14495833] [ 0. 0. 0. 1. ]] SLAMing on 2.644012739 meters Centerline goodness : 0.078975 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.14 [[ 0.99997024 0.00392606 -0.00664086 0.41370672] [-0.00389979 0.99998454 0.0039638 -0.07974233] [ 0.00665632 -0.00393778 0.99997009 -0.1447024 ] [ 0. 0. 0. 1. ]] SLAMing on 2.704012739 meters Centerline goodness : 0.079981 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.14 [[ 9.99981431e-01 1.59910200e-03 -5.88058129e-03 4.11552841e-01] [-1.59585943e-03 9.99998572e-01 5.56053554e-04 -7.62672939e-02] [ 5.88146208e-03 -5.46658648e-04 9.99982555e-01 -1.40788284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764012739 meters Centerline goodness : 0.080000 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.14 [[ 9.99978307e-01 1.27937848e-03 -6.46131313e-03 4.16231163e-01] [-1.27657937e-03 9.99999090e-01 4.37316297e-04 -7.60525582e-02] [ 6.46186674e-03 -4.29058432e-04 9.99979030e-01 -1.42060239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters Centerline goodness : 0.080207 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.14 [[ 9.99974792e-01 1.04838006e-03 -7.02260072e-03 4.20018361e-01] [-1.04612064e-03 9.99999400e-01 3.25402379e-04 -7.57046081e-02] [ 7.02293765e-03 -3.18047689e-04 9.99975288e-01 -1.43212881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline goodness : 0.080536 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.14 [[ 9.99975763e-01 4.24126856e-04 -6.94934182e-03 4.23116770e-01] [-4.21899461e-04 9.99999859e-01 3.21981686e-04 -7.72486339e-02] [ 6.94947740e-03 -3.19041959e-04 9.99975801e-01 -1.42668067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944012739 meters Centerline goodness : 0.081258 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.08, Z:-0.14 [[ 9.99972920e-01 4.29846876e-04 -7.34671897e-03 4.25649357e-01] [-4.27436545e-04 9.99999854e-01 3.29649576e-04 -7.74683418e-02] [ 7.34685960e-03 -3.26500393e-04 9.99972958e-01 -1.42835602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters Centerline goodness : 0.080650 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.07, Z:-0.15 [[ 9.99963338e-01 2.35256913e-03 -8.23341087e-03 4.33966686e-01] [-2.34510520e-03 9.99996831e-01 9.16077826e-04 -7.11042449e-02] [ 8.23553991e-03 -8.96736026e-04 9.99965685e-01 -1.46659447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0640127390000003 meters Centerline goodness : 0.081250 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.15 [[ 9.99961171e-01 2.74032763e-03 -8.37542248e-03 4.36627302e-01] [-2.73729977e-03 9.99996184e-01 3.72959278e-04 -6.61765306e-02] [ 8.37641255e-03 -3.50018754e-04 9.99964856e-01 -1.46439962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1240127390000003 meters Centerline goodness : 0.082045 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.15 [[ 9.99957187e-01 2.52291152e-03 -8.90273885e-03 4.39915187e-01] [-2.52605573e-03 9.99996751e-01 -3.41946359e-04 -6.11494391e-02] [ 8.90184723e-03 3.64420534e-04 9.99960311e-01 -1.46630781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters Centerline goodness : 0.083780 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.15 [[ 9.99957074e-01 2.06226924e-03 -9.03308292e-03 4.42173527e-01] [-2.06505537e-03 9.99997823e-01 -2.99119945e-04 -6.26844460e-02] [ 9.03244639e-03 3.17760921e-04 9.99959156e-01 -1.46036935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244012739 meters Centerline goodness : 0.084270 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.15 [[ 9.99953732e-01 2.00371730e-03 -9.40844884e-03 4.44600357e-01] [-2.00423595e-03 9.99997990e-01 -4.56977921e-05 -6.46233037e-02] [ 9.40833837e-03 6.45524291e-05 9.99955739e-01 -1.46527951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304012739 meters Centerline goodness : 0.132707 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.15 [[ 9.99946424e-01 2.95605933e-03 -9.92022305e-03 4.47720916e-01] [-2.95686306e-03 9.99995626e-01 -6.63535627e-05 -6.16085739e-02] [ 9.91998352e-03 9.56827488e-05 9.99950791e-01 -1.47040467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364012739 meters Centerline goodness : 0.130292 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.15 [[ 0.99991711 0.00753294 -0.01044174 0.45100938] [-0.00748888 0.99996292 0.00425254 -0.06179307] [ 0.01047339 -0.00417399 0.99993644 -0.14706454] [ 0. 0. 0. 1. ]] SLAMing on 3.424012739 meters Centerline goodness : 0.128229 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.06, Z:-0.15 [[ 0.99990993 0.00787601 -0.0108678 0.45361959] [-0.00783637 0.99996251 0.00368496 -0.05647834] [ 0.01089642 -0.00359946 0.99993415 -0.1473642 ] [ 0. 0. 0. 1. ]] SLAMing on 3.484012739 meters Centerline goodness : 0.115215 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.15 [[ 9.99963853e-01 8.49689877e-03 -3.08016860e-04 4.72439978e-01] [-8.49692286e-03 9.99963898e-01 -7.69855802e-05 -5.02914350e-02] [ 3.07351601e-04 7.95999929e-05 9.99999950e-01 -1.53106977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5440127390000002 meters Centerline goodness : 0.101038 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.15 [[ 9.99964098e-01 8.45780290e-03 -5.17208739e-04 4.73877343e-01] [-8.45833332e-03 9.99963695e-01 -1.03212073e-03 -4.35772197e-02] [ 5.08460488e-04 1.03645840e-03 9.99999334e-01 -1.52607144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.604012739 meters Centerline goodness : 0.099382 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.04, Z:-0.15 [[ 0.99997162 0.0064747 -0.00385235 0.49623837] [-0.00645778 0.99996951 0.00438948 -0.03742458] [ 0.00388065 -0.00436448 0.99998295 -0.14758778] [ 0. 0. 0. 1. ]] SLAMing on 3.664012739 meters Centerline goodness : 0.099040 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.03, Z:-0.15 [[ 0.99997544 0.006322 0.00302417 0.52756496] [-0.00633239 0.99997405 0.00343644 -0.03080788] [-0.00300237 -0.00345551 0.99998952 -0.1465488 ] [ 0. 0. 0. 1. ]] SLAMing on 3.724012739 meters Centerline goodness : 0.102451 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.15 [[ 0.99999264 0.00295812 0.00244365 0.59135522] [-0.00298165 0.9999487 0.00968055 -0.03150545] [-0.00241489 -0.00968776 0.99995016 -0.14690378] [ 0. 0. 0. 1. ]] SLAMing on 3.784012739 meters Centerline goodness : 0.103378 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.15 [[ 0.99999354 -0.0014244 0.00330138 0.65398298] [ 0.0013741 0.9998837 0.01518866 -0.02954406] [-0.00332263 -0.01518403 0.9998792 -0.14709627] [ 0. 0. 0. 1. ]] SLAMing on 3.844012739 meters Centerline goodness : 0.098211 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.14 [[ 9.99996703e-01 2.33504929e-04 2.55716077e-03 6.71042513e-01] [-2.49338778e-04 9.99980790e-01 6.19339755e-03 -2.29288910e-02] [-2.55566546e-03 -6.19401473e-03 9.99977551e-01 -1.39203590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904012739 meters Centerline goodness : 0.106544 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.02, Z:-0.14 [[ 0.99999721 0.00114408 -0.00206654 0.72202041] [-0.00113099 0.99997935 0.00632686 -0.01745332] [ 0.00207373 -0.0063245 0.99997785 -0.13900289] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters Centerline goodness : 0.107498 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.13 [[ 9.99997357e-01 -2.07594721e-03 -9.88479094e-04 7.38666251e-01] [ 2.08932181e-03 9.99903592e-01 1.37273621e-02 -1.60877693e-02] [ 9.59886518e-04 -1.37293910e-02 9.99905287e-01 -1.34058739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters Centerline goodness : 0.106469 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.13 [[ 0.99998371 -0.00560267 -0.00108719 0.81905734] [ 0.00561372 0.99992973 0.010441 -0.01073966] [ 0.00102861 -0.01044693 0.9999449 -0.13128531] [ 0. 0. 0. 1. ]] SLAMing on 4.084012739 meters Centerline goodness : 0.106079 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.13 [[ 0.99994841 -0.01008903 -0.00117484 0.81979813] [ 0.01009573 0.99993198 0.00584017 -0.00924025] [ 0.00111584 -0.00585173 0.99998226 -0.13160242] [ 0. 0. 0. 1. ]] SLAMing on 4.144012739 meters Centerline goodness : 0.105263 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.13 [[ 9.99893294e-01 -1.45772924e-02 -9.50030691e-04 8.19361348e-01] [ 1.45786513e-02 9.99892690e-01 1.43948480e-03 -9.17178437e-03] [ 9.28944952e-04 -1.45318137e-03 9.99998513e-01 -1.31016442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204012739 meters Centerline goodness : 0.107152 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.01, Z:-0.13 [[ 0.99988348 -0.01488689 0.00337754 0.79470171] [ 0.01491216 0.99986003 -0.00758564 -0.01006306] [-0.00326414 0.00763512 0.99996552 -0.13433896] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters Centerline goodness : 0.105579 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.02, Z:-0.13 [[ 0.99987446 -0.01555378 0.00302276 0.7961183 ] [ 0.01557354 0.99985676 -0.00662709 -0.01883049] [-0.00291925 0.00667333 0.99997347 -0.13493872] [ 0. 0. 0. 1. ]] SLAMing on 4.3240127390000005 meters Centerline goodness : 0.967983 with order 1 Centerline is valid? [False, True] Translation: X:0.80, Y:-0.03, Z:-0.13 [[ 0.99981618 -0.01892415 0.0030783 0.79629902] [ 0.01895206 0.99977709 -0.0093051 -0.02631298] [-0.00290152 0.00936173 0.99995197 -0.13462526] [ 0. 0. 0. 1. ]] SLAMing on 4.384012739 meters Centerline goodness : 0.975896 with order 1 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.04, Z:-0.13 [[ 9.99855928e-01 -1.66914009e-02 3.08556625e-03 8.57037665e-01] [ 1.66914876e-02 9.99860687e-01 -2.36537881e-06 -4.05055480e-02] [-3.08509691e-03 5.38677289e-05 9.99995240e-01 -1.29666795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters Centerline goodness : 0.975142 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.05, Z:-0.13 [[ 9.99918107e-01 -1.24200806e-02 3.08556623e-03 9.17333385e-01] [ 1.24201471e-02 9.99922867e-01 -2.39726682e-06 -4.60897336e-02] [-3.08529845e-03 4.07202570e-05 9.99995240e-01 -1.34052985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters Centerline goodness : 0.976473 with order 1 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.05, Z:-0.13 [[ 9.99983555e-01 -4.83417993e-03 3.08556623e-03 9.78296621e-01] [ 4.83421034e-03 9.99988315e-01 -2.39726682e-06 -5.08576994e-02] [-3.08551858e-03 1.73135036e-05 9.99995240e-01 -1.27188213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters Centerline goodness : 0.977547 with order 1 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.05, Z:-0.13 [[ 9.99991644e-01 -2.68149447e-03 3.08556617e-03 1.03937615e+00] [ 2.68151485e-03 9.99996405e-01 -2.46812397e-06 -5.27671274e-02] [-3.08554846e-03 1.07420949e-05 9.99995240e-01 -1.25736790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters Centerline goodness : 0.981204 with order 1 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.05, Z:-0.13 [[ 9.99978994e-01 5.70000572e-03 3.08556611e-03 1.09940529e+00] [-5.70002503e-03 9.99983755e-01 -2.53696072e-06 -4.83089944e-02] [-3.08553045e-03 -1.50508966e-05 9.99995240e-01 -1.27439791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters Centerline goodness : 0.984284 with order 1 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.05, Z:-0.13 [[ 9.99943593e-01 1.01631269e-02 3.08556608e-03 1.16040089e+00] [-1.01631673e-02 9.99948354e-01 -2.57115170e-06 -4.68218167e-02] [-3.08543286e-03 -2.87881177e-05 9.99995240e-01 -1.25905105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters Centerline goodness : 0.984290 with order 1 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.04, Z:-0.12 [[ 9.99940546e-01 1.04587142e-02 3.08556600e-03 1.22224719e+00] [-1.04587558e-02 9.99945306e-01 -2.67193394e-06 -4.45009620e-02] [-3.08542518e-03 -2.95994061e-05 9.99995240e-01 -1.24139431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters Centerline goodness : 0.990108 with order 1 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.04, Z:-0.13 [[ 9.99929395e-01 1.14753980e-02 3.08556550e-03 1.28419132e+00] [-1.14754429e-02 9.99934155e-01 -3.15584483e-06 -4.28623190e-02] [-3.08539855e-03 -3.22526087e-05 9.99995240e-01 -1.31295418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters Centerline goodness : 0.989209 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.04, Z:-0.13 [[ 9.99898066e-01 1.39404728e-02 3.08556493e-03 1.34645789e+00] [-1.39405280e-02 9.99902826e-01 -3.63879185e-06 -3.78541966e-02] [-3.08531582e-03 -3.93759833e-05 9.99995240e-01 -1.29766837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters Centerline goodness : 0.990345 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.04, Z:-0.13 [[ 9.99852994e-01 1.68662185e-02 3.08556449e-03 1.40851519e+00] [-1.68662865e-02 9.99857754e-01 -3.98027666e-06 -3.54223500e-02] [-3.08519272e-03 -4.80623232e-05 9.99995240e-01 -1.32805621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.03, Z:-0.14 [[ 9.99853103e-01 1.68597823e-02 3.08556381e-03 1.47003553e+00] [-1.68598488e-02 9.99857863e-01 -4.45286245e-06 -3.10688877e-02] [-3.08520031e-03 -4.75699310e-05 9.99995240e-01 -1.37842993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.14 [[ 9.99822563e-01 1.85828190e-02 3.08556306e-03 1.53197767e+00] [-1.85828923e-02 9.99827323e-01 -4.92287002e-06 -2.71233742e-02] [-3.08512174e-03 -5.24166895e-05 9.99995240e-01 -1.37249304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters Centerline goodness : 0.996327 with order 1 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.02, Z:-0.14 [[ 9.99802201e-01 1.96478575e-02 3.08556219e-03 1.59353820e+00] [-1.96479343e-02 9.99806961e-01 -5.41895200e-06 -1.99072515e-02] [-3.08507303e-03 -5.52070431e-05 9.99995240e-01 -1.39593952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters Centerline goodness : 0.997182 with order 1 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.01, Z:-0.13 [[ 9.99843278e-01 1.74327107e-02 3.08556132e-03 1.65478425e+00] [-1.74327755e-02 9.99848038e-01 -5.87522370e-06 -1.37594302e-02] [-3.08519485e-03 -4.79155950e-05 9.99995240e-01 -1.32944737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.01, Z:-0.13 [[ 9.99892271e-01 1.43501187e-02 3.08556119e-03 1.71648692e+00] [-1.43501687e-02 9.99897031e-01 -5.94507228e-06 -1.00411905e-02] [-3.08532878e-03 -3.83338916e-05 9.99995240e-01 -1.31507127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.01, Z:-0.14 [[ 9.99941340e-01 1.03824414e-02 3.08556105e-03 1.77906917e+00] [-1.03824723e-02 9.99946101e-01 -6.01474455e-06 -8.57008179e-03] [-3.08545719e-03 -2.60213604e-05 9.99995240e-01 -1.35329244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344012739 meters Centerline goodness : 0.997796 with order 1 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.01, Z:-0.14 [[ 9.99978576e-01 5.77295144e-03 3.08556001e-03 1.84116371e+00] [-5.77295884e-03 9.99983336e-01 -6.50786938e-06 -7.00777782e-03] [-3.08554616e-03 -1.13050810e-05 9.99995240e-01 -1.38477601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters Centerline goodness : 0.997760 with order 1 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.01, Z:-0.14 [[ 9.99994616e-01 -1.11702531e-03 3.08555889e-03 1.90337349e+00] [ 1.11705222e-03 9.99999376e-01 -7.00020649e-06 -7.63289272e-03] [-3.08554915e-03 1.04468992e-05 9.99995240e-01 -1.37466330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters Centerline goodness : 0.998170 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.01, Z:-0.14 [[ 9.99962387e-01 -8.10580350e-03 3.08555763e-03 1.96599708e+00] [ 8.10586529e-03 9.99967147e-01 -7.51998961e-06 -1.19514212e-02] [-3.08539530e-03 3.25308212e-05 9.99995240e-01 -1.38657646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters Centerline goodness : 0.998069 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.02, Z:-0.14 [[ 9.99919022e-01 -1.23461957e-02 3.08555628e-03 2.02818065e+00] [ 1.23462793e-02 9.99923782e-01 -8.03512819e-06 -1.85470385e-02] [-3.08522191e-03 4.61296171e-05 9.99995240e-01 -1.38274737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.02, Z:-0.14 [[ 9.99913238e-01 -1.28060717e-02 3.08555477e-03 2.09046702e+00] [ 1.28061592e-02 9.99917998e-01 -8.58074016e-06 -2.15078362e-02] [-3.08519186e-03 4.80941011e-05 9.99995240e-01 -1.38365089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters Centerline goodness : 0.998340 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.03, Z:-0.14 [[ 9.99930666e-01 -1.13640865e-02 3.08555436e-03 2.15229067e+00] [ 1.13641675e-02 9.99935426e-01 -8.72560150e-06 -2.73321279e-02] [-3.08525595e-03 4.37897531e-05 9.99995240e-01 -1.40045501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.03, Z:-0.14 [[ 9.99913386e-01 -1.27945336e-02 3.08555393e-03 2.21416575e+00] [ 1.27946219e-02 9.99918145e-01 -8.87519915e-06 -3.36925583e-02] [-3.08518781e-03 4.83529263e-05 9.99995240e-01 -1.40128892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.04, Z:-0.14 [[ 9.99883526e-01 -1.49470279e-02 3.08555348e-03 2.27487068e+00] [ 1.49471269e-02 9.99888285e-01 -9.02888003e-06 -4.05057654e-02] [-3.08507382e-03 5.51479879e-05 9.99995240e-01 -1.38002713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.05, Z:-0.14 [[ 9.99877319e-01 -1.53566218e-02 3.08555314e-03 2.33590658e+00] [ 1.53567231e-02 9.99882079e-01 -9.14277164e-06 -4.66279228e-02] [-3.08504889e-03 5.65256351e-05 9.99995240e-01 -1.37158123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.05, Z:-0.13 [[ 9.99912831e-01 -1.28378212e-02 3.08555280e-03 2.39663484e+00] [ 1.28379109e-02 9.99917591e-01 -9.25493564e-06 -5.03886057e-02] [-3.08517971e-03 4.88661808e-05 9.99995240e-01 -1.27553757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.06, Z:-0.14 [[ 9.99962304e-01 -8.11609121e-03 3.08555247e-03 2.45815510e+00] [ 8.11615875e-03 9.99967063e-01 -9.36533090e-06 -5.51519396e-02] [-3.08537483e-03 3.44078115e-05 9.99995240e-01 -1.41867502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.06, Z:-0.14 [[ 9.99993876e-01 -1.65160705e-03 3.08555224e-03 2.51970987e+00] [ 1.65164404e-03 9.99998636e-01 -9.43925049e-06 -5.58668144e-02] [-3.08553244e-03 1.45354267e-05 9.99995240e-01 -1.41205453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.06, Z:-0.15 [[ 9.99977756e-01 5.91333748e-03 3.08555150e-03 2.58079707e+00] [-5.91333577e-03 9.99982516e-01 -9.67615388e-06 -5.52138847e-02] [-3.08555477e-03 -8.56996341e-06 9.99995240e-01 -1.45533670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.05, Z:-0.14 [[ 9.99897953e-01 1.39485560e-02 3.08555126e-03 2.64234223e+00] [-1.39485923e-02 9.99902714e-01 -9.75237530e-06 -5.26728480e-02] [-3.08538711e-03 -3.32877165e-05 9.99995240e-01 -1.40469474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.05, Z:-0.14 [[ 9.99818374e-01 1.88068923e-02 3.08555102e-03 2.70368893e+00] [-1.88069515e-02 9.99823134e-01 -9.82774328e-06 -4.77156729e-02] [-3.08519012e-03 -4.82038501e-05 9.99995240e-01 -1.39702898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.05, Z:-0.14 [[ 9.99821161e-01 1.86581077e-02 3.08555006e-03 2.76584087e+00] [-1.86581653e-02 9.99825921e-01 -1.01196307e-05 -4.54115781e-02] [-3.08520175e-03 -4.74528821e-05 9.99995240e-01 -1.41618522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.04, Z:-0.14 [[ 9.99882597e-01 1.50090516e-02 3.08554823e-03 2.82748804e+00] [-1.50090902e-02 9.99887357e-01 -1.06496576e-05 -4.16608256e-02] [-3.08536051e-03 -3.56628646e-05 9.99995240e-01 -1.40904422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.04, Z:-0.14 [[ 9.99947755e-01 9.74512325e-03 3.08554647e-03 2.88927385e+00] [-9.74513527e-03 9.99952515e-01 -1.11383340e-05 -3.84444483e-02] [-3.08550850e-03 -1.89313156e-05 9.99995240e-01 -1.39721675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.04, Z:-0.13 [[ 9.99983975e-01 4.74641539e-03 3.08554455e-03 2.95036776e+00] [-4.74640205e-03 9.99988736e-01 -1.16454628e-05 -3.91182582e-02] [-3.08556507e-03 -2.99995877e-06 9.99995240e-01 -1.31074612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484012739 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.04, Z:-0.13 [[ 9.99991911e-01 2.58021440e-03 3.08554272e-03 3.01225945e+00] [-2.58018931e-03 9.99996671e-01 -1.21115790e-05 -4.08398573e-02] [-3.08556370e-03 4.15019665e-06 9.99995240e-01 -1.33143880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544012739 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.04, Z:-0.14 [[ 9.99995232e-01 -1.26244952e-04 3.08554059e-03 3.07395776e+00] [ 1.26284536e-04 9.99999992e-01 -1.26339324e-05 -4.41694046e-02] [-3.08553897e-03 1.30235282e-05 9.99995240e-01 -1.41478538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.05, Z:-0.14 [[ 9.99991640e-01 -2.68301016e-03 3.08553836e-03 3.13632943e+00] [ 2.68306352e-03 9.99996400e-01 -1.31554840e-05 -4.76908306e-02] [-3.08549196e-03 2.14340694e-05 9.99995240e-01 -1.41785013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:-0.14 [[ 9.99993596e-01 -1.81336564e-03 3.08553591e-03 3.19822654e+00] [ 1.81341657e-03 9.99998356e-01 -1.37082365e-05 -5.10651869e-02] [-3.08550597e-03 1.93035107e-05 9.99995240e-01 -1.40256407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.05, Z:-0.14 [[ 9.99993247e-01 1.99627868e-03 3.08553522e-03 3.25960638e+00] [-1.99624541e-03 9.99998007e-01 -1.38613227e-05 -5.35145724e-02] [-3.08555674e-03 7.70174358e-06 9.99995240e-01 -1.40898953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.05, Z:-0.14 [[ 9.99966486e-01 7.58330628e-03 3.08553470e-03 3.32196056e+00] [-7.58329926e-03 9.99971246e-01 -1.39751395e-05 -5.26348516e-02] [-3.08555196e-03 -9.42386189e-06 9.99995240e-01 -1.44273253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.05, Z:-0.15 [[ 9.99945961e-01 9.92747241e-03 3.08553406e-03 3.38396572e+00] [-9.92747611e-03 9.99950721e-01 -1.41157047e-05 -5.29781336e-02] [-3.08552214e-03 -1.65166238e-05 9.99995240e-01 -1.46208523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.05, Z:-0.15 [[ 9.99903129e-01 1.35724613e-02 3.08553157e-03 3.44559740e+00] [-1.35724807e-02 9.99907890e-01 -1.46398328e-05 -5.35844019e-02] [-3.08544606e-03 -2.72399033e-05 9.99995240e-01 -1.48385400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.05, Z:-0.15 [[ 9.99820903e-01 1.86719607e-02 3.08552883e-03 3.50652179e+00] [-1.86720027e-02 9.99825663e-01 -1.51965589e-05 -5.09445000e-02] [-3.08527466e-03 -4.24191655e-05 9.99995240e-01 -1.46535500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.05, Z:-0.14 [[ 9.99691241e-01 2.46556847e-02 3.08552746e-03 3.56889813e+00] [-2.46557543e-02 9.99696001e-01 -1.54700200e-05 -4.55229409e-02] [-3.08497089e-03 -6.06107636e-05 9.99995240e-01 -1.40625598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.04, Z:-0.14 [[ 9.99495672e-01 3.16050964e-02 3.08552484e-03 3.62977691e+00] [-3.16051976e-02 9.99500431e-01 -1.59763127e-05 -3.64173518e-02] [-3.08448834e-03 -8.15503668e-05 9.99995240e-01 -1.40982212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.03, Z:-0.14 [[ 9.99471210e-01 3.23694139e-02 3.08552237e-03 3.69164682e+00] [-3.23695173e-02 9.99475970e-01 -1.64394204e-05 -2.70451335e-02] [-3.08443760e-03 -8.34461424e-05 9.99995240e-01 -1.41145652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.02, Z:-0.14 [[ 9.99584629e-01 2.86539627e-02 3.08552197e-03 3.75165627e+00] [-2.86540481e-02 9.99589388e-01 -1.65134958e-05 -2.24088265e-02] [-3.08472820e-03 -7.19060586e-05 9.99995240e-01 -1.39826818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.02, Z:-0.14 [[ 9.99766388e-01 2.13927269e-02 3.08552178e-03 3.81359136e+00] [-2.13927776e-02 9.99771148e-01 -1.65502265e-05 -1.67214512e-02] [-3.08516971e-03 -4.94615211e-05 9.99995240e-01 -1.41278600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.01, Z:-0.14 [[ 9.99849368e-01 1.70798521e-02 3.08551902e-03 3.87542008e+00] [-1.70798808e-02 9.99854128e-01 -1.70492209e-05 -1.20776686e-02] [-3.08536013e-03 -3.56536444e-05 9.99995240e-01 -1.40910936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.01, Z:-0.14 [[ 9.99911713e-01 1.29246254e-02 3.08551862e-03 3.93614681e+00] [-1.29246341e-02 9.99916473e-01 -1.71217057e-05 -1.14939531e-02] [-3.08548219e-03 -2.27590050e-05 9.99995240e-01 -1.40797540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.01, Z:-0.14 [[ 9.99952806e-01 9.21228990e-03 3.08551597e-03 3.99877224e+00] [-9.21227949e-03 9.99957566e-01 -1.75865797e-05 -1.47765753e-02] [-3.08554705e-03 -1.08388857e-05 9.99995240e-01 -1.44248301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504012739 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.02, Z:-0.14 [[ 9.99966869e-01 7.53268228e-03 3.08551297e-03 4.06030766e+00] [-7.53266230e-03 9.99971629e-01 -1.80974449e-05 -1.53191711e-02] [-3.08556176e-03 -5.14528191e-06 9.99995240e-01 -1.43050031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.01, Z:-0.14 [[ 9.99962143e-01 8.13582797e-03 3.08551015e-03 4.12203016e+00] [-8.13580941e-03 9.99966904e-01 -1.85656991e-05 -1.27210362e-02] [-3.08555908e-03 -6.53812630e-06 9.99995240e-01 -1.43326519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.01, Z:-0.15 [[ 9.99971817e-01 6.84430041e-03 3.08550711e-03 4.18349600e+00] [-6.84427418e-03 9.99976577e-01 -1.90589604e-05 -8.32036508e-03] [-3.08556528e-03 -2.05963336e-06 9.99995240e-01 -1.46828873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684012739 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.00, Z:-0.14 [[ 9.99993062e-01 2.08708055e-03 3.08550402e-03 4.24558277e+00] [-2.08703017e-03 9.99997822e-01 -1.95467222e-05 -2.75984847e-03] [-3.08553809e-03 1.31070466e-05 9.99995240e-01 -1.41650294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7440127389999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.00, Z:-0.14 [[ 9.99989864e-01 -3.27884393e-03 3.08550049e-03 4.30683515e+00] [ 3.27892153e-03 9.99994624e-01 -2.00888533e-05 1.28601649e-03] [-3.08541803e-03 3.02057636e-05 9.99995240e-01 -1.43047465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:0.00, Z:-0.15 [[ 9.99876255e-01 -1.54257559e-02 3.08549718e-03 4.36899809e+00] [ 1.54258928e-02 9.99881014e-01 -2.05849819e-05 3.07881747e-03] [-3.08481251e-03 6.81789833e-05 9.99995240e-01 -1.45727551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:0.00, Z:-0.14 [[ 9.99792964e-01 -2.01124060e-02 3.08549369e-03 4.42998201e+00] [ 2.01125668e-02 9.99797722e-01 -2.10957673e-05 2.08777031e-03] [-3.08444527e-03 8.31485977e-05 9.99995240e-01 -1.43707176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.00, Z:-0.14 [[ 9.99671900e-01 -2.54277785e-02 3.08549295e-03 4.49163934e+00] [ 2.54279650e-02 9.99676657e-01 -2.12033774e-05 -3.53588876e-03] [-3.08395612e-03 9.96542271e-05 9.99995240e-01 -1.44641603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.01, Z:-0.14 [[ 9.99702167e-01 -2.42086285e-02 3.08549195e-03 4.55313375e+00] [ 2.42088095e-02 9.99706924e-01 -2.13472434e-05 -8.40902830e-03] [-3.08407088e-03 9.60369725e-05 9.99995240e-01 -1.44477750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters Centerline goodness : 0.997043 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.02, Z:-0.13 [[ 9.99809724e-01 -1.92612480e-02 3.08549146e-03 4.61403968e+00] [ 1.92614058e-02 9.99814482e-01 -2.14183243e-05 -1.56762192e-02] [-3.08450650e-03 8.08451519e-05 9.99995240e-01 -1.25776649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.02, Z:-0.14 [[ 9.99928770e-01 -1.15297178e-02 3.08549095e-03 4.67552621e+00] [ 1.15298390e-02 9.99933529e-01 -2.14911805e-05 -1.95199818e-02] [-3.08503807e-03 5.70648637e-05 9.99995240e-01 -1.40876085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.02, Z:-0.14 [[ 9.99992862e-01 -2.18084621e-03 3.08549044e-03 4.73604353e+00] [ 2.18092312e-03 9.99997622e-01 -2.15637298e-05 -2.23278413e-02] [-3.08543608e-03 2.82927933e-05 9.99995240e-01 -1.42553783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.02, Z:-0.14 [[ 9.99989250e-01 3.46124611e-03 3.08549019e-03 4.79701582e+00] [-3.46119594e-03 9.99994010e-01 -2.15998263e-05 -2.36285653e-02] [-3.08554647e-03 1.09201079e-05 9.99995240e-01 -1.39016626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284012739 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.02, Z:-0.14 [[ 9.99939553e-01 1.05532441e-02 3.08548966e-03 4.85837943e+00] [-1.05532275e-02 9.99944313e-01 -2.16754314e-05 -2.38663393e-02] [-3.08554658e-03 -1.08877532e-05 9.99995240e-01 -1.44028588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.02, Z:-0.15 [[ 9.99877831e-01 1.53232562e-02 3.08548886e-03 4.91959416e+00] [-1.53232619e-02 9.99882592e-01 -2.17888204e-05 -2.28087803e-02] [-3.08546047e-03 -2.54935955e-05 9.99995240e-01 -1.46722097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.14 [[ 9.99780046e-01 2.07446155e-02 3.08548553e-03 4.98131306e+00] [-2.07446456e-02 9.99784806e-01 -2.22507004e-05 -2.13084821e-02] [-3.08528313e-03 -4.17614976e-05 9.99995240e-01 -1.41941641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.01, Z:-0.14 [[ 9.99490671e-01 3.17628355e-02 3.08548501e-03 5.04234902e+00] [-3.17629179e-02 9.99495431e-01 -2.23228407e-05 -1.22452240e-02] [-3.08463720e-03 -7.56925358e-05 9.99995240e-01 -1.39433910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.01, Z:-0.14 [[ 9.99324643e-01 3.66160791e-02 3.08548501e-03 5.10214428e+00] [-3.66161846e-02 9.99329402e-01 -2.23228407e-05 -6.64249223e-03] [-3.08423326e-03 -9.06709238e-05 9.99995240e-01 -1.41339209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.00, Z:-0.14 [[ 9.99255659e-01 3.84526582e-02 3.08548527e-03 5.16174014e+00] [-3.84527726e-02 9.99260418e-01 -2.22867078e-05 5.30010828e-04] [-3.08406028e-03 -9.63753443e-05 9.99995240e-01 -1.42336164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.01, Z:-0.14 [[ 9.99385882e-01 3.49047171e-02 3.08548576e-03 5.22128874e+00] [-3.49048148e-02 9.99390641e-01 -2.22182437e-05 7.36973746e-03] [-3.08438111e-03 -8.54937099e-05 9.99995240e-01 -1.42317613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:0.01, Z:-0.14 [[ 9.99554901e-01 2.96728712e-02 3.08548628e-03 5.28075607e+00] [-2.96729442e-02 9.99559661e-01 -2.21458773e-05 1.31755849e-02] [-3.08478475e-03 -6.94194419e-05 9.99995240e-01 -1.42090419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:0.02, Z:-0.15 [[ 9.99735847e-01 2.27753534e-02 3.08548654e-03 5.34101667e+00] [-2.27753936e-02 9.99740607e-01 -2.21101719e-05 1.53954223e-02] [-3.08518975e-03 -4.81688389e-05 9.99995240e-01 -1.46856893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:0.02, Z:-0.14 [[ 9.99830985e-01 1.81240522e-02 3.08548654e-03 5.40213325e+00] [-1.81240703e-02 9.99835745e-01 -2.21101719e-05 1.51714610e-02] [-3.08538046e-03 -3.38151400e-05 9.99995240e-01 -1.38092382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.01, Z:-0.14 [[ 9.99919541e-01 1.23041332e-02 3.08548602e-03 5.46373506e+00] [-1.23041234e-02 9.99924301e-01 -2.21825461e-05 1.40588129e-02] [-3.08552538e-03 -1.57834393e-05 9.99995240e-01 -1.43701719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:0.01, Z:-0.14 [[ 9.99975189e-01 6.33257020e-03 3.08548548e-03 5.52501633e+00] [-6.33253167e-03 9.99979949e-01 -2.22565527e-05 7.44273725e-03] [-3.08556456e-03 2.71706595e-06 9.99995240e-01 -1.43981605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.00, Z:-0.14 [[ 9.99992759e-01 2.22732363e-03 3.08548200e-03 5.58720594e+00] [-2.22726410e-03 9.99997519e-01 -2.27297361e-05 -9.53401603e-04] [-3.08552497e-03 1.58573882e-05 9.99995240e-01 -1.43486681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064012739 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.01, Z:-0.15 [[ 9.99989579e-01 3.36481675e-03 3.08547811e-03 5.64964332e+00] [-3.36476104e-03 9.99994339e-01 -2.32454093e-05 -6.21282331e-03] [-3.08553886e-03 1.28632705e-05 9.99995240e-01 -1.45455085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.01, Z:-0.15 [[ 9.99958420e-01 8.58126339e-03 3.08547697e-03 5.71085480e+00] [-8.58123205e-03 9.99963180e-01 -2.33952808e-05 -1.02400302e-02] [-3.08556413e-03 -3.08288586e-06 9.99995240e-01 -1.45676825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.01, Z:-0.14 [[ 9.99898430e-01 1.39143683e-02 3.08547613e-03 5.77261494e+00] [-1.39143620e-02 9.99903190e-01 -2.35067199e-05 -9.09277493e-03] [-3.08550450e-03 -1.94280995e-05 9.99995240e-01 -1.44075128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.01, Z:-0.14 [[ 9.99796138e-01 1.99539963e-02 3.08547501e-03 5.83424720e+00] [-1.99540184e-02 9.99800898e-01 -2.36524015e-05 -7.06472352e-03] [-3.08533265e-03 -3.79200453e-05 9.99995240e-01 -1.44331040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.01, Z:-0.14 [[ 9.99805888e-01 1.94593544e-02 3.08547444e-03 5.89494131e+00] [-1.94593738e-02 9.99810648e-01 -2.37260289e-05 -5.52686366e-03] [-3.08535190e-03 -3.63199772e-05 9.99995240e-01 -1.40674232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.00, Z:-0.14 [[ 9.99797099e-01 1.99057961e-02 3.08547416e-03 5.95642504e+00] [-1.99058176e-02 9.99801859e-01 -2.37624836e-05 -4.65434192e-03] [-3.08533581e-03 -3.76612236e-05 9.99995240e-01 -1.42948745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.00, Z:-0.15 [[ 9.99801400e-01 1.96885832e-02 3.08547361e-03 6.01758004e+00] [-1.96886034e-02 9.99806160e-01 -2.38339413e-05 -3.43269322e-03] [-3.08534478e-03 -3.69194582e-05 9.99995240e-01 -1.48540966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.01, Z:-0.14 [[ 9.99843791e-01 1.74032721e-02 3.08547306e-03 6.07898771e+00] [-1.74032812e-02 9.99848551e-01 -2.39047916e-05 -5.90913587e-03] [-3.08542179e-03 -2.97962977e-05 9.99995240e-01 -1.42731403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.01, Z:-0.14 [[ 9.99818239e-01 1.88140507e-02 3.08547250e-03 6.14013546e+00] [-1.88140663e-02 9.99823000e-01 -2.39765669e-05 -5.95808204e-03] [-3.08537747e-03 -3.40780754e-05 9.99995240e-01 -1.44141140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.01, Z:-0.15 [[ 9.99778487e-01 2.08196176e-02 3.08547194e-03 6.20141432e+00] [-2.08196425e-02 9.99783247e-01 -2.40484256e-05 -5.67983066e-03] [-3.08530384e-03 -4.01953243e-05 9.99995240e-01 -1.45396346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters Centerline goodness : 0.997795 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.01, Z:-0.13 [[ 9.99807252e-01 1.93891431e-02 3.08547136e-03 6.26164281e+00] [-1.93891610e-02 9.99812012e-01 -2.41231000e-05 -6.51344692e-03] [-3.08535905e-03 -3.57062505e-05 9.99995240e-01 -1.29047254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.01, Z:-0.15 [[ 9.99896671e-01 1.40401761e-02 3.08547107e-03 6.32242808e+00] [-1.40401684e-02 9.99901432e-01 -2.41599306e-05 -1.02577384e-02] [-3.08550615e-03 -1.91630991e-05 9.99995240e-01 -1.45320781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.02, Z:-0.14 [[ 9.99972462e-01 6.74949138e-03 3.08547050e-03 6.38327474e+00] [-6.74944874e-03 9.99977222e-01 -2.42329588e-05 -1.59753103e-02] [-3.08556378e-03 3.40706655e-06 9.99995240e-01 -1.42138004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.03, Z:-0.14 [[ 9.99993328e-01 1.95571550e-03 3.08546991e-03 6.44543568e+00] [-1.95564981e-03 9.99998087e-01 -2.43073530e-05 -2.59000243e-02] [-3.08551155e-03 1.82730922e-05 9.99995240e-01 -1.43403551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.04, Z:-0.14 [[ 9.99987684e-01 3.88745857e-03 3.08546571e-03 6.50708506e+00] [-3.88740046e-03 9.99992444e-01 -2.48290519e-05 -3.62743568e-02] [-3.08553892e-03 1.28343053e-05 9.99995240e-01 -1.44000776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.04, Z:-0.14 [[ 9.99935515e-01 1.09291008e-02 3.08546451e-03 6.56814078e+00] [-1.09290758e-02 9.99940276e-01 -2.49777765e-05 -4.27393724e-02] [-3.08555322e-03 -8.74510961e-06 9.99995240e-01 -1.40043891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.05, Z:-0.15 [[ 9.99802468e-01 1.96342828e-02 3.08546391e-03 6.62955824e+00] [-1.96342989e-02 9.99807228e-01 -2.50514709e-05 -4.64241344e-02] [-3.08536099e-03 -3.55343984e-05 9.99995240e-01 -1.46189132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.05, Z:-0.14 [[ 9.99729379e-01 2.30575017e-02 3.08546301e-03 6.69123751e+00] [-2.30575339e-02 9.99734139e-01 -2.51614236e-05 -4.71578872e-02] [-3.08522287e-03 -4.59885535e-05 9.99995240e-01 -1.43663355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.05, Z:-0.14 [[ 9.99792182e-01 2.01512485e-02 3.08546242e-03 6.75302454e+00] [-2.01512665e-02 9.99796942e-01 -2.52335586e-05 -4.67478233e-02] [-3.08534438e-03 -3.69476610e-05 9.99995240e-01 -1.42172671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.05, Z:-0.14 [[ 9.99890968e-01 1.44406438e-02 3.08546183e-03 6.81443401e+00] [-1.44406345e-02 9.99895728e-01 -2.53062984e-05 -4.68224401e-02] [-3.08550554e-03 -1.92524872e-05 9.99995240e-01 -1.42310731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.05, Z:-0.14 [[ 9.99913495e-01 1.27860470e-02 3.08546124e-03 6.87626519e+00] [-1.27860295e-02 9.99918255e-01 -2.53779217e-05 -4.69022740e-02] [-3.08553350e-03 -1.40750721e-05 9.99995240e-01 -1.43412878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.05, Z:-0.15 [[ 9.99902860e-01 1.35922844e-02 3.08545678e-03 6.93721292e+00] [-1.35922691e-02 9.99907621e-01 -2.59083476e-05 -4.98549676e-02] [-3.08552390e-03 -1.60325281e-05 9.99995240e-01 -1.45283057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.05, Z:-0.15 [[ 9.99844537e-01 1.73603479e-02 3.08545261e-03 6.99934800e+00] [-1.73603491e-02 9.99849297e-01 -2.63964142e-05 -5.09881936e-02] [-3.08544587e-03 -2.71722240e-05 9.99995240e-01 -1.45227121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.05, Z:-0.15 [[ 9.99801206e-01 1.96984366e-02 3.08544822e-03 7.06019281e+00] [-1.96984474e-02 9.99805966e-01 -2.69002887e-05 -5.47545486e-02] [-3.08537943e-03 -3.38835983e-05 9.99995240e-01 -1.47003783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.06, Z:-0.14 [[ 9.99791611e-01 2.01795535e-02 3.08544759e-03 7.12192360e+00] [-2.01795663e-02 9.99796371e-01 -2.69721225e-05 -5.76809946e-02] [-3.08536359e-03 -3.52964924e-05 9.99995240e-01 -1.44700342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.06, Z:-0.14 [[ 9.99789626e-01 2.02776737e-02 3.08544696e-03 7.18307198e+00] [-2.02776868e-02 9.99794386e-01 -2.70439412e-05 -5.93814165e-02] [-3.08536094e-03 -3.55274751e-05 9.99995240e-01 -1.43942965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.06, Z:-0.14 [[ 9.99753303e-01 2.19957586e-02 3.08544632e-03 7.24485621e+00] [-2.19957796e-02 9.99758063e-01 -2.71169232e-05 -5.59719243e-02] [-3.08529629e-03 -4.07565636e-05 9.99995240e-01 -1.43022879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.06, Z:-0.14 [[ 9.99748018e-01 2.22346727e-02 3.08544568e-03 7.30608242e+00] [-2.22346946e-02 9.99752778e-01 -2.71892517e-05 -5.53602525e-02] [-3.08528743e-03 -4.14215421e-05 9.99995240e-01 -1.40219097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.05, Z:-0.14 [[ 9.99788766e-01 2.03200183e-02 3.08544505e-03 7.36715562e+00] [-2.03200309e-02 9.99793526e-01 -2.72607088e-05 -5.22192941e-02] [-3.08536192e-03 -3.54413883e-05 9.99995240e-01 -1.42614304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.05, Z:-0.14 [[ 9.99807672e-01 1.93674788e-02 3.08544092e-03 7.42827216e+00] [-1.93674855e-02 9.99812432e-01 -2.77199417e-05 -5.29380197e-02] [-3.08539906e-03 -3.20426218e-05 9.99995240e-01 -1.43519521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.05, Z:-0.15 [[ 9.99808165e-01 1.93419899e-02 3.08544030e-03 7.48992181e+00] [-1.93419962e-02 9.99812926e-01 -2.77892526e-05 -5.19096269e-02] [-3.08540059e-03 -3.18946530e-05 9.99995240e-01 -1.46681895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.05, Z:-0.15 [[ 9.99797124e-01 1.99045318e-02 3.08543967e-03 7.55148131e+00] [-1.99045406e-02 9.99801885e-01 -2.78583220e-05 -5.31897245e-02] [-3.08538291e-03 -3.35615892e-05 9.99995240e-01 -1.46915484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.06, Z:-0.15 [[ 9.99776285e-01 2.09251086e-02 3.08543902e-03 7.61253809e+00] [-2.09251220e-02 9.99781045e-01 -2.79308700e-05 -5.54212313e-02] [-3.08534790e-03 -3.66385665e-05 9.99995240e-01 -1.50500065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.05, Z:-0.15 [[ 9.99747713e-01 2.22483750e-02 3.08543833e-03 7.67364872e+00] [-2.22483945e-02 9.99752473e-01 -2.80066376e-05 -5.43118304e-02] [-3.08529770e-03 -4.06464772e-05 9.99995240e-01 -1.50352578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.05, Z:-0.15 [[ 9.99717360e-01 2.35728598e-02 3.08543383e-03 7.73470711e+00] [-2.35728841e-02 9.99722121e-01 -2.84943181e-05 -5.46628463e-02] [-3.08524814e-03 -4.42463094e-05 9.99995240e-01 -1.48348788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.06, Z:-0.14 [[ 9.99742942e-01 2.24617624e-02 3.08543314e-03 7.79595603e+00] [-2.24617812e-02 9.99747702e-01 -2.85686218e-05 -5.58554407e-02] [-3.08529639e-03 -4.07430461e-05 9.99995240e-01 -1.43998201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.06, Z:-0.14 [[ 9.99769871e-01 2.12293317e-02 3.08543245e-03 7.85667328e+00] [-2.12293444e-02 9.99774632e-01 -2.86424968e-05 -5.74573246e-02] [-3.08534515e-03 -3.68658028e-05 9.99995240e-01 -1.43206965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.06, Z:-0.14 [[ 9.99752391e-01 2.20371810e-02 3.08542797e-03 7.91831975e+00] [-2.20371961e-02 9.99757151e-01 -2.91170212e-05 -5.99593024e-02] [-3.08532034e-03 -3.88843698e-05 9.99995240e-01 -1.42945869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters Centerline goodness : 0.996141 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.06, Z:-0.13 [[ 9.99728287e-01 2.31047979e-02 3.08542729e-03 7.97946426e+00] [-2.31048178e-02 9.99733048e-01 -2.91892398e-05 -6.34820684e-02] [-3.08527804e-03 -4.21069267e-05 9.99995240e-01 -1.32008768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.07, Z:-0.14 [[ 9.99741915e-01 2.25073924e-02 3.08542658e-03 8.04065786e+00] [-2.25074093e-02 9.99746676e-01 -2.92641903e-05 -6.92098585e-02] [-3.08530363e-03 -4.01883212e-05 9.99995240e-01 -1.43056962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.07, Z:-0.14 [[ 9.99764956e-01 2.14595542e-02 3.08542586e-03 8.10203421e+00] [-2.14595658e-02 9.99769717e-01 -2.93398428e-05 -7.20073256e-02] [-3.08534496e-03 -3.68789527e-05 9.99995240e-01 -1.38973405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters Centerline goodness : 0.993398 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.08, Z:-0.13 [[ 9.99824220e-01 1.84935016e-02 3.08542117e-03 8.16329229e+00] [-1.84934976e-02 9.99828980e-01 -2.98248183e-05 -7.58787324e-02] [-3.08544507e-03 -2.72406533e-05 9.99995240e-01 -1.26339515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.08, Z:-0.14 [[ 9.99852280e-01 1.69085031e-02 3.08542047e-03 8.22565270e+00] [-1.69084914e-02 9.99857041e-01 -2.98974263e-05 -7.97442942e-02] [-3.08548490e-03 -2.22767954e-05 9.99995240e-01 -1.43113755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.09, Z:-0.14 [[ 9.99889696e-01 1.45284742e-02 3.08541546e-03 8.28809450e+00] [-1.45284495e-02 9.99894456e-01 -3.04059021e-05 -8.73745642e-02] [-3.08553156e-03 -1.44237546e-05 9.99995240e-01 -1.42902173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.09, Z:-0.14 [[ 9.99923594e-01 1.19702460e-02 3.08541018e-03 8.34974363e+00] [-1.19702075e-02 9.99928354e-01 -3.09326128e-05 -9.43124170e-02] [-3.08555939e-03 -6.00275076e-06 9.99995240e-01 -1.40131901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.10, Z:-0.14 [[ 9.99893503e-01 1.42640492e-02 3.08540449e-03 8.41174117e+00] [-1.42640200e-02 9.99898263e-01 -3.14896225e-05 -9.99374621e-02] [-3.08553976e-03 -1.25240023e-05 9.99995240e-01 -1.35466307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.10, Z:-0.14 [[ 9.99792137e-01 2.01535017e-02 3.08539926e-03 8.47381174e+00] [-2.01534989e-02 9.99796897e-01 -3.19939385e-05 -9.98845041e-02] [-3.08541740e-03 -3.01943027e-05 9.99995240e-01 -1.44620587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.10, Z:-0.14 [[ 9.99704136e-01 2.41271891e-02 3.08539387e-03 8.53639406e+00] [-2.41272037e-02 9.99708896e-01 -3.25062494e-05 -9.83281459e-02] [-3.08527998e-03 -4.19452942e-05 9.99995240e-01 -1.40933991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944012739 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.10, Z:-0.14 [[ 9.99705122e-01 2.40863111e-02 3.08538798e-03 8.59703890e+00] [-2.40863238e-02 9.99709882e-01 -3.30552918e-05 -9.80465314e-02] [-3.08528904e-03 -4.12701095e-05 9.99995240e-01 -1.41688037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.10, Z:-0.14 [[ 9.99723622e-01 2.33057863e-02 3.08538505e-03 8.65913701e+00] [-2.33057945e-02 9.99728383e-01 -3.33268423e-05 -9.70348249e-02] [-3.08532371e-03 -3.85897184e-05 9.99995240e-01 -1.40977711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters Centerline goodness : 0.995056 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.09, Z:-0.13 [[ 9.99652673e-01 2.61727778e-02 3.08537951e-03 8.72023971e+00] [-2.61727980e-02 9.99657433e-01 -3.38317548e-05 -9.16696759e-02] [-3.08520804e-03 -4.69330108e-05 9.99995240e-01 -1.30701001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.09, Z:-0.14 [[ 9.99572887e-01 2.90607037e-02 3.08537871e-03 8.78187577e+00] [-2.90607375e-02 9.99577647e-01 -3.39048012e-05 -8.74488200e-02] [-3.08506089e-03 -5.57730607e-05 9.99995240e-01 -1.41613903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184012739 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.09, Z:-0.14 [[ 9.99576767e-01 2.89269232e-02 3.08537789e-03 8.84321924e+00] [-2.89269561e-02 9.99581527e-01 -3.39798416e-05 -8.53213466e-02] [-3.08506967e-03 -5.52851304e-05 9.99995240e-01 -1.42232083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.08, Z:-0.14 [[ 9.99632553e-01 2.69302542e-02 3.08537705e-03 8.90418661e+00] [-2.69302773e-02 9.99637314e-01 -3.40550866e-05 -8.07004438e-02] [-3.08517514e-03 -4.90474865e-05 9.99995240e-01 -1.42587114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.08, Z:-0.15 [[ 9.99740707e-01 2.25609915e-02 3.08537623e-03 8.96510157e+00] [-2.25609936e-02 9.99745468e-01 -3.41298492e-05 -7.84098579e-02] [-3.08536090e-03 -3.54881536e-05 9.99995240e-01 -1.45186408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.08, Z:-0.14 [[ 9.99779413e-01 2.07751382e-02 3.08537539e-03 9.02682945e+00] [-2.07751315e-02 9.99784173e-01 -3.42050025e-05 -7.66663012e-02] [-3.08542010e-03 -2.99016223e-05 9.99995240e-01 -1.41631513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.08, Z:-0.14 [[ 9.99781985e-01 2.06509597e-02 3.08536987e-03 9.08755200e+00] [-2.06509509e-02 9.99786746e-01 -3.46958646e-05 -7.65500974e-02] [-3.08542841e-03 -2.90275215e-05 9.99995240e-01 -1.42168750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.08, Z:-0.14 [[ 9.99820372e-01 1.87003641e-02 3.08536434e-03 9.14853711e+00] [-1.87003446e-02 9.99825133e-01 -3.51813492e-05 -7.77602202e-02] [-3.08548271e-03 -2.25223467e-05 9.99995240e-01 -1.39929043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.08, Z:-0.14 [[ 9.99921703e-01 1.21271959e-02 3.08536349e-03 9.21013496e+00] [-1.21271448e-02 9.99926463e-01 -3.52554937e-05 -8.27115738e-02] [-3.08556415e-03 -2.16391653e-06 9.99995240e-01 -1.38366237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.09, Z:-0.12 [[ 9.99969391e-01 7.19009227e-03 3.08535798e-03 9.27271902e+00] [-7.19001625e-03 9.99974151e-01 -3.57317960e-05 -8.76835981e-02] [-3.08553514e-03 1.35469283e-05 9.99995240e-01 -1.24899119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.10, Z:-0.13 [[ 9.99977472e-01 5.96124001e-03 3.08535193e-03 9.33443138e+00] [-5.96115655e-03 9.99982231e-01 -3.62466671e-05 -9.50289180e-02] [-3.08551318e-03 1.78535846e-05 9.99995240e-01 -1.26678024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters Centerline goodness : 0.998105 with order 1 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.10, Z:-0.14 [[ 9.99961395e-01 8.22730684e-03 3.08534573e-03 9.39637635e+00] [-8.22723255e-03 9.99966155e-01 -3.67670644e-05 -1.02271583e-01] [-3.08554380e-03 1.13817883e-05 9.99995240e-01 -1.38888152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters Centerline goodness : 0.998288 with order 1 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.11, Z:-0.14 [[ 9.99956089e-01 8.84876834e-03 3.08533902e-03 9.45800000e+00] [-8.84869530e-03 9.99960849e-01 -3.73215396e-05 -1.10050382e-01] [-3.08554847e-03 1.00186759e-05 9.99995240e-01 -1.42359765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters Centerline goodness : 0.996523 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.11, Z:-0.13 [[ 9.99939487e-01 1.05595119e-02 3.08533274e-03 9.52044897e+00] [-1.05594454e-02 9.99944247e-01 -3.78332230e-05 -1.13384922e-01] [-3.08556023e-03 5.25153082e-06 9.99995240e-01 -1.32959655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.12, Z:-0.14 [[ 9.99930892e-01 1.13442094e-02 3.08532625e-03 9.58279673e+00] [-1.13441451e-02 9.99935652e-01 -3.83553001e-05 -1.15734538e-01] [-3.08556283e-03 3.35226092e-06 9.99995240e-01 -1.41741235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.11, Z:-0.14 [[ 9.99956923e-01 8.75407525e-03 3.08531968e-03 9.64455884e+00] [-8.75399696e-03 9.99961682e-01 -3.88766529e-05 -1.14927401e-01] [-3.08554179e-03 1.18660990e-05 9.99995240e-01 -1.44926761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.12, Z:-0.15 [[ 9.99984966e-01 4.53304066e-03 3.08531304e-03 9.70582202e+00] [-4.53294069e-03 9.99989725e-01 -3.93967271e-05 -1.19150452e-01] [-3.08545993e-03 2.54105938e-05 9.99995240e-01 -1.47971036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.12, Z:-0.14 [[ 9.99989959e-01 3.25003020e-03 3.08530686e-03 9.76786147e+00] [-3.24992264e-03 9.99994718e-01 -3.98751244e-05 -1.19433499e-01] [-3.08542016e-03 2.98477154e-05 9.99995240e-01 -1.40706300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.13, Z:-0.14 [[ 9.99978416e-01 5.80072720e-03 3.08530027e-03 9.83016084e+00] [-5.80063022e-03 9.99983175e-01 -4.03788237e-05 -1.25298990e-01] [-3.08548259e-03 2.24812662e-05 9.99995240e-01 -1.37872197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204012739 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.13, Z:-0.14 [[ 9.99967760e-01 7.41348250e-03 3.08529823e-03 9.89085511e+00] [-7.41339273e-03 9.99972520e-01 -4.05336588e-05 -1.26541714e-01] [-3.08551394e-03 1.76598245e-05 9.99995240e-01 -1.36294707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.13, Z:-0.14 [[ 9.99963951e-01 7.91058469e-03 3.08529467e-03 9.95334968e+00] [-7.91049644e-03 9.99968711e-01 -4.08031732e-05 -1.29980610e-01] [-3.08552091e-03 1.63954898e-05 9.99995240e-01 -1.35319439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters Centerline goodness : 0.998600 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.13, Z:-0.14 [[ 9.99971036e-01 6.95763617e-03 3.08528817e-03 1.00155263e+01] [-6.95754189e-03 9.99975795e-01 -4.12886336e-05 -1.34225008e-01] [-3.08550077e-03 1.98214160e-05 9.99995240e-01 -1.44599152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters Centerline goodness : 0.998287 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.14, Z:-0.14 [[ 9.99957792e-01 8.65418514e-03 3.08528150e-03 1.00773217e+01] [-8.65409742e-03 9.99962552e-01 -4.17813555e-05 -1.39528676e-01] [-3.08552755e-03 1.50792653e-05 9.99995240e-01 -1.40376305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.14, Z:-0.14 [[ 9.99949309e-01 9.58438927e-03 3.08527448e-03 1.01397032e+01] [-9.58430440e-03 9.99954069e-01 -4.22932597e-05 -1.42419354e-01] [-3.08553813e-03 1.27209060e-05 9.99995240e-01 -1.42753656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.15, Z:-0.15 [[ 9.99946014e-01 9.92225145e-03 3.08526691e-03 1.02018372e+01] [-9.92216650e-03 9.99950773e-01 -4.28388207e-05 -1.46672939e-01] [-3.08554009e-03 1.22239761e-05 9.99995240e-01 -1.46496136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.15, Z:-0.14 [[ 9.99920548e-01 1.22220906e-02 3.08525979e-03 1.02634735e+01] [-1.22220150e-02 9.99925307e-01 -4.33452204e-05 -1.50624874e-01] [-3.08555912e-03 5.63368503e-06 9.99995240e-01 -1.43788170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.15, Z:-0.14 [[ 9.99891181e-01 1.44259062e-02 3.08525316e-03 1.03252404e+01] [-1.44258397e-02 9.99895941e-01 -4.38120575e-05 -1.53894839e-01] [-3.08556415e-03 -7.00077737e-07 9.99995240e-01 -1.44164536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.16, Z:-0.14 [[ 9.99817972e-01 1.88282763e-02 3.08524594e-03 1.03871346e+01] [-1.88282292e-02 9.99822732e-01 -4.43152253e-05 -1.58585655e-01] [-3.08553340e-03 -1.37825590e-05 9.99995240e-01 -1.43794857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters Centerline goodness : 0.998188 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.16, Z:-0.14 [[ 9.99713120e-01 2.37520246e-02 3.08523850e-03 1.04490361e+01] [-2.37519993e-02 9.99717880e-01 -4.48268162e-05 -1.62398759e-01] [-3.08543283e-03 -2.84666266e-05 9.99995240e-01 -1.41261722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.16, Z:-0.14 [[ 9.99621299e-01 2.73448481e-02 3.08523102e-03 1.05108311e+01] [-2.73448384e-02 9.99626059e-01 -4.53359473e-05 -1.62896913e-01] [-3.08531703e-03 -3.90463654e-05 9.99995240e-01 -1.40834413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.16, Z:-0.14 [[ 9.99578272e-01 2.88748907e-02 3.08522335e-03 1.05727058e+01] [-2.88748867e-02 9.99583032e-01 -4.58518924e-05 -1.64879842e-01] [-3.08526089e-03 -4.32529195e-05 9.99995240e-01 -1.39558126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.17, Z:-0.14 [[ 9.99561524e-01 2.94489730e-02 3.08521515e-03 1.06351266e+01] [-2.94489701e-02 9.99566284e-01 -4.63975304e-05 -1.66938913e-01] [-3.08524340e-03 -4.44792224e-05 9.99995240e-01 -1.37204386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.17, Z:-0.14 [[ 9.99617838e-01 2.74710666e-02 3.08520699e-03 1.06968920e+01] [-2.74710525e-02 9.99622598e-01 -4.69338193e-05 -1.68785564e-01] [-3.08533195e-03 -3.78380004e-05 9.99995240e-01 -1.38228430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.17, Z:-0.14 [[ 9.99661344e-01 2.58394661e-02 3.08520171e-03 1.07598431e+01] [-2.58394432e-02 9.99666105e-01 -4.72784694e-05 -1.71406385e-01] [-3.08539323e-03 -3.24574361e-05 9.99995240e-01 -1.39480952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters Centerline goodness : 0.998228 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.17, Z:-0.14 [[ 9.99650818e-01 2.62435422e-02 3.08519260e-03 1.08214723e+01] [-2.62435194e-02 9.99655578e-01 -4.78656110e-05 -1.73113656e-01] [-3.08538616e-03 -3.31174147e-05 9.99995240e-01 -1.43214233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.17, Z:-0.14 [[ 9.99583881e-01 2.86800709e-02 3.08518409e-03 1.08848409e+01] [-2.86800581e-02 9.99588641e-01 -4.84081402e-05 -1.74564207e-01] [-3.08530332e-03 -4.00952621e-05 9.99995240e-01 -1.37914853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters Centerline goodness : 0.998192 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.17, Z:-0.14 [[ 9.99437142e-01 3.34047943e-02 3.08517501e-03 1.09473652e+01] [-3.34048022e-02 9.99441903e-01 -4.89798905e-05 -1.71621569e-01] [-3.08508935e-03 -5.41073392e-05 9.99995240e-01 -1.38058835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.17, Z:-0.14 [[ 9.99341116e-01 3.61637250e-02 3.08516707e-03 1.10093692e+01] [-3.61637445e-02 9.99345877e-01 -4.94750401e-05 -1.68743279e-01] [-3.08493819e-03 -6.21287520e-05 9.99995240e-01 -1.39996458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.16, Z:-0.14 [[ 9.99285441e-01 3.76707882e-02 3.08515897e-03 1.10713419e+01] [-3.76708133e-02 9.99290202e-01 -4.99749318e-05 -1.61832934e-01] [-3.08485173e-03 -6.62812259e-05 9.99995240e-01 -1.42150628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.16, Z:-0.14 [[ 9.99247363e-01 3.86676805e-02 3.08515085e-03 1.11341062e+01] [-3.86677088e-02 9.99252123e-01 -5.04713109e-05 -1.56161511e-01] [-3.08479515e-03 -6.88623905e-05 9.99995240e-01 -1.40011356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.15, Z:-0.14 [[ 9.99306510e-01 3.71076918e-02 3.08514253e-03 1.11949970e+01] [-3.71077112e-02 9.99311270e-01 -5.09749101e-05 -1.52253436e-01] [-3.08490926e-03 -6.35430187e-05 9.99995240e-01 -1.38798545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.15, Z:-0.13 [[ 9.99492274e-01 3.17123971e-02 3.08513481e-03 1.12569839e+01] [-3.17123894e-02 9.99497034e-01 -5.14380229e-05 -1.52503886e-01] [-3.08521432e-03 -4.64250900e-05 9.99995240e-01 -1.30463341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters Centerline goodness : 0.992559 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.15, Z:-0.13 [[ 9.99570560e-01 2.91406677e-02 3.08512607e-03 1.13193665e+01] [-2.91406461e-02 9.99575320e-01 -5.19569503e-05 -1.53630604e-01] [-3.08532994e-03 -3.79679292e-05 9.99995240e-01 -1.27520674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.15, Z:-0.14 [[ 9.99569855e-01 2.91648293e-02 3.08511729e-03 1.13803515e+01] [-2.91648063e-02 9.99574615e-01 -5.24732707e-05 -1.54216338e-01] [-3.08533530e-03 -3.75261485e-05 9.99995240e-01 -1.39235976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.16, Z:-0.14 [[ 9.99533916e-01 3.03715840e-02 3.08511246e-03 1.14427912e+01] [-3.03715658e-02 9.99538676e-01 -5.27554665e-05 -1.60248661e-01] [-3.08529149e-03 -4.09688182e-05 9.99995240e-01 -1.38438543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters Centerline goodness : 0.997548 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.16, Z:-0.14 [[ 9.99560726e-01 2.94760381e-02 3.08510372e-03 1.15053887e+01] [-2.94760141e-02 9.99565486e-01 -5.32621438e-05 -1.63043217e-01] [-3.08533315e-03 -3.76978134e-05 9.99995240e-01 -1.35904237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters Centerline goodness : 0.997447 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.17, Z:-0.13 [[ 9.99597296e-01 2.82086458e-02 3.08509467e-03 1.15675073e+01] [-2.82086141e-02 9.99602056e-01 -5.37808290e-05 -1.68041684e-01] [-3.08538406e-03 -3.32670740e-05 9.99995240e-01 -1.34430260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.18, Z:-0.14 [[ 9.99622763e-01 2.72912956e-02 3.08508499e-03 1.16299345e+01] [-2.72912579e-02 9.99627523e-01 -5.43307285e-05 -1.75346022e-01] [-3.08541862e-03 -2.98856171e-05 9.99995240e-01 -1.36503506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters Centerline goodness : 0.992876 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.18, Z:-0.13 [[ 9.99544674e-01 3.00154489e-02 3.08507583e-03 1.16913849e+01] [-3.00154226e-02 9.99549434e-01 -5.48457869e-05 -1.82979320e-01] [-3.08533202e-03 -3.77790408e-05 9.99995240e-01 -1.26378736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters Centerline goodness : 0.997520 with order 1 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.19, Z:-0.14 [[ 9.99367539e-01 3.54260519e-02 3.08506604e-03 1.17534455e+01] [-3.54260496e-02 9.99372299e-01 -5.53914845e-05 -1.85538518e-01] [-3.08509184e-03 -5.39352510e-05 9.99995240e-01 -1.38786725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters Centerline goodness : 0.997231 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.19, Z:-0.14 [[ 9.99087199e-01 4.26057685e-02 3.08505953e-03 1.18158177e+01] [-4.26057993e-02 9.99091959e-01 -5.57514809e-05 -1.86676552e-01] [-3.08463350e-03 -7.57408363e-05 9.99995240e-01 -1.35211744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters Centerline goodness : 0.997411 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.19, Z:-0.13 [[ 9.98929166e-01 4.61628001e-02 3.08505030e-03 1.18771043e+01] [-4.61628463e-02 9.98933926e-01 -5.62577709e-05 -1.85985808e-01] [-3.08435842e-03 -8.62171745e-05 9.99995240e-01 -1.28850271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters Centerline goodness : 0.996971 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.19, Z:-0.13 [[ 9.98881462e-01 4.71837648e-02 3.08504508e-03 1.19383657e+01] [-4.71838150e-02 9.98886222e-01 -5.65425412e-05 -1.87948402e-01] [-3.08427691e-03 -8.90849000e-05 9.99995240e-01 -1.29556998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters Centerline goodness : 0.997537 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.18, Z:-0.13 [[ 9.98720878e-01 5.04686992e-02 3.08504004e-03 1.19998362e+01] [-5.04687642e-02 9.98725638e-01 -5.68158694e-05 -1.84492089e-01] [-3.08397601e-03 -9.89549636e-05 9.99995240e-01 -1.33603945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.18, Z:-0.14 [[ 9.98633894e-01 5.21615572e-02 3.08503873e-03 1.20616781e+01] [-5.21616301e-02 9.98638654e-01 -5.68873125e-05 -1.81864074e-01] [-3.08380625e-03 -1.04111050e-04 9.99995240e-01 -1.35625192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters Centerline goodness : 0.997723 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.18, Z:-0.13 [[ 9.98785134e-01 4.91806716e-02 3.08502941e-03 1.21240026e+01] [-4.91807287e-02 9.98789894e-01 -5.73880687e-05 -1.82845514e-01] [-3.08411858e-03 -9.44056446e-05 9.99995240e-01 -1.30576304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters Centerline goodness : 0.997231 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.18, Z:-0.13 [[ 9.98911564e-01 4.65421406e-02 3.08501995e-03 1.21861035e+01] [-4.65421836e-02 9.98916324e-01 -5.78923973e-05 -1.81879471e-01] [-3.08437122e-03 -8.57541797e-05 9.99995240e-01 -1.31644132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters Centerline goodness : 0.997225 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.18, Z:-0.13 [[ 9.99007135e-01 4.44435204e-02 3.08501029e-03 1.22481853e+01] [-4.44435518e-02 9.99011895e-01 -5.84024105e-05 -1.81756096e-01] [-3.08455759e-03 -7.87643899e-05 9.99995240e-01 -1.31714596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters Centerline goodness : 0.997174 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.18, Z:-0.13 [[ 9.99059035e-01 4.32611451e-02 3.08500061e-03 1.23107170e+01] [-4.32611694e-02 9.99063796e-01 -5.89094499e-05 -1.82671190e-01] [-3.08466091e-03 -7.46067156e-05 9.99995240e-01 -1.34687891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters Centerline goodness : 0.997673 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.19, Z:-0.14 [[ 9.99124859e-01 4.17132914e-02 3.08499091e-03 1.23729325e+01] [-4.17133067e-02 9.99129619e-01 -5.94133242e-05 -1.85668881e-01] [-3.08478412e-03 -6.93238427e-05 9.99995240e-01 -1.36502295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters Centerline goodness : 0.997570 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.19, Z:-0.13 [[ 9.99213524e-01 3.95324830e-02 3.08498099e-03 1.24343511e+01] [-3.95324863e-02 9.99218284e-01 -5.99236403e-05 -1.87318500e-01] [-3.08493834e-03 -6.20804571e-05 9.99995240e-01 -1.32605461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters Centerline goodness : 0.997631 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.19, Z:-0.14 [[ 9.99186345e-01 4.02135686e-02 3.08497547e-03 1.24962801e+01] [-4.02135743e-02 9.99191105e-01 -6.02065811e-05 -1.90730899e-01] [-3.08490117e-03 -6.39002964e-05 9.99995240e-01 -1.35239758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters Centerline goodness : 0.997086 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.19, Z:-0.14 [[ 9.99104924e-01 4.21880775e-02 3.08496547e-03 1.25587747e+01] [-4.21880910e-02 9.99109684e-01 -6.07149827e-05 -1.92092190e-01] [-3.08478032e-03 -6.94881657e-05 9.99995240e-01 -1.35986482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters Centerline goodness : 0.997453 with order 1 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.20, Z:-0.13 [[ 9.99092789e-01 4.24744983e-02 3.08495539e-03 1.26210286e+01] [-4.24745116e-02 9.99097549e-01 -6.12224699e-05 -1.95190350e-01] [-3.08477177e-03 -6.98650456e-05 9.99995240e-01 -1.34270074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters Centerline goodness : 0.997094 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.19, Z:-0.13 [[ 9.98768200e-01 4.95233805e-02 3.08494459e-03 1.26819105e+01] [-4.95234258e-02 9.98772960e-01 -6.17620879e-05 -1.92424186e-01] [-3.08421791e-03 -9.10910151e-05 9.99995240e-01 -1.30108479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.19, Z:-0.13 [[ 9.98638379e-01 5.20756283e-02 3.08493458e-03 1.27439611e+01] [-5.20756842e-02 9.98643139e-01 -6.22580535e-05 -1.91999141e-01] [-3.08399088e-03 -9.84767974e-05 9.99995240e-01 -1.30518020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters Centerline goodness : 0.997241 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.19, Z:-0.13 [[ 9.98370589e-01 5.69793809e-02 3.08492428e-03 1.28040294e+01] [-5.69794586e-02 9.98375349e-01 -6.27642476e-05 -1.89153204e-01] [-3.08348863e-03 -1.13115337e-04 9.99995240e-01 -1.31057871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters Centerline goodness : 0.997704 with order 1 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.18, Z:-0.13 [[ 9.98174343e-01 6.03196899e-02 3.08492074e-03 1.28658778e+01] [-6.03197830e-02 9.98179102e-01 -6.29378107e-05 -1.80384479e-01] [-3.08309981e-03 -1.23258842e-04 9.99995240e-01 -1.34900002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters Centerline goodness : 0.997499 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.18, Z:-0.13 [[ 9.98263637e-01 5.88234214e-02 3.08491926e-03 1.29259172e+01] [-5.88235071e-02 9.98268396e-01 -6.30106081e-05 -1.76261276e-01] [-3.08328390e-03 -1.18564571e-04 9.99995240e-01 -1.33546020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters Centerline goodness : 0.997238 with order 1 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.17, Z:-0.14 [[ 9.98442020e-01 5.57136973e-02 3.08491580e-03 1.29865893e+01] [-5.57137677e-02 9.98446780e-01 -6.31795618e-05 -1.73191802e-01] [-3.08364421e-03 -1.08791153e-04 9.99995240e-01 -1.36088003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.17, Z:-0.14 [[ 9.98691867e-01 5.10395642e-02 3.08491580e-03 1.30476571e+01] [-5.10396123e-02 9.98696628e-01 -6.31795618e-05 -1.69064397e-01] [-3.08411966e-03 -9.43559917e-05 9.99995240e-01 -1.40426403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters Centerline goodness : 0.997554 with order 1 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.17, Z:-0.14 [[ 9.98780522e-01 4.92742633e-02 3.08491425e-03 1.31076311e+01] [-4.92743028e-02 9.98785282e-01 -6.32550769e-05 -1.70509226e-01] [-3.08428379e-03 -8.88290601e-05 9.99995240e-01 -1.41804345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters Centerline goodness : 0.997950 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.17, Z:-0.14 [[ 9.98722051e-01 5.04454990e-02 3.08491034e-03 1.31686576e+01] [-5.04455434e-02 9.98726811e-01 -6.34450112e-05 -1.67250823e-01] [-3.08418318e-03 -9.22560469e-05 9.99995240e-01 -1.38084318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters Centerline goodness : 0.997489 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.17, Z:-0.14 [[ 9.98702132e-01 5.08383247e-02 3.08491034e-03 1.32289578e+01] [-5.08383711e-02 9.98706892e-01 -6.34450112e-05 -1.65159756e-01] [-3.08414666e-03 -9.34691487e-05 9.99995240e-01 -1.38412376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.16, Z:-0.14 [[ 9.98894822e-01 4.69000752e-02 3.08490960e-03 1.32892622e+01] [-4.69001026e-02 9.98899583e-01 -6.34808666e-05 -1.62499892e-01] [-3.08449217e-03 -8.12718680e-05 9.99995240e-01 -1.37393810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters Centerline goodness : 0.997637 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.16, Z:-0.13 [[ 9.99018833e-01 4.41797989e-02 3.08490960e-03 1.33495906e+01] [-4.41798134e-02 9.99023593e-01 -6.34808666e-05 -1.60837037e-01] [-3.08470205e-03 -7.28721494e-05 9.99995240e-01 -1.33995927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters Centerline goodness : 0.997876 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.16, Z:-0.13 [[ 9.99143831e-01 4.12563661e-02 3.08490960e-03 1.34101755e+01] [-4.12563666e-02 9.99148592e-01 -6.34808666e-05 -1.57233754e-01] [-3.08490207e-03 -6.38456452e-05 9.99995240e-01 -1.32814482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters Centerline goodness : 0.997476 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.16, Z:-0.13 [[ 9.99180149e-01 4.03672351e-02 3.08490887e-03 1.34706938e+01] [-4.03672313e-02 9.99184909e-01 -6.35166268e-05 -1.55338216e-01] [-3.08495838e-03 -6.10646771e-05 9.99995240e-01 -1.34358743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters Centerline goodness : 0.997719 with order 1 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.15, Z:-0.14 [[ 9.99148874e-01 4.11340693e-02 3.08490887e-03 1.35308115e+01] [-4.11340691e-02 9.99153634e-01 -6.35166268e-05 -1.53313761e-01] [-3.08491060e-03 -6.34322884e-05 9.99995240e-01 -1.38201676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters Centerline goodness : 0.997444 with order 1 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.15, Z:-0.14 [[ 9.99213735e-01 3.95271489e-02 3.08490887e-03 1.35912415e+01] [-3.95271412e-02 9.99218495e-01 -6.35166268e-05 -1.51640969e-01] [-3.08500863e-03 -5.84709423e-05 9.99995240e-01 -1.39383005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.15, Z:-0.14 [[ 9.99266837e-01 3.81611401e-02 3.08490812e-03 1.36516161e+01] [-3.81611257e-02 9.99271597e-01 -6.35529865e-05 -1.52166155e-01] [-3.08508632e-03 -5.42171746e-05 9.99995240e-01 -1.37951147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters Centerline goodness : 0.996889 with order 1 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.15, Z:-0.13 [[ 9.99334564e-01 3.63443718e-02 3.08490812e-03 1.37122419e+01] [-3.63443488e-02 9.99339324e-01 -6.35529865e-05 -1.53051546e-01] [-3.08517979e-03 -4.86082805e-05 9.99995240e-01 -1.33568837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.15, Z:-0.14 [[ 9.99362469e-01 3.55687911e-02 3.08490738e-03 1.37733115e+01] [-3.55687642e-02 9.99367229e-01 -6.35889895e-05 -1.52208385e-01] [-3.08521712e-03 -4.61778936e-05 9.99995240e-01 -1.38757808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.15, Z:-0.14 [[ 9.99378278e-01 3.51217883e-02 3.08490590e-03 1.38349900e+01] [-3.51217591e-02 9.99383039e-01 -6.36604927e-05 -1.51935282e-01] [-3.08523850e-03 -4.47264083e-05 9.99995240e-01 -1.39002858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters Centerline goodness : 0.996939 with order 1 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.15, Z:-0.14 [[ 9.99344259e-01 3.60767927e-02 3.08490441e-03 1.38955651e+01] [-3.60767678e-02 9.99349019e-01 -6.37325551e-05 -1.49317399e-01] [-3.08519546e-03 -4.76026170e-05 9.99995240e-01 -1.38010798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters Centerline goodness : 0.997208 with order 1 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.15, Z:-0.14 [[ 9.99480580e-01 3.20788687e-02 3.08490367e-03 1.39559416e+01] [-3.20788246e-02 9.99485340e-01 -6.37682618e-05 -1.50378232e-01] [-3.08536161e-03 -3.52249447e-05 9.99995240e-01 -1.38577958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.15, Z:-0.13 [[ 9.99828524e-01 1.82594000e-02 3.08490367e-03 1.40171646e+01] [-1.82592902e-02 9.99833283e-01 -6.37682618e-05 -1.54812803e-01] [-3.08555374e-03 7.42917574e-06 9.99995240e-01 -1.34640745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters Centerline goodness : 0.997364 with order 1 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.16, Z:-0.14 [[ 9.99934148e-01 1.10536625e-02 3.08490219e-03 1.40788410e+01] [-1.10535182e-02 9.99938906e-01 -6.38397453e-05 -1.59134604e-01] [-3.08541939e-03 2.97365189e-05 9.99995240e-01 -1.36898165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters Centerline goodness : 0.997773 with order 1 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.16, Z:-0.14 [[ 9.99970168e-01 7.08147512e-03 3.08490065e-03 1.41399196e+01] [-7.08131164e-03 9.99974925e-01 -6.39143583e-05 -1.64128279e-01] [-3.08527590e-03 4.20673087e-05 9.99995240e-01 -1.37748114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.17, Z:-0.14 [[ 9.99950986e-01 9.40790038e-03 3.08489062e-03 1.42020227e+01] [-9.40774648e-03 9.99955744e-01 -6.43947441e-05 -1.69266484e-01] [-3.08535991e-03 3.53697190e-05 9.99995240e-01 -1.38570342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.17, Z:-0.14 [[ 9.99906184e-01 1.33456983e-02 3.08487967e-03 1.42630320e+01] [-1.33455615e-02 9.99910942e-01 -6.49149835e-05 -1.73195889e-01] [-3.08547127e-03 2.37394419e-05 9.99995240e-01 -1.39274044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters Centerline goodness : 0.997589 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.18, Z:-0.14 [[ 9.99873595e-01 1.55973705e-02 3.08487343e-03 1.43248441e+01] [-1.55972435e-02 9.99878353e-01 -6.52103035e-05 -1.76090329e-01] [-3.08551528e-03 1.70865385e-05 9.99995240e-01 -1.36898462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters Centerline goodness : 0.989881 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.18, Z:-0.13 [[ 9.99879458e-01 1.52168708e-02 3.08486259e-03 1.43861564e+01] [-1.52167404e-02 9.99884217e-01 -6.57189158e-05 -1.79452997e-01] [-3.08550545e-03 1.87694405e-05 9.99995240e-01 -1.26062279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters Centerline goodness : 0.997377 with order 1 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.18, Z:-0.14 [[ 9.99868490e-01 1.59212751e-02 3.08485258e-03 1.44483124e+01] [-1.59211467e-02 9.99873248e-01 -6.61858209e-05 -1.82956787e-01] [-3.08551533e-03 1.70627264e-05 9.99995240e-01 -1.39342194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters Centerline goodness : 0.997037 with order 1 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.18, Z:-0.14 [[ 9.99813886e-01 1.90440830e-02 3.08484118e-03 1.45098624e+01] [-1.90439678e-02 9.99818645e-01 -6.67129255e-05 -1.84849079e-01] [-3.08555221e-03 7.95289317e-06 9.99995240e-01 -1.39952096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters Centerline goodness : 0.988087 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.19, Z:-0.13 [[ 9.99735661e-01 2.27835696e-02 3.08483485e-03 1.45715695e+01] [-2.27834713e-02 9.99740421e-01 -6.70042994e-05 -1.86322113e-01] [-3.08556069e-03 -3.29665859e-06 9.99995240e-01 -1.25780193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.18, Z:-0.13 [[ 9.99559043e-01 2.95330961e-02 3.08483320e-03 1.46320416e+01] [-2.95330297e-02 9.99563803e-01 -6.70800082e-05 -1.78528177e-01] [-3.08546869e-03 -2.40540417e-05 9.99995240e-01 -1.34320449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.18, Z:-0.13 [[ 9.99573160e-01 2.90513748e-02 3.08483239e-03 1.46922015e+01] [-2.90513060e-02 9.99577919e-01 -6.71175046e-05 -1.78324340e-01] [-3.08548020e-03 -2.25295535e-05 9.99995240e-01 -1.30736414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.18, Z:-0.14 [[ 9.99629165e-01 2.70558028e-02 3.08483239e-03 1.47526919e+01] [-2.70557245e-02 9.99633925e-01 -6.71175046e-05 -1.76814932e-01] [-3.08551902e-03 -1.63697601e-05 9.99995240e-01 -1.40280464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters Centerline goodness : 0.996378 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.17, Z:-0.14 [[ 9.99760448e-01 2.16686720e-02 3.08483239e-03 1.48133876e+01] [-2.16685681e-02 9.99765207e-01 -6.71175046e-05 -1.70182234e-01] [-3.08556244e-03 2.57525887e-07 9.99995240e-01 -1.43098968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters Centerline goodness : 0.985080 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.17, Z:-0.13 [[ 9.99778907e-01 2.07995392e-02 3.08482857e-03 1.48750498e+01] [-2.07994306e-02 9.99783666e-01 -6.72925064e-05 -1.73286669e-01] [-3.08556087e-03 3.11495078e-06 9.99995240e-01 -1.28281935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters Centerline goodness : 0.996700 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.17, Z:-0.14 [[ 9.99776750e-01 2.09029448e-02 3.08482695e-03 1.49357718e+01] [-2.09028364e-02 9.99781510e-01 -6.73667745e-05 -1.68064451e-01] [-3.08556111e-03 2.87010173e-06 9.99995240e-01 -1.43350294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters Centerline goodness : 0.996451 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.17, Z:-0.14 [[ 9.99777989e-01 2.08436455e-02 3.08482614e-03 1.49973564e+01] [-2.08435367e-02 9.99782748e-01 -6.74035974e-05 -1.71236321e-01] [-3.08556089e-03 3.08994596e-06 9.99995240e-01 -1.42162489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.17, Z:-0.14 [[ 9.99834638e-01 1.79214847e-02 3.08482450e-03 1.50573024e+01] [-1.79213618e-02 9.99839397e-01 -6.74788073e-05 -1.69830335e-01] [-3.08553839e-03 1.21833930e-05 9.99995240e-01 -1.41597888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters Centerline goodness : 0.995689 with order 1 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.17, Z:-0.14 [[ 9.99860834e-01 1.63950375e-02 3.08482073e-03 1.51178124e+01] [-1.63949068e-02 9.99865592e-01 -6.76508467e-05 -1.71938902e-01] [-3.08551524e-03 1.70660836e-05 9.99995240e-01 -1.37841989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.17, Z:-0.14 [[ 9.99852996e-01 1.68662332e-02 3.08481992e-03 1.51785395e+01] [-1.68661046e-02 9.99857755e-01 -6.76874691e-05 -1.70872008e-01] [-3.08552275e-03 1.56486233e-05 9.99995240e-01 -1.41202079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters Centerline goodness : 0.995722 with order 1 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.17, Z:-0.14 [[ 9.99822577e-01 1.85822320e-02 3.08480966e-03 1.52402654e+01] [-1.85821102e-02 9.99827335e-01 -6.81518255e-05 -1.71106623e-01] [-3.08554344e-03 1.08174608e-05 9.99995240e-01 -1.41196470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.17, Z:-0.14 [[ 9.99782192e-01 2.06410637e-02 3.08480802e-03 1.53010058e+01] [-2.06409514e-02 9.99786951e-01 -6.82262512e-05 -1.67079007e-01] [-3.08555906e-03 4.53801843e-06 9.99995240e-01 -1.44040629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters Centerline goodness : 0.996247 with order 1 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.17, Z:-0.14 [[ 9.99833513e-01 1.79841855e-02 3.08480720e-03 1.53622721e+01] [-1.79840605e-02 9.99838271e-01 -6.82629862e-05 -1.69005494e-01] [-3.08553596e-03 1.27742620e-05 9.99995240e-01 -1.44813634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters Centerline goodness : 0.996038 with order 1 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.17, Z:-0.14 [[ 9.99900612e-01 1.37568519e-02 3.08480555e-03 1.54227927e+01] [-1.37567065e-02 9.99905370e-01 -6.83376871e-05 -1.71728960e-01] [-3.08545374e-03 2.58941305e-05 9.99995240e-01 -1.41843245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters Centerline goodness : 0.995908 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.18, Z:-0.14 [[ 9.99924989e-01 1.18533179e-02 3.08480473e-03 1.54836298e+01] [-1.18531634e-02 9.99929746e-01 -6.83744994e-05 -1.76456676e-01] [-3.08539848e-03 3.18046760e-05 9.99995240e-01 -1.43320197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters Centerline goodness : 0.996585 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.18, Z:-0.14 [[ 9.99910108e-01 1.30483569e-02 3.08480314e-03 1.55447851e+01] [-1.30482078e-02 9.99914866e-01 -6.84464706e-05 -1.79619616e-01] [-3.08543363e-03 2.81891654e-05 9.99995240e-01 -1.42979702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters Centerline goodness : 0.996356 with order 1 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.18, Z:-0.14 [[ 9.99870358e-01 1.58034870e-02 3.08480152e-03 1.56060313e+01] [-1.58033509e-02 9.99875117e-01 -6.85193764e-05 -1.83036737e-01] [-3.08549912e-03 1.97602927e-05 9.99995240e-01 -1.42467654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters Centerline goodness : 0.995351 with order 1 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.19, Z:-0.14 [[ 9.99862823e-01 1.62732885e-02 3.08479521e-03 1.56677974e+01] [-1.62731537e-02 9.99867581e-01 -6.88023275e-05 -1.85376328e-01] [-3.08550636e-03 1.85935428e-05 9.99995240e-01 -1.39982416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.19, Z:-0.14 [[ 9.99854175e-01 1.67961955e-02 3.08479360e-03 1.57286725e+01] [-1.67960630e-02 9.99858934e-01 -6.88741310e-05 -1.88132359e-01] [-3.08551527e-03 1.70516999e-05 9.99995240e-01 -1.38682599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters Centerline goodness : 0.996035 with order 1 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.19, Z:-0.14 [[ 9.99820411e-01 1.86983972e-02 3.08478324e-03 1.57902950e+01] [-1.86982723e-02 9.99825170e-01 -6.93350948e-05 -1.88443025e-01] [-3.08554038e-03 1.16425260e-05 9.99995240e-01 -1.41541209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters Centerline goodness : 0.996896 with order 1 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.19, Z:-0.14 [[ 9.99765893e-01 2.14159447e-02 3.08478159e-03 1.58508497e+01] [-2.14158325e-02 9.99770652e-01 -6.94084383e-05 -1.87106385e-01] [-3.08556055e-03 3.32902356e-06 9.99995240e-01 -1.43204848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters Centerline goodness : 0.995718 with order 1 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.19, Z:-0.14 [[ 9.99731518e-01 2.29646624e-02 3.08478077e-03 1.59113624e+01] [-2.29645574e-02 9.99736277e-01 -6.94448417e-05 -1.86229800e-01] [-3.08556202e-03 -1.41442802e-06 9.99995240e-01 -1.39491181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters Centerline goodness : 0.996503 with order 1 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.19, Z:-0.14 [[ 9.99762326e-01 2.15818528e-02 3.08478077e-03 1.59718938e+01] [-2.15817413e-02 9.99767085e-01 -6.94448417e-05 -1.85814827e-01] [-3.08556103e-03 2.85339595e-06 9.99995240e-01 -1.41022812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.18, Z:-0.14 [[ 9.99814844e-01 1.89937416e-02 3.08477996e-03 1.60323745e+01] [-1.89936176e-02 9.99819603e-01 -6.94809498e-05 -1.83586979e-01] [-3.08554318e-03 1.08769540e-05 9.99995240e-01 -1.44342950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters Centerline goodness : 0.997387 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.18, Z:-0.14 [[ 9.99837829e-01 1.77425853e-02 3.08477996e-03 1.60923385e+01] [-1.77424554e-02 9.99842588e-01 -6.94809498e-05 -1.83921922e-01] [-3.08552715e-03 1.47381112e-05 9.99995240e-01 -1.44628863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters Centerline goodness : 0.997527 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.19, Z:-0.15 [[ 9.99883661e-01 1.49381271e-02 3.08477916e-03 1.61534224e+01] [-1.49379837e-02 9.99888420e-01 -6.95164859e-05 -1.87114195e-01] [-3.08547340e-03 2.34280177e-05 9.99995240e-01 -1.45876700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters Centerline goodness : 0.997337 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.19, Z:-0.15 [[ 9.99937773e-01 1.07207341e-02 3.08477747e-03 1.62147016e+01] [-1.07205704e-02 9.99942531e-01 -6.95914206e-05 -1.92969012e-01] [-3.08534626e-03 3.65165162e-05 9.99995240e-01 -1.50900911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters Centerline goodness : 0.997389 with order 1 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.20, Z:-0.15 [[ 9.99963551e-01 7.96118226e-03 3.08476658e-03 1.62771990e+01] [-7.96100397e-03 9.99968308e-01 -7.00706752e-05 -2.01679385e-01] [-3.08522666e-03 4.55102822e-05 9.99995240e-01 -1.47298367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters Centerline goodness : 0.996959 with order 1 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.21, Z:-0.15 [[ 9.99973687e-01 6.56572949e-03 3.08475529e-03 1.63393535e+01] [-6.56554305e-03 9.99978444e-01 -7.05643897e-05 -2.10524556e-01] [-3.08515210e-03 5.03094394e-05 9.99995240e-01 -1.45817882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.22, Z:-0.14 [[ 9.99975751e-01 6.24358844e-03 3.08474360e-03 1.64001690e+01] [-6.24339889e-03 9.99980507e-01 -7.10716133e-05 -2.23137383e-01] [-3.08512721e-03 5.18106050e-05 9.99995240e-01 -1.44026216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.23, Z:-0.15 [[ 9.99971238e-01 6.92869371e-03 3.08473282e-03 1.64612433e+01] [-6.92850599e-03 9.99975995e-01 -7.15364330e-05 -2.30523216e-01] [-3.08515443e-03 5.01617857e-05 9.99995240e-01 -1.48208027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.24, Z:-0.15 [[ 9.99964771e-01 7.80653282e-03 3.08472207e-03 1.65230270e+01] [-7.80634786e-03 9.99969527e-01 -7.19969832e-05 -2.38044863e-01] [-3.08519012e-03 4.79140332e-05 9.99995240e-01 -1.49602785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters Centerline goodness : 0.997128 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.25, Z:-0.15 [[ 9.99973280e-01 6.62751032e-03 3.08471012e-03 1.65849094e+01] [-6.62731818e-03 9.99978036e-01 -7.25054185e-05 -2.46513472e-01] [-3.08512290e-03 5.20601257e-05 9.99995240e-01 -1.45067990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.25, Z:-0.15 [[ 9.99972873e-01 6.68866769e-03 3.08469794e-03 1.66468191e+01] [-6.68847425e-03 9.99977629e-01 -7.30198674e-05 -2.53578104e-01] [-3.08511734e-03 5.23859638e-05 9.99995240e-01 -1.45942073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters Centerline goodness : 0.997057 with order 1 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.26, Z:-0.15 [[ 9.99962891e-01 8.04368300e-03 3.08468488e-03 1.67085924e+01] [-8.04349432e-03 9.99967648e-01 -7.35674710e-05 -2.60955176e-01] [-3.08517684e-03 4.87530957e-05 9.99995240e-01 -1.48463398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters Centerline goodness : 0.997581 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.27, Z:-0.15 [[ 9.99944519e-01 1.00719315e-02 3.08467223e-03 1.67707103e+01] [-1.00717508e-02 9.99949276e-01 -7.40943378e-05 -2.69425733e-01] [-3.08526203e-03 4.30221768e-05 9.99995240e-01 -1.52440217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.27, Z:-0.15 [[ 9.99923864e-01 1.19478617e-02 3.08465950e-03 1.68332498e+01] [-1.19476884e-02 9.99928621e-01 -7.46204303e-05 -2.73799616e-01] [-3.08533088e-03 3.77601985e-05 9.99995240e-01 -1.52983384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters Centerline goodness : 0.987459 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.28, Z:-0.13 [[ 9.99915823e-01 1.26028807e-02 3.08464669e-03 1.68956011e+01] [-1.26027088e-02 9.99920580e-01 -7.51462770e-05 -2.82150973e-01] [-3.08534877e-03 3.62650473e-05 9.99995240e-01 -1.32689725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters Centerline goodness : 0.997679 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.28, Z:-0.14 [[ 9.99910578e-01 1.30123357e-02 3.08463302e-03 1.69579641e+01] [-1.30121640e-02 9.99915335e-01 -7.57034432e-05 -2.84497826e-01] [-3.08535694e-03 3.55589228e-05 9.99995240e-01 -1.44754308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.29, Z:-0.14 [[ 9.99924311e-01 1.19104031e-02 3.08462028e-03 1.70200608e+01] [-1.19102247e-02 9.99929068e-01 -7.62187392e-05 -2.89525261e-01] [-3.08530928e-03 3.94744496e-05 9.99995240e-01 -1.42959219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.29, Z:-0.14 [[ 9.99916026e-01 1.25867089e-02 3.08460662e-03 1.70820228e+01] [-1.25865319e-02 9.99920784e-01 -7.67678183e-05 -2.93796385e-01] [-3.08532852e-03 3.79368721e-05 9.99995240e-01 -1.43941624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters Centerline goodness : 0.997860 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.30, Z:-0.15 [[ 9.99905027e-01 1.34321080e-02 3.08459389e-03 1.71443564e+01] [-1.34319335e-02 9.99909785e-01 -7.72760829e-05 -2.99230863e-01] [-3.08535359e-03 3.58366838e-05 9.99995240e-01 -1.46397957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters Centerline goodness : 0.997612 with order 1 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.30, Z:-0.14 [[ 9.99916355e-01 1.25605535e-02 3.08458123e-03 1.72067841e+01] [-1.25603733e-02 9.99921112e-01 -7.77781744e-05 -3.02578373e-01] [-3.08531483e-03 3.90281769e-05 9.99995240e-01 -1.43944866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters Centerline goodness : 0.997480 with order 1 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.31, Z:-0.15 [[ 9.99960347e-01 8.35409302e-03 3.08456757e-03 1.72688543e+01] [-8.35389117e-03 9.99965103e-01 -7.83159472e-05 -3.09648924e-01] [-3.08511419e-03 5.25446999e-05 9.99995240e-01 -1.46631231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.32, Z:-0.15 [[ 9.99983929e-01 4.75678138e-03 3.08455451e-03 1.73306310e+01] [-4.75656085e-03 9.99988684e-01 -7.88271156e-05 -3.19995413e-01] [-3.08489457e-03 6.41539776e-05 9.99995240e-01 -1.47775789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters Centerline goodness : 0.997654 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.32, Z:-0.15 [[ 9.99981182e-01 5.30287067e-03 3.08454132e-03 1.73923574e+01] [-5.30265116e-03 9.99985938e-01 -7.93398267e-05 -3.24375691e-01] [-3.08491867e-03 6.29820871e-05 9.99995240e-01 -1.48173683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.33, Z:-0.15 [[ 9.99965382e-01 7.72786961e-03 3.08452817e-03 1.74539819e+01] [-7.72766007e-03 9.99970138e-01 -7.98476995e-05 -3.34459098e-01] [-3.08505312e-03 5.60087501e-05 9.99995240e-01 -1.47839278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters Centerline goodness : 0.997549 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.34, Z:-0.15 [[ 9.99948263e-01 9.69314693e-03 3.08451881e-03 1.75172824e+01] [-9.69294562e-03 9.99953019e-01 -8.02079539e-05 -3.40426565e-01] [-3.08515136e-03 5.03057311e-05 9.99995240e-01 -1.48203099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters Centerline goodness : 0.997545 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.35, Z:-0.15 [[ 9.99930649e-01 1.13659063e-02 3.08450293e-03 1.75791748e+01] [-1.13657110e-02 9.99935405e-01 -8.08139345e-05 -3.49310668e-01] [-3.08522221e-03 4.57507610e-05 9.99995240e-01 -1.49815831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters Centerline goodness : 0.997325 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.35, Z:-0.15 [[ 9.99884051e-01 1.49120677e-02 3.08448806e-03 1.76417261e+01] [-1.49118876e-02 9.99888808e-01 -8.13776346e-05 -3.50053703e-01] [-3.08535860e-03 3.53726596e-05 9.99995240e-01 -1.48254108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters Centerline goodness : 0.997111 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.35, Z:-0.15 [[ 9.99871623e-01 1.57233735e-02 3.08447349e-03 1.77026611e+01] [-1.57231956e-02 9.99876380e-01 -8.19261582e-05 -3.54918416e-01] [-3.08538034e-03 3.34178609e-05 9.99995240e-01 -1.48648553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters Centerline goodness : 0.997193 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.36, Z:-0.15 [[ 9.99856717e-01 1.66442850e-02 3.08446005e-03 1.77645266e+01] [-1.66441099e-02 9.99861474e-01 -8.24291018e-05 -3.56615699e-01] [-3.08540474e-03 3.10791990e-05 9.99995240e-01 -1.48957506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.36, Z:-0.15 [[ 9.99844426e-01 1.73669067e-02 3.08444505e-03 1.78263341e+01] [-1.73667333e-02 9.99849183e-01 -8.29864774e-05 -3.60370171e-01] [-3.08542108e-03 2.94068322e-05 9.99995240e-01 -1.49591316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters Centerline goodness : 0.997607 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.36, Z:-0.15 [[ 9.99839107e-01 1.76705118e-02 3.08443520e-03 1.78896633e+01] [-1.76703387e-02 9.99843864e-01 -8.33509499e-05 -3.61895239e-01] [-3.08542646e-03 2.88345244e-05 9.99995240e-01 -1.48868024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters Centerline goodness : 0.998188 with order 1 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.37, Z:-0.15 [[ 9.99807115e-01 1.93963559e-02 3.08441886e-03 1.79520695e+01] [-1.93961892e-02 9.99811873e-01 -8.39514872e-05 -3.65928562e-01] [-3.08546695e-03 2.41093224e-05 9.99995240e-01 -1.52135646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters Centerline goodness : 0.997625 with order 1 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.37, Z:-0.15 [[ 9.99763624e-01 2.15216760e-02 3.08440261e-03 1.80149005e+01] [-2.15215176e-02 9.99768382e-01 -8.45441059e-05 -3.66929435e-01] [-3.08550774e-03 1.81430964e-05 9.99995240e-01 -1.52176378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters Centerline goodness : 0.997473 with order 1 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.37, Z:-0.15 [[ 9.99720838e-01 2.34250283e-02 3.08438631e-03 1.80766690e+01] [-2.34248772e-02 9.99725596e-01 -8.51348518e-05 -3.68291500e-01] [-3.08553423e-03 1.28597150e-05 9.99995240e-01 -1.51377483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters Centerline goodness : 0.997870 with order 1 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.37, Z:-0.15 [[ 9.99725668e-01 2.32180119e-02 3.08437103e-03 1.81397460e+01] [-2.32178580e-02 9.99730426e-01 -8.56846240e-05 -3.68135583e-01] [-3.08552899e-03 1.40486292e-05 9.99995240e-01 -1.53500971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.37, Z:-0.15 [[ 9.99761077e-01 2.16396922e-02 3.08435443e-03 1.82014025e+01] [-2.16395290e-02 9.99765834e-01 -8.62783228e-05 -3.72523932e-01] [-3.08549921e-03 1.95137317e-05 9.99995240e-01 -1.52755691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters Centerline goodness : 0.997423 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.38, Z:-0.15 [[ 9.99789055e-01 2.03059846e-02 3.08433892e-03 1.82640323e+01] [-2.03058134e-02 9.99793812e-01 -8.68290893e-05 -3.75688029e-01] [-3.08546612e-03 2.41807625e-05 9.99995240e-01 -1.51227443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.38, Z:-0.15 [[ 9.99725951e-01 2.32058133e-02 3.08432226e-03 1.83258616e+01] [-2.32056540e-02 9.99730709e-01 -8.74169377e-05 -3.81627856e-01] [-3.08552026e-03 1.58192660e-05 9.99995240e-01 -1.52169614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters Centerline goodness : 0.992157 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.39, Z:-0.14 [[ 9.99633552e-01 2.68932845e-02 3.08431191e-03 1.83883083e+01] [-2.68931416e-02 9.99638310e-01 -8.77807388e-05 -3.88083987e-01] [-3.08555706e-03 4.80173473e-06 9.99995240e-01 -1.39227241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters Centerline goodness : 0.997376 with order 1 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.39, Z:-0.15 [[ 9.99518062e-01 3.08889980e-02 3.08429503e-03 1.84509726e+01] [-3.08888724e-02 9.99522821e-01 -8.83698509e-05 -3.91915646e-01] [-3.08555292e-03 -6.94313346e-06 9.99995240e-01 -1.50390921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.39, Z:-0.15 [[ 9.99324667e-01 3.66155181e-02 3.08427814e-03 1.85138733e+01] [-3.66154179e-02 9.99329427e-01 -8.89554613e-05 -3.92232121e-01] [-3.08546705e-03 -2.40367462e-05 9.99995240e-01 -1.53311751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.39, Z:-0.15 [[ 9.99150768e-01 4.10880742e-02 3.08426129e-03 1.85767127e+01] [-4.10879935e-02 9.99155528e-01 -8.95359027e-05 -3.93643487e-01] [-3.08533557e-03 -3.72662419e-05 9.99995240e-01 -1.52288088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters Centerline goodness : 0.997538 with order 1 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.39, Z:-0.15 [[ 9.99113675e-01 4.19803759e-02 3.08424461e-03 1.86394741e+01] [-4.19802977e-02 9.99118435e-01 -9.01067820e-05 -3.93059624e-01] [-3.08530836e-03 -3.94505888e-05 9.99995240e-01 -1.52366336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.39, Z:-0.15 [[ 9.99017367e-01 4.42129863e-02 3.08422786e-03 1.87027029e+01] [-4.42129171e-02 9.99022127e-01 -9.06764666e-05 -3.89223560e-01] [-3.08522095e-03 -4.57753458e-05 9.99995240e-01 -1.52751262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters Centerline goodness : 0.997793 with order 1 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.38, Z:-0.15 [[ 9.98761321e-01 4.96619652e-02 3.08421078e-03 1.87649299e+01] [-4.96619201e-02 9.98766081e-01 -9.12538804e-05 -3.82426935e-01] [-3.08493696e-03 -6.20269831e-05 9.99995240e-01 -1.54846306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.38, Z:-0.15 [[ 9.98519922e-01 5.42996578e-02 3.08419489e-03 1.88274505e+01] [-5.42996332e-02 9.98524682e-01 -9.17877130e-05 -3.76119177e-01] [-3.08462876e-03 -7.58187911e-05 9.99995240e-01 -1.54260240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.37, Z:-0.15 [[ 9.98405362e-01 5.63668425e-02 3.08418008e-03 1.88891350e+01] [-5.63668261e-02 9.98410122e-01 -9.22826323e-05 -3.70998218e-01] [-3.08447829e-03 -8.17099675e-05 9.99995240e-01 -1.53897683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters Centerline goodness : 0.997884 with order 1 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.36, Z:-0.15 [[ 9.98163615e-01 6.04969909e-02 3.08416649e-03 1.89501913e+01] [-6.04969928e-02 9.98168375e-01 -9.27344998e-05 -3.59811048e-01] [-3.08412762e-03 -9.40185948e-05 9.99995240e-01 -1.50686455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.35, Z:-0.15 [[ 9.97797195e-01 6.62664715e-02 3.08415297e-03 1.90109718e+01] [-6.62664996e-02 9.97801955e-01 -9.31820666e-05 -3.45512806e-01] [-3.08354871e-03 -1.11399217e-04 9.99995240e-01 -1.50858404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.33, Z:-0.15 [[ 9.97742306e-01 6.70878427e-02 3.08415297e-03 1.90722422e+01] [-6.70878748e-02 9.97747066e-01 -9.31820666e-05 -3.31590240e-01] [-3.08345596e-03 -1.13937578e-04 9.99995240e-01 -1.49053540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters Centerline goodness : 0.998202 with order 1 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.32, Z:-0.15 [[ 9.97910121e-01 6.45436180e-02 3.08415297e-03 1.91334724e+01] [-6.45436379e-02 9.97914881e-01 -9.31820666e-05 -3.22297341e-01] [-3.08373645e-03 -1.06075125e-04 9.99995240e-01 -1.47086172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.31, Z:-0.15 [[ 9.98293502e-01 5.83144144e-02 3.08415297e-03 1.91936117e+01] [-5.83144046e-02 9.98298263e-01 -9.31820666e-05 -3.14083772e-01] [-3.08433841e-03 -8.68274927e-05 9.99995240e-01 -1.54341599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.31, Z:-0.16 [[ 9.98709206e-01 5.06992120e-02 3.08415406e-03 1.92536271e+01] [-5.06991660e-02 9.98713966e-01 -9.31459069e-05 -3.07051485e-01] [-3.08491016e-03 -6.33383642e-05 9.99995240e-01 -1.58430661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters Centerline goodness : 0.998298 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.30, Z:-0.15 [[ 9.98906468e-01 4.66514371e-02 3.08415514e-03 1.93141734e+01] [-4.66513719e-02 9.98911228e-01 -9.31103620e-05 -3.04656208e-01] [-3.08514093e-03 -5.08715255e-05 9.99995240e-01 -1.54282953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.30, Z:-0.16 [[ 9.98998895e-01 4.46284284e-02 3.08415514e-03 1.93750112e+01] [-4.46283536e-02 9.99003654e-01 -9.31103620e-05 -3.01928787e-01] [-3.08523762e-03 -4.46236173e-05 9.99995240e-01 -1.57900684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters Centerline goodness : 0.998498 with order 1 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.30, Z:-0.16 [[ 9.99150642e-01 4.10911388e-02 3.08415514e-03 1.94351441e+01] [-4.10910471e-02 9.99155402e-01 -9.31103620e-05 -2.99949191e-01] [-3.08537628e-03 -3.36998860e-05 9.99995240e-01 -1.59763451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.30, Z:-0.16 [[ 9.99401615e-01 3.44514174e-02 3.08415514e-03 1.94957670e+01] [-3.44512941e-02 9.99406374e-01 -9.31103620e-05 -3.00993511e-01] [-3.08553209e-03 -1.31984895e-05 9.99995240e-01 -1.60536852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.30, Z:-0.16 [[ 9.99501935e-01 3.14065272e-02 3.08415008e-03 1.95573417e+01] [-3.14063889e-02 9.99506693e-01 -9.32775696e-05 -2.98784707e-01] [-3.08555817e-03 -3.63090545e-06 9.99995240e-01 -1.59051053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.30, Z:-0.16 [[ 9.99485203e-01 3.19345649e-02 3.08414790e-03 1.96166353e+01] [-3.19344288e-02 9.99489962e-01 -9.33496096e-05 -2.95016436e-01] [-3.08555595e-03 -5.18894805e-06 9.99995240e-01 -1.55704995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.29, Z:-0.16 [[ 9.99458628e-01 3.27557560e-02 3.08414898e-03 1.96775927e+01] [-3.27556240e-02 9.99463386e-01 -9.33140335e-05 -2.93538271e-01] [-3.08555055e-03 -7.75970838e-06 9.99995240e-01 -1.58296225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.29, Z:-0.16 [[ 9.99522591e-01 3.07421130e-02 3.08414898e-03 1.97383847e+01] [-3.07419714e-02 9.99527350e-01 -9.33140335e-05 -2.88012235e-01] [-3.08555992e-03 -1.54333524e-06 9.99995240e-01 -1.56048535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.29, Z:-0.16 [[ 9.99674194e-01 2.53376021e-02 3.08414404e-03 1.97982850e+01] [-2.53374343e-02 9.99678951e-01 -9.34769040e-05 -2.90284705e-01] [-3.08552236e-03 1.53021518e-05 9.99995240e-01 -1.57302531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.29, Z:-0.16 [[ 9.99827731e-01 1.83029210e-02 3.08414300e-03 1.98587298e+01] [-1.83027196e-02 9.99832487e-01 -9.35113620e-05 -2.90594076e-01] [-3.08533789e-03 3.70470485e-05 9.99995240e-01 -1.56567544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.30, Z:-0.16 [[ 9.99838593e-01 1.76996322e-02 3.08414197e-03 1.99204223e+01] [-1.76994278e-02 9.99843348e-01 -9.35451672e-05 -2.95261073e-01] [-3.08531455e-03 3.89425202e-05 9.99995240e-01 -1.56288353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters Centerline goodness : 0.991502 with order 1 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.30, Z:-0.14 [[ 9.99820037e-01 1.87185059e-02 3.08413995e-03 1.99822243e+01] [-1.87183062e-02 9.99824793e-01 -9.36117589e-05 -2.96908846e-01] [-3.08535186e-03 3.58650364e-05 9.99995240e-01 -1.41869882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.30, Z:-0.15 [[ 9.99884896e-01 1.48554198e-02 3.08413788e-03 2.00429030e+01] [-1.48552015e-02 9.99889651e-01 -9.36797526e-05 -2.99374158e-01] [-3.08518920e-03 4.78534799e-05 9.99995240e-01 -1.54246956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.31, Z:-0.16 [[ 9.99979062e-01 5.68892728e-03 3.08413686e-03 2.01039970e+01] [-5.68866529e-03 9.99983815e-01 -9.37134623e-05 -3.09265054e-01] [-3.08462007e-03 7.61668778e-05 9.99995240e-01 -1.55083965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters Centerline goodness : 0.997980 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.32, Z:-0.15 [[ 9.99993306e-01 -1.96863122e-03 3.08413466e-03 2.01661399e+01] [ 1.96892982e-03 9.99998057e-01 -9.37858945e-05 -3.23269330e-01] [-3.08394403e-03 9.98577114e-05 9.99995240e-01 -1.51173522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters Centerline goodness : 0.986600 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.33, Z:-0.14 [[ 9.99991235e-01 -2.83180249e-03 3.08411875e-03 2.02278330e+01] [ 2.83210680e-03 9.99995985e-01 -9.43060850e-05 -3.30959396e-01] [-3.08383931e-03 1.03039812e-04 9.99995240e-01 -1.36474029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.34, Z:-0.15 [[ 9.99991995e-01 2.54913923e-03 3.08411311e-03 2.02889583e+01] [-2.54885992e-03 9.99996747e-01 -9.44902106e-05 -3.38656497e-01] [-3.08434395e-03 8.66284819e-05 9.99995240e-01 -1.53576443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.35, Z:-0.15 [[ 9.99969651e-01 7.15439065e-03 3.08410980e-03 2.03506702e+01] [-7.15413289e-03 9.99974404e-01 -9.45981263e-05 -3.47974874e-01] [-3.08470765e-03 7.25311240e-05 9.99995240e-01 -1.52949617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.36, Z:-0.16 [[ 9.99964451e-01 7.84759449e-03 3.08410542e-03 2.04128044e+01] [-7.84733959e-03 9.99969205e-01 -9.47405230e-05 -3.55852021e-01] [-3.08475393e-03 7.05351325e-05 9.99995240e-01 -1.61403092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters Centerline goodness : 0.998593 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.36, Z:-0.16 [[ 9.99953496e-01 9.13746734e-03 3.08408986e-03 2.04741791e+01] [-9.13721702e-03 9.99958250e-01 -9.52444737e-05 -3.59862549e-01] [-3.08483139e-03 6.70600461e-05 9.99995240e-01 -1.57580056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.36, Z:-0.16 [[ 9.99902524e-01 1.36173058e-02 3.08407543e-03 2.05366021e+01] [-1.36170754e-02 9.99907279e-01 -9.57094147e-05 -3.62099518e-01] [-3.08509278e-03 5.37039978e-05 9.99995240e-01 -1.55554025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.36, Z:-0.16 [[ 9.99709658e-01 2.38974372e-02 3.08405973e-03 2.05977141e+01] [-2.38972541e-02 9.99714415e-01 -9.62126140e-05 -3.63626628e-01] [-3.08547821e-03 2.24841203e-05 9.99995240e-01 -1.56877788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.36, Z:-0.16 [[ 9.99577194e-01 2.89123051e-02 3.08405639e-03 2.06591485e+01] [-2.89121455e-02 9.99581952e-01 -9.63197932e-05 -3.61934488e-01] [-3.08555193e-03 7.11238154e-06 9.99995240e-01 -1.57067736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.36, Z:-0.16 [[ 9.99483367e-01 3.19920093e-02 3.08405416e-03 2.07208713e+01] [-3.19918642e-02 9.99488125e-01 -9.63909422e-05 -3.58584956e-01] [-3.08555925e-03 -2.32349842e-06 9.99995240e-01 -1.55743916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters Centerline goodness : 0.998279 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.36, Z:-0.15 [[ 9.99595970e-01 2.82557199e-02 3.08405194e-03 2.07822646e+01] [-2.82555568e-02 9.99600727e-01 -9.64620958e-05 -3.55728977e-01] [-3.08554617e-03 9.28151760e-06 9.99995240e-01 -1.54105231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.35, Z:-0.15 [[ 9.99687914e-01 2.47903828e-02 3.08404969e-03 2.08438105e+01] [-2.47902030e-02 9.99692671e-01 -9.65337546e-05 -3.54911210e-01] [-3.08549499e-03 2.00494099e-05 9.99995240e-01 -1.53771894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters Centerline goodness : 0.997989 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.35, Z:-0.15 [[ 9.99766600e-01 2.13830380e-02 3.08404745e-03 2.09043134e+01] [-2.13828418e-02 9.99771356e-01 -9.66054329e-05 -3.54151470e-01] [-3.08540802e-03 3.06371867e-05 9.99995240e-01 -1.52871247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters Centerline goodness : 0.998241 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.35, Z:-0.15 [[ 9.99779654e-01 2.07637411e-02 3.08404634e-03 2.09658367e+01] [-2.07635417e-02 9.99784410e-01 -9.66408382e-05 -3.52849641e-01] [-3.08538807e-03 3.25838188e-05 9.99995240e-01 -1.53414714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.35, Z:-0.15 [[ 9.99761966e-01 2.15986026e-02 3.08404402e-03 2.10269991e+01] [-2.15984070e-02 9.99766723e-01 -9.67146750e-05 -3.49484799e-01] [-3.08541349e-03 3.00812155e-05 9.99995240e-01 -1.54413210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.35, Z:-0.16 [[ 9.99767068e-01 2.13611361e-02 3.08404171e-03 2.10873539e+01] [-2.13609392e-02 9.99771824e-01 -9.67884492e-05 -3.51012697e-01] [-3.08540552e-03 3.08878767e-05 9.99995240e-01 -1.55223932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.35, Z:-0.15 [[ 9.99767083e-01 2.13604532e-02 3.08404056e-03 2.11487311e+01] [-2.13602561e-02 9.99771839e-01 -9.68249732e-05 -3.52117534e-01] [-3.08540513e-03 3.09265247e-05 9.99995240e-01 -1.53669964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters Centerline goodness : 0.997523 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.35, Z:-0.16 [[ 9.99787005e-01 2.04067079e-02 3.08403831e-03 2.12100554e+01] [-2.04065061e-02 9.99791761e-01 -9.68967150e-05 -3.54140277e-01] [-3.08537343e-03 3.39416299e-05 9.99995240e-01 -1.57478616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters Centerline goodness : 0.997608 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.36, Z:-0.15 [[ 9.99782104e-01 2.06454206e-02 3.08403604e-03 2.12699533e+01] [-2.06452197e-02 9.99786860e-01 -9.69688366e-05 -3.57992271e-01] [-3.08538067e-03 3.32771058e-05 9.99995240e-01 -1.54888174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.36, Z:-0.15 [[ 9.99719345e-01 2.34887344e-02 3.08403491e-03 2.13302827e+01] [-2.34885469e-02 9.99724101e-01 -9.70046478e-05 -3.59524225e-01] [-3.08546255e-03 2.45379243e-05 9.99995240e-01 -1.54203274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.36, Z:-0.15 [[ 9.99632718e-01 2.69242820e-02 3.08403381e-03 2.13906081e+01] [-2.69241107e-02 9.99637476e-01 -9.70398676e-05 -3.60486900e-01] [-3.08552850e-03 1.39693590e-05 9.99995240e-01 -1.48637806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters Centerline goodness : 0.997497 with order 1 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.36, Z:-0.15 [[ 9.99450273e-01 3.30096972e-02 3.08403272e-03 2.14509466e+01] [-3.30095548e-02 9.99455031e-01 -9.70744240e-05 -3.58855206e-01] [-3.08555641e-03 -4.78148754e-06 9.99995240e-01 -1.50015789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters Centerline goodness : 0.996705 with order 1 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.36, Z:-0.15 [[ 9.99278289e-01 3.78601371e-02 3.08403272e-03 2.15115193e+01] [-3.78600178e-02 9.99283048e-01 -9.70744240e-05 -3.58774575e-01] [-3.08549687e-03 -1.97571692e-05 9.99995240e-01 -1.48787624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters Centerline goodness : 0.996354 with order 1 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.36, Z:-0.15 [[ 9.99181524e-01 4.03332574e-02 3.08403272e-03 2.15710228e+01] [-4.03331499e-02 9.99186283e-01 -9.70744240e-05 -3.57653794e-01] [-3.08543852e-03 -2.73937830e-05 9.99995240e-01 -1.47863822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.36, Z:-0.15 [[ 9.99324612e-01 3.66170499e-02 3.08403379e-03 2.16316295e+01] [-3.66169248e-02 9.99329371e-01 -9.70402641e-05 -3.61711198e-01] [-3.08551888e-03 -1.59531091e-05 9.99995240e-01 -1.51628498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters Centerline goodness : 0.997041 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.36, Z:-0.16 [[ 9.99367006e-01 3.54411670e-02 3.08403379e-03 2.16917882e+01] [-3.54410363e-02 9.99371764e-01 -9.70402641e-05 -3.63548097e-01] [-3.08553551e-03 -1.23225153e-05 9.99995240e-01 -1.55106346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters Centerline goodness : 0.996974 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.37, Z:-0.15 [[ 9.99259190e-01 3.83609084e-02 3.08403275e-03 2.17518535e+01] [-3.83607915e-02 9.99263949e-01 -9.70734462e-05 -3.66706516e-01] [-3.08548657e-03 -2.13044041e-05 9.99995240e-01 -1.54634286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters Centerline goodness : 0.996651 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.37, Z:-0.15 [[ 9.99160248e-01 4.08569140e-02 3.08403275e-03 2.18128126e+01] [-4.08568090e-02 9.99165007e-01 -9.70734462e-05 -3.67786539e-01] [-3.08542373e-03 -2.90118082e-05 9.99995240e-01 -1.54265674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.37, Z:-0.15 [[ 9.99048378e-01 4.35066309e-02 3.08403275e-03 2.18728858e+01] [-4.35065385e-02 9.99053138e-01 -9.70734462e-05 -3.69634891e-01] [-3.08533593e-03 -3.71945205e-05 9.99995240e-01 -1.49999266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters Centerline goodness : 0.996747 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.37, Z:-0.16 [[ 9.98909635e-01 4.65835844e-02 3.08403499e-03 2.19312076e+01] [-4.65835069e-02 9.98914394e-01 -9.70021120e-05 -3.66401357e-01] [-3.08520565e-03 -4.67688212e-05 9.99995240e-01 -1.59871187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters Centerline goodness : 0.996639 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.36, Z:-0.16 [[ 9.98785682e-01 4.91696058e-02 3.08403833e-03 2.19914169e+01] [-4.91695410e-02 9.98790442e-01 -9.68957982e-05 -3.64979475e-01] [-3.08507234e-03 -5.48626133e-05 9.99995240e-01 -1.57561573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters Centerline goodness : 0.996095 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.36, Z:-0.16 [[ 9.98688429e-01 5.11068568e-02 3.08404064e-03 2.20499551e+01] [-5.11068014e-02 9.98693189e-01 -9.68222958e-05 -3.57372758e-01] [-3.08495866e-03 -6.09201461e-05 9.99995240e-01 -1.57967565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters Centerline goodness : 0.995583 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.35, Z:-0.16 [[ 9.98815308e-01 4.85640760e-02 3.08404406e-03 2.21092986e+01] [-4.85640088e-02 9.98820068e-01 -9.67133934e-05 -3.53279125e-01] [-3.08510189e-03 -5.31747248e-05 9.99995240e-01 -1.55776694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.35, Z:-0.15 [[ 9.98880476e-01 4.72047018e-02 3.08404849e-03 2.21680333e+01] [-4.72046285e-02 9.98885236e-01 -9.65717694e-05 -3.47351872e-01] [-3.08516914e-03 -4.91177084e-05 9.99995240e-01 -1.53874137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.35, Z:-0.16 [[ 9.99015463e-01 4.42559997e-02 3.08405299e-03 2.22266588e+01] [-4.42559129e-02 9.99020222e-01 -9.64279526e-05 -3.46169499e-01] [-3.08529882e-03 -4.01545647e-05 9.99995240e-01 -1.61497642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters Centerline goodness : 0.995990 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.35, Z:-0.16 [[ 9.99183690e-01 4.02795447e-02 3.08405745e-03 2.22863347e+01] [-4.02794394e-02 9.99188449e-01 -9.62849000e-05 -3.46303305e-01] [-3.08543290e-03 -2.80178035e-05 9.99995240e-01 -1.60551187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters Centerline goodness : 0.995772 with order 1 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.35, Z:-0.16 [[ 9.99246965e-01 3.86780546e-02 3.08405972e-03 2.23445162e+01] [-3.86779419e-02 9.99251724e-01 -9.62121260e-05 -3.47294683e-01] [-3.08547329e-03 -2.31454078e-05 9.99995240e-01 -1.58073506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters Centerline goodness : 0.995317 with order 1 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.35, Z:-0.16 [[ 9.99316588e-01 3.68353933e-02 3.08406307e-03 2.24040709e+01] [-3.68352721e-02 9.99321346e-01 -9.61046134e-05 -3.46259335e-01] [-3.08551011e-03 -1.75633682e-05 9.99995240e-01 -1.58653548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters Centerline goodness : 0.996161 with order 1 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.35, Z:-0.16 [[ 9.99404213e-01 3.43759619e-02 3.08406528e-03 2.24634963e+01] [-3.43758292e-02 9.99408972e-01 -9.60336116e-05 -3.46962067e-01] [-3.08554376e-03 -1.00409054e-05 9.99995240e-01 -1.62945665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters Centerline goodness : 0.996469 with order 1 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.35, Z:-0.17 [[ 9.99495264e-01 3.16181241e-02 3.08406751e-03 2.25228792e+01] [-3.16179785e-02 9.99500022e-01 -9.59622135e-05 -3.46104465e-01] [-3.08555969e-03 -1.59820229e-06 9.99995240e-01 -1.66237893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters Centerline goodness : 0.996034 with order 1 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.35, Z:-0.16 [[ 9.99610637e-01 2.77319696e-02 3.08406860e-03 2.25828763e+01] [-2.77318056e-02 9.99615395e-01 -9.59268873e-05 -3.46961042e-01] [-3.08554270e-03 1.03627460e-05 9.99995240e-01 -1.62483459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters Centerline goodness : 0.996149 with order 1 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.35, Z:-0.17 [[ 9.99713118e-01 2.37522604e-02 3.08407076e-03 2.26430707e+01] [-2.37520777e-02 9.99717875e-01 -9.58576738e-05 -3.49746151e-01] [-3.08547750e-03 2.25770858e-05 9.99995240e-01 -1.66505566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters Centerline goodness : 0.995999 with order 1 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.35, Z:-0.16 [[ 9.99754984e-01 2.19194240e-02 3.08407076e-03 2.27029755e+01] [-2.19192326e-02 9.99759740e-01 -9.58576738e-05 -3.54886358e-01] [-3.08543092e-03 2.82337228e-05 9.99995240e-01 -1.60530535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters Centerline goodness : 0.994499 with order 1 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.36, Z:-0.15 [[ 9.99795038e-01 2.00092473e-02 3.08407076e-03 2.27629960e+01] [-2.00090468e-02 9.99799794e-01 -9.58576738e-05 -3.59139990e-01] [-3.08537135e-03 3.41287105e-05 9.99995240e-01 -1.54371866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters Centerline goodness : 0.996194 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.37, Z:-0.16 [[ 9.99883193e-01 1.49696206e-02 3.08407076e-03 2.28229441e+01] [-1.49693962e-02 9.99887948e-01 -9.58576738e-05 -3.68032180e-01] [-3.08516013e-03 4.96798000e-05 9.99995240e-01 -1.58837471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters Centerline goodness : 0.995648 with order 1 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.38, Z:-0.16 [[ 9.99924053e-01 1.19321566e-02 3.08407076e-03 2.28837878e+01] [-1.19319177e-02 9.99928808e-01 -9.58576738e-05 -3.76954777e-01] [-3.08499498e-03 5.90515154e-05 9.99995240e-01 -1.56784069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters Centerline goodness : 0.996537 with order 1 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.38, Z:-0.16 [[ 9.99914192e-01 1.27317394e-02 3.08406851e-03 2.29452283e+01] [-1.27315040e-02 9.99918947e-01 -9.59297962e-05 -3.82579784e-01] [-3.08503989e-03 5.66567340e-05 9.99995240e-01 -1.59136191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters Centerline goodness : 0.997193 with order 1 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.39, Z:-0.17 [[ 9.99878789e-01 1.52609374e-02 3.08405400e-03 2.30064191e+01] [-1.52607127e-02 9.99883544e-01 -9.63939752e-05 -3.91044821e-01] [-3.08516591e-03 4.93174292e-05 9.99995240e-01 -1.66677787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.40, Z:-0.17 [[ 9.99845090e-01 1.73286972e-02 3.08405177e-03 2.30661532e+01] [-1.73284821e-02 9.99849846e-01 -9.64654438e-05 -3.98004984e-01] [-3.08526031e-03 4.30085644e-05 9.99995240e-01 -1.67593112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters Centerline goodness : 0.996661 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.41, Z:-0.17 [[ 9.99842554e-01 1.74744057e-02 3.08405066e-03 2.31276074e+01] [-1.74741911e-02 9.99847310e-01 -9.65010364e-05 -4.05570532e-01] [-3.08526605e-03 4.25945521e-05 9.99995240e-01 -1.65551335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters Centerline goodness : 0.996720 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.42, Z:-0.16 [[ 9.99838002e-01 1.77329554e-02 3.08404840e-03 2.31885281e+01] [-1.77327419e-02 9.99842758e-01 -9.65729062e-05 -4.15414612e-01] [-3.08527599e-03 4.18686273e-05 9.99995240e-01 -1.63116900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters Centerline goodness : 0.996703 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.42, Z:-0.17 [[ 9.99783679e-01 2.05689934e-02 3.08403384e-03 2.32492578e+01] [-2.05687919e-02 9.99788435e-01 -9.70359170e-05 -4.22920259e-01] [-3.08537730e-03 3.35800759e-05 9.99995240e-01 -1.66025211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters Centerline goodness : 0.991551 with order 1 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.43, Z:-0.16 [[ 9.99700592e-01 2.42737442e-02 3.08403154e-03 2.33088911e+01] [-2.42735601e-02 9.99705349e-01 -9.71089976e-05 -4.32027860e-01] [-3.08548002e-03 2.22194977e-05 9.99995240e-01 -1.57950926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters Centerline goodness : 0.996705 with order 1 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.44, Z:-0.16 [[ 9.99699042e-01 2.43375214e-02 3.08402560e-03 2.33703189e+01] [-2.43373370e-02 9.99703798e-01 -9.72970760e-05 -4.41089318e-01] [-3.08548008e-03 2.22108232e-05 9.99995240e-01 -1.62487923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.45, Z:-0.16 [[ 9.99707073e-01 2.40053644e-02 3.08402329e-03 2.34316116e+01] [-2.40051782e-02 9.99711829e-01 -9.73703554e-05 -4.48212634e-01] [-3.08547197e-03 2.33093044e-05 9.99995240e-01 -1.64912468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters Centerline goodness : 0.996643 with order 1 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.46, Z:-0.16 [[ 9.99720750e-01 2.34288504e-02 3.08400835e-03 2.34924142e+01] [-2.34286600e-02 9.99725506e-01 -9.78413219e-05 -4.56147481e-01] [-3.08545412e-03 2.55598167e-05 9.99995240e-01 -1.62353382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters Centerline goodness : 0.997033 with order 1 Centerline is valid? [True, True] Translation: X:23.55, Y:-0.46, Z:-0.16 [[ 9.99757567e-01 2.18012759e-02 3.08400601e-03 2.35533389e+01] [-2.18010776e-02 9.99762323e-01 -9.79148887e-05 -4.62209572e-01] [-3.08540768e-03 3.06564965e-05 9.99995240e-01 -1.64121875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters Centerline goodness : 0.997041 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.47, Z:-0.16 [[ 9.99788399e-01 2.03383046e-02 3.08399694e-03 2.36149367e+01] [-2.03380984e-02 9.99793155e-01 -9.81996858e-05 -4.70605225e-01] [-3.08535625e-03 3.54562733e-05 9.99995240e-01 -1.60075669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters Centerline goodness : 0.996890 with order 1 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.48, Z:-0.16 [[ 9.99699433e-01 2.43214275e-02 3.08398073e-03 2.36773103e+01] [-2.43212387e-02 9.99704190e-01 -9.87061033e-05 -4.75361309e-01] [-3.08546914e-03 2.36702039e-05 9.99995240e-01 -1.63988154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters Centerline goodness : 0.997526 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.48, Z:-0.17 [[ 9.99471999e-01 3.23452143e-02 3.08396458e-03 2.37388428e+01] [-3.23450622e-02 9.99476757e-01 -9.92082425e-05 -4.76090697e-01] [-3.08555983e-03 -5.95165798e-07 9.99995240e-01 -1.67137855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.48, Z:-0.17 [[ 9.99431288e-01 3.35796147e-02 3.08394964e-03 2.38003679e+01] [-3.35794670e-02 9.99436046e-01 -9.96704251e-05 -4.75483986e-01] [-3.08555733e-03 -3.94364397e-06 9.99995240e-01 -1.68577472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters Centerline goodness : 0.997156 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.48, Z:-0.17 [[ 9.99694761e-01 2.45127506e-02 3.08394735e-03 2.38614387e+01] [-2.45125595e-02 9.99699517e-01 -9.97412403e-05 -4.78417155e-01] [-3.08546561e-03 2.41153524e-05 9.99995240e-01 -1.68452736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters Centerline goodness : 0.984665 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.49, Z:-0.15 [[ 9.99897787e-01 1.39608605e-02 3.08393261e-03 2.39238259e+01] [-1.39606178e-02 9.99902541e-01 -1.00195027e-04 -4.85765882e-01] [-3.08503086e-03 5.71311814e-05 9.99995240e-01 -1.51082921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.49, Z:-0.17 [[ 9.99939293e-01 1.05782764e-02 3.08391582e-03 2.39857520e+01] [-1.05780161e-02 9.99944046e-01 -1.00709033e-04 -4.90430556e-01] [-3.08480860e-03 6.80812080e-05 9.99995240e-01 -1.65610934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters Centerline goodness : 0.996774 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.50, Z:-0.17 [[ 9.99957752e-01 8.65930291e-03 3.08390396e-03 2.40473528e+01] [-8.65903236e-03 9.99962505e-01 -1.01071154e-04 -4.97730402e-01] [-3.08466353e-03 7.43632601e-05 9.99995240e-01 -1.66498747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters Centerline goodness : 0.996960 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.51, Z:-0.17 [[ 9.99947260e-01 9.79622059e-03 3.08388745e-03 2.41097330e+01] [-9.79595390e-03 9.99952013e-01 -1.01572243e-04 -5.07212370e-01] [-3.08473449e-03 7.13572665e-05 9.99995240e-01 -1.67102499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters Centerline goodness : 0.990126 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.52, Z:-0.15 [[ 9.99922778e-01 1.20385621e-02 3.08387102e-03 2.41716924e+01] [-1.20383045e-02 9.99927532e-01 -1.02068633e-04 -5.19467987e-01] [-3.08487630e-03 6.49361724e-05 9.99995240e-01 -1.53290728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters Centerline goodness : 0.996494 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.53, Z:-0.16 [[ 9.99880232e-01 1.51661340e-02 3.08385456e-03 2.42337609e+01] [-1.51658898e-02 9.99884986e-01 -1.02563572e-04 -5.31058783e-01] [-3.08505537e-03 5.57818894e-05 9.99995240e-01 -1.63822761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters Centerline goodness : 0.986309 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.54, Z:-0.15 [[ 9.99790713e-01 2.02242440e-02 3.08383799e-03 2.42951787e+01] [-2.02240223e-02 9.99795468e-01 -1.03059449e-04 -5.42576728e-01] [-3.08529155e-03 4.06702715e-05 9.99995240e-01 -1.49907786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.55, Z:-0.16 [[ 9.99543541e-01 3.00532970e-02 3.08382140e-03 2.43571458e+01] [-3.00531205e-02 9.99548298e-01 -1.03553589e-04 -5.45647704e-01] [-3.08554055e-03 1.08278643e-05 9.99995240e-01 -1.64083525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.55, Z:-0.16 [[ 9.99459547e-01 3.27277288e-02 3.08380458e-03 2.44200672e+01] [-3.27275635e-02 9.99464304e-01 -1.04051939e-04 -5.47968986e-01] [-3.08555799e-03 3.07029321e-06 9.99995240e-01 -1.62861610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters Centerline goodness : 0.994892 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.54, Z:-0.16 [[ 9.99161732e-01 4.08206223e-02 3.08378513e-03 2.44827047e+01] [-4.08204938e-02 9.99166491e-01 -1.04625173e-04 -5.44922421e-01] [-3.08548564e-03 -2.13441624e-05 9.99995240e-01 -1.60200819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters Centerline goodness : 0.994916 with order 1 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.54, Z:-0.16 [[ 9.98986996e-01 4.48940026e-02 3.08376748e-03 2.45436905e+01] [-4.48938919e-02 9.98991755e-01 -1.05142922e-04 -5.41618791e-01] [-3.08537858e-03 -3.34059122e-05 9.99995240e-01 -1.63738669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters Centerline goodness : 0.995391 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.53, Z:-0.17 [[ 9.99045601e-01 4.35703656e-02 3.08375749e-03 2.46064668e+01] [-4.35702477e-02 9.99050360e-01 -1.05435041e-04 -5.34959149e-01] [-3.08542288e-03 -2.90256639e-05 9.99995240e-01 -1.67938062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters Centerline goodness : 0.996794 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.53, Z:-0.17 [[ 9.99141231e-01 4.13193824e-02 3.08374048e-03 2.46686068e+01] [-4.13192522e-02 9.99145989e-01 -1.05930324e-04 -5.34402965e-01] [-3.08548391e-03 -2.15784969e-05 9.99995240e-01 -1.73472323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters Centerline goodness : 0.995827 with order 1 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.53, Z:-0.17 [[ 9.99457101e-01 3.28023323e-02 3.08372325e-03 2.47312810e+01] [-3.28021601e-02 9.99461859e-01 -1.06429614e-04 -5.33834765e-01] [-3.08555491e-03 5.21905022e-06 9.99995240e-01 -1.69328967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters Centerline goodness : 0.995991 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.53, Z:-0.17 [[ 9.99653458e-01 2.61429575e-02 3.08370291e-03 2.47930783e+01] [-2.61427518e-02 9.99658214e-01 -1.07015647e-04 -5.32187418e-01] [-3.08544665e-03 2.63620816e-05 9.99995240e-01 -1.67219893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters Centerline goodness : 0.995640 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.53, Z:-0.17 [[ 9.99687083e-01 2.48239245e-02 3.08368486e-03 2.48544068e+01] [-2.48237109e-02 9.99691838e-01 -1.07533303e-04 -5.33295768e-01] [-3.08540398e-03 3.09511524e-05 9.99995240e-01 -1.68900771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters Centerline goodness : 0.996207 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.54, Z:-0.17 [[ 9.99724630e-01 2.32627256e-02 3.08366828e-03 2.49168242e+01] [-2.32625031e-02 9.99729386e-01 -1.08006568e-04 -5.36998984e-01] [-3.08534632e-03 3.62429836e-05 9.99995240e-01 -1.69282023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters Centerline goodness : 0.994750 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.54, Z:-0.16 [[ 9.99725264e-01 2.32354862e-02 3.08365069e-03 2.49789693e+01] [-2.32352620e-02 9.99730019e-01 -1.08506658e-04 -5.38282264e-01] [-3.08533936e-03 3.68274155e-05 9.99995240e-01 -1.60341311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters Centerline goodness : 0.994131 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.54, Z:-0.16 [[ 9.99673903e-01 2.53491252e-02 3.08363316e-03 2.50409972e+01] [-2.53489095e-02 9.99678659e-01 -1.09002358e-04 -5.40389801e-01] [-3.08540538e-03 3.08000743e-05 9.99995240e-01 -1.57586627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters Centerline goodness : 0.994879 with order 1 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.54, Z:-0.16 [[ 9.99617709e-01 2.74759512e-02 3.08361557e-03 2.51018948e+01] [-2.74757441e-02 9.99622464e-01 -1.09497692e-04 -5.43645690e-01] [-3.08545995e-03 2.47311995e-05 9.99995240e-01 -1.63078338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.55, Z:-0.17 [[ 9.99553227e-01 2.97293955e-02 3.08359935e-03 2.51634063e+01] [-2.97291978e-02 9.99557984e-01 -1.09952549e-04 -5.45392641e-01] [-3.08550518e-03 1.82304902e-05 9.99995240e-01 -1.66269165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.55, Z:-0.17 [[ 9.99523021e-01 3.07282092e-02 3.08358328e-03 2.52256692e+01] [-3.07280148e-02 9.99527777e-01 -1.10401624e-04 -5.48982981e-01] [-3.08551958e-03 1.55965725e-05 9.99995240e-01 -1.70537650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters Centerline goodness : 0.994436 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.55, Z:-0.17 [[ 9.99380344e-01 3.50630864e-02 3.08356601e-03 2.52880615e+01] [-3.50629112e-02 9.99385101e-01 -1.10881662e-04 -5.51581008e-01] [-3.08555779e-03 2.69415268e-06 9.99995240e-01 -1.67772700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.55, Z:-0.16 [[ 9.99152172e-01 4.10539762e-02 3.08354571e-03 2.53495942e+01] [-4.10538277e-02 9.99156930e-01 -1.11443470e-04 -5.52075226e-01] [-3.08552126e-03 -1.52423688e-05 9.99995240e-01 -1.64075851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.55, Z:-0.17 [[ 9.99072078e-01 4.29589913e-02 3.08352687e-03 2.54107269e+01] [-4.29588503e-02 9.99076836e-01 -1.11962326e-04 -5.51505082e-01] [-3.08549006e-03 -2.06063352e-05 9.99995240e-01 -1.69325794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters Centerline goodness : 0.994477 with order 1 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.56, Z:-0.17 [[ 9.99003803e-01 4.45184562e-02 3.08352416e-03 2.54718794e+01] [-4.45183225e-02 9.99008562e-01 -1.12036996e-04 -5.55579695e-01] [-3.08545475e-03 -2.53479374e-05 9.99995240e-01 -1.67010540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters Centerline goodness : 0.993617 with order 1 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.55, Z:-0.16 [[ 9.98975719e-01 4.51442622e-02 3.08350658e-03 2.55335198e+01] [-4.51441300e-02 9.98980478e-01 -1.12518626e-04 -5.54977245e-01] [-3.08544245e-03 -2.67988470e-05 9.99995240e-01 -1.63597587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters Centerline goodness : 0.993371 with order 1 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.56, Z:-0.16 [[ 9.98886294e-01 4.70814569e-02 3.08350384e-03 2.55933672e+01] [-4.70813336e-02 9.98891053e-01 -1.12593738e-04 -5.58159012e-01] [-3.08538547e-03 -3.27071308e-05 9.99995240e-01 -1.64471881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters Centerline goodness : 0.992831 with order 1 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.56, Z:-0.16 [[ 9.98880339e-01 4.72076267e-02 3.08350249e-03 2.56541295e+01] [-4.72075039e-02 9.98885098e-01 -1.12630827e-04 -5.58459467e-01] [-3.08538172e-03 -3.30597374e-05 9.99995240e-01 -1.64396122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters Centerline goodness : 0.993544 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.56, Z:-0.17 [[ 9.98942929e-01 4.58641020e-02 3.08348524e-03 2.57158401e+01] [-4.58639714e-02 9.98947688e-01 -1.13101095e-04 -5.59491496e-01] [-3.08542773e-03 -2.84393394e-05 9.99995240e-01 -1.65381994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:25.78, Y:-0.56, Z:-0.17 [[ 9.98963317e-01 4.54178728e-02 3.08346624e-03 2.57767656e+01] [-4.54177384e-02 9.98968076e-01 -1.13616668e-04 -5.58091730e-01] [-3.08544456e-03 -2.65451792e-05 9.99995240e-01 -1.67491255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters Centerline goodness : 0.993622 with order 1 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.56, Z:-0.17 [[ 9.98960471e-01 4.54804278e-02 3.08345580e-03 2.58379963e+01] [-4.54802928e-02 9.98965230e-01 -1.13899202e-04 -5.59167827e-01] [-3.08544532e-03 -2.64556721e-05 9.99995240e-01 -1.66722385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters Centerline goodness : 0.993698 with order 1 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.56, Z:-0.17 [[ 9.98934270e-01 4.60523196e-02 3.08345315e-03 2.58987869e+01] [-4.60521871e-02 9.98939029e-01 -1.13971014e-04 -5.59539415e-01] [-3.08543032e-03 -2.81502096e-05 9.99995240e-01 -1.70194964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters Centerline goodness : 0.994644 with order 1 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.56, Z:-0.17 [[ 9.98962138e-01 4.54437984e-02 3.08343600e-03 2.59598618e+01] [-4.54436616e-02 9.98966897e-01 -1.14433057e-04 -5.57221859e-01] [-3.08545077e-03 -2.58083313e-05 9.99995240e-01 -1.71045912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.56, Z:-0.17 [[ 9.99150181e-01 4.11024030e-02 3.08341899e-03 2.60210651e+01] [-4.11022442e-02 9.99154939e-01 -1.14889593e-04 -5.61016544e-01] [-3.08553555e-03 -1.19434829e-05 9.99995240e-01 -1.67098722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters Centerline goodness : 0.994610 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.56, Z:-0.17 [[ 9.99249838e-01 3.86037984e-02 3.08341628e-03 2.60818674e+01] [-3.86036275e-02 9.99254596e-01 -1.14962334e-04 -5.64565245e-01] [-3.08555587e-03 -4.15495939e-06 9.99995240e-01 -1.70068969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters Centerline goodness : 0.994892 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.57, Z:-0.17 [[ 9.99268392e-01 3.81205185e-02 3.08339889e-03 2.61428631e+01] [-3.81203438e-02 9.99273149e-01 -1.15426826e-04 -5.68289040e-01] [-3.08555785e-03 -2.19784746e-06 9.99995240e-01 -1.72309601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters Centerline goodness : 0.994767 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.57, Z:-0.17 [[ 9.99288005e-01 3.76028686e-02 3.08339625e-03 2.62044219e+01] [-3.76026912e-02 9.99292762e-01 -1.15497239e-04 -5.72079534e-01] [-3.08555858e-03 -5.28992067e-07 9.99995240e-01 -1.71328097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters Centerline goodness : 0.994463 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.58, Z:-0.17 [[ 9.99186470e-01 4.02105735e-02 3.08339363e-03 2.62651884e+01] [-4.02104083e-02 9.99191228e-01 -1.15567145e-04 -5.76089679e-01] [-3.08554689e-03 -8.51138942e-06 9.99995240e-01 -1.71403057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.58, Z:-0.17 [[ 9.99132993e-01 4.15181366e-02 3.08339086e-03 2.63259348e+01] [-4.15179774e-02 9.99137750e-01 -1.15641106e-04 -5.76290323e-01] [-3.08553341e-03 -1.24753076e-05 9.99995240e-01 -1.70224376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters Centerline goodness : 0.995058 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.58, Z:-0.17 [[ 9.99161915e-01 4.08161715e-02 3.08338948e-03 2.63882000e+01] [-4.08160088e-02 9.99166673e-01 -1.15677724e-04 -5.77505437e-01] [-3.08554153e-03 -1.02708759e-05 9.99995240e-01 -1.72208535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters Centerline goodness : 0.994828 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.58, Z:-0.17 [[ 9.99300435e-01 3.72710720e-02 3.08337014e-03 2.64491052e+01] [-3.72708909e-02 9.99305192e-01 -1.16191172e-04 -5.78457388e-01] [-3.08555836e-03 1.18993682e-06 9.99995240e-01 -1.73523932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters Centerline goodness : 0.994809 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.58, Z:-0.17 [[ 9.99509705e-01 3.11583537e-02 3.08335233e-03 2.65108192e+01] [-3.11581421e-02 9.99514460e-01 -1.16661908e-04 -5.79363319e-01] [-3.08549023e-03 2.05331791e-05 9.99995240e-01 -1.74184364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters Centerline goodness : 0.996533 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.58, Z:-0.18 [[ 9.99656114e-01 2.60412369e-02 3.08333334e-03 2.65723767e+01] [-2.60409994e-02 9.99660869e-01 -1.17161577e-04 -5.82792851e-01] [-3.08533872e-03 3.68282051e-05 9.99995240e-01 -1.78558039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters Centerline goodness : 0.995322 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.59, Z:-0.17 [[ 9.99677648e-01 2.52010631e-02 3.08333056e-03 2.66338791e+01] [-2.52008214e-02 9.99682402e-01 -1.17234646e-04 -5.85694691e-01] [-3.08530574e-03 3.94943921e-05 9.99995240e-01 -1.74970783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.59, Z:-0.18 [[ 9.99627838e-01 2.71049570e-02 3.08331263e-03 2.66950225e+01] [-2.71047229e-02 9.99632593e-01 -1.17704467e-04 -5.88288939e-01] [-3.08537017e-03 3.40883274e-05 9.99995240e-01 -1.76226110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters Centerline goodness : 0.996109 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.59, Z:-0.18 [[ 9.99494876e-01 3.16304543e-02 3.08330982e-03 2.67563021e+01] [-3.16302415e-02 9.99499632e-01 -1.17777950e-04 -5.88719565e-01] [-3.08549240e-03 2.01926232e-05 9.99995240e-01 -1.78008134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters Centerline goodness : 0.995103 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.59, Z:-0.17 [[ 9.99396464e-01 3.46005907e-02 3.08329157e-03 2.68174631e+01] [-3.46003906e-02 9.99401220e-01 -1.18253866e-04 -5.88468946e-01] [-3.08553701e-03 1.14994034e-05 9.99995240e-01 -1.74329003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters Centerline goodness : 0.995553 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.59, Z:-0.17 [[ 9.99483906e-01 3.19752099e-02 3.08328870e-03 2.68781998e+01] [-3.19749970e-02 9.99488662e-01 -1.18328552e-04 -5.88291925e-01] [-3.08549568e-03 1.96793363e-05 9.99995240e-01 -1.71698466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters Centerline goodness : 0.995198 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.59, Z:-0.17 [[ 9.99491446e-01 3.17386763e-02 3.08328728e-03 2.69392848e+01] [-3.17384622e-02 9.99496201e-01 -1.18365535e-04 -5.91706658e-01] [-3.08549069e-03 2.04465433e-05 9.99995240e-01 -1.71499158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.59, Z:-0.17 [[ 9.99371758e-01 3.53069737e-02 3.08328451e-03 2.70006271e+01] [-3.53067763e-02 9.99376514e-01 -1.18437511e-04 -5.93338229e-01] [-3.08554380e-03 9.50226683e-06 9.99995240e-01 -1.73476383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters Centerline goodness : 0.995726 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.59, Z:-0.18 [[ 9.99155901e-01 4.09631290e-02 3.08328167e-03 2.70612806e+01] [-4.09629583e-02 9.99160659e-01 -1.18511558e-04 -5.94977460e-01] [-3.08554835e-03 -7.88881549e-06 9.99995240e-01 -1.75561383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters Centerline goodness : 0.996274 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.60, Z:-0.18 [[ 9.99072731e-01 4.29438171e-02 3.08326600e-03 2.71219150e+01] [-4.29436546e-02 9.99077489e-01 -1.18917810e-04 -5.97028255e-01] [-3.08552844e-03 -1.35991688e-05 9.99995240e-01 -1.77012755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.60, Z:-0.17 [[ 9.99272884e-01 3.80025767e-02 3.08326462e-03 2.71841862e+01] [-3.80023906e-02 9.99277641e-01 -1.18953476e-04 -6.02560964e-01] [-3.08555794e-03 1.69555667e-06 9.99995240e-01 -1.71785383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.61, Z:-0.17 [[ 9.99406238e-01 3.43171169e-02 3.08324512e-03 2.72458058e+01] [-3.43169117e-02 9.99410994e-01 -1.19456765e-04 -6.06177103e-01] [-3.08552849e-03 1.35783860e-05 9.99995240e-01 -1.71873388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters Centerline goodness : 0.994305 with order 1 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.61, Z:-0.17 [[ 9.99436533e-01 3.34231951e-02 3.08322542e-03 2.73070142e+01] [-3.34229841e-02 9.99441289e-01 -1.19963134e-04 -6.10598401e-01] [-3.08551234e-03 1.68449448e-05 9.99995240e-01 -1.71935848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.61, Z:-0.18 [[ 9.99309415e-01 3.70295397e-02 3.08320727e-03 2.73685728e+01] [-3.70293444e-02 9.99314171e-01 -1.20427944e-04 -6.13495362e-01] [-3.08555211e-03 6.17563489e-06 9.99995240e-01 -1.75320254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters Centerline goodness : 0.995803 with order 1 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.62, Z:-0.18 [[ 9.99085910e-01 4.26361041e-02 3.08320445e-03 2.74300380e+01] [-4.26359353e-02 9.99090668e-01 -1.20499962e-04 -6.18632274e-01] [-3.08553844e-03 -1.10654909e-05 9.99995240e-01 -1.77367933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters Centerline goodness : 0.996112 with order 1 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.62, Z:-0.18 [[ 9.98768358e-01 4.95203034e-02 3.08320161e-03 2.74902788e+01] [-4.95201671e-02 9.98773117e-01 -1.20572714e-04 -6.19023514e-01] [-3.08538968e-03 -3.22564469e-05 9.99995240e-01 -1.79505485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters Centerline goodness : 0.996345 with order 1 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.62, Z:-0.18 [[ 9.98336892e-01 5.75668711e-02 3.08320161e-03 2.75507947e+01] [-5.75667732e-02 9.98341651e-01 -1.20572714e-04 -6.17817816e-01] [-3.08502958e-03 -5.71177787e-05 9.99995240e-01 -1.79183855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.62, Z:-0.18 [[ 9.98099193e-01 6.15507425e-02 3.08320161e-03 2.76105945e+01] [-6.15506636e-02 9.98103953e-01 -1.20572714e-04 -6.15391310e-01] [-3.08477705e-03 -6.94295759e-05 9.99995240e-01 -1.78786999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters Centerline goodness : 0.995876 with order 1 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.61, Z:-0.18 [[ 9.98067465e-01 6.20631006e-02 3.08320161e-03 2.76704086e+01] [-6.20630241e-02 9.98072225e-01 -1.20572714e-04 -6.09734781e-01] [-3.08474101e-03 -7.10131122e-05 9.99995240e-01 -1.77918627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters Centerline goodness : 0.995790 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.61, Z:-0.18 [[ 9.98511745e-01 5.44498671e-02 3.08320305e-03 2.77307617e+01] [-5.44497544e-02 9.98516504e-01 -1.20535860e-04 -6.09031934e-01] [-3.08519229e-03 -4.75231769e-05 9.99995240e-01 -1.79085597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters Centerline goodness : 0.996300 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-0.61, Z:-0.18 [[ 9.98955539e-01 4.55886487e-02 3.08320305e-03 2.77912300e+01] [-4.55884938e-02 9.98960297e-01 -1.20535860e-04 -6.13017872e-01] [-3.08549250e-03 -2.01486182e-05 9.99995240e-01 -1.81901844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters Centerline goodness : 0.995815 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-0.62, Z:-0.18 [[ 9.99169849e-01 4.06214989e-02 3.08320305e-03 2.78527755e+01] [-4.06213203e-02 9.99174606e-01 -1.20535860e-04 -6.19836242e-01] [-3.08555454e-03 -4.80798156e-06 9.99995240e-01 -1.79380749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters Centerline goodness : 0.995486 with order 1 Centerline is valid? [True, True] Translation: X:27.91, Y:-0.62, Z:-0.18 [[ 9.98933758e-01 4.60634370e-02 3.08320030e-03 2.79133016e+01] [-4.60632841e-02 9.98938516e-01 -1.20606141e-04 -6.24583764e-01] [-3.08548307e-03 -2.15447853e-05 9.99995240e-01 -1.76462284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters Centerline goodness : 0.994225 with order 1 Centerline is valid? [True, True] Translation: X:27.97, Y:-0.63, Z:-0.18 [[ 9.98578641e-01 5.32089364e-02 3.08319894e-03 2.79734316e+01] [-5.32088175e-02 9.98583400e-01 -1.20640865e-04 -6.29791642e-01] [-3.08525045e-03 -4.35839791e-05 9.99995240e-01 -1.75039874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters Centerline goodness : 0.995332 with order 1 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.63, Z:-0.18 [[ 9.98461418e-01 5.53650636e-02 3.08319894e-03 2.80335564e+01] [-5.53649550e-02 9.98466177e-01 -1.20640865e-04 -6.33482777e-01] [-3.08514915e-03 -5.02459219e-05 9.99995240e-01 -1.78817015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.64, Z:-0.18 [[ 9.98575244e-01 5.32726590e-02 3.08319894e-03 2.80941338e+01] [-5.32725404e-02 9.98580003e-01 -1.20640865e-04 -6.35373279e-01] [-3.08524767e-03 -4.37808593e-05 9.99995240e-01 -1.80861255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters Centerline goodness : 0.996890 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.63, Z:-0.19 [[ 9.98577413e-01 5.32319827e-02 3.08319894e-03 2.81544468e+01] [-5.32318639e-02 9.98582172e-01 -1.20640865e-04 -6.33492559e-01] [-3.08524945e-03 -4.36551838e-05 9.99995240e-01 -1.86173879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters Centerline goodness : 0.996192 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.63, Z:-0.19 [[ 9.98491692e-01 5.48163686e-02 3.08319894e-03 2.82149003e+01] [-5.48162574e-02 9.98496451e-01 -1.20640865e-04 -6.28146814e-01] [-3.08517629e-03 -4.85505256e-05 9.99995240e-01 -1.85810880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters Centerline goodness : 0.995716 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.63, Z:-0.18 [[ 9.98539900e-01 5.39310842e-02 3.08319894e-03 2.82748081e+01] [-5.39309687e-02 9.98544659e-01 -1.20640865e-04 -6.27247242e-01] [-3.08521813e-03 -4.58151887e-05 9.99995240e-01 -1.82553054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters Centerline goodness : 0.995765 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.63, Z:-0.19 [[ 9.98670089e-01 5.14640332e-02 3.08319740e-03 2.83344380e+01] [-5.14639059e-02 9.98674848e-01 -1.20680103e-04 -6.27572513e-01] [-3.08532238e-03 -3.81537717e-05 9.99995240e-01 -1.85133635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters Centerline goodness : 0.996090 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.63, Z:-0.19 [[ 9.98906313e-01 4.66548066e-02 3.08319880e-03 2.83947834e+01] [-4.66546565e-02 9.98911071e-01 -1.20644359e-04 -6.28791749e-01] [-3.08547006e-03 -2.33331695e-05 9.99995240e-01 -1.88369572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.63, Z:-0.18 [[ 9.99127197e-01 4.16573836e-02 3.08319880e-03 2.84552441e+01] [-4.16572096e-02 9.99131954e-01 -1.20644359e-04 -6.31018542e-01] [-3.08554817e-03 -7.89839899e-06 9.99995240e-01 -1.84163865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.63, Z:-0.19 [[ 9.99189078e-01 4.01457377e-02 3.08319880e-03 2.85161198e+01] [-4.01455565e-02 9.99193835e-01 -1.20644359e-04 -6.33704774e-01] [-3.08555659e-03 -3.23020634e-06 9.99995240e-01 -1.91963793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters Centerline goodness : 0.995718 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.64, Z:-0.19 [[ 9.99187154e-01 4.01936077e-02 3.08319594e-03 2.85759068e+01] [-4.01934266e-02 9.99191910e-01 -1.20717511e-04 -6.39841981e-01] [-3.08555651e-03 -3.30482337e-06 9.99995240e-01 -1.87149916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters Centerline goodness : 0.994881 with order 1 Centerline is valid? [True, True] Translation: X:28.64, Y:-0.64, Z:-0.18 [[ 9.99269848e-01 3.80823535e-02 3.08319452e-03 2.86362976e+01] [-3.80821622e-02 9.99274604e-01 -1.20753795e-04 -6.42474947e-01] [-3.08555657e-03 3.25091292e-06 9.99995240e-01 -1.83887890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters Centerline goodness : 0.996008 with order 1 Centerline is valid? [True, True] Translation: X:28.70, Y:-0.65, Z:-0.18 [[ 9.99282863e-01 3.77392965e-02 3.08319169e-03 2.86974488e+01] [-3.77391033e-02 9.99287619e-01 -1.20825882e-04 -6.47177872e-01] [-3.08555517e-03 4.38234334e-06 9.99995240e-01 -1.84969704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters Centerline goodness : 0.994822 with order 1 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.65, Z:-0.18 [[ 9.99215061e-01 3.94937399e-02 3.08318883e-03 2.87591084e+01] [-3.94935548e-02 9.99219818e-01 -1.20898968e-04 -6.46398164e-01] [-3.08555813e-03 -9.62017421e-07 9.99995240e-01 -1.80841363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.65, Z:-0.18 [[ 9.99152947e-01 4.10351371e-02 3.08318602e-03 2.88204629e+01] [-4.10349592e-02 9.99157704e-01 -1.20970431e-04 -6.46478648e-01] [-3.08555311e-03 -5.65044967e-06 9.99995240e-01 -1.82506273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters Centerline goodness : 0.995732 with order 1 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.64, Z:-0.19 [[ 9.99145241e-01 4.12223436e-02 3.08318324e-03 2.88814107e+01] [-4.12221663e-02 9.99149998e-01 -1.21041210e-04 -6.44261934e-01] [-3.08555213e-03 -6.15774385e-06 9.99995240e-01 -1.86402962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters Centerline goodness : 0.995921 with order 1 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.65, Z:-0.19 [[ 9.99110178e-01 4.20635914e-02 3.08318324e-03 2.89419259e+01] [-4.20634182e-02 9.99114935e-01 -1.21041210e-04 -6.45501146e-01] [-3.08554586e-03 -8.75572149e-06 9.99995240e-01 -1.87750910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.64, Z:-0.19 [[ 9.99034099e-01 4.38333560e-02 3.08318324e-03 2.90021308e+01] [-4.38331912e-02 9.99038856e-01 -1.21041210e-04 -6.41781114e-01] [-3.08552551e-03 -1.42214646e-05 9.99995240e-01 -1.90648138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters Centerline goodness : 0.995445 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.64, Z:-0.19 [[ 9.98911443e-01 4.65448452e-02 3.08318324e-03 2.90615309e+01] [-4.65446933e-02 9.98916201e-01 -1.21041210e-04 -6.39844397e-01] [-3.08547554e-03 -2.25963689e-05 9.99995240e-01 -1.88056123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.63, Z:-0.20 [[ 9.98885114e-01 4.71065001e-02 3.08318141e-03 2.91212047e+01] [-4.71063508e-02 9.98889872e-01 -1.21087819e-04 -6.33428285e-01] [-3.08546271e-03 -2.42846056e-05 9.99995240e-01 -1.95899902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.63, Z:-0.20 [[ 9.98924850e-01 4.62562164e-02 3.08318427e-03 2.91803010e+01] [-4.62560632e-02 9.98929608e-01 -1.21015090e-04 -6.31574990e-01] [-3.08548175e-03 -2.17309854e-05 9.99995240e-01 -1.99605285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters Centerline goodness : 0.997086 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.63, Z:-0.20 [[ 9.99102803e-01 4.22384063e-02 3.08318709e-03 2.92412160e+01] [-4.22382342e-02 9.99107560e-01 -1.20943289e-04 -6.26582511e-01] [-3.08554398e-03 -9.39359942e-06 9.99995240e-01 -1.99703697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters Centerline goodness : 0.997155 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.62, Z:-0.20 [[ 9.99363228e-01 3.55476146e-02 3.08318709e-03 2.93019980e+01] [-3.55474107e-02 9.99367984e-01 -1.20943289e-04 -6.23556059e-01] [-3.08553771e-03 1.12669578e-05 9.99995240e-01 -1.97469401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.62, Z:-0.20 [[ 9.99540852e-01 3.01426628e-02 3.08318709e-03 2.93629662e+01] [-3.01424331e-02 9.99545606e-01 -1.20943289e-04 -6.21396332e-01] [-3.08543166e-03 2.79529972e-05 9.99995240e-01 -1.99512645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters Centerline goodness : 0.996795 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.62, Z:-0.19 [[ 9.99651105e-01 2.62328411e-02 3.08318709e-03 2.94233412e+01] [-2.62325928e-02 9.99655859e-01 -1.20943289e-04 -6.22430795e-01] [-3.08529872e-03 4.00211007e-05 9.99995240e-01 -1.94428924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters Centerline goodness : 0.995666 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.62, Z:-0.19 [[ 9.99638014e-01 2.67270618e-02 3.08318568e-03 2.94839640e+01] [-2.67268158e-02 9.99642768e-01 -1.20979058e-04 -6.21803299e-01] [-3.08531768e-03 3.85315296e-05 9.99995240e-01 -1.89450094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters Centerline goodness : 0.994083 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.62, Z:-0.19 [[ 9.99627546e-01 2.71157298e-02 3.08318568e-03 2.95436990e+01] [-2.71154856e-02 9.99632300e-01 -1.20979058e-04 -6.17397231e-01] [-3.08533243e-03 3.73319221e-05 9.99995240e-01 -1.86364952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters Centerline goodness : 0.993580 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.62, Z:-0.19 [[ 9.99676359e-01 2.52521674e-02 3.08318706e-03 2.96038655e+01] [-2.52519145e-02 9.99681112e-01 -1.20943877e-04 -6.16659087e-01] [-3.08525797e-03 4.30483585e-05 9.99995240e-01 -1.85448966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters Centerline goodness : 0.996237 with order 1 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.62, Z:-0.19 [[ 9.99802828e-01 1.96162732e-02 3.08318706e-03 2.96641639e+01] [-1.96159935e-02 9.99807581e-01 -1.20943877e-04 -6.15079317e-01] [-3.08496626e-03 6.04402529e-05 9.99995240e-01 -1.93100001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters Centerline goodness : 0.994718 with order 1 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.62, Z:-0.19 [[ 9.99893783e-01 1.42449169e-02 3.08318571e-03 2.97247216e+01] [-1.42446116e-02 9.99898533e-01 -1.20978256e-04 -6.16859721e-01] [-3.08459620e-03 7.70466236e-05 9.99995240e-01 -1.89894782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters Centerline goodness : 0.996558 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.62, Z:-0.20 [[ 9.99869468e-01 1.58600366e-02 3.08318438e-03 2.97855386e+01] [-1.58597388e-02 9.99874219e-01 -1.21012154e-04 -6.18964980e-01] [-3.08471583e-03 7.20978590e-05 9.99995240e-01 -1.97295201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters Centerline goodness : 0.996684 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.62, Z:-0.20 [[ 9.99829231e-01 1.82209627e-02 3.08318307e-03 2.98462664e+01] [-1.82206760e-02 9.99833982e-01 -1.21045685e-04 -6.21992514e-01] [-3.08487677e-03 6.48473346e-05 9.99995240e-01 -2.01244289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:29.91, Y:-0.62, Z:-0.20 [[ 9.99773630e-01 2.10519116e-02 3.08318307e-03 2.99069028e+01] [-2.10516384e-02 9.99778382e-01 -1.21045685e-04 -6.21685130e-01] [-3.08504802e-03 5.61122290e-05 9.99995240e-01 -1.99875037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:29.97, Y:-0.63, Z:-0.20 [[ 9.99731418e-01 2.29692560e-02 3.08317692e-03 2.99669193e+01] [-2.29689914e-02 9.99736171e-01 -1.21201929e-04 -6.26273625e-01] [-3.08514741e-03 5.03519124e-05 9.99995240e-01 -1.99036871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters Centerline goodness : 0.995840 with order 1 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.63, Z:-0.20 [[ 9.99805420e-01 1.94837467e-02 3.08317692e-03 3.00275008e+01] [-1.94834655e-02 9.99810172e-01 -1.21201929e-04 -6.28910322e-01] [-3.08495312e-03 6.11073746e-05 9.99995240e-01 -1.98309049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters Centerline goodness : 0.994877 with order 1 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.63, Z:-0.20 [[ 9.99789721e-01 2.02733213e-02 3.08317692e-03 3.00877578e+01] [-2.02730439e-02 9.99794473e-01 -1.21201929e-04 -6.33638844e-01] [-3.08500041e-03 5.86710620e-05 9.99995240e-01 -1.95753016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters Centerline goodness : 0.994626 with order 1 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.64, Z:-0.20 [[ 9.99741045e-01 2.25463173e-02 3.08317556e-03 3.01483771e+01] [-2.25460506e-02 9.99745798e-01 -1.21236583e-04 -6.37699133e-01] [-3.08512525e-03 5.16917565e-05 9.99995240e-01 -1.96098541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.64, Z:-0.20 [[ 9.99728880e-01 2.30794380e-02 3.08317556e-03 3.02084086e+01] [-2.30791738e-02 9.99733633e-01 -1.21236583e-04 -6.40568688e-01] [-3.08515238e-03 5.00465692e-05 9.99995240e-01 -1.97496464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.65, Z:-0.20 [[ 9.99700810e-01 2.42648800e-02 3.08317556e-03 3.02687746e+01] [-2.42646215e-02 9.99705563e-01 -1.21236583e-04 -6.46229749e-01] [-3.08520955e-03 4.63882227e-05 9.99995240e-01 -1.98945702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters Centerline goodness : 0.996056 with order 1 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.65, Z:-0.20 [[ 9.99688855e-01 2.47525284e-02 3.08317556e-03 3.03295916e+01] [-2.47522721e-02 9.99693608e-01 -1.21236583e-04 -6.51752292e-01] [-3.08523181e-03 4.48832608e-05 9.99995240e-01 -1.98241059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters Centerline goodness : 0.994790 with order 1 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.66, Z:-0.19 [[ 9.99644226e-01 2.64936687e-02 3.08317556e-03 3.03899565e+01] [-2.64934207e-02 9.99648980e-01 -1.21236583e-04 -6.61167847e-01] [-3.08530531e-03 3.95095834e-05 9.99995240e-01 -1.94541916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters Centerline goodness : 0.995016 with order 1 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.67, Z:-0.20 [[ 9.99592973e-01 2.83616324e-02 3.08317556e-03 3.04493003e+01] [-2.83613934e-02 9.99597727e-01 -1.21236583e-04 -6.68372386e-01] [-3.08537375e-03 3.37440820e-05 9.99995240e-01 -1.95139119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.67, Z:-0.19 [[ 9.99536801e-01 3.02766756e-02 3.08317698e-03 3.05081939e+01] [-3.02764458e-02 9.99541556e-01 -1.21200360e-04 -6.73462250e-01] [-3.08543306e-03 2.77965796e-05 9.99995240e-01 -1.92825532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters Centerline goodness : 0.996039 with order 1 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.68, Z:-0.20 [[ 9.99392016e-01 3.47288277e-02 3.08317839e-03 3.05679469e+01] [-3.47286192e-02 9.99396772e-01 -1.21164648e-04 -6.81969769e-01] [-3.08552644e-03 1.40164535e-05 9.99995240e-01 -1.97274611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters Centerline goodness : 0.995835 with order 1 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.69, Z:-0.20 [[ 9.99243830e-01 3.87590369e-02 3.08318117e-03 3.06282267e+01] [-3.87588478e-02 9.99248586e-01 -1.21093772e-04 -6.88046158e-01] [-3.08555791e-03 1.50165439e-06 9.99995240e-01 -1.97577081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.69, Z:-0.20 [[ 9.99097295e-01 4.23684921e-02 3.08318117e-03 3.06871482e+01] [-4.23683202e-02 9.99102052e-01 -1.21093772e-04 -6.93392768e-01] [-3.08554320e-03 -9.64474731e-06 9.99995240e-01 -2.00496313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.69, Z:-0.20 [[ 9.98792133e-01 4.90384428e-02 3.08318261e-03 3.07473360e+01] [-4.90383028e-02 9.98796891e-01 -1.21057253e-04 -6.92706925e-01] [-3.08540966e-03 -3.02830098e-05 9.99995240e-01 -2.04579636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters Centerline goodness : 0.995071 with order 1 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.69, Z:-0.20 [[ 9.98661580e-01 5.16289019e-02 3.08318550e-03 3.08063386e+01] [-5.16287744e-02 9.98666338e-01 -1.20983394e-04 -6.94911958e-01] [-3.08531982e-03 -3.83596219e-05 9.99995240e-01 -2.01167546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters Centerline goodness : 0.995033 with order 1 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.70, Z:-0.20 [[ 9.98983337e-01 4.49754046e-02 3.08318981e-03 3.08655004e+01] [-4.49752458e-02 9.98988094e-01 -1.20873441e-04 -6.98409492e-01] [-3.08550625e-03 -1.79166662e-05 9.99995240e-01 -1.98441287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters Centerline goodness : 0.995859 with order 1 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.71, Z:-0.20 [[ 9.99189730e-01 4.01295120e-02 3.08319116e-03 3.09253162e+01] [-4.01293302e-02 9.99194487e-01 -1.20839157e-04 -7.08154215e-01] [-3.08555682e-03 -2.98515181e-06 9.99995240e-01 -2.01990950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters Centerline goodness : 0.995962 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.72, Z:-0.20 [[ 9.99291576e-01 3.75078769e-02 3.08319116e-03 3.09849690e+01] [-3.75076826e-02 9.99296332e-01 -1.20839157e-04 -7.17715631e-01] [-3.08555404e-03 5.11019583e-06 9.99995240e-01 -2.01143313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters Centerline goodness : 0.996105 with order 1 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.73, Z:-0.20 [[ 9.99249657e-01 3.86085141e-02 3.08318973e-03 3.10455366e+01] [-3.86083249e-02 9.99254413e-01 -1.20875496e-04 -7.27392561e-01] [-3.08555777e-03 1.74800696e-06 9.99995240e-01 -2.02567193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters Centerline goodness : 0.990335 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.73, Z:-0.19 [[ 9.98961991e-01 4.54470614e-02 3.08318693e-03 3.11062280e+01] [-4.54469045e-02 9.98966748e-01 -1.20946857e-04 -7.33808482e-01] [-3.08549791e-03 -1.92999891e-05 9.99995240e-01 -1.92633442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters Centerline goodness : 0.996591 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.74, Z:-0.21 [[ 9.98624938e-01 5.23328440e-02 3.08318693e-03 3.11651084e+01] [-5.23327199e-02 9.98629697e-01 -1.20946857e-04 -7.39744489e-01] [-3.08529153e-03 -4.05710106e-05 9.99995240e-01 -2.06091179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters Centerline goodness : 0.996743 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.74, Z:-0.21 [[ 9.98395478e-01 5.65417035e-02 3.08318541e-03 3.12251937e+01] [-5.65415994e-02 9.98400237e-01 -1.20985818e-04 -7.39651477e-01] [-3.08509378e-03 -5.35365409e-05 9.99995240e-01 -2.06943583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.74, Z:-0.21 [[ 9.98380005e-01 5.68142536e-02 3.08318818e-03 3.12847078e+01] [-5.68141510e-02 9.98384764e-01 -1.20915170e-04 -7.39976789e-01] [-3.08507781e-03 -5.44494304e-05 9.99995240e-01 -2.09144281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters Centerline goodness : 0.996517 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.74, Z:-0.21 [[ 9.98548808e-01 5.37659085e-02 3.08318955e-03 3.13457361e+01] [-5.37657915e-02 9.98553566e-01 -1.20880233e-04 -7.39149581e-01] [-3.08522915e-03 -4.50653141e-05 9.99995240e-01 -2.10692072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters Centerline goodness : 0.995327 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.74, Z:-0.20 [[ 9.98972812e-01 4.52085620e-02 3.08318955e-03 3.14056865e+01] [-4.52084042e-02 9.98977570e-01 -1.20880233e-04 -7.41190261e-01] [-3.08550202e-03 -1.86300132e-05 9.99995240e-01 -2.04305874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.74, Z:-0.21 [[ 9.99179955e-01 4.03721606e-02 3.08318819e-03 3.14657305e+01] [-4.03719797e-02 9.99184712e-01 -1.20914739e-04 -7.44416938e-01] [-3.08555610e-03 -3.65882756e-06 9.99995240e-01 -2.08594927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.75, Z:-0.21 [[ 9.99204220e-01 3.97670855e-02 3.08318819e-03 3.15258434e+01] [-3.97669018e-02 9.99208977e-01 -1.20914739e-04 -7.49054647e-01] [-3.08555775e-03 -1.79032454e-06 9.99995240e-01 -2.13537221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.75, Z:-0.21 [[ 9.99082260e-01 4.27215587e-02 3.08318680e-03 3.15867942e+01] [-4.27213888e-02 9.99087017e-01 -1.20950288e-04 -7.48603012e-01] [-3.08553909e-03 -1.08787350e-05 9.99995240e-01 -2.14899286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.75, Z:-0.21 [[ 9.98991606e-01 4.47913399e-02 3.08318680e-03 3.16472622e+01] [-4.47911799e-02 9.98996364e-01 -1.20950288e-04 -7.49024004e-01] [-3.08550993e-03 -1.72712520e-05 9.99995240e-01 -2.11602039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters Centerline goodness : 0.996937 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.76, Z:-0.21 [[ 9.99062000e-01 4.31927600e-02 3.08318680e-03 3.17078287e+01] [-4.31925924e-02 9.99066757e-01 -1.20950288e-04 -7.55712655e-01] [-3.08553361e-03 -1.23339940e-05 9.99995240e-01 -2.13443492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters Centerline goodness : 0.996775 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.76, Z:-0.21 [[ 9.99293864e-01 3.74468693e-02 3.08318680e-03 3.17677800e+01] [-3.74466743e-02 9.99298620e-01 -1.20950288e-04 -7.63907431e-01] [-3.08555352e-03 5.40978857e-06 9.99995240e-01 -2.09356981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.77, Z:-0.21 [[ 9.99401332e-01 3.44597148e-02 3.08318536e-03 3.18292377e+01] [-3.44595055e-02 9.99406088e-01 -1.20986815e-04 -7.69681352e-01] [-3.08552339e-03 1.46693404e-05 9.99995240e-01 -2.12847603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.78, Z:-0.22 [[ 9.99378538e-01 3.51145414e-02 3.08318256e-03 3.18902518e+01] [-3.51143350e-02 9.99383294e-01 -1.21058219e-04 -7.81583912e-01] [-3.08553205e-03 1.27190807e-05 9.99995240e-01 -2.22753950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.79, Z:-0.22 [[ 9.99299250e-01 3.73028458e-02 3.08317972e-03 3.19500870e+01] [-3.73026496e-02 9.99304007e-01 -1.21130559e-04 -7.91079619e-01] [-3.08555236e-03 6.03490434e-06 9.99995240e-01 -2.24977989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.80, Z:-0.22 [[ 9.99180308e-01 4.03634253e-02 3.08317831e-03 3.20096877e+01] [-4.03632436e-02 9.99185065e-01 -1.21166520e-04 -7.98813797e-01] [-3.08555641e-03 -3.37987629e-06 9.99995240e-01 -2.24972460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.80, Z:-0.23 [[ 9.99016466e-01 4.42334135e-02 3.08317692e-03 3.20703042e+01] [-4.42332501e-02 9.99021223e-01 -1.21201820e-04 -8.03806220e-01] [-3.08552035e-03 -1.52963218e-05 9.99995240e-01 -2.25265469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters Centerline goodness : 0.997859 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.81, Z:-0.23 [[ 9.98970170e-01 4.52669127e-02 3.08317556e-03 3.21318351e+01] [-4.52667541e-02 9.98974928e-01 -1.21236445e-04 -8.07516761e-01] [-3.08550308e-03 -1.84537582e-05 9.99995240e-01 -2.25389378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.81, Z:-0.22 [[ 9.98837258e-01 4.81105709e-02 3.08317285e-03 3.21934787e+01] [-4.81104256e-02 9.98842016e-01 -1.21305169e-04 -8.13430845e-01] [-3.08543865e-03 -2.71686356e-05 9.99995240e-01 -2.23728933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters Centerline goodness : 0.997672 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.82, Z:-0.22 [[ 9.98761124e-01 4.96659990e-02 3.08317009e-03 3.22549012e+01] [-4.96658609e-02 9.98765882e-01 -1.21375370e-04 -8.16574998e-01] [-3.08539332e-03 -3.19032958e-05 9.99995240e-01 -2.18860480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters Centerline goodness : 0.997492 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.82, Z:-0.22 [[ 9.98646097e-01 5.19275117e-02 3.08315227e-03 3.23165783e+01] [-5.19273830e-02 9.98650856e-01 -1.21826372e-04 -8.21323630e-01] [-3.08531879e-03 -3.84385973e-05 9.99995240e-01 -2.20803003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.82, Z:-0.23 [[ 9.98610509e-01 5.26074589e-02 3.08314959e-03 3.23780079e+01] [-5.26073333e-02 9.98615268e-01 -1.21894042e-04 -8.23689765e-01] [-3.08529279e-03 -4.04716070e-05 9.99995240e-01 -2.31167825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.83, Z:-0.23 [[ 9.98734481e-01 5.01989022e-02 3.08314691e-03 3.24387196e+01] [-5.01987649e-02 9.98739240e-01 -1.21961807e-04 -8.28792635e-01] [-3.08538215e-03 -3.29627047e-05 9.99995240e-01 -2.33767058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.83, Z:-0.24 [[ 9.98751816e-01 4.98528316e-02 3.08314425e-03 3.24996933e+01] [-4.98526924e-02 9.98756574e-01 -1.22029082e-04 -8.29637182e-01] [-3.08539408e-03 -3.18262752e-05 9.99995240e-01 -2.36389808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters Centerline goodness : 0.991361 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.83, Z:-0.22 [[ 9.98665273e-01 5.15574130e-02 3.08314160e-03 3.25612388e+01] [-5.15572817e-02 9.98670031e-01 -1.22095872e-04 -8.29223553e-01] [-3.08533607e-03 -3.70254928e-05 9.99995240e-01 -2.16703288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.83, Z:-0.23 [[ 9.98698221e-01 5.09152060e-02 3.08313870e-03 3.26218455e+01] [-5.09150715e-02 9.98702979e-01 -1.22169110e-04 -8.30876459e-01] [-3.08536007e-03 -3.49681548e-05 9.99995240e-01 -2.31268000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters Centerline goodness : 0.997988 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.83, Z:-0.23 [[ 9.98678797e-01 5.12947866e-02 3.08312863e-03 3.26836989e+01] [-5.12946530e-02 9.98683555e-01 -1.22422909e-04 -8.29986135e-01] [-3.08534951e-03 -3.58868499e-05 9.99995240e-01 -2.32700185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.83, Z:-0.23 [[ 9.98875658e-01 4.73066040e-02 3.08312576e-03 3.27451569e+01] [-4.73064512e-02 9.98880416e-01 -1.22495143e-04 -8.30194804e-01] [-3.08546877e-03 -2.34943218e-05 9.99995240e-01 -2.32032559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters Centerline goodness : 0.998489 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.83, Z:-0.23 [[ 9.98957591e-01 4.55436782e-02 3.08312282e-03 3.28058011e+01] [-4.55435168e-02 9.98962348e-01 -1.22569025e-04 -8.33657252e-01] [-3.08550585e-03 -1.79749978e-05 9.99995240e-01 -2.29454103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters Centerline goodness : 0.998443 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.84, Z:-0.23 [[ 9.98938598e-01 4.59583807e-02 3.08310388e-03 3.28674818e+01] [-4.59582198e-02 9.98943355e-01 -1.23043621e-04 -8.38845731e-01] [-3.08550102e-03 -1.87809436e-05 9.99995240e-01 -2.30267128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.85, Z:-0.24 [[ 9.99001791e-01 4.45636233e-02 3.08308366e-03 3.29284448e+01] [-4.45634542e-02 9.99006548e-01 -1.23548083e-04 -8.45281330e-01] [-3.08552652e-03 -1.39681014e-05 9.99995240e-01 -2.35051257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters Centerline goodness : 0.998342 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.85, Z:-0.24 [[ 9.99133255e-01 4.15118593e-02 3.08306498e-03 3.29899477e+01] [-4.15116742e-02 9.99138011e-01 -1.24012651e-04 -8.52202904e-01] [-3.08555540e-03 -4.07802484e-06 9.99995240e-01 -2.37816296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.86, Z:-0.23 [[ 9.99273155e-01 3.79954688e-02 3.08304508e-03 3.30514135e+01] [-3.79952655e-02 9.99277911e-01 -1.24505232e-04 -8.62739235e-01] [-3.08554949e-03 7.27361937e-06 9.99995240e-01 -2.26321102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.87, Z:-0.23 [[ 9.99250227e-01 3.85937747e-02 3.08302288e-03 3.31117202e+01] [-3.85935725e-02 9.99254983e-01 -1.25052702e-04 -8.72781599e-01] [-3.08555223e-03 5.97407362e-06 9.99995240e-01 -2.31227318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters Centerline goodness : 0.998518 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.88, Z:-0.23 [[ 9.99024758e-01 4.40457418e-02 3.08301973e-03 3.31733058e+01] [-4.40455653e-02 9.99029515e-01 -1.25130208e-04 -8.83754848e-01] [-3.08553916e-03 -1.07851710e-05 9.99995240e-01 -2.31170139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters Centerline goodness : 0.998170 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.89, Z:-0.23 [[ 9.98550391e-01 5.37365108e-02 3.08299963e-03 3.32355027e+01] [-5.37363790e-02 9.98555149e-01 -1.25623570e-04 -8.89810150e-01] [-3.08529573e-03 -4.02277713e-05 9.99995240e-01 -2.27852332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:-0.89, Z:-0.24 [[ 9.97881209e-01 6.49891346e-02 3.08297839e-03 3.32967775e+01] [-6.49890549e-02 9.97885969e-01 -1.26142613e-04 -8.91903857e-01] [-3.08465878e-03 -7.44845087e-05 9.99995240e-01 -2.40435555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:-0.89, Z:-0.24 [[ 9.97228220e-01 7.43395713e-02 3.08295875e-03 3.33580264e+01] [-7.43395347e-02 9.97232981e-01 -1.26620947e-04 -8.90263831e-01] [-3.08384109e-03 -1.02915737e-04 9.99995240e-01 -2.35042627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.89, Z:-0.23 [[ 9.97021943e-01 7.70567317e-02 3.08295586e-03 3.34190269e+01] [-7.70567079e-02 9.97026704e-01 -1.26691086e-04 -8.87820609e-01] [-3.08355172e-03 -1.11248636e-04 9.99995240e-01 -2.33682996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters Centerline goodness : 0.998488 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.88, Z:-0.24 [[ 9.97200372e-01 7.47122052e-02 3.08295288e-03 3.34796882e+01] [-7.47121699e-02 9.97205132e-01 -1.26763681e-04 -8.80817049e-01] [-3.08380723e-03 -1.03925309e-04 9.99995240e-01 -2.41264090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.87, Z:-0.24 [[ 9.97282691e-01 7.36052313e-02 3.08295140e-03 3.35404040e+01] [-7.36051906e-02 9.97287451e-01 -1.26799543e-04 -8.74608163e-01] [-3.08392186e-03 -1.00466236e-04 9.99995240e-01 -2.39415520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.87, Z:-0.24 [[ 9.97325981e-01 7.30163141e-02 3.08295140e-03 3.36011295e+01] [-7.30162706e-02 9.97330742e-01 -1.26799543e-04 -8.67218067e-01] [-3.08398064e-03 -9.86451348e-05 9.99995240e-01 -2.40858199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.86, Z:-0.24 [[ 9.97462779e-01 7.11231372e-02 3.08295140e-03 3.36620244e+01] [-7.11230847e-02 9.97467539e-01 -1.26799543e-04 -8.60249517e-01] [-3.08416233e-03 -9.27911888e-05 9.99995240e-01 -2.41638165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters Centerline goodness : 0.998551 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.85, Z:-0.24 [[ 9.97584578e-01 6.93938427e-02 3.08295140e-03 3.37219537e+01] [-6.93937819e-02 9.97589338e-01 -1.26799543e-04 -8.53594112e-01] [-3.08431856e-03 -8.74443884e-05 9.99995240e-01 -2.43655201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.85, Z:-0.24 [[ 9.98039246e-01 6.25152670e-02 3.08295445e-03 3.37822822e+01] [-6.25151737e-02 9.98044006e-01 -1.26725444e-04 -8.48623891e-01] [-3.08484648e-03 -6.62544663e-05 9.99995240e-01 -2.41796621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.85, Z:-0.24 [[ 9.98477764e-01 5.50694980e-02 3.08295445e-03 3.38421134e+01] [-5.50693692e-02 9.98482523e-01 -1.26725444e-04 -8.47619213e-01] [-3.08525484e-03 -4.32438188e-05 9.99995240e-01 -2.40762321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.85, Z:-0.24 [[ 9.98589104e-01 5.30122334e-02 3.08295599e-03 3.39017616e+01] [-5.30120949e-02 9.98593862e-01 -1.26687910e-04 -8.48193527e-01] [-3.08533694e-03 -3.69247894e-05 9.99995240e-01 -2.41197198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.85, Z:-0.24 [[ 9.98613003e-01 5.25601118e-02 3.08295743e-03 3.39622781e+01] [-5.25599712e-02 9.98617761e-01 -1.26652823e-04 -8.47811947e-01] [-3.08535294e-03 -3.55629982e-05 9.99995240e-01 -2.35380814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.85, Z:-0.23 [[ 9.98535385e-01 5.40146305e-02 3.08295743e-03 3.40216932e+01] [-5.40144969e-02 9.98540143e-01 -1.26652823e-04 -8.48744902e-01] [-3.08529786e-03 -4.00570694e-05 9.99995240e-01 -2.32269748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters Centerline goodness : 0.998336 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:-0.85, Z:-0.23 [[ 9.98465189e-01 5.52970264e-02 3.08296057e-03 3.40807294e+01] [-5.52968991e-02 9.98469948e-01 -1.26576475e-04 -8.51345475e-01] [-3.08524278e-03 -4.40959556e-05 9.99995240e-01 -2.33791618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.86, Z:-0.25 [[ 9.98464296e-01 5.53131489e-02 3.08296212e-03 3.41416307e+01] [-5.53130218e-02 9.98469055e-01 -1.26538765e-04 -8.55056315e-01] [-3.08524153e-03 -4.41835119e-05 9.99995240e-01 -2.49124419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.86, Z:-0.25 [[ 9.98615160e-01 5.25191127e-02 3.08296058e-03 3.42006327e+01] [-5.25189722e-02 9.98619918e-01 -1.26576160e-04 -8.62275795e-01] [-3.08535351e-03 -3.55130488e-05 9.99995240e-01 -2.51614821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.87, Z:-0.24 [[ 9.98758879e-01 4.97111266e-02 3.08296210e-03 3.42611878e+01] [-4.97109728e-02 9.98763637e-01 -1.26539129e-04 -8.68028234e-01] [-3.08544084e-03 -2.68749665e-05 9.99995240e-01 -2.43552059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.87, Z:-0.25 [[ 9.98858468e-01 4.76681942e-02 3.08296210e-03 3.43209023e+01] [-4.76680307e-02 9.98863225e-01 -1.26539129e-04 -8.73204735e-01] [-3.08548936e-03 -2.05640515e-05 9.99995240e-01 -2.46269639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.88, Z:-0.25 [[ 9.98846184e-01 4.79248912e-02 3.08296057e-03 3.43811047e+01] [-4.79247288e-02 9.98850942e-01 -1.26576451e-04 -8.78933894e-01] [-3.08548423e-03 -2.13196442e-05 9.99995240e-01 -2.51078665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.88, Z:-0.25 [[ 9.98733212e-01 5.02241617e-02 3.08296057e-03 3.44418153e+01] [-5.02240102e-02 9.98737970e-01 -1.26576451e-04 -8.79676744e-01] [-3.08542697e-03 -2.84225379e-05 9.99995240e-01 -2.50968074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.88, Z:-0.25 [[ 9.98712929e-01 5.06258899e-02 3.08295907e-03 3.45023730e+01] [-5.06257402e-02 9.98717687e-01 -1.26612929e-04 -8.81092280e-01] [-3.08541564e-03 -2.96271159e-05 9.99995240e-01 -2.45125413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.88, Z:-0.25 [[ 9.98631637e-01 5.22048769e-02 3.08295907e-03 3.45619456e+01] [-5.22047348e-02 9.98636395e-01 -1.26612929e-04 -8.81902581e-01] [-3.08536494e-03 -3.45053842e-05 9.99995240e-01 -2.46123019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:34.62, Y:-0.88, Z:-0.24 [[ 9.98576005e-01 5.32583972e-02 3.08296055e-03 3.46210806e+01] [-5.32582602e-02 9.98580764e-01 -1.26576890e-04 -8.80256153e-01] [-3.08532638e-03 -3.77964699e-05 9.99995240e-01 -2.44025428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:34.68, Y:-0.88, Z:-0.25 [[ 9.98590096e-01 5.29935406e-02 3.08295618e-03 3.46819378e+01] [-5.29934020e-02 9.98594854e-01 -1.26683240e-04 -8.79417160e-01] [-3.08533757e-03 -3.68717079e-05 9.99995240e-01 -2.45778933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.88, Z:-0.25 [[ 9.98617049e-01 5.24831902e-02 3.08295618e-03 3.47428895e+01] [-5.24830492e-02 9.98621807e-01 -1.26683240e-04 -8.76824072e-01] [-3.08535601e-03 -3.52948979e-05 9.99995240e-01 -2.46605459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.87, Z:-0.25 [[ 9.98644957e-01 5.19494576e-02 3.08295618e-03 3.48037807e+01] [-5.19493140e-02 9.98649715e-01 -1.26683240e-04 -8.72776964e-01] [-3.08537443e-03 -3.36458804e-05 9.99995240e-01 -2.46141860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.87, Z:-0.24 [[ 9.98753076e-01 4.98275793e-02 3.08295618e-03 3.48642031e+01] [-4.98274256e-02 9.98757834e-01 -1.26683240e-04 -8.69384982e-01] [-3.08543896e-03 -2.70904945e-05 9.99995240e-01 -2.43136453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:34.92, Y:-0.87, Z:-0.24 [[ 9.99025844e-01 4.40211236e-02 3.08295618e-03 3.49236407e+01] [-4.40209423e-02 9.99030600e-01 -1.26683240e-04 -8.74067206e-01] [-3.08554430e-03 -9.15480572e-06 9.99995240e-01 -2.43004554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.88, Z:-0.24 [[ 9.99165597e-01 4.07259664e-02 3.08295478e-03 3.49843543e+01] [-4.07257693e-02 9.99170354e-01 -1.26717336e-04 -8.79924344e-01] [-3.08555770e-03 1.05589739e-06 9.99995240e-01 -2.43588628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.88, Z:-0.24 [[ 9.99025218e-01 4.40353138e-02 3.08295478e-03 3.50448042e+01] [-4.40351324e-02 9.99029975e-01 -1.26717336e-04 -8.84479037e-01] [-3.08554427e-03 -9.16450792e-06 9.99995240e-01 -2.42924962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.89, Z:-0.25 [[ 9.98787662e-01 4.91294338e-02 3.08295478e-03 3.51056096e+01] [-4.91292767e-02 9.98792420e-01 -1.26717336e-04 -8.88050349e-01] [-3.08545741e-03 -2.48996269e-05 9.99995240e-01 -2.45429250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.89, Z:-0.25 [[ 9.98470879e-01 5.51942040e-02 3.08295478e-03 3.51639703e+01] [-5.51940758e-02 9.98475637e-01 -1.26717336e-04 -8.89822892e-01] [-3.08524930e-03 -4.36372702e-05 9.99995240e-01 -2.53526728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.89, Z:-0.25 [[ 9.98542000e-01 5.38921972e-02 3.08295928e-03 3.52242728e+01] [-5.38920631e-02 9.98546759e-01 -1.26607583e-04 -8.93957677e-01] [-3.08530216e-03 -3.97240469e-05 9.99995240e-01 -2.54549634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.90, Z:-0.26 [[ 9.98687262e-01 5.11297214e-02 3.08295928e-03 3.52841378e+01] [-5.11295741e-02 9.98692020e-01 -1.26607583e-04 -8.97985874e-01] [-3.08540025e-03 -3.11890147e-05 9.99995240e-01 -2.55960165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.90, Z:-0.25 [[ 9.98798127e-01 4.89162143e-02 3.08295928e-03 3.53445515e+01] [-4.89160566e-02 9.98802885e-01 -1.26607583e-04 -9.01670318e-01] [-3.08546179e-03 -2.43507937e-05 9.99995240e-01 -2.51514440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.91, Z:-0.25 [[ 9.99054660e-01 4.33622188e-02 3.08295928e-03 3.54043097e+01] [-4.33620346e-02 9.99059417e-01 -1.26607583e-04 -9.05174680e-01] [-3.08554949e-03 -7.19549112e-06 9.99995240e-01 -2.45194042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.91, Z:-0.24 [[ 9.99213484e-01 3.95336496e-02 3.08296077e-03 3.54659145e+01] [-3.95334472e-02 9.99218240e-01 -1.26571490e-04 -9.10433498e-01] [-3.08555446e-03 4.59187256e-06 9.99995240e-01 -2.42541895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.92, Z:-0.24 [[ 9.99240097e-01 3.88551752e-02 3.08295775e-03 3.55256722e+01] [-3.88549694e-02 9.99244853e-01 -1.26644882e-04 -9.16180679e-01] [-3.08555047e-03 6.76041520e-06 9.99995240e-01 -2.44821963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.92, Z:-0.24 [[ 9.99232249e-01 3.90564751e-02 3.08295626e-03 3.55857358e+01] [-3.90562702e-02 9.99237005e-01 -1.26681068e-04 -9.20931281e-01] [-3.08555170e-03 6.17503589e-06 9.99995240e-01 -2.42862266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.92, Z:-0.24 [[ 9.98959719e-01 4.54969780e-02 3.08295479e-03 3.56460198e+01] [-4.54968036e-02 9.98964476e-01 -1.26716837e-04 -9.24416181e-01] [-3.08552755e-03 -1.36795725e-05 9.99995240e-01 -2.42462682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.92, Z:-0.24 [[ 9.98428534e-01 5.59549718e-02 3.08295479e-03 3.57061470e+01] [-5.59548473e-02 9.98433292e-01 -1.26716837e-04 -9.21230402e-01] [-3.08521514e-03 -4.59885584e-05 9.99995240e-01 -2.44299768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.92, Z:-0.24 [[ 9.98024339e-01 6.27528036e-02 3.08295779e-03 3.57658996e+01] [-6.27527117e-02 9.98029098e-01 -1.26643892e-04 -9.16510251e-01] [-3.08482884e-03 -6.70702746e-05 9.99995240e-01 -2.40752205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.91, Z:-0.24 [[ 9.97821564e-01 6.58985663e-02 3.08296083e-03 3.58247270e+01] [-6.58984896e-02 9.97826324e-01 -1.26569877e-04 -9.08813205e-01] [-3.08460025e-03 -7.68683098e-05 9.99995240e-01 -2.41886427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.90, Z:-0.24 [[ 9.98060270e-01 6.21787102e-02 3.08296729e-03 3.58831360e+01] [-6.21786162e-02 9.98065030e-01 -1.26412266e-04 -9.04932235e-01] [-3.08486199e-03 -6.55275792e-05 9.99995240e-01 -2.44847091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.91, Z:-0.24 [[ 9.98265114e-01 5.87984404e-02 3.08297209e-03 3.59427126e+01] [-5.87983307e-02 9.98269874e-01 -1.26295198e-04 -9.05924979e-01] [-3.08506412e-03 -5.51975219e-05 9.99995240e-01 -2.44867809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.91, Z:-0.25 [[ 9.98990287e-01 4.48207699e-02 3.08297504e-03 3.60035104e+01] [-4.48205938e-02 9.98995044e-01 -1.26223020e-04 -9.09652302e-01] [-3.08553420e-03 -1.20852009e-05 9.99995240e-01 -2.47197274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.92, Z:-0.24 [[ 9.99352993e-01 3.58342041e-02 3.08297504e-03 3.60641627e+01] [-3.58339852e-02 9.99357749e-01 -1.26223020e-04 -9.17088306e-01] [-3.08551810e-03 1.56660709e-05 9.99995240e-01 -2.44704308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.93, Z:-0.25 [[ 9.99321792e-01 3.66940184e-02 3.08297504e-03 3.61244814e+01] [-3.66938036e-02 9.99326548e-01 -1.26223020e-04 -9.25219513e-01] [-3.08553044e-03 1.30113338e-05 9.99995240e-01 -2.46919603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.93, Z:-0.24 [[ 9.99272551e-01 3.80113716e-02 3.08297357e-03 3.61858872e+01] [-3.80111630e-02 9.99277307e-01 -1.26259055e-04 -9.32940320e-01] [-3.08554480e-03 8.97979715e-06 9.99995240e-01 -2.44042829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.94, Z:-0.25 [[ 9.99199771e-01 3.98787378e-02 3.08297051e-03 3.62455336e+01] [-3.98785378e-02 9.99204527e-01 -1.26333585e-04 -9.37188484e-01] [-3.08555612e-03 3.28813334e-06 9.99995240e-01 -2.47744808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.95, Z:-0.25 [[ 9.99237999e-01 3.89090826e-02 3.08297051e-03 3.63058852e+01] [-3.89088780e-02 9.99242755e-01 -1.26333585e-04 -9.47534282e-01] [-3.08555147e-03 6.28239547e-06 9.99995240e-01 -2.45180421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.95, Z:-0.25 [[ 9.99255473e-01 3.84576985e-02 3.08296903e-03 3.63672343e+01] [-3.84574916e-02 9.99260229e-01 -1.26369792e-04 -9.51568826e-01] [-3.08554823e-03 7.71245039e-06 9.99995240e-01 -2.45536433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.96, Z:-0.24 [[ 9.99219532e-01 3.93804731e-02 3.08296612e-03 3.64284284e+01] [-3.93802704e-02 9.99224288e-01 -1.26440795e-04 -9.58286355e-01] [-3.08555392e-03 4.93407283e-06 9.99995240e-01 -2.38698927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.96, Z:-0.24 [[ 9.99065733e-01 4.31063440e-02 3.08296323e-03 3.64898083e+01] [-4.31061588e-02 9.99070490e-01 -1.26511241e-04 -9.59260856e-01] [-3.08555102e-03 -6.50165718e-06 9.99995240e-01 -2.35842601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.96, Z:-0.24 [[ 9.98709736e-01 5.06888342e-02 3.08296032e-03 3.65499781e+01] [-5.06886850e-02 9.98714494e-01 -1.26582052e-04 -9.58906716e-01] [-3.08541345e-03 -2.98524763e-05 9.99995240e-01 -2.38935453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.95, Z:-0.24 [[ 9.98416198e-01 5.61746483e-02 3.08296032e-03 3.66099353e+01] [-5.61745252e-02 9.98420957e-01 -1.26582052e-04 -9.53288617e-01] [-3.08520289e-03 -4.68022606e-05 9.99995240e-01 -2.38001811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.95, Z:-0.24 [[ 9.98413111e-01 5.62294919e-02 3.08296341e-03 3.66694903e+01] [-5.62293692e-02 9.98417869e-01 -1.26506681e-04 -9.48542743e-01] [-3.08519917e-03 -4.70471595e-05 9.99995240e-01 -2.35188597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.94, Z:-0.24 [[ 9.98420172e-01 5.61039697e-02 3.08296494e-03 3.67283066e+01] [-5.61038466e-02 9.98424931e-01 -1.26469330e-04 -9.38544330e-01] [-3.08520449e-03 -4.66966616e-05 9.99995240e-01 -2.42227334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.93, Z:-0.23 [[ 9.98491241e-01 5.48246033e-02 3.08296947e-03 3.67871724e+01] [-5.48244744e-02 9.98496000e-01 -1.26358985e-04 -9.31481740e-01] [-3.08526026e-03 -4.28538411e-05 9.99995240e-01 -2.34370904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.93, Z:-0.24 [[ 9.98726360e-01 5.03602345e-02 3.08297390e-03 3.68474015e+01] [-5.03600847e-02 9.98731118e-01 -1.26250607e-04 -9.26872730e-01] [-3.08541998e-03 -2.91690174e-05 9.99995240e-01 -2.38121623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:36.91, Y:-0.93, Z:-0.24 [[ 9.98962059e-01 4.54455657e-02 3.08297689e-03 3.69074797e+01] [-4.54453927e-02 9.98966816e-01 -1.26177621e-04 -9.27873733e-01] [-3.08552582e-03 -1.40604394e-05 9.99995240e-01 -2.44593372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.93, Z:-0.24 [[ 9.99083447e-01 4.26938175e-02 3.08297995e-03 3.69669163e+01] [-4.26936317e-02 9.99088203e-01 -1.26102946e-04 -9.26537647e-01] [-3.08555271e-03 -5.63624411e-06 9.99995240e-01 -2.40845152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.93, Z:-0.24 [[ 9.99075824e-01 4.28718335e-02 3.08298301e-03 3.70255085e+01] [-4.28716487e-02 9.99080580e-01 -1.26028015e-04 -9.28046366e-01] [-3.08555151e-03 -6.26102130e-06 9.99995240e-01 -2.42698316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:37.09, Y:-0.93, Z:-0.24 [[ 9.99172696e-01 4.05514313e-02 3.08298754e-03 3.70853534e+01] [-4.05512358e-02 9.99177452e-01 -1.25917024e-04 -9.27599313e-01] [-3.08555775e-03 7.93897043e-07 9.99995240e-01 -2.38624767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:-0.94, Z:-0.24 [[ 9.99522816e-01 3.07349270e-02 3.08299049e-03 3.71447271e+01] [-3.07346850e-02 9.99527570e-01 -1.25844716e-04 -9.35672844e-01] [-3.08540183e-03 3.10299228e-05 9.99995240e-01 -2.36154496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.95, Z:-0.24 [[ 9.99814199e-01 1.90279390e-02 3.08299195e-03 3.72053360e+01] [-1.90276415e-02 9.99818950e-01 -1.25809017e-04 -9.45607754e-01] [-3.08482766e-03 6.71235764e-05 9.99995240e-01 -2.38860850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:37.27, Y:-0.96, Z:-0.23 [[ 9.99930418e-01 1.13866043e-02 3.08298903e-03 3.72662775e+01] [-1.13862703e-02 9.99935166e-01 -1.25880481e-04 -9.58341795e-01] [-3.08422250e-03 9.07679752e-05 9.99995240e-01 -2.33820873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:37.33, Y:-0.97, Z:-0.23 [[ 9.99960872e-01 8.29151132e-03 3.08298612e-03 3.73265448e+01] [-8.29116237e-03 9.99965620e-01 -1.25951876e-04 -9.74154645e-01] [-3.08392445e-03 1.00385410e-04 9.99995240e-01 -2.33702140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.00, Z:-0.24 [[ 9.99957100e-01 8.73466422e-03 3.08297482e-03 3.73876396e+01] [-8.73431651e-03 9.99961847e-01 -1.26227678e-04 -9.96231241e-01] [-3.08395976e-03 9.92945844e-05 9.99995240e-01 -2.37068283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.01, Z:-0.24 [[ 9.99876230e-01 1.54279220e-02 3.08295476e-03 3.74489199e+01] [-1.54276046e-02 9.99880979e-01 -1.26715916e-04 -1.01061257e+00] [-3.08454278e-03 7.91376255e-05 9.99995240e-01 -2.43299758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.02, Z:-0.24 [[ 9.99742805e-01 2.24681704e-02 3.08295044e-03 3.75096440e+01] [-2.24678861e-02 9.99747557e-01 -1.26820924e-04 -1.02082085e+00] [-3.08502160e-03 5.75209273e-05 9.99995240e-01 -2.42359801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.03, Z:-0.24 [[ 9.99473738e-01 3.22915136e-02 3.08293926e-03 3.75711429e+01] [-3.22912752e-02 9.99478493e-01 -1.27092033e-04 -1.03403662e+00] [-3.08543548e-03 2.74731091e-05 9.99995240e-01 -2.37163861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:37.63, Y:-1.05, Z:-0.24 [[ 9.99599076e-01 2.81457598e-02 3.08291865e-03 3.76330211e+01] [-2.81455001e-02 9.99603829e-01 -1.27589946e-04 -1.04911633e+00] [-3.08528841e-03 4.07685051e-05 9.99995240e-01 -2.44265549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:37.69, Y:-1.07, Z:-0.24 [[ 9.99745978e-01 2.23265593e-02 3.08289816e-03 3.76949706e+01] [-2.23262704e-02 9.99750730e-01 -1.28083292e-04 -1.06637918e+00] [-3.08498934e-03 5.92211384e-05 9.99995240e-01 -2.37163269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.08, Z:-0.23 [[ 9.99741739e-01 2.25155899e-02 3.08287764e-03 3.77573669e+01] [-2.25153005e-02 9.99746490e-01 -1.28575202e-04 -1.07625952e+00] [-3.08499105e-03 5.91300791e-05 9.99995240e-01 -2.34584970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.09, Z:-0.24 [[ 9.99620111e-01 2.73885027e-02 3.08285394e-03 3.78186389e+01] [-2.73882346e-02 9.99624864e-01 -1.29140915e-04 -1.09138694e+00] [-3.08523443e-03 4.46579289e-05 9.99995240e-01 -2.35776912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.10, Z:-0.24 [[ 9.99473746e-01 3.22912869e-02 3.08283191e-03 3.78811272e+01] [-3.22910405e-02 9.99478500e-01 -1.29664734e-04 -1.10095599e+00] [-3.08541126e-03 3.00486468e-05 9.99995240e-01 -2.36988360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.11, Z:-0.24 [[ 9.99177265e-01 4.04387221e-02 3.08280762e-03 3.79422365e+01] [-4.04385128e-02 9.99182020e-01 -1.30239734e-04 -1.11186797e+00] [-3.08555267e-03 5.46842614e-06 9.99995240e-01 -2.35651845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.12, Z:-0.24 [[ 9.98986501e-01 4.49050907e-02 3.08278489e-03 3.80045945e+01] [-4.49049009e-02 9.98991258e-01 -1.30775602e-04 -1.12173052e+00] [-3.08554764e-03 -7.78908864e-06 9.99995240e-01 -2.35728905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters Centerline goodness : 0.998341 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.13, Z:-0.24 [[ 9.98847007e-01 4.79077477e-02 3.08276086e-03 3.80668890e+01] [-4.79075705e-02 9.98851764e-01 -1.31339545e-04 -1.13160640e+00] [-3.08551331e-03 -1.64994722e-05 9.99995240e-01 -2.37521580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.14, Z:-0.24 [[ 9.98665782e-01 5.15475817e-02 3.08273565e-03 3.81286947e+01] [-5.15474200e-02 9.98670539e-01 -1.31928699e-04 -1.13606922e+00] [-3.08543788e-03 -2.71543919e-05 9.99995240e-01 -2.39818325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.14, Z:-0.24 [[ 9.98486391e-01 5.49128700e-02 3.08271221e-03 3.81902238e+01] [-5.49127227e-02 9.98491149e-01 -1.32473980e-04 -1.13789885e+00] [-3.08533539e-03 -3.70066544e-05 9.99995240e-01 -2.41148555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.14, Z:-0.24 [[ 9.98550984e-01 5.37255011e-02 3.08269068e-03 3.82533508e+01] [-5.37253466e-02 9.98555742e-01 -1.32973295e-04 -1.14035685e+00] [-3.08538253e-03 -3.28380103e-05 9.99995240e-01 -2.41447356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters Centerline goodness : 0.997953 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:-1.14, Z:-0.24 [[ 9.98738521e-01 5.01185063e-02 3.08266666e-03 3.83156612e+01] [-5.01183329e-02 9.98743278e-01 -1.33527712e-04 -1.14278171e+00] [-3.08548482e-03 -2.11388440e-05 9.99995240e-01 -2.35394001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:38.38, Y:-1.15, Z:-0.24 [[ 9.98912619e-01 4.65196356e-02 3.08264425e-03 3.83782040e+01] [-4.65194435e-02 9.98917376e-01 -1.34043102e-04 -1.14529592e+00] [-3.08554254e-03 -9.50554861e-06 9.99995240e-01 -2.38745317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.15, Z:-0.24 [[ 9.98973189e-01 4.52002865e-02 3.08262122e-03 3.84413458e+01] [-4.52000865e-02 9.98977945e-01 -1.34570775e-04 -1.15227999e+00] [-3.08555324e-03 -4.90214905e-06 9.99995240e-01 -2.42781050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.16, Z:-0.24 [[ 9.98997986e-01 4.46488589e-02 3.08259561e-03 3.85042377e+01] [-4.46486545e-02 9.99002742e-01 -1.35154866e-04 -1.16008965e+00] [-3.08555597e-03 -2.61430701e-06 9.99995240e-01 -2.41862733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters Centerline goodness : 0.989700 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.17, Z:-0.23 [[ 9.98983340e-01 4.49753667e-02 3.08256987e-03 3.85666217e+01] [-4.49751619e-02 9.98988096e-01 -1.35739287e-04 -1.16852879e+00] [-3.08555553e-03 -3.03779302e-06 9.99995240e-01 -2.28585617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.17, Z:-0.24 [[ 9.98915663e-01 4.64542451e-02 3.08254435e-03 3.86285031e+01] [-4.64540456e-02 9.98920419e-01 -1.36316389e-04 -1.17407767e+00] [-3.08554897e-03 -7.02808019e-06 9.99995240e-01 -2.38568838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.18, Z:-0.24 [[ 9.98754729e-01 4.97944737e-02 3.08252064e-03 3.86910357e+01] [-4.97942885e-02 9.98759486e-01 -1.36850567e-04 -1.17739778e+00] [-3.08551113e-03 -1.68117707e-05 9.99995240e-01 -2.40124538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:-1.18, Z:-0.24 [[ 9.98491597e-01 5.48181380e-02 3.08249547e-03 3.87538709e+01] [-5.48179750e-02 9.98496355e-01 -1.37415135e-04 -1.17994882e+00] [-3.08539333e-03 -3.17683017e-05 9.99995240e-01 -2.38777124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.18, Z:-0.24 [[ 9.98326972e-01 5.77386876e-02 3.08247046e-03 3.88169178e+01] [-5.77385368e-02 9.98331730e-01 -1.37973924e-04 -1.18362110e+00] [-3.08529449e-03 -4.02342441e-05 9.99995240e-01 -2.38432834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:-1.19, Z:-0.24 [[ 9.98074730e-01 6.19462051e-02 3.08244421e-03 3.88788498e+01] [-6.19460725e-02 9.98079488e-01 -1.38557792e-04 -1.19162968e+00] [-3.08510747e-03 -5.26542815e-05 9.99995240e-01 -2.37407259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters Centerline goodness : 0.998006 with order 1 Centerline is valid? [True, True] Translation: X:38.94, Y:-1.20, Z:-0.24 [[ 9.97957557e-01 6.38060648e-02 3.08241985e-03 3.89407099e+01] [-6.38059394e-02 9.97962315e-01 -1.39097672e-04 -1.19577870e+00] [-3.08501412e-03 -5.78631217e-05 9.99995240e-01 -2.40502391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters Centerline goodness : 0.998143 with order 1 Centerline is valid? [True, True] Translation: X:39.00, Y:-1.20, Z:-0.25 [[ 9.97542794e-01 6.99919435e-02 3.08239604e-03 3.90021456e+01] [-6.99918460e-02 9.97547554e-01 -1.39623235e-04 -1.20014996e+00] [-3.08460913e-03 -7.64624370e-05 9.99995240e-01 -2.46010654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters Centerline goodness : 0.998229 with order 1 Centerline is valid? [True, True] Translation: X:39.06, Y:-1.20, Z:-0.24 [[ 9.96892283e-01 7.87164215e-02 3.08237557e-03 3.90642261e+01] [-7.87163643e-02 9.96897043e-01 -1.40073737e-04 -1.20152432e+00] [-3.08383719e-03 -1.02994971e-04 9.99995240e-01 -2.43115449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:-1.20, Z:-0.24 [[ 9.96226107e-01 8.67412357e-02 3.08236003e-03 3.91276453e+01] [-8.67412157e-02 9.96230868e-01 -1.40414867e-04 -1.20126593e+00] [-3.08292197e-03 -1.27482700e-04 9.99995240e-01 -2.42501436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters Centerline goodness : 0.998072 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:-1.20, Z:-0.24 [[ 9.95936746e-01 9.00027592e-02 3.08233390e-03 3.91905100e+01] [-9.00027530e-02 9.95941507e-01 -1.40986217e-04 -1.20022825e+00] [-3.08251341e-03 -1.37005182e-04 9.99995240e-01 -2.43742242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:-1.20, Z:-0.24 [[ 9.95847507e-01 9.09848426e-02 3.08230777e-03 3.92531332e+01] [-9.09848394e-02 9.95852268e-01 -1.41555045e-04 -1.19518400e+00] [-3.08240255e-03 -1.39476038e-04 9.99995240e-01 -2.39569727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters Centerline goodness : 0.997423 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:-1.19, Z:-0.24 [[ 9.95958886e-01 8.97574336e-02 3.08228339e-03 3.93164935e+01] [-8.97574229e-02 9.95963646e-01 -1.42083885e-04 -1.19029535e+00] [-3.08259529e-03 -1.35148106e-04 9.99995240e-01 -2.35085960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters Centerline goodness : 0.997876 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:-1.19, Z:-0.24 [[ 9.96420110e-01 8.44835112e-02 3.08225701e-03 3.93786779e+01] [-8.44834735e-02 9.96424870e-01 -1.42653893e-04 -1.18981035e+00] [-3.08328945e-03 -1.18256571e-04 9.99995240e-01 -2.39793953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters Centerline goodness : 0.997698 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:-1.19, Z:-0.24 [[ 9.96994967e-01 7.74050146e-02 3.08223250e-03 3.94418564e+01] [-7.74049414e-02 9.96999726e-01 -1.43181502e-04 -1.18992797e+00] [-3.08406793e-03 -9.58287898e-05 9.99995240e-01 -2.36089227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters Centerline goodness : 0.996954 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:-1.19, Z:-0.24 [[ 9.97570673e-01 6.95934846e-02 3.08220679e-03 3.95052053e+01] [-6.95933725e-02 9.97575432e-01 -1.43732908e-04 -1.19347928e+00] [-3.08473664e-03 -7.11174313e-05 9.99995240e-01 -2.35707333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:-1.20, Z:-0.24 [[ 9.97863349e-01 6.52628282e-02 3.08219484e-03 3.95679059e+01] [-6.52626947e-02 9.97868107e-01 -1.43988622e-04 -1.19643417e+00] [-3.08502104e-03 -5.74713727e-05 9.99995240e-01 -2.40150490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:-1.20, Z:-0.25 [[ 9.97868678e-01 6.51812949e-02 3.08216674e-03 3.96285112e+01] [-6.51811591e-02 9.97873437e-01 -1.44587607e-04 -1.19947596e+00] [-3.08503673e-03 -5.66197568e-05 9.99995240e-01 -2.48833855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:-1.20, Z:-0.25 [[ 9.98042628e-01 6.24612945e-02 3.08214491e-03 3.96902151e+01] [-6.24611443e-02 9.98047386e-01 -1.45051626e-04 -1.20359146e+00] [-3.08518678e-03 -4.77465921e-05 9.99995240e-01 -2.46834323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:-1.21, Z:-0.24 [[ 9.98421302e-01 5.60839089e-02 3.08212049e-03 3.97529883e+01] [-5.60837268e-02 9.98426059e-01 -1.45568689e-04 -1.20719080e+00] [-3.08543347e-03 -2.75179230e-05 9.99995240e-01 -2.43759505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters Centerline goodness : 0.998241 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:-1.21, Z:-0.24 [[ 9.98731866e-01 5.02509848e-02 3.08209290e-03 3.98146573e+01] [-5.02507731e-02 9.98736621e-01 -1.46150483e-04 -1.20975506e+00] [-3.08554325e-03 -8.91240654e-06 9.99995240e-01 -2.42607741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters Centerline goodness : 0.997973 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:-1.21, Z:-0.24 [[ 9.98824043e-01 4.83842032e-02 3.08206712e-03 3.98772775e+01] [-4.83839809e-02 9.98828799e-01 -1.46692064e-04 -1.21210900e+00] [-3.08555498e-03 -2.60311654e-06 9.99995240e-01 -2.40676138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters Centerline goodness : 0.997716 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:-1.22, Z:-0.24 [[ 9.99091549e-01 4.25038654e-02 3.08203944e-03 3.99400200e+01] [-4.25036133e-02 9.99096302e-01 -1.47271471e-04 -1.21631388e+00] [-3.08551381e-03 1.61398695e-05 9.99995240e-01 -2.41550620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters Centerline goodness : 0.998248 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:-1.22, Z:-0.24 [[ 9.99286451e-01 3.76442491e-02 3.08201181e-03 4.00027185e+01] [-3.76439721e-02 9.99291204e-01 -1.47847255e-04 -1.21991742e+00] [-3.08539289e-03 3.17225915e-05 9.99995240e-01 -2.42698885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters Centerline goodness : 0.998491 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:-1.23, Z:-0.24 [[ 9.99417245e-01 3.39951764e-02 3.08198369e-03 4.00658599e+01] [-3.39948803e-02 9.99421996e-01 -1.48431230e-04 -1.22663428e+00] [-3.08524824e-03 4.35730640e-05 9.99995240e-01 -2.42981686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters Centerline goodness : 0.998471 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:-1.23, Z:-0.24 [[ 9.99581221e-01 2.87729900e-02 3.08195483e-03 4.01272886e+01] [-2.87726672e-02 9.99585970e-01 -1.49027958e-04 -1.23409812e+00] [-3.08496679e-03 6.02894877e-05 9.99995240e-01 -2.41329662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:-1.25, Z:-0.25 [[ 9.99566905e-01 2.92660924e-02 3.08192805e-03 4.01890896e+01] [-2.92657702e-02 9.99571654e-01 -1.49579888e-04 -1.24507001e+00] [-3.08498554e-03 5.93201079e-05 9.99995240e-01 -2.45565400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters Centerline goodness : 0.998372 with order 1 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.25, Z:-0.25 [[ 9.99391758e-01 3.47363668e-02 3.08191052e-03 4.02517427e+01] [-3.47360696e-02 9.99396509e-01 -1.49940160e-04 -1.24999413e+00] [-3.08525899e-03 4.27955014e-05 9.99995240e-01 -2.47081986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.26, Z:-0.24 [[ 9.99242823e-01 3.87850896e-02 3.08188262e-03 4.03149945e+01] [-3.87848098e-02 9.99247575e-01 -1.50511519e-04 -1.25563042e+00] [-3.08540133e-03 3.08673241e-05 9.99995240e-01 -2.41553592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters Centerline goodness : 0.994182 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:-1.26, Z:-0.24 [[ 9.99197914e-01 3.99253171e-02 3.08185307e-03 4.03765622e+01] [-3.99250409e-02 9.99202666e-01 -1.51114003e-04 -1.26376094e+00] [-3.08542908e-03 2.79496861e-05 9.99995240e-01 -2.37154097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters Centerline goodness : 0.997939 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:-1.26, Z:-0.24 [[ 9.99128772e-01 4.16197076e-02 3.08182547e-03 4.04399145e+01] [-4.16194378e-02 9.99133524e-01 -1.51674789e-04 -1.26110920e+00] [-3.08546781e-03 2.32788021e-05 9.99995240e-01 -2.41538411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters Centerline goodness : 0.996736 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:-1.26, Z:-0.24 [[ 9.99024971e-01 4.40410002e-02 3.08179719e-03 4.05023466e+01] [-4.40407401e-02 9.99029724e-01 -1.52247332e-04 -1.26367319e+00] [-3.08551212e-03 1.63742577e-05 9.99995240e-01 -2.40991822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters Centerline goodness : 0.998220 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:-1.26, Z:-0.24 [[ 9.99116297e-01 4.19181118e-02 3.08177215e-03 4.05653812e+01] [-4.19178401e-02 9.99121049e-01 -1.52752407e-04 -1.26190674e+00] [-3.08546652e-03 2.34361868e-05 9.99995240e-01 -2.42614888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters Centerline goodness : 0.997358 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:-1.26, Z:-0.24 [[ 9.99294520e-01 3.74294761e-02 3.08174343e-03 4.06281385e+01] [-3.74291812e-02 9.99299271e-01 -1.53329780e-04 -1.26495711e+00] [-3.08532301e-03 3.78744760e-05 9.99995240e-01 -2.41175196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:-1.27, Z:-0.24 [[ 9.99429909e-01 3.36208405e-02 3.08171437e-03 4.06904146e+01] [-3.36205257e-02 9.99434658e-01 -1.53911502e-04 -1.26679650e+00] [-3.08514679e-03 5.02149013e-05 9.99995240e-01 -2.43593956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters Centerline goodness : 0.997820 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.27, Z:-0.24 [[ 9.99387423e-01 3.48609015e-02 3.08168738e-03 4.07527999e+01] [-3.48605909e-02 9.99392173e-01 -1.54450124e-04 -1.27227446e+00] [-3.08519852e-03 4.69260684e-05 9.99995240e-01 -2.43132757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.28, Z:-0.25 [[ 9.99261711e-01 3.82953857e-02 3.08165879e-03 4.08146416e+01] [-3.82950898e-02 9.99266462e-01 -1.55018424e-04 -1.27535547e+00] [-3.08533477e-03 3.68915751e-05 9.99995240e-01 -2.46609612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters Centerline goodness : 0.998238 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:-1.28, Z:-0.25 [[ 9.99036564e-01 4.37772511e-02 3.08163205e-03 4.08777994e+01] [-4.37769795e-02 9.99041316e-01 -1.55548240e-04 -1.27833972e+00] [-3.08548721e-03 2.04938356e-05 9.99995240e-01 -2.48076696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters Centerline goodness : 0.997039 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:-1.29, Z:-0.24 [[ 9.98688306e-01 5.11094019e-02 3.08160362e-03 4.09403433e+01] [-5.11091635e-02 9.98693060e-01 -1.56109519e-04 -1.28535583e+00] [-3.08555481e-03 -1.59343221e-06 9.99995240e-01 -2.43477362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters Centerline goodness : 0.996971 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:-1.29, Z:-0.25 [[ 9.98578729e-01 5.32073889e-02 3.08157448e-03 4.10018253e+01] [-5.32071587e-02 9.98583484e-01 -1.56682529e-04 -1.29255563e+00] [-3.08554605e-03 -7.50198179e-06 9.99995240e-01 -2.45388416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.29, Z:-0.25 [[ 9.98100674e-01 6.15268175e-02 3.08155646e-03 4.10634090e+01] [-6.15266259e-02 9.98105430e-01 -1.57036127e-04 -1.29411974e+00] [-3.08538017e-03 -3.28599073e-05 9.99995240e-01 -2.47716610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters Centerline goodness : 0.996702 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:-1.29, Z:-0.25 [[ 9.97177107e-01 7.50221447e-02 3.08152961e-03 4.11262520e+01] [-7.50220158e-02 9.97181865e-01 -1.57561247e-04 -1.29062696e+00] [-3.08466603e-03 -7.40660950e-05 9.99995240e-01 -2.45123137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:-1.28, Z:-0.25 [[ 9.96294424e-01 8.59530381e-02 3.08150236e-03 4.11892518e+01] [-8.59529597e-02 9.96299184e-01 -1.58092477e-04 -1.28423798e+00] [-3.08368681e-03 -1.07357595e-04 9.99995240e-01 -2.48468088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters Centerline goodness : 0.997364 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:-1.28, Z:-0.25 [[ 9.96159401e-01 8.75040108e-02 3.08147694e-03 4.12522921e+01] [-8.75039384e-02 9.96164161e-01 -1.58586312e-04 -1.28031503e+00] [-3.08353383e-03 -1.11664122e-04 9.99995240e-01 -2.50176692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters Centerline goodness : 0.997460 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:-1.27, Z:-0.25 [[ 9.96409497e-01 8.46086238e-02 3.08144799e-03 4.13155196e+01] [-8.46085358e-02 9.96414256e-01 -1.59146857e-04 -1.26523885e+00] [-3.08386391e-03 -1.02141363e-04 9.99995240e-01 -2.48091107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters Centerline goodness : 0.997292 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.26, Z:-0.25 [[ 9.96755605e-01 8.04286502e-02 3.08142235e-03 4.13784765e+01] [-8.04285407e-02 9.96760365e-01 -1.59641839e-04 -1.25884531e+00] [-3.08427944e-03 -8.87104050e-05 9.99995240e-01 -2.46641564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:-1.25, Z:-0.25 [[ 9.98030636e-01 6.26526544e-02 3.08139608e-03 4.14419739e+01] [-6.26524585e-02 9.98035392e-01 -1.60147304e-04 -1.24853356e+00] [-3.08537600e-03 -3.32251244e-05 9.99995240e-01 -2.48462389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:-1.25, Z:-0.25 [[ 9.98598163e-01 5.28414007e-02 3.08136573e-03 4.15046595e+01] [-5.28411563e-02 9.98602917e-01 -1.60729196e-04 -1.25043816e+00] [-3.08555396e-03 -2.31904803e-06 9.99995240e-01 -2.50598055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.26, Z:-0.25 [[ 9.99289374e-01 3.75666313e-02 3.08133493e-03 4.15669375e+01] [-3.75663125e-02 9.99294124e-01 -1.61317447e-04 -1.25532459e+00] [-3.08522004e-03 4.54484204e-05 9.99995240e-01 -2.49861350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters Centerline goodness : 0.986563 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.26, Z:-0.24 [[ 9.99380309e-01 3.50642765e-02 3.08130625e-03 4.16285534e+01] [-3.50639440e-02 9.99385058e-01 -1.61863464e-04 -1.26354529e+00] [-3.08508705e-03 5.37204089e-05 9.99995240e-01 -2.37570728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.27, Z:-0.26 [[ 9.99227580e-01 3.91758656e-02 3.08127906e-03 4.16895456e+01] [-3.91755511e-02 9.99232330e-01 -1.62379376e-04 -1.27059487e+00] [-3.08527501e-03 4.15431463e-05 9.99995240e-01 -2.55156677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:-1.28, Z:-0.25 [[ 9.98676908e-01 5.13316553e-02 3.08126387e-03 4.17511128e+01] [-5.13313978e-02 9.98681662e-01 -1.62666980e-04 -1.27707978e+00] [-3.08555169e-03 4.28617511e-06 9.99995240e-01 -2.51250264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:-1.28, Z:-0.25 [[ 9.98316548e-01 5.79187026e-02 3.08125799e-03 4.18121152e+01] [-5.79184761e-02 9.98321303e-01 -1.62778336e-04 -1.28302760e+00] [-3.08551340e-03 -1.59574613e-05 9.99995240e-01 -2.53301434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:41.88, Y:-1.29, Z:-0.25 [[ 9.98229637e-01 5.93977935e-02 3.08123249e-03 4.18754876e+01] [-5.93975725e-02 9.98234392e-01 -1.63259678e-04 -1.28710286e+00] [-3.08548950e-03 -2.00470810e-05 9.99995240e-01 -2.53646087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters Centerline goodness : 0.997553 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:-1.29, Z:-0.25 [[ 9.97866962e-01 6.52076132e-02 3.08120205e-03 4.19381147e+01] [-6.52074181e-02 9.97871718e-01 -1.63832111e-04 -1.28899224e+00] [-3.08532749e-03 -3.74345799e-05 9.99995240e-01 -2.52041748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:-1.29, Z:-0.25 [[ 9.97611956e-01 6.89992174e-02 3.08117381e-03 4.19992673e+01] [-6.89990387e-02 9.97616713e-01 -1.64361468e-04 -1.28549800e+00] [-3.08517130e-03 -4.86290653e-05 9.99995240e-01 -2.54422399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters Centerline goodness : 0.996365 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:-1.28, Z:-0.25 [[ 9.98056862e-01 6.22334935e-02 3.08114781e-03 4.20613795e+01] [-6.22332812e-02 9.98061617e-01 -1.64847499e-04 -1.28467995e+00] [-3.08543440e-03 -2.72227609e-05 9.99995240e-01 -2.46101896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:-1.29, Z:-0.25 [[ 9.98749432e-01 4.99006912e-02 3.08111957e-03 4.21227769e+01] [-4.99004185e-02 9.98754184e-01 -1.65373723e-04 -1.29373555e+00] [-3.08553332e-03 1.14177562e-05 9.99995240e-01 -2.49642050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:42.18, Y:-1.30, Z:-0.25 [[ 9.99142009e-01 4.13007704e-02 3.08109112e-03 4.21832631e+01] [-4.13004552e-02 9.99146758e-01 -1.65902076e-04 -1.30321222e+00] [-3.08531408e-03 3.85092678e-05 9.99995240e-01 -2.51284464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:42.24, Y:-1.32, Z:-0.26 [[ 9.99109967e-01 4.20687585e-02 3.08106499e-03 4.22436051e+01] [-4.20684454e-02 9.99114717e-01 -1.66385851e-04 -1.31844239e+00] [-3.08533702e-03 3.66221473e-05 9.99995240e-01 -2.56951161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters Centerline goodness : 0.997529 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:-1.33, Z:-0.25 [[ 9.98803160e-01 4.88134779e-02 3.08104954e-03 4.23064237e+01] [-4.88131960e-02 9.98807912e-01 -1.66671398e-04 -1.32911524e+00] [-3.08551247e-03 1.60760439e-05 9.99995240e-01 -2.52728791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters Centerline goodness : 0.997045 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:-1.33, Z:-0.26 [[ 9.98488265e-01 5.48788885e-02 3.08101834e-03 4.23696418e+01] [-5.48786337e-02 9.98493018e-01 -1.67246159e-04 -1.33404732e+00] [-3.08555359e-03 -2.08874997e-06 9.99995240e-01 -2.55949619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters Centerline goodness : 0.997575 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:-1.34, Z:-0.26 [[ 9.98354632e-01 5.72585109e-02 3.08098627e-03 4.24302586e+01] [-5.72582656e-02 9.98359386e-01 -1.67834881e-04 -1.34053004e+00] [-3.08554154e-03 -8.85319990e-06 9.99995240e-01 -2.57919562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters Centerline goodness : 0.997452 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:-1.34, Z:-0.26 [[ 9.97818871e-01 6.59394245e-02 3.08097063e-03 4.24921000e+01] [-6.59392197e-02 9.97823627e-01 -1.68121617e-04 -1.34006356e+00] [-3.08535113e-03 -3.54018767e-05 9.99995240e-01 -2.57563038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters Centerline goodness : 0.997904 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:-1.34, Z:-0.26 [[ 9.96942371e-01 7.80795579e-02 3.08095109e-03 4.25542175e+01] [-7.80794099e-02 9.96947129e-01 -1.68478905e-04 -1.33910529e+00] [-3.08470010e-03 -7.25950844e-05 9.99995240e-01 -2.55293602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters Centerline goodness : 0.997724 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:-1.33, Z:-0.25 [[ 9.95965063e-01 8.96889086e-02 3.08092378e-03 4.26160141e+01] [-8.96888144e-02 9.95969823e-01 -1.68976862e-04 -1.33035287e+00] [-3.08366246e-03 -1.08029350e-04 9.99995240e-01 -2.54113665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters Centerline goodness : 0.997514 with order 1 Centerline is valid? [True, True] Translation: X:42.68, Y:-1.33, Z:-0.25 [[ 9.95667772e-01 9.29311297e-02 3.08091980e-03 4.26765232e+01] [-9.29310508e-02 9.95672532e-01 -1.69049414e-04 -1.32626514e+00] [-3.08329717e-03 -1.17996061e-04 9.99995240e-01 -2.52139473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters Centerline goodness : 0.997196 with order 1 Centerline is valid? [True, True] Translation: X:42.74, Y:-1.32, Z:-0.25 [[ 9.96241398e-01 8.65654926e-02 3.08091784e-03 4.27388282e+01] [-8.65653832e-02 9.96246157e-01 -1.69085094e-04 -1.31573693e+00] [-3.08398949e-03 -9.82512628e-05 9.99995240e-01 -2.50814611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters Centerline goodness : 0.997435 with order 1 Centerline is valid? [True, True] Translation: X:42.80, Y:-1.31, Z:-0.25 [[ 9.96712483e-01 8.09613160e-02 3.08091387e-03 4.27990152e+01] [-8.09611797e-02 9.96717241e-01 -1.69157386e-04 -1.31472594e+00] [-3.08449518e-03 -8.08331433e-05 9.99995240e-01 -2.52495995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:42.86, Y:-1.31, Z:-0.25 [[ 9.97341769e-01 7.28004448e-02 3.08090461e-03 4.28606683e+01] [-7.28002690e-02 9.97346526e-01 -1.69325805e-04 -1.31049137e+00] [-3.08505651e-03 -5.54149873e-05 9.99995240e-01 -2.47756585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters Centerline goodness : 0.997384 with order 1 Centerline is valid? [True, True] Translation: X:42.92, Y:-1.31, Z:-0.25 [[ 9.97771187e-01 6.66570767e-02 3.08090067e-03 4.29224322e+01] [-6.66568714e-02 9.97775943e-01 -1.69397601e-04 -1.31280746e+00] [-3.08534012e-03 -3.63431539e-05 9.99995240e-01 -2.49603010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters Centerline goodness : 0.989887 with order 1 Centerline is valid? [True, True] Translation: X:42.98, Y:-1.32, Z:-0.24 [[ 9.97915327e-01 6.44632286e-02 3.08089668e-03 4.29839399e+01] [-6.44630126e-02 9.97920083e-01 -1.69470152e-04 -1.31826460e+00] [-3.08541326e-03 -2.94870186e-05 9.99995240e-01 -2.42148813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters Centerline goodness : 0.998149 with order 1 Centerline is valid? [True, True] Translation: X:43.04, Y:-1.32, Z:-0.25 [[ 9.97811669e-01 6.60483209e-02 3.08089268e-03 4.30439089e+01] [-6.60481122e-02 9.97816425e-01 -1.69542699e-04 -1.31975211e+00] [-3.08536333e-03 -3.43154622e-05 9.99995240e-01 -2.54654271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:43.10, Y:-1.32, Z:-0.26 [[ 9.97957505e-01 6.38069391e-02 3.08089071e-03 4.31037945e+01] [-6.38067196e-02 9.97962261e-01 -1.69578603e-04 -1.32420138e+00] [-3.08543295e-03 -2.73492895e-05 9.99995240e-01 -2.58690915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:43.16, Y:-1.33, Z:-0.26 [[ 9.98338577e-01 5.75377626e-02 3.08089071e-03 4.31645405e+01] [-5.75375133e-02 9.98343331e-01 -1.69578603e-04 -1.32909732e+00] [-3.08554386e-03 -7.96992848e-06 9.99995240e-01 -2.63239397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:43.22, Y:-1.34, Z:-0.26 [[ 9.98611143e-01 5.25955588e-02 3.08088677e-03 4.32248905e+01] [-5.25952857e-02 9.98615896e-01 -1.69650164e-04 -1.33910929e+00] [-3.08554534e-03 7.37442501e-06 9.99995240e-01 -2.56286167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:-1.34, Z:-0.26 [[ 9.98710075e-01 5.06822840e-02 3.08086127e-03 4.32867009e+01] [-5.06820003e-02 9.98714827e-01 -1.70111947e-04 -1.34489526e+00] [-3.08552349e-03 1.37483036e-05 9.99995240e-01 -2.63038337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters Centerline goodness : 0.997763 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:-1.35, Z:-0.26 [[ 9.98553137e-01 5.36855804e-02 3.08083438e-03 4.33477918e+01] [-5.36853095e-02 9.98557889e-01 -1.70597471e-04 -1.35043739e+00] [-3.08555010e-03 4.95509262e-06 9.99995240e-01 -2.63122299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:43.41, Y:-1.35, Z:-0.26 [[ 9.98134109e-01 6.09820323e-02 3.08083003e-03 4.34079914e+01] [-6.09817960e-02 9.98138864e-01 -1.70676104e-04 -1.34965473e+00] [-3.08550436e-03 -1.75169066e-05 9.99995240e-01 -2.59204763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters Centerline goodness : 0.998201 with order 1 Centerline is valid? [True, True] Translation: X:43.47, Y:-1.35, Z:-0.26 [[ 9.97765030e-01 6.67491793e-02 3.08082789e-03 4.34685652e+01] [-6.67489704e-02 9.97769786e-01 -1.70714662e-04 -1.34679105e+00] [-3.08535205e-03 -3.53089695e-05 9.99995240e-01 -2.61750824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:43.53, Y:-1.35, Z:-0.26 [[ 9.97871997e-01 6.51305261e-02 3.08081759e-03 4.35300225e+01] [-6.51303088e-02 9.97876753e-01 -1.70900345e-04 -1.34610006e+00] [-3.08540708e-03 -3.01179323e-05 9.99995240e-01 -2.61123140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:43.59, Y:-1.35, Z:-0.26 [[ 9.98301115e-01 5.81841244e-02 3.08081388e-03 4.35913471e+01] [-5.81838739e-02 9.98305869e-01 -1.70967127e-04 -1.34989473e+00] [-3.08554215e-03 -8.57701252e-06 9.99995240e-01 -2.58707544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters Centerline goodness : 0.998345 with order 1 Centerline is valid? [True, True] Translation: X:43.65, Y:-1.36, Z:-0.26 [[ 9.98479866e-01 5.50314957e-02 3.08080993e-03 4.36522548e+01] [-5.50312300e-02 9.98484619e-01 -1.71038332e-04 -1.35582355e+00] [-3.08555383e-03 1.23757080e-06 9.99995240e-01 -2.59526693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters Centerline goodness : 0.998101 with order 1 Centerline is valid? [True, True] Translation: X:43.71, Y:-1.36, Z:-0.26 [[ 9.98267064e-01 5.87654460e-02 3.08080602e-03 4.37127349e+01] [-5.87651977e-02 9.98271818e-01 -1.71108728e-04 -1.36127818e+00] [-3.08553711e-03 -1.02319676e-05 9.99995240e-01 -2.55379185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters Centerline goodness : 0.997793 with order 1 Centerline is valid? [True, True] Translation: X:43.77, Y:-1.37, Z:-0.25 [[ 9.98147113e-01 6.07688164e-02 3.08078460e-03 4.37743812e+01] [-6.07685765e-02 9.98151868e-01 -1.71493525e-04 -1.36595508e+00] [-3.08551236e-03 -1.60391279e-05 9.99995240e-01 -2.54981132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters Centerline goodness : 0.998588 with order 1 Centerline is valid? [True, True] Translation: X:43.83, Y:-1.37, Z:-0.26 [[ 9.97832605e-01 6.57312748e-02 3.08078073e-03 4.38342221e+01] [-6.57310584e-02 9.97837361e-01 -1.71562965e-04 -1.37077984e+00] [-3.08539517e-03 -3.13118578e-05 9.99995240e-01 -2.59472092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:43.89, Y:-1.37, Z:-0.27 [[ 9.97474402e-01 7.09600324e-02 3.08078073e-03 4.38937889e+01] [-7.09598409e-02 9.97479158e-01 -1.71562965e-04 -1.37378814e+00] [-3.08518869e-03 -4.74820446e-05 9.99995240e-01 -2.65370646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:43.95, Y:-1.38, Z:-0.26 [[ 9.97396554e-01 7.20459804e-02 3.08078265e-03 4.39541934e+01] [-7.20457942e-02 9.97401310e-01 -1.71528629e-04 -1.37858593e+00] [-3.08513460e-03 -5.08753692e-05 9.99995240e-01 -2.63319400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters Centerline goodness : 0.998490 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:-1.38, Z:-0.26 [[ 9.97607599e-01 6.90621997e-02 3.08078077e-03 4.40154424e+01] [-6.90619992e-02 9.97612355e-01 -1.71562341e-04 -1.38447976e+00] [-3.08527343e-03 -4.16129841e-05 9.99995240e-01 -2.62508556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:-1.39, Z:-0.27 [[ 9.97941965e-01 6.40495373e-02 3.08077670e-03 4.40763996e+01] [-6.40493126e-02 9.97946720e-01 -1.71635365e-04 -1.39092618e+00] [-3.08544417e-03 -2.60394968e-05 9.99995240e-01 -2.65666621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:-1.40, Z:-0.27 [[ 9.98106556e-01 6.14313532e-02 3.08075051e-03 4.41382839e+01] [-6.14311146e-02 9.98111311e-01 -1.72104151e-04 -1.39785152e+00] [-3.08550452e-03 -1.74756565e-05 9.99995240e-01 -2.65368370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:-1.40, Z:-0.26 [[ 9.97892680e-01 6.48128781e-02 3.08072249e-03 4.41998769e+01] [-6.48126540e-02 9.97897435e-01 -1.72604355e-04 -1.39858136e+00] [-3.08543205e-03 -2.74291784e-05 9.99995240e-01 -2.63678680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters Centerline goodness : 0.998416 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.40, Z:-0.26 [[ 9.97672179e-01 6.81229220e-02 3.08069673e-03 4.42608054e+01] [-6.81227123e-02 9.97676935e-01 -1.73062820e-04 -1.39636342e+00] [-3.08532962e-03 -3.72054566e-05 9.99995240e-01 -2.62316667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:44.32, Y:-1.40, Z:-0.26 [[ 9.97898249e-01 6.47270798e-02 3.08069673e-03 4.43217935e+01] [-6.47268539e-02 9.97903004e-01 -1.73062820e-04 -1.39870437e+00] [-3.08543837e-03 -2.67047227e-05 9.99995240e-01 -2.60858893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters Centerline goodness : 0.998074 with order 1 Centerline is valid? [True, True] Translation: X:44.38, Y:-1.40, Z:-0.26 [[ 9.98424982e-01 5.60184305e-02 3.08069283e-03 4.43828665e+01] [-5.60181629e-02 9.98429735e-01 -1.73132281e-04 -1.39871711e+00] [-3.08555392e-03 2.84841461e-07 9.99995240e-01 -2.61347502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:44.44, Y:-1.40, Z:-0.27 [[ 9.98856556e-01 4.77083857e-02 3.08068886e-03 4.44437036e+01] [-4.77080784e-02 9.98861306e-01 -1.73202878e-04 -1.40293306e+00] [-3.08544413e-03 2.60310848e-05 9.99995240e-01 -2.66795709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:44.51, Y:-1.41, Z:-0.27 [[ 9.99136003e-01 4.14458365e-02 3.08067315e-03 4.45051474e+01] [-4.14454985e-02 9.99140751e-01 -1.73481835e-04 -1.41042861e+00] [-3.08521619e-03 4.56519127e-05 9.99995240e-01 -2.68181030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:44.57, Y:-1.42, Z:-0.26 [[ 9.99034488e-01 4.38246575e-02 3.08064605e-03 4.45664144e+01] [-4.38243294e-02 9.99039237e-01 -1.73961689e-04 -1.41735774e+00] [-3.08531010e-03 3.87864796e-05 9.99995240e-01 -2.62655489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:44.63, Y:-1.42, Z:-0.27 [[ 9.98702407e-01 5.08331854e-02 3.08062118e-03 4.46276528e+01] [-5.08328893e-02 9.98707158e-01 -1.74400992e-04 -1.42075135e+00] [-3.08550378e-03 1.75778144e-05 9.99995240e-01 -2.65099323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:44.69, Y:-1.43, Z:-0.27 [[ 9.98477177e-01 5.50802838e-02 3.08061739e-03 4.46898769e+01] [-5.50800077e-02 9.98481929e-01 -1.74468043e-04 -1.42542769e+00] [-3.08555054e-03 4.52192987e-06 9.99995240e-01 -2.67222901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters Centerline goodness : 0.998337 with order 1 Centerline is valid? [True, True] Translation: X:44.75, Y:-1.43, Z:-0.26 [[ 9.98613864e-01 5.25438867e-02 3.08059075e-03 4.47513722e+01] [-5.25435970e-02 9.98618616e-01 -1.74937058e-04 -1.42910512e+00] [-3.08552715e-03 1.28292526e-05 9.99995240e-01 -2.62717514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters Centerline goodness : 0.988623 with order 1 Centerline is valid? [True, True] Translation: X:44.81, Y:-1.44, Z:-0.24 [[ 9.98820919e-01 4.84487566e-02 3.08056616e-03 4.48128198e+01] [-4.84484461e-02 9.98825669e-01 -1.75369056e-04 -1.43861739e+00] [-3.08544497e-03 2.59136380e-05 9.99995240e-01 -2.44287130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:44.87, Y:-1.44, Z:-0.27 [[ 9.98989758e-01 4.48327238e-02 3.08053993e-03 4.48747267e+01] [-4.48323948e-02 9.98994507e-01 -1.75828582e-04 -1.43858120e+00] [-3.08532534e-03 3.75429702e-05 9.99995240e-01 -2.65405056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:44.94, Y:-1.44, Z:-0.27 [[ 9.98952734e-01 4.56502459e-02 3.08051204e-03 4.49365974e+01] [-4.56499192e-02 9.98957483e-01 -1.76315817e-04 -1.44425591e+00] [-3.08534942e-03 3.55060412e-05 9.99995240e-01 -2.66782267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:-1.45, Z:-0.27 [[ 9.99003667e-01 4.45217302e-02 3.08048339e-03 4.49985694e+01] [-4.45213966e-02 9.99008415e-01 -1.76814951e-04 -1.45071354e+00] [-3.08530094e-03 3.94913614e-05 9.99995240e-01 -2.67777055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:-1.46, Z:-0.27 [[ 9.99171607e-01 4.05784512e-02 3.08045437e-03 4.50599099e+01] [-4.05780973e-02 9.99176354e-01 -1.77319207e-04 -1.45805164e+00] [-3.08511250e-03 5.21733396e-05 9.99995240e-01 -2.70310411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:-1.47, Z:-0.27 [[ 9.99293158e-01 3.74659309e-02 3.08042348e-03 4.51220035e+01] [-3.74655606e-02 9.99297904e-01 -1.77854273e-04 -1.46769861e+00] [-3.08492420e-03 6.23187661e-05 9.99995240e-01 -2.68013904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters Centerline goodness : 0.993988 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:-1.48, Z:-0.26 [[ 9.99483512e-01 3.19878259e-02 3.08038988e-03 4.51842485e+01] [-3.19874278e-02 9.99488255e-01 -1.78434273e-04 -1.48116162e+00] [-3.08452123e-03 7.98083650e-05 9.99995240e-01 -2.61914607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.49, Z:-0.27 [[ 9.99688477e-01 2.47681382e-02 3.08035641e-03 4.52471540e+01] [-2.47677041e-02 9.99693217e-01 -1.79010261e-04 -1.49168082e+00] [-3.08384516e-03 1.02661139e-04 9.99995240e-01 -2.70158385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters Centerline goodness : 0.998543 with order 1 Centerline is valid? [True, True] Translation: X:45.31, Y:-1.51, Z:-0.27 [[ 9.99728108e-01 2.31132423e-02 3.08032325e-03 4.53097768e+01] [-2.31127986e-02 9.99732847e-01 -1.79578999e-04 -1.50641340e+00] [-3.08365099e-03 1.08335282e-04 9.99995240e-01 -2.71174102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters Centerline goodness : 0.998536 with order 1 Centerline is valid? [True, True] Translation: X:45.37, Y:-1.52, Z:-0.27 [[ 9.99619267e-01 2.74195528e-02 3.08028881e-03 4.53711807e+01] [-2.74191277e-02 9.99624009e-01 -1.80167784e-04 -1.52101579e+00] [-3.08407077e-03 9.56403565e-05 9.99995240e-01 -2.70297411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:-1.53, Z:-0.27 [[ 9.99263892e-01 3.82385471e-02 3.08025663e-03 4.54327219e+01] [-3.82381716e-02 9.99268637e-01 -1.80716325e-04 -1.53306897e+00] [-3.08491417e-03 6.27999170e-05 9.99995240e-01 -2.70533174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters Centerline goodness : 0.998635 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:-1.54, Z:-0.27 [[ 9.98758789e-01 4.97131093e-02 3.08022596e-03 4.54945548e+01] [-4.97127868e-02 9.98763539e-01 -1.81237603e-04 -1.53847003e+00] [-3.08542726e-03 2.78860331e-05 9.99995240e-01 -2.72281407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:-1.55, Z:-0.27 [[ 9.98364585e-01 5.70847455e-02 3.08020565e-03 4.55571723e+01] [-5.70844570e-02 9.98369336e-01 -1.81581989e-04 -1.54639980e+00] [-3.08554844e-03 5.45316013e-06 9.99995240e-01 -2.68905065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters Centerline goodness : 0.997989 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:-1.55, Z:-0.27 [[ 9.98048535e-01 6.23669357e-02 3.08017309e-03 4.56194860e+01] [-6.23666706e-02 9.98053288e-01 -1.82132648e-04 -1.54891260e+00] [-3.08553594e-03 -1.03229187e-05 9.99995240e-01 -2.67077450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:-1.55, Z:-0.27 [[ 9.97901755e-01 6.46730309e-02 3.08014160e-03 4.56804244e+01] [-6.46727751e-02 9.97906508e-01 -1.82663654e-04 -1.55252991e+00] [-3.08550676e-03 -1.69209242e-05 9.99995240e-01 -2.67693013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters Centerline goodness : 0.997497 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:-1.56, Z:-0.27 [[ 9.97752908e-01 6.69301656e-02 3.08011268e-03 4.57435516e+01] [-6.69299191e-02 9.97757662e-01 -1.83150042e-04 -1.55529716e+00] [-3.08546429e-03 -2.34132057e-05 9.99995240e-01 -2.65229725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:-1.56, Z:-0.26 [[ 9.97504345e-01 7.05378919e-02 3.08007948e-03 4.58064633e+01] [-7.05376608e-02 9.97509100e-01 -1.83706686e-04 -1.55505279e+00] [-3.08536559e-03 -3.40133838e-05 9.99995240e-01 -2.63995800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:-1.56, Z:-0.27 [[ 9.97503406e-01 7.05511690e-02 3.08004507e-03 4.58686211e+01] [-7.05509363e-02 9.97508161e-01 -1.84281778e-04 -1.55633300e+00] [-3.08537139e-03 -3.34783623e-05 9.99995240e-01 -2.70713894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters Centerline goodness : 0.997574 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:-1.56, Z:-0.27 [[ 9.97427456e-01 7.16169259e-02 3.08002389e-03 4.59311679e+01] [-7.16166971e-02 9.97432211e-01 -1.84635200e-04 -1.55901265e+00] [-3.08533804e-03 -3.64209197e-05 9.99995240e-01 -2.70805993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:45.99, Y:-1.55, Z:-0.27 [[ 9.96855985e-01 7.91748598e-02 3.08001219e-03 4.59931037e+01] [-7.91746665e-02 9.96860742e-01 -1.84830090e-04 -1.55490473e+00] [-3.08497713e-03 -5.96099564e-05 9.99995240e-01 -2.68935727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:-1.55, Z:-0.27 [[ 9.95845498e-01 9.10069070e-02 3.07999483e-03 4.60543257e+01] [-9.10067693e-02 9.95850257e-01 -1.85119025e-04 -1.54657589e+00] [-3.08406075e-03 -9.59504307e-05 9.99995240e-01 -2.70080749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:-1.54, Z:-0.27 [[ 9.95224405e-01 9.75648320e-02 3.07999276e-03 4.61166095e+01] [-9.75647255e-02 9.95229165e-01 -1.85153378e-04 -1.53587511e+00] [-3.08336308e-03 -1.16229488e-04 9.99995240e-01 -2.74230280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:-1.53, Z:-0.28 [[ 9.95448362e-01 9.52526803e-02 3.07998852e-03 4.61783978e+01] [-9.52525625e-02 9.95453120e-01 -1.85223855e-04 -1.52964251e+00] [-3.08362725e-03 -1.08996016e-04 9.99995240e-01 -2.76077777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.52, Z:-0.27 [[ 9.95907858e-01 9.03219361e-02 3.07998431e-03 4.62388338e+01] [-9.03217946e-02 9.95912616e-01 -1.85293885e-04 -1.52209433e+00] [-3.08413133e-03 -9.36540743e-05 9.99995240e-01 -2.69982660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.52, Z:-0.27 [[ 9.96146066e-01 8.76557398e-02 3.07997386e-03 4.62995102e+01] [-8.76555850e-02 9.96150824e-01 -1.85467447e-04 -1.51836437e+00] [-3.08437578e-03 -8.52242424e-05 9.99995240e-01 -2.73464303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:-1.51, Z:-0.27 [[ 9.96325991e-01 8.55864056e-02 3.07997386e-03 4.63604322e+01] [-8.55862409e-02 9.96330749e-01 -1.85467447e-04 -1.51338234e+00] [-3.08454615e-03 -7.88173464e-05 9.99995240e-01 -2.72663865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:-1.51, Z:-0.27 [[ 9.96675481e-01 8.14155998e-02 3.07997386e-03 4.64196250e+01] [-8.14154152e-02 9.96680237e-01 -1.85467447e-04 -1.51230085e+00] [-3.08484902e-03 -6.59064933e-05 9.99995240e-01 -2.70584968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:46.48, Y:-1.51, Z:-0.27 [[ 9.96916500e-01 7.84092214e-02 3.07997600e-03 4.64803251e+01] [-7.84090226e-02 9.96921256e-01 -1.85431837e-04 -1.51444885e+00] [-3.08503311e-03 -5.66378501e-05 9.99995240e-01 -2.70824352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters Centerline goodness : 0.998085 with order 1 Centerline is valid? [True, True] Translation: X:46.54, Y:-1.52, Z:-0.27 [[ 9.96947961e-01 7.80081820e-02 3.07997600e-03 4.65400529e+01] [-7.80079813e-02 9.96952717e-01 -1.85431837e-04 -1.51507969e+00] [-3.08505564e-03 -5.53968184e-05 9.99995240e-01 -2.69361456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:46.60, Y:-1.51, Z:-0.27 [[ 9.96616856e-01 8.21301142e-02 3.07998044e-03 4.65990206e+01] [-8.21299334e-02 9.96621613e-01 -1.85358054e-04 -1.51359535e+00] [-3.08479855e-03 -6.82276274e-05 9.99995240e-01 -2.71093502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:46.66, Y:-1.51, Z:-0.27 [[ 9.96637589e-01 8.18781442e-02 3.07998701e-03 4.66592528e+01] [-8.18779625e-02 9.96642346e-01 -1.85248811e-04 -1.51105500e+00] [-3.08481331e-03 -6.75571328e-05 9.99995240e-01 -2.67191110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:46.72, Y:-1.51, Z:-0.27 [[ 9.97434193e-01 7.15230313e-02 3.07999154e-03 4.67184051e+01] [-7.15228004e-02 9.97438948e-01 -1.85173441e-04 -1.51491736e+00] [-3.08534769e-03 -3.55912983e-05 9.99995240e-01 -2.73955461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.52, Z:-0.27 [[ 9.97849237e-01 6.54783538e-02 3.07999379e-03 4.67787902e+01] [-6.54780942e-02 9.97853990e-01 -1.85136114e-04 -1.51783001e+00] [-3.08550650e-03 -1.69341934e-05 9.99995240e-01 -2.67766649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.52, Z:-0.26 [[ 9.97744237e-01 6.70593117e-02 3.07999379e-03 4.68391868e+01] [-6.70590597e-02 9.97748991e-01 -1.85136114e-04 -1.52040479e+00] [-3.08547579e-03 -2.18229965e-05 9.99995240e-01 -2.64470840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:46.90, Y:-1.52, Z:-0.27 [[ 9.97494231e-01 7.06807811e-02 3.07999379e-03 4.68984627e+01] [-7.06805464e-02 9.97498986e-01 -1.85136114e-04 -1.51850742e+00] [-3.08537624e-03 -3.30234380e-05 9.99995240e-01 -2.68617340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:46.96, Y:-1.51, Z:-0.27 [[ 9.97334448e-01 7.29007078e-02 3.07999154e-03 4.69573272e+01] [-7.29004835e-02 9.97339203e-01 -1.85173438e-04 -1.51493601e+00] [-3.08529558e-03 -3.98530238e-05 9.99995240e-01 -2.66484698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:47.02, Y:-1.51, Z:-0.26 [[ 9.97242533e-01 7.41474482e-02 3.07999802e-03 4.70169206e+01] [-7.41472301e-02 9.97247288e-01 -1.85065685e-04 -1.51061432e+00] [-3.08524182e-03 -4.38179496e-05 9.99995240e-01 -2.64900621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters Centerline goodness : 0.998446 with order 1 Centerline is valid? [True, True] Translation: X:47.08, Y:-1.51, Z:-0.27 [[ 9.97452946e-01 7.12610312e-02 3.08000253e-03 4.70759537e+01] [-7.12607997e-02 9.97457700e-01 -1.84990547e-04 -1.50757869e+00] [-3.08535486e-03 -3.49640769e-05 9.99995240e-01 -2.68737939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:-1.51, Z:-0.28 [[ 9.97810469e-01 6.60664993e-02 3.08000923e-03 4.71342062e+01] [-6.60662433e-02 9.97815222e-01 -1.84878915e-04 -1.50997805e+00] [-3.08549440e-03 -1.90105228e-05 9.99995240e-01 -2.75549641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:-1.51, Z:-0.28 [[ 9.98123813e-01 6.11503623e-02 3.08001572e-03 4.71939409e+01] [-6.11500832e-02 9.98128565e-01 -1.84770738e-04 -1.51224996e+00] [-3.08555047e-03 -3.91914396e-06 9.99995240e-01 -2.75237239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:-1.52, Z:-0.27 [[ 9.98109098e-01 6.13900724e-02 3.08002006e-03 4.72535394e+01] [-6.13897947e-02 9.98113851e-01 -1.84698366e-04 -1.51638095e+00] [-3.08554933e-03 -4.73268026e-06 9.99995240e-01 -2.71808191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters Centerline goodness : 0.998640 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:-1.52, Z:-0.28 [[ 9.97843820e-01 6.55608393e-02 3.08002436e-03 4.73123203e+01] [-6.55605817e-02 9.97848574e-01 -1.84626661e-04 -1.51838676e+00] [-3.08550219e-03 -1.76996158e-05 9.99995240e-01 -2.75189452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:47.37, Y:-1.52, Z:-0.28 [[ 9.97619239e-01 6.88938829e-02 3.08003110e-03 4.73718387e+01] [-6.88936415e-02 9.97623993e-01 -1.84514210e-04 -1.51831179e+00] [-3.08542482e-03 -2.81196320e-05 9.99995240e-01 -2.77575513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:47.43, Y:-1.52, Z:-0.27 [[ 9.97688969e-01 6.78766157e-02 3.08003576e-03 4.74303732e+01] [-6.78763697e-02 9.97693723e-01 -1.84436290e-04 -1.52277269e+00] [-3.08545126e-03 -2.50515936e-05 9.99995240e-01 -2.72474175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters Centerline goodness : 0.997991 with order 1 Centerline is valid? [True, True] Translation: X:47.49, Y:-1.52, Z:-0.27 [[ 9.97702042e-01 6.76841878e-02 3.08004247e-03 4.74905899e+01] [-6.76839412e-02 9.97706796e-01 -1.84324203e-04 -1.52072795e+00] [-3.08545514e-03 -2.45687797e-05 9.99995240e-01 -2.68225650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters Centerline goodness : 0.997350 with order 1 Centerline is valid? [True, True] Translation: X:47.55, Y:-1.52, Z:-0.27 [[ 9.97560483e-01 6.97394832e-02 3.08004684e-03 4.75502767e+01] [-6.97392467e-02 9.97565238e-01 -1.84251179e-04 -1.52103861e+00] [-3.08539724e-03 -3.09984509e-05 9.99995240e-01 -2.67631516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters Centerline goodness : 0.998155 with order 1 Centerline is valid? [True, True] Translation: X:47.61, Y:-1.52, Z:-0.27 [[ 9.97329498e-01 7.29683947e-02 3.08005117e-03 4.76091791e+01] [-7.29681738e-02 9.97334253e-01 -1.84178721e-04 -1.51720119e+00] [-3.08527976e-03 -4.10588380e-05 9.99995240e-01 -2.68833662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters Centerline goodness : 0.997612 with order 1 Centerline is valid? [True, True] Translation: X:47.67, Y:-1.52, Z:-0.27 [[ 9.97251352e-01 7.40287335e-02 3.08005996e-03 4.76679134e+01] [-7.40285181e-02 9.97256108e-01 -1.84031602e-04 -1.51707238e+00] [-3.08523223e-03 -4.44865103e-05 9.99995240e-01 -2.65557068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters Centerline goodness : 0.996800 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:-1.52, Z:-0.27 [[ 9.97369806e-01 7.24153469e-02 3.08006868e-03 4.77264240e+01] [-7.24151242e-02 9.97374562e-01 -1.83885631e-04 -1.51873237e+00] [-3.08529829e-03 -3.96415796e-05 9.99995240e-01 -2.65754039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:-1.52, Z:-0.27 [[ 9.97504883e-01 7.05302945e-02 3.08007737e-03 4.77840984e+01] [-7.05300633e-02 9.97509637e-01 -1.83739923e-04 -1.51985079e+00] [-3.08536609e-03 -3.39565815e-05 9.99995240e-01 -2.71806549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters Centerline goodness : 0.997671 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:-1.52, Z:-0.27 [[ 9.97318182e-01 7.31228825e-02 3.08008869e-03 4.78432755e+01] [-7.31226643e-02 9.97322938e-01 -1.83549899e-04 -1.51978733e+00] [-3.08526480e-03 -4.21666402e-05 9.99995240e-01 -2.68929388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters Centerline goodness : 0.997489 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:-1.52, Z:-0.27 [[ 9.97236633e-01 7.42267479e-02 3.08009715e-03 4.79025943e+01] [-7.42265354e-02 9.97241389e-01 -1.83407824e-04 -1.51840285e+00] [-3.08521413e-03 -4.57239396e-05 9.99995240e-01 -2.72381146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters Centerline goodness : 0.997577 with order 1 Centerline is valid? [True, True] Translation: X:47.96, Y:-1.52, Z:-0.27 [[ 9.97516223e-01 7.03697176e-02 3.08010559e-03 4.79615689e+01] [-7.03694871e-02 9.97520978e-01 -1.83266085e-04 -1.52184629e+00] [-3.08536632e-03 -3.39345575e-05 9.99995240e-01 -2.72504543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters Centerline goodness : 0.997716 with order 1 Centerline is valid? [True, True] Translation: X:48.02, Y:-1.53, Z:-0.27 [[ 9.98115282e-01 6.12894446e-02 3.08011427e-03 4.80189007e+01] [-6.12891713e-02 9.98120035e-01 -1.83120030e-04 -1.52695595e+00] [-3.08554709e-03 -6.00275084e-06 9.99995240e-01 -2.72871180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters Centerline goodness : 0.996592 with order 1 Centerline is valid? [True, True] Translation: X:48.08, Y:-1.53, Z:-0.27 [[ 9.98390985e-01 5.66211426e-02 3.08012495e-03 4.80780618e+01] [-5.66208477e-02 9.98395736e-01 -1.82940158e-04 -1.53464389e+00] [-3.08554190e-03 8.24651893e-06 9.99995240e-01 -2.70466580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters Centerline goodness : 0.997073 with order 1 Centerline is valid? [True, True] Translation: X:48.14, Y:-1.54, Z:-0.27 [[ 9.98713181e-01 5.06210882e-02 3.08012920e-03 4.81360230e+01] [-5.06207649e-02 9.98717931e-01 -1.82868637e-04 -1.54265076e+00] [-3.08543727e-03 2.67148224e-05 9.99995240e-01 -2.73781540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:48.20, Y:-1.55, Z:-0.27 [[ 9.98883656e-01 4.71376176e-02 3.08013549e-03 4.81953920e+01] [-4.71372781e-02 9.98888404e-01 -1.82762580e-04 -1.55484700e+00] [-3.08532662e-03 3.73693506e-05 9.99995240e-01 -2.74257613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters Centerline goodness : 0.996492 with order 1 Centerline is valid? [True, True] Translation: X:48.25, Y:-1.57, Z:-0.27 [[ 9.98956096e-01 4.55766457e-02 3.08013332e-03 4.82543461e+01] [-4.55762987e-02 9.98960844e-01 -1.82799214e-04 -1.56583133e+00] [-3.08526395e-03 4.22273134e-05 9.99995240e-01 -2.69532693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:48.31, Y:-1.57, Z:-0.27 [[ 9.98725778e-01 5.03719412e-02 3.08013535e-03 4.83137378e+01] [-5.03716170e-02 9.98730528e-01 -1.82764885e-04 -1.57358183e+00] [-3.08543143e-03 2.73806037e-05 9.99995240e-01 -2.66399437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters Centerline goodness : 0.996340 with order 1 Centerline is valid? [True, True] Translation: X:48.37, Y:-1.58, Z:-0.27 [[ 9.98396233e-01 5.65285296e-02 3.08013930e-03 4.83721244e+01] [-5.65282350e-02 9.98400984e-01 -1.82698345e-04 -1.58143823e+00] [-3.08554178e-03 8.29050073e-06 9.99995240e-01 -2.65620688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters Centerline goodness : 0.994792 with order 1 Centerline is valid? [True, True] Translation: X:48.43, Y:-1.58, Z:-0.26 [[ 9.98266830e-01 5.87694480e-02 3.08014351e-03 4.84317654e+01] [-5.87691643e-02 9.98271582e-01 -1.82627406e-04 -1.58418973e+00] [-3.08555264e-03 1.29342244e-06 9.99995240e-01 -2.59953568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters Centerline goodness : 0.995477 with order 1 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.59, Z:-0.26 [[ 9.98349410e-01 5.73495324e-02 3.08014784e-03 4.84912573e+01] [-5.73492421e-02 9.98354161e-01 -1.82554375e-04 -1.58823429e+00] [-3.08554782e-03 5.60890875e-06 9.99995240e-01 -2.62480401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters Centerline goodness : 0.995930 with order 1 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.59, Z:-0.27 [[ 9.98464398e-01 5.53114633e-02 3.08015214e-03 4.85513598e+01] [-5.53111636e-02 9.98469149e-01 -1.82481633e-04 -1.59007458e+00] [-3.08553022e-03 1.18346146e-05 9.99995240e-01 -2.65656397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters Centerline goodness : 0.995646 with order 1 Centerline is valid? [True, True] Translation: X:48.61, Y:-1.60, Z:-0.26 [[ 9.98646338e-01 5.19230535e-02 3.08015647e-03 4.86109677e+01] [-5.19227378e-02 9.98651088e-01 -1.82408515e-04 -1.59562101e+00] [-3.08547282e-03 2.22314382e-05 9.99995240e-01 -2.62770876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters Centerline goodness : 0.995912 with order 1 Centerline is valid? [True, True] Translation: X:48.67, Y:-1.61, Z:-0.27 [[ 9.98874707e-01 4.73268745e-02 3.08015861e-03 4.86707278e+01] [-4.73265371e-02 9.98879455e-01 -1.82372499e-04 -1.60551229e+00] [-3.08533827e-03 3.63940356e-05 9.99995240e-01 -2.66652702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters Centerline goodness : 0.996149 with order 1 Centerline is valid? [True, True] Translation: X:48.73, Y:-1.61, Z:-0.27 [[ 9.98750503e-01 4.98793059e-02 3.08015861e-03 4.87313004e+01] [-4.98789807e-02 9.98755252e-01 -1.82372499e-04 -1.61191612e+00] [-3.08542120e-03 2.85094531e-05 9.99995240e-01 -2.70895984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters Centerline goodness : 0.995728 with order 1 Centerline is valid? [True, True] Translation: X:48.79, Y:-1.62, Z:-0.27 [[ 9.98461227e-01 5.53686874e-02 3.08015861e-03 4.87906313e+01] [-5.53683883e-02 9.98465978e-01 -1.82372499e-04 -1.62058059e+00] [-3.08553130e-03 1.15484510e-05 9.99995240e-01 -2.67688941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters Centerline goodness : 0.995630 with order 1 Centerline is valid? [True, True] Translation: X:48.85, Y:-1.63, Z:-0.27 [[ 9.98255396e-01 5.89633547e-02 3.08016295e-03 4.88488657e+01] [-5.89630729e-02 9.98260148e-01 -1.82299094e-04 -1.62537306e+00] [-3.08555289e-03 3.65181174e-07 9.99995240e-01 -2.70998866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:-1.63, Z:-0.27 [[ 9.98038326e-01 6.25300849e-02 3.08016728e-03 4.89084412e+01] [-6.25298203e-02 9.98043079e-01 -1.82226011e-04 -1.62967446e+00] [-3.08553424e-03 -1.07337632e-05 9.99995240e-01 -2.66069813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters Centerline goodness : 0.995357 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.63, Z:-0.27 [[ 9.97876139e-01 6.50670704e-02 3.08017163e-03 4.89677868e+01] [-6.50668181e-02 9.97880893e-01 -1.82152358e-04 -1.62969648e+00] [-3.08549654e-03 -1.86514753e-05 9.99995240e-01 -2.66626094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:-1.63, Z:-0.26 [[ 9.97809827e-01 6.60761747e-02 3.08017595e-03 4.90267389e+01] [-6.60759274e-02 9.97814581e-01 -1.82079214e-04 -1.63044320e+00] [-3.08547558e-03 -2.18450532e-05 9.99995240e-01 -2.63816184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:-1.63, Z:-0.26 [[ 9.98007011e-01 6.30279150e-02 3.08018236e-03 4.90859683e+01] [-6.30276536e-02 9.98011764e-01 -1.81970838e-04 -1.63141454e+00] [-3.08552747e-03 -1.25284941e-05 9.99995240e-01 -2.62332300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.64, Z:-0.26 [[ 9.98389905e-01 5.66401732e-02 3.08018668e-03 4.91449878e+01] [-5.66398815e-02 9.98394657e-01 -1.81897561e-04 -1.63513853e+00] [-3.08554464e-03 7.14327997e-06 9.99995240e-01 -2.61195211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters Centerline goodness : 0.993390 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.64, Z:-0.26 [[ 9.98598237e-01 5.28400720e-02 3.08018883e-03 4.92057419e+01] [-5.28397624e-02 9.98602987e-01 -1.81861243e-04 -1.64017778e+00] [-3.08549533e-03 1.88498705e-05 9.99995240e-01 -2.58382158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters Centerline goodness : 0.993510 with order 1 Centerline is valid? [True, True] Translation: X:49.26, Y:-1.64, Z:-0.26 [[ 9.98480128e-01 5.50267789e-02 3.08018883e-03 4.92648673e+01] [-5.50264797e-02 9.98484879e-01 -1.81861243e-04 -1.64463285e+00] [-3.08552921e-03 1.20928889e-05 9.99995240e-01 -2.59398678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters Centerline goodness : 0.993415 with order 1 Centerline is valid? [True, True] Translation: X:49.32, Y:-1.65, Z:-0.26 [[ 9.98231233e-01 5.93710129e-02 3.08019315e-03 4.93230993e+01] [-5.93707346e-02 9.98235986e-01 -1.81787945e-04 -1.64756352e+00] [-3.08555258e-03 -1.40692573e-06 9.99995240e-01 -2.59378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters Centerline goodness : 0.993492 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:-1.65, Z:-0.26 [[ 9.98043287e-01 6.24508602e-02 3.08019958e-03 4.93827972e+01] [-6.24505969e-02 9.98048040e-01 -1.81679080e-04 -1.64666454e+00] [-3.08553316e-03 -1.10367154e-05 9.99995240e-01 -2.62960364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters Centerline goodness : 0.993736 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:-1.65, Z:-0.26 [[ 9.97843714e-01 6.55624419e-02 3.08020379e-03 4.94414346e+01] [-6.55621937e-02 9.97848468e-01 -1.81607602e-04 -1.64536943e+00] [-3.08548327e-03 -2.07289136e-05 9.99995240e-01 -2.62336726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:-1.64, Z:-0.26 [[ 9.97684286e-01 6.79454076e-02 3.08021227e-03 4.95001476e+01] [-6.79451711e-02 9.97689040e-01 -1.81463668e-04 -1.64171859e+00] [-3.08542365e-03 -2.82420998e-05 9.99995240e-01 -2.63517154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.64, Z:-0.26 [[ 9.97575414e-01 6.95255704e-02 3.08022116e-03 4.95587813e+01] [-6.95253419e-02 9.97580169e-01 -1.81312685e-04 -1.64014470e+00] [-3.08537341e-03 -3.32803523e-05 9.99995240e-01 -2.64270891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-1.63, Z:-0.26 [[ 9.97588888e-01 6.93319697e-02 3.08022774e-03 4.96178915e+01] [-6.93317407e-02 9.97593643e-01 -1.81200806e-04 -1.63352238e+00] [-3.08537862e-03 -3.27936403e-05 9.99995240e-01 -2.60605629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters Centerline goodness : 0.993089 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.63, Z:-0.26 [[ 9.97921164e-01 6.43728416e-02 3.08023644e-03 4.96756744e+01] [-6.43725894e-02 9.97925918e-01 -1.81052723e-04 -1.62752940e+00] [-3.08550266e-03 -1.76064512e-05 9.99995240e-01 -2.59357977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters Centerline goodness : 0.993919 with order 1 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.63, Z:-0.26 [[ 9.98255451e-01 5.89624222e-02 3.08024805e-03 4.97350951e+01] [-5.89621448e-02 9.98260203e-01 -1.80854957e-04 -1.62617117e+00] [-3.08555269e-03 -1.07858490e-06 9.99995240e-01 -2.63691264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters Centerline goodness : 0.994005 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:-1.63, Z:-0.26 [[ 9.98682784e-01 5.12172746e-02 3.08025670e-03 4.97945837e+01] [-5.12169608e-02 9.98687534e-01 -1.80707551e-04 -1.63181725e+00] [-3.08546932e-03 2.27081329e-05 9.99995240e-01 -2.57878858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters Centerline goodness : 0.992773 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:-1.65, Z:-0.26 [[ 9.99019569e-01 4.41634746e-02 3.08026115e-03 4.98538249e+01] [-4.41631275e-02 9.99024317e-01 -1.80631749e-04 -1.64506396e+00] [-3.08523311e-03 4.44206866e-05 9.99995240e-01 -2.56248363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:-1.66, Z:-0.26 [[ 9.99089743e-01 4.25464114e-02 3.08025883e-03 4.99127357e+01] [-4.25460565e-02 9.99094490e-01 -1.80671295e-04 -1.65957865e+00] [-3.08515654e-03 4.94539715e-05 9.99995240e-01 -2.58559790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters Centerline goodness : 0.994652 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:-1.68, Z:-0.26 [[ 9.98922981e-01 4.62967656e-02 3.08026308e-03 4.99722429e+01] [-4.62964288e-02 9.98927729e-01 -1.80598832e-04 -1.67636259e+00] [-3.08532134e-03 3.77991431e-05 9.99995240e-01 -2.64131235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:-1.69, Z:-0.26 [[ 9.98762042e-01 4.96477067e-02 3.08026308e-03 5.00323650e+01] [-4.96473858e-02 9.98766792e-01 -1.80598832e-04 -1.68609955e+00] [-3.08543079e-03 2.74482487e-05 9.99995240e-01 -2.63487330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters Centerline goodness : 0.994322 with order 1 Centerline is valid? [True, True] Translation: X:50.09, Y:-1.70, Z:-0.26 [[ 9.98132010e-01 6.10164046e-02 3.08026308e-03 5.00905910e+01] [-6.10161378e-02 9.98136763e-01 -1.80598832e-04 -1.69706701e+00] [-3.08554331e-03 -7.68428152e-06 9.99995240e-01 -2.63542039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters Centerline goodness : 0.994764 with order 1 Centerline is valid? [True, True] Translation: X:50.15, Y:-1.70, Z:-0.27 [[ 9.97734002e-01 6.72114127e-02 3.08026941e-03 5.01498362e+01] [-6.72111757e-02 9.97738756e-01 -1.80490683e-04 -1.70228721e+00] [-3.08543521e-03 -2.69468373e-05 9.99995240e-01 -2.67308086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.71, Z:-0.27 [[ 9.97625498e-01 6.88031812e-02 3.08027359e-03 5.02097869e+01] [-6.88029521e-02 9.97630253e-01 -1.80419310e-04 -1.70733352e+00] [-3.08538755e-03 -3.19410127e-05 9.99995240e-01 -2.65921487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters Centerline goodness : 0.994103 with order 1 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.71, Z:-0.26 [[ 9.97598048e-01 6.92000508e-02 3.08027776e-03 5.02695101e+01] [-6.91998238e-02 9.97602803e-01 -1.80348212e-04 -1.71112366e+00] [-3.08537383e-03 -3.32396535e-05 9.99995240e-01 -2.62585578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters Centerline goodness : 0.993325 with order 1 Centerline is valid? [True, True] Translation: X:50.33, Y:-1.71, Z:-0.25 [[ 9.97407059e-01 7.19004155e-02 3.08028202e-03 5.03286391e+01] [-7.19002015e-02 9.97411815e-01 -1.80275290e-04 -1.71320205e+00] [-3.08527155e-03 -4.16650519e-05 9.99995240e-01 -2.54362145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters Centerline goodness : 0.994993 with order 1 Centerline is valid? [True, True] Translation: X:50.39, Y:-1.71, Z:-0.26 [[ 9.97158353e-01 7.52710476e-02 3.08028837e-03 5.03871500e+01] [-7.52708501e-02 9.97163109e-01 -1.80166880e-04 -1.71461126e+00] [-3.08511127e-03 -5.22010148e-05 9.99995240e-01 -2.62423584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:-1.72, Z:-0.27 [[ 9.96977210e-01 7.76334573e-02 3.08029463e-03 5.04471692e+01] [-7.76332714e-02 9.96981967e-01 -1.80059718e-04 -1.71547086e+00] [-3.08497686e-03 -5.96179136e-05 9.99995240e-01 -2.66544540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:-1.71, Z:-0.27 [[ 9.96970847e-01 7.77151332e-02 3.08029878e-03 5.05056123e+01] [-7.77149479e-02 9.96975604e-01 -1.79988721e-04 -1.71250409e+00] [-3.08497058e-03 -5.99417512e-05 9.99995240e-01 -2.65718759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters Centerline goodness : 0.994381 with order 1 Centerline is valid? [True, True] Translation: X:50.56, Y:-1.71, Z:-0.26 [[ 9.96968555e-01 7.77445281e-02 3.08029753e-03 5.05644450e+01] [-7.77443429e-02 9.96973312e-01 -1.80010102e-04 -1.70859974e+00] [-3.08496923e-03 -6.00112957e-05 9.99995240e-01 -2.62268653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters Centerline goodness : 0.994750 with order 1 Centerline is valid? [True, True] Translation: X:50.62, Y:-1.71, Z:-0.26 [[ 9.96905510e-01 7.85488076e-02 3.08030566e-03 5.06225077e+01] [-7.85486267e-02 9.96910267e-01 -1.79870840e-04 -1.70589683e+00] [-3.08491698e-03 -6.26395480e-05 9.99995240e-01 -2.62174865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:50.68, Y:-1.70, Z:-0.27 [[ 9.96529238e-01 8.31864756e-02 3.08031571e-03 5.06818735e+01] [-8.31863173e-02 9.96533996e-01 -1.79698640e-04 -1.69760909e+00] [-3.08458782e-03 -7.71651712e-05 9.99995240e-01 -2.65064809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters Centerline goodness : 0.994723 with order 1 Centerline is valid? [True, True] Translation: X:50.74, Y:-1.70, Z:-0.26 [[ 9.96362924e-01 8.51553556e-02 3.08032366e-03 5.07401761e+01] [-8.51552071e-02 9.96367682e-01 -1.79562248e-04 -1.69674070e+00] [-3.08442563e-03 -8.33964321e-05 9.99995240e-01 -2.63241814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters Centerline goodness : 0.995251 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:-1.69, Z:-0.27 [[ 9.96411052e-01 8.45903513e-02 3.08033366e-03 5.07999171e+01] [-8.45902007e-02 9.96415810e-01 -1.79390487e-04 -1.68536019e+00] [-3.08446786e-03 -8.18193788e-05 9.99995240e-01 -2.68959785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:-1.69, Z:-0.27 [[ 9.96476266e-01 8.38186362e-02 3.08034216e-03 5.08585868e+01] [-8.38184823e-02 9.96481023e-01 -1.79244411e-04 -1.68612807e+00] [-3.08452653e-03 -7.95768033e-05 9.99995240e-01 -2.68444621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters Centerline goodness : 0.994670 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:-1.68, Z:-0.27 [[ 9.96826345e-01 7.95471543e-02 3.08035070e-03 5.09181177e+01] [-7.95469805e-02 9.96831102e-01 -1.79097578e-04 -1.68378575e+00] [-3.08483608e-03 -6.65034126e-05 9.99995240e-01 -2.67412765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters Centerline goodness : 0.994191 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:-1.69, Z:-0.26 [[ 9.97340277e-01 7.28208984e-02 3.08035918e-03 5.09772758e+01] [-7.28206930e-02 9.97345033e-01 -1.78951644e-04 -1.68723640e+00] [-3.08521234e-03 -4.58382079e-05 9.99995240e-01 -2.63778517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:-1.69, Z:-0.26 [[ 9.97921903e-01 6.43613744e-02 3.08036760e-03 5.10360814e+01] [-6.43611291e-02 9.97926657e-01 -1.78806528e-04 -1.69304069e+00] [-3.08548918e-03 -1.98209864e-05 9.99995240e-01 -2.64263551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters Centerline goodness : 0.995071 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.70, Z:-0.27 [[ 9.98382268e-01 5.67746234e-02 3.08037613e-03 5.10941757e+01] [-5.67743424e-02 9.98387020e-01 -1.78659426e-04 -1.70321888e+00] [-3.08555087e-03 3.48407324e-06 9.99995240e-01 -2.65629516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters Centerline goodness : 0.994922 with order 1 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.71, Z:-0.26 [[ 9.98660018e-01 5.16592731e-02 3.08038040e-03 5.11526825e+01] [-5.16589680e-02 9.98664768e-01 -1.78585819e-04 -1.71487352e+00] [-3.08549299e-03 1.92172447e-05 9.99995240e-01 -2.61907416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters Centerline goodness : 0.994945 with order 1 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.72, Z:-0.26 [[ 9.98673851e-01 5.13911478e-02 3.08038647e-03 5.12115159e+01] [-5.13908418e-02 9.98678602e-01 -1.78480976e-04 -1.72484851e+00] [-3.08548840e-03 1.99406301e-05 9.99995240e-01 -2.61860767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters Centerline goodness : 0.995440 with order 1 Centerline is valid? [True, True] Translation: X:51.27, Y:-1.73, Z:-0.27 [[ 9.98659618e-01 5.16670022e-02 3.08039062e-03 5.12703401e+01] [-5.16666977e-02 9.98664368e-01 -1.78409303e-04 -1.73356327e+00] [-3.08549423e-03 1.90165549e-05 9.99995240e-01 -2.67816790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters Centerline goodness : 0.996283 with order 1 Centerline is valid? [True, True] Translation: X:51.33, Y:-1.75, Z:-0.27 [[ 9.98815229e-01 4.85659199e-02 3.08039477e-03 5.13304114e+01] [-4.85656008e-02 9.98819979e-01 -1.78337736e-04 -1.74678622e+00] [-3.08542097e-03 2.85252245e-05 9.99995240e-01 -2.67328340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters Centerline goodness : 0.996398 with order 1 Centerline is valid? [True, True] Translation: X:51.39, Y:-1.75, Z:-0.27 [[ 9.98814947e-01 4.85717355e-02 3.08039477e-03 5.13897371e+01] [-4.85714165e-02 9.98819696e-01 -1.78337736e-04 -1.75300955e+00] [-3.08542114e-03 2.85072594e-05 9.99995240e-01 -2.67571281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters Centerline goodness : 0.996958 with order 1 Centerline is valid? [True, True] Translation: X:51.45, Y:-1.76, Z:-0.27 [[ 9.98642052e-01 5.20054171e-02 3.08039901e-03 5.14490903e+01] [-5.20051147e-02 9.98646803e-01 -1.78264505e-04 -1.76395594e+00] [-3.08550134e-03 1.78259278e-05 9.99995240e-01 -2.69293026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters Centerline goodness : 0.996941 with order 1 Centerline is valid? [True, True] Translation: X:51.51, Y:-1.77, Z:-0.27 [[ 9.98328580e-01 5.77109801e-02 3.08039666e-03 5.15083346e+01] [-5.77107046e-02 9.98333332e-01 -1.78305055e-04 -1.77165926e+00] [-3.08555282e-03 2.35171062e-07 9.99995240e-01 -2.66870491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters Centerline goodness : 0.996736 with order 1 Centerline is valid? [True, True] Translation: X:51.57, Y:-1.78, Z:-0.27 [[ 9.97860337e-01 6.53089469e-02 3.08040073e-03 5.15670198e+01] [-6.53087078e-02 9.97865092e-01 -1.78234695e-04 -1.78160396e+00] [-3.08546468e-03 -2.33236586e-05 9.99995240e-01 -2.65834321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:51.63, Y:-1.79, Z:-0.27 [[ 9.97697163e-01 6.77560529e-02 3.08040678e-03 5.16268833e+01] [-6.77558258e-02 9.97701918e-01 -1.78130005e-04 -1.78741434e+00] [-3.08539714e-03 -3.09957050e-05 9.99995240e-01 -2.68047042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters Centerline goodness : 0.997207 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:-1.79, Z:-0.27 [[ 9.97487094e-01 7.07814195e-02 3.08041090e-03 5.16867549e+01] [-7.07812071e-02 9.97491849e-01 -1.78058798e-04 -1.79286200e+00] [-3.08528802e-03 -4.04238488e-05 9.99995240e-01 -2.65907406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:-1.79, Z:-0.26 [[ 9.97304240e-01 7.33127822e-02 3.08041504e-03 5.17457955e+01] [-7.33125821e-02 9.97308996e-01 -1.77987104e-04 -1.79463548e+00] [-3.08517436e-03 -4.83258869e-05 9.99995240e-01 -2.63520410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:-1.80, Z:-0.26 [[ 9.97231829e-01 7.42912563e-02 3.08042121e-03 5.18052107e+01] [-7.42910611e-02 9.97236585e-01 -1.77880346e-04 -1.79751280e+00] [-3.08512368e-03 -5.14598177e-05 9.99995240e-01 -2.64305042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:51.86, Y:-1.80, Z:-0.27 [[ 9.97215143e-01 7.45148944e-02 3.08042541e-03 5.18649291e+01] [-7.45147005e-02 9.97219899e-01 -1.77807460e-04 -1.79801211e+00] [-3.08511083e-03 -5.22246852e-05 9.99995240e-01 -2.71257082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters Centerline goodness : 0.997606 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:-1.80, Z:-0.27 [[ 9.97111997e-01 7.58826432e-02 3.08042963e-03 5.19235226e+01] [-7.58824561e-02 9.97116754e-01 -1.77734311e-04 -1.79668868e+00] [-3.08503495e-03 -5.65295531e-05 9.99995240e-01 -2.72998552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters Centerline goodness : 0.997666 with order 1 Centerline is valid? [True, True] Translation: X:51.98, Y:-1.79, Z:-0.27 [[ 9.97077712e-01 7.63318245e-02 3.08043589e-03 5.19836162e+01] [-7.63316399e-02 9.97082469e-01 -1.77625865e-04 -1.79155675e+00] [-3.08500713e-03 -5.80279315e-05 9.99995240e-01 -2.71840332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters Centerline goodness : 0.997709 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:-1.79, Z:-0.27 [[ 9.97053121e-01 7.66523658e-02 3.08044018e-03 5.20415688e+01] [-7.66521830e-02 9.97057878e-01 -1.77551369e-04 -1.78691767e+00] [-3.08498688e-03 -5.90943182e-05 9.99995240e-01 -2.73348567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:52.10, Y:-1.79, Z:-0.27 [[ 9.97200658e-01 7.47084918e-02 3.08045159e-03 5.21004239e+01] [-7.47083003e-02 9.97205414e-01 -1.77353177e-04 -1.78511688e+00] [-3.08509279e-03 -5.32785977e-05 9.99995240e-01 -2.70805162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:52.16, Y:-1.78, Z:-0.27 [[ 9.97326909e-01 7.30037544e-02 3.08045967e-03 5.21591004e+01] [-7.30035552e-02 9.97331665e-01 -1.77212694e-04 -1.78160827e+00] [-3.08517717e-03 -4.81455192e-05 9.99995240e-01 -2.71066499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters Centerline goodness : 0.997454 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:-1.78, Z:-0.27 [[ 9.97689438e-01 6.78697060e-02 3.08046784e-03 5.22180720e+01] [-6.78694828e-02 9.97694193e-01 -1.77070612e-04 -1.78172704e+00] [-3.08538261e-03 -3.24082800e-05 9.99995240e-01 -2.69175971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters Centerline goodness : 0.997734 with order 1 Centerline is valid? [True, True] Translation: X:52.28, Y:-1.79, Z:-0.27 [[ 9.98367273e-01 5.70376983e-02 3.08047614e-03 5.22766524e+01] [-5.70374239e-02 9.98372025e-01 -1.76926140e-04 -1.78518299e+00] [-3.08555266e-03 9.34844920e-07 9.99995240e-01 -2.70961050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters Centerline goodness : 0.997801 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:-1.79, Z:-0.27 [[ 9.98854842e-01 4.77442719e-02 3.08048226e-03 5.23357347e+01] [-4.77439537e-02 9.98859592e-01 -1.76819575e-04 -1.79291858e+00] [-3.08541137e-03 2.95426866e-05 9.99995240e-01 -2.72564205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:-1.81, Z:-0.28 [[ 9.99402381e-01 3.44295050e-02 3.08048650e-03 5.23952894e+01] [-3.44291237e-02 9.99407126e-01 -1.76745603e-04 -1.80732737e+00] [-3.08474542e-03 7.05815257e-05 9.99995240e-01 -2.77774252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters Centerline goodness : 0.998249 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:-1.82, Z:-0.28 [[ 9.99377623e-01 3.51408246e-02 3.08048441e-03 5.24549072e+01] [-3.51404465e-02 9.99382368e-01 -1.76781953e-04 -1.81749531e+00] [-3.08479407e-03 6.84223302e-05 9.99995240e-01 -2.80528156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters Centerline goodness : 0.997916 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:-1.83, Z:-0.28 [[ 9.99234090e-01 3.90095423e-02 3.08048441e-03 5.25140547e+01] [-3.90091827e-02 9.99238837e-01 -1.76781953e-04 -1.83179871e+00] [-3.08503584e-03 5.64793749e-05 9.99995240e-01 -2.77951366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters Centerline goodness : 0.998601 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:-1.84, Z:-0.28 [[ 9.99182651e-01 4.03055990e-02 3.08048647e-03 5.25745385e+01] [-4.03052455e-02 9.99187398e-01 -1.76746167e-04 -1.84232519e+00] [-3.08510712e-03 5.24419401e-05 9.99995240e-01 -2.80608236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters Centerline goodness : 0.998492 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:-1.85, Z:-0.28 [[ 9.99000455e-01 4.45937456e-02 3.08048443e-03 5.26344646e+01] [-4.45934124e-02 9.99005203e-01 -1.76781679e-04 -1.85178566e+00] [-3.08530333e-03 3.92356649e-05 9.99995240e-01 -2.78524921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-1.86, Z:-0.28 [[ 9.98792258e-01 4.90360599e-02 3.08048443e-03 5.26941241e+01] [-4.90357478e-02 9.98797008e-01 -1.76781679e-04 -1.85949602e+00] [-3.08544731e-03 2.55143146e-05 9.99995240e-01 -2.78658675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters Centerline goodness : 0.998665 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:-1.87, Z:-0.28 [[ 9.98625846e-01 5.23156877e-02 3.08048236e-03 5.27544572e+01] [-5.23153912e-02 9.98630597e-01 -1.76817804e-04 -1.86800733e+00] [-3.08551428e-03 1.54181893e-05 9.99995240e-01 -2.81555916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:52.81, Y:-1.88, Z:-0.28 [[ 9.98541025e-01 5.39104072e-02 3.08048236e-03 5.28143222e+01] [-5.39101183e-02 9.98545777e-01 -1.76817804e-04 -1.87661118e+00] [-3.08553497e-03 1.04906627e-05 9.99995240e-01 -2.80644760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters Centerline goodness : 0.998545 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:-1.89, Z:-0.28 [[ 9.98667139e-01 5.15214101e-02 3.08048034e-03 5.28751271e+01] [-5.15211097e-02 9.98671890e-01 -1.76852983e-04 -1.88561320e+00] [-3.08550083e-03 1.79074971e-05 9.99995240e-01 -2.81544186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.90, Z:-0.28 [[ 9.98588711e-01 5.30197866e-02 3.08047630e-03 5.29357204e+01] [-5.30194931e-02 9.98593462e-01 -1.76923268e-04 -1.89590919e+00] [-3.08552393e-03 1.33482860e-05 9.99995240e-01 -2.77230209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters Centerline goodness : 0.998314 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:-1.90, Z:-0.28 [[ 9.98269766e-01 5.87195490e-02 3.08047216e-03 5.29961435e+01] [-5.87192824e-02 9.98274519e-01 -1.76995355e-04 -1.89997199e+00] [-3.08554995e-03 -4.19400266e-06 9.99995240e-01 -2.77399464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:-1.90, Z:-0.28 [[ 9.97771328e-01 6.66549847e-02 3.08047011e-03 5.30567075e+01] [-6.66547558e-02 9.97776083e-01 -1.77030979e-04 -1.89906745e+00] [-3.08541940e-03 -2.86915477e-05 9.99995240e-01 -2.79813829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:-1.90, Z:-0.28 [[ 9.97539628e-01 7.00371400e-02 3.08047011e-03 5.31159678e+01] [-7.00369272e-02 9.97544384e-01 -1.77030979e-04 -1.89632174e+00] [-3.08530440e-03 -3.91512437e-05 9.99995240e-01 -2.81438643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:53.18, Y:-1.89, Z:-0.28 [[ 9.97734910e-01 6.71979123e-02 3.08046809e-03 5.31767626e+01] [-6.71976858e-02 9.97739665e-01 -1.77066170e-04 -1.89380385e+00] [-3.08540367e-03 -3.03352272e-05 9.99995240e-01 -2.82388957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:-1.89, Z:-0.28 [[ 9.97820976e-01 6.59075928e-02 3.08046809e-03 5.32364816e+01] [-6.59073602e-02 9.97825731e-01 -1.77066170e-04 -1.88960597e+00] [-3.08544032e-03 -2.63451809e-05 9.99995240e-01 -2.80217696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters Centerline goodness : 0.997412 with order 1 Centerline is valid? [True, True] Translation: X:53.30, Y:-1.89, Z:-0.28 [[ 9.97988109e-01 6.33264925e-02 3.08047009e-03 5.32971367e+01] [-6.33262477e-02 9.97992863e-01 -1.77031384e-04 -1.89203258e+00] [-3.08549794e-03 -1.83993954e-05 9.99995240e-01 -2.79446997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:53.36, Y:-1.89, Z:-0.28 [[ 9.98251030e-01 5.90372004e-02 3.08047009e-03 5.33576657e+01] [-5.90369352e-02 9.98255783e-01 -1.77031384e-04 -1.89109328e+00] [-3.08554852e-03 -5.13975117e-06 9.99995240e-01 -2.77624461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:53.42, Y:-1.90, Z:-0.28 [[ 9.98357813e-01 5.72030451e-02 3.08047009e-03 5.34176734e+01] [-5.72027711e-02 9.98362565e-01 -1.77031384e-04 -1.89520478e+00] [-3.08555275e-03 5.29240038e-07 9.99995240e-01 -2.76555289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:53.48, Y:-1.90, Z:-0.27 [[ 9.98581652e-01 5.31525691e-02 3.08047009e-03 5.34765104e+01] [-5.31522759e-02 9.98586403e-01 -1.77031384e-04 -1.90257278e+00] [-3.08552522e-03 1.30462961e-05 9.99995240e-01 -2.74248305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters Centerline goodness : 0.997162 with order 1 Centerline is valid? [True, True] Translation: X:53.54, Y:-1.91, Z:-0.28 [[ 9.98644121e-01 5.19656736e-02 3.08047202e-03 5.35355926e+01] [-5.19653749e-02 9.98648871e-01 -1.76997804e-04 -1.90919802e+00] [-3.08550771e-03 1.66799328e-05 9.99995240e-01 -2.76863851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters Centerline goodness : 0.997402 with order 1 Centerline is valid? [True, True] Translation: X:53.60, Y:-1.92, Z:-0.28 [[ 9.98497047e-01 5.47188953e-02 3.08047392e-03 5.35955886e+01] [-5.47186097e-02 9.98501799e-01 -1.76964673e-04 -1.91500566e+00] [-3.08554206e-03 8.13945318e-06 9.99995240e-01 -2.78988382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters Centerline goodness : 0.997272 with order 1 Centerline is valid? [True, True] Translation: X:53.65, Y:-1.92, Z:-0.28 [[ 9.98190947e-01 6.00445125e-02 3.08047392e-03 5.36545800e+01] [-6.00442523e-02 9.98195700e-01 -1.76964673e-04 -1.91674076e+00] [-3.08554158e-03 -8.32021876e-06 9.99995240e-01 -2.77471208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:53.71, Y:-1.92, Z:-0.28 [[ 9.97863908e-01 6.52543685e-02 3.08047793e-03 5.37139653e+01] [-6.52541333e-02 9.97868662e-01 -1.76894757e-04 -1.91705546e+00] [-3.08545555e-03 -2.44970241e-05 9.99995240e-01 -2.83289963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:53.77, Y:-1.91, Z:-0.28 [[ 9.97498925e-01 7.06144877e-02 3.08047979e-03 5.37738035e+01] [-7.06142782e-02 9.97503680e-01 -1.76862449e-04 -1.91431534e+00] [-3.08527898e-03 -4.11057536e-05 9.99995240e-01 -2.83578206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters Centerline goodness : 0.996743 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:-1.91, Z:-0.28 [[ 9.97517262e-01 7.03549709e-02 3.08048348e-03 5.38336847e+01] [-7.03547604e-02 9.97522018e-01 -1.76798099e-04 -1.91263807e+00] [-3.08528872e-03 -4.03675215e-05 9.99995240e-01 -2.81081654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-1.91, Z:-0.28 [[ 9.97889207e-01 6.48663357e-02 3.08048718e-03 5.38932024e+01] [-6.48660992e-02 9.97893961e-01 -1.76733658e-04 -1.91210646e+00] [-3.08546362e-03 -2.34585775e-05 9.99995240e-01 -2.75120557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters Centerline goodness : 0.996441 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:-1.91, Z:-0.27 [[ 9.98209190e-01 5.97404621e-02 3.08049118e-03 5.39538764e+01] [-5.97402014e-02 9.98213944e-01 -1.76663866e-04 -1.90964574e+00] [-3.08554323e-03 -7.68166866e-06 9.99995240e-01 -2.74741735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters Centerline goodness : 0.997158 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:-1.91, Z:-0.28 [[ 9.98458035e-01 5.54261931e-02 3.08049118e-03 5.40136786e+01] [-5.54259118e-02 9.98462787e-01 -1.76663866e-04 -1.91155295e+00] [-3.08554762e-03 5.65242430e-06 9.99995240e-01 -2.78520936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters Centerline goodness : 0.997203 with order 1 Centerline is valid? [True, True] Translation: X:54.07, Y:-1.91, Z:-0.27 [[ 9.98505118e-01 5.45714177e-02 3.08049315e-03 5.40730529e+01] [-5.45711325e-02 9.98509870e-01 -1.76629454e-04 -1.91322198e+00] [-3.08554174e-03 8.25941416e-06 9.99995240e-01 -2.74302058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters Centerline goodness : 0.996645 with order 1 Centerline is valid? [True, True] Translation: X:54.13, Y:-1.92, Z:-0.27 [[ 9.98400230e-01 5.64578756e-02 3.08049721e-03 5.41327788e+01] [-5.64575995e-02 9.98404982e-01 -1.76558783e-04 -1.91835258e+00] [-3.08555189e-03 2.35885221e-06 9.99995240e-01 -2.70392649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters Centerline goodness : 0.997089 with order 1 Centerline is valid? [True, True] Translation: X:54.19, Y:-1.92, Z:-0.28 [[ 9.98333106e-01 5.76326329e-02 3.08049921e-03 5.41921782e+01] [-5.76323626e-02 9.98337858e-01 -1.76523855e-04 -1.92249301e+00] [-3.08555252e-03 -1.30683836e-06 9.99995240e-01 -2.75097345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters Centerline goodness : 0.997383 with order 1 Centerline is valid? [True, True] Translation: X:54.25, Y:-1.93, Z:-0.28 [[ 9.98403863e-01 5.63935845e-02 3.08050325e-03 5.42511276e+01] [-5.63933085e-02 9.98408616e-01 -1.76453327e-04 -1.92807147e+00] [-3.08555182e-03 2.45191317e-06 9.99995240e-01 -2.75168340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters Centerline goodness : 0.997203 with order 1 Centerline is valid? [True, True] Translation: X:54.31, Y:-1.93, Z:-0.28 [[ 9.98338529e-01 5.75386212e-02 3.08050128e-03 5.43117031e+01] [-5.75383506e-02 9.98343281e-01 -1.76487668e-04 -1.93355078e+00] [-3.08555261e-03 -1.05252328e-06 9.99995240e-01 -2.76114035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:-1.93, Z:-0.28 [[ 9.98150853e-01 6.07073699e-02 3.08050128e-03 5.43701475e+01] [-6.07071143e-02 9.98155607e-01 -1.76487668e-04 -1.93272376e+00] [-3.08553373e-03 -1.08470264e-05 9.99995240e-01 -2.78675161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters Centerline goodness : 0.997327 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:-1.93, Z:-0.28 [[ 9.97975535e-01 6.35243443e-02 3.08050569e-03 5.44293945e+01] [-6.35241023e-02 9.97980289e-01 -1.76410611e-04 -1.93374628e+00] [-3.08549033e-03 -1.96328851e-05 9.99995240e-01 -2.75738619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters Centerline goodness : 0.996982 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:-1.93, Z:-0.27 [[ 9.97834915e-01 6.56962240e-02 3.08050976e-03 5.44881294e+01] [-6.56959927e-02 9.97839669e-01 -1.76339585e-04 -1.93485813e+00] [-3.08543968e-03 -2.64193516e-05 9.99995240e-01 -2.73379418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters Centerline goodness : 0.997067 with order 1 Centerline is valid? [True, True] Translation: X:54.55, Y:-1.94, Z:-0.28 [[ 9.97840448e-01 6.56121218e-02 3.08051817e-03 5.45468621e+01] [-6.56118905e-02 9.97845203e-01 -1.76192435e-04 -1.93574382e+00] [-3.08544064e-03 -2.63066828e-05 9.99995240e-01 -2.77020602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:54.61, Y:-1.94, Z:-0.28 [[ 9.98019726e-01 6.28262498e-02 3.08052222e-03 5.46056388e+01] [-6.28260055e-02 9.98024480e-01 -1.76121644e-04 -1.93763267e+00] [-3.08550165e-03 -1.77640310e-05 9.99995240e-01 -2.75720745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:54.66, Y:-1.94, Z:-0.27 [[ 9.98214786e-01 5.96468910e-02 3.08052828e-03 5.46648032e+01] [-5.96466318e-02 9.98219539e-01 -1.76015573e-04 -1.94129615e+00] [-3.08554230e-03 -8.04178856e-06 9.99995240e-01 -2.72394450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters Centerline goodness : 0.996942 with order 1 Centerline is valid? [True, True] Translation: X:54.72, Y:-1.94, Z:-0.27 [[ 9.98334575e-01 5.76071733e-02 3.08053245e-03 5.47232750e+01] [-5.76069046e-02 9.98339328e-01 -1.75942670e-04 -1.94376390e+00] [-3.08555225e-03 -1.81028824e-06 9.99995240e-01 -2.69916670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters Centerline goodness : 0.997148 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:-1.95, Z:-0.28 [[ 9.98591328e-01 5.29704593e-02 3.08053860e-03 5.47825039e+01] [-5.29701689e-02 9.98596080e-01 -1.75834772e-04 -1.94804695e+00] [-3.08552782e-03 1.24104279e-05 9.99995240e-01 -2.75366979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters Centerline goodness : 0.997298 with order 1 Centerline is valid? [True, True] Translation: X:54.84, Y:-1.95, Z:-0.28 [[ 9.98756554e-01 4.97579800e-02 3.08054063e-03 5.48424291e+01] [-4.97576744e-02 9.98761304e-01 -1.75799280e-04 -1.95204846e+00] [-3.08547219e-03 2.23001456e-05 9.99995240e-01 -2.76801837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters Centerline goodness : 0.996768 with order 1 Centerline is valid? [True, True] Translation: X:54.90, Y:-1.96, Z:-0.27 [[ 9.98807667e-01 4.87211959e-02 3.08054063e-03 5.49018849e+01] [-4.87208854e-02 9.98812417e-01 -1.75799280e-04 -1.95654886e+00] [-3.08544738e-03 2.55030021e-05 9.99995240e-01 -2.73359130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters Centerline goodness : 0.997672 with order 1 Centerline is valid? [True, True] Translation: X:54.96, Y:-1.96, Z:-0.28 [[ 9.98919061e-01 4.63812342e-02 3.08054482e-03 5.49612273e+01] [-4.63809129e-02 9.98923811e-01 -1.75725866e-04 -1.96037711e+00] [-3.08537995e-03 3.26574367e-05 9.99995240e-01 -2.77287956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:55.02, Y:-1.97, Z:-0.28 [[ 9.99132413e-01 4.15322850e-02 3.08054688e-03 5.50218681e+01] [-4.15319406e-02 9.99137161e-01 -1.75689749e-04 -1.96804538e+00] [-3.08518566e-03 4.75962328e-05 9.99995240e-01 -2.75470477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters Centerline goodness : 0.997529 with order 1 Centerline is valid? [True, True] Translation: X:55.08, Y:-1.98, Z:-0.28 [[ 9.99250503e-01 3.85868126e-02 3.08054688e-03 5.50817374e+01] [-3.85864542e-02 9.99255250e-01 -1.75689749e-04 -1.98009408e+00] [-3.08503195e-03 5.66906889e-05 9.99995240e-01 -2.77425817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters Centerline goodness : 0.997720 with order 1 Centerline is valid? [True, True] Translation: X:55.14, Y:-1.99, Z:-0.28 [[ 9.99000429e-01 4.45943105e-02 3.08053659e-03 5.51411018e+01] [-4.45939802e-02 9.99005178e-01 -1.75869927e-04 -1.98799986e+00] [-3.08531480e-03 3.83207449e-05 9.99995240e-01 -2.79332321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters Centerline goodness : 0.997474 with order 1 Centerline is valid? [True, True] Translation: X:55.20, Y:-1.99, Z:-0.28 [[ 9.98823356e-01 4.83984989e-02 3.08053862e-03 5.52013103e+01] [-4.83981868e-02 9.98828106e-01 -1.75834351e-04 -1.99260445e+00] [-3.08543867e-03 2.65349734e-05 9.99995240e-01 -2.79187384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters Centerline goodness : 0.997784 with order 1 Centerline is valid? [True, True] Translation: X:55.26, Y:-2.00, Z:-0.28 [[ 9.98251352e-01 5.90317626e-02 3.08053862e-03 5.52607798e+01] [-5.90315011e-02 9.98256105e-01 -1.75834351e-04 -1.99881495e+00] [-3.08554630e-03 -6.32193998e-06 9.99995240e-01 -2.79437184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.00, Z:-0.28 [[ 9.98023778e-01 6.27618450e-02 3.08054272e-03 5.53204359e+01] [-6.27616014e-02 9.98028532e-01 -1.75762487e-04 -2.00081919e+00] [-3.08550071e-03 -1.79246528e-05 9.99995240e-01 -2.75601049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters Centerline goodness : 0.997424 with order 1 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.01, Z:-0.27 [[ 9.98032969e-01 6.26155157e-02 3.08054476e-03 5.53811131e+01] [-6.26152716e-02 9.98037723e-01 -1.75726709e-04 -2.00688519e+00] [-3.08550310e-03 -1.75080981e-05 9.99995240e-01 -2.74470242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters Centerline goodness : 0.997016 with order 1 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.01, Z:-0.27 [[ 9.97933503e-01 6.41812643e-02 3.08054476e-03 5.54409772e+01] [-6.41810277e-02 9.97938257e-01 -1.75726709e-04 -2.00774408e+00] [-3.08547183e-03 -2.23489587e-05 9.99995240e-01 -2.71289704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:55.50, Y:-2.01, Z:-0.28 [[ 9.97855886e-01 6.53769186e-02 3.08054683e-03 5.55004654e+01] [-6.53766877e-02 9.97860640e-01 -1.75690514e-04 -2.01180526e+00] [-3.08544253e-03 -2.60821343e-05 9.99995240e-01 -2.80532867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:55.56, Y:-2.01, Z:-0.28 [[ 9.97898573e-01 6.47220870e-02 3.08054887e-03 5.55605423e+01] [-6.47218531e-02 9.97903327e-01 -1.75654759e-04 -2.01396410e+00] [-3.08545871e-03 -2.40931979e-05 9.99995240e-01 -2.83281185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:55.62, Y:-2.01, Z:-0.28 [[ 9.97734361e-01 6.72060585e-02 3.08055304e-03 5.56206543e+01] [-6.72058367e-02 9.97739117e-01 -1.75581545e-04 -2.01348185e+00] [-3.08538841e-03 -3.18474041e-05 9.99995240e-01 -2.77254635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:-2.01, Z:-0.28 [[ 9.97457428e-01 7.11982452e-02 3.08055720e-03 5.56794867e+01] [-7.11980427e-02 9.97462184e-01 -1.75508504e-04 -2.01323739e+00] [-3.08523521e-03 -4.42673824e-05 9.99995240e-01 -2.80371818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:-2.02, Z:-0.28 [[ 9.97730313e-01 6.72661292e-02 3.08056337e-03 5.57391571e+01] [-6.72659082e-02 9.97735068e-01 -1.75400151e-04 -2.01720461e+00] [-3.08538459e-03 -3.22148450e-05 9.99995240e-01 -2.78659228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters Centerline goodness : 0.997433 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:-2.02, Z:-0.28 [[ 9.98204580e-01 5.98174474e-02 3.08056749e-03 5.57996541e+01] [-5.98171911e-02 9.98209333e-01 -1.75327786e-04 -2.02443236e+00] [-3.08553888e-03 -9.25789552e-06 9.99995240e-01 -2.77845267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:-2.03, Z:-0.28 [[ 9.98191191e-01 6.00404537e-02 3.08056749e-03 5.58595944e+01] [-6.00401985e-02 9.98195945e-01 -1.75327786e-04 -2.03025869e+00] [-3.08553673e-03 -9.94723214e-06 9.99995240e-01 -2.75712172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.03, Z:-0.28 [[ 9.97884853e-01 6.49332803e-02 3.08056749e-03 5.59186859e+01] [-6.49330484e-02 9.97889607e-01 -1.75327786e-04 -2.03362451e+00] [-3.08545089e-03 -2.50736963e-05 9.99995240e-01 -2.77781848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.04, Z:-0.28 [[ 9.97811411e-01 6.60522419e-02 3.08056950e-03 5.59782454e+01] [-6.60520155e-02 9.97816166e-01 -1.75292416e-04 -2.03632519e+00] [-3.08542050e-03 -2.85690511e-05 9.99995240e-01 -2.81795149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.04, Z:-0.28 [[ 9.98098063e-01 6.15691989e-02 3.08057350e-03 5.60390291e+01] [-6.15689514e-02 9.98102817e-01 -1.75222094e-04 -2.03871446e+00] [-3.08551737e-03 -1.47788472e-05 9.99995240e-01 -2.80843188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.04, Z:-0.28 [[ 9.98343769e-01 5.74476231e-02 3.08057350e-03 5.60997382e+01] [-5.74473559e-02 9.98348522e-01 -1.75222094e-04 -2.04277172e+00] [-3.08555209e-03 -2.03891630e-06 9.99995240e-01 -2.78885419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:-2.05, Z:-0.28 [[ 9.98680204e-01 5.12675275e-02 3.08057350e-03 5.61588499e+01] [-5.12672309e-02 9.98684955e-01 -1.75222094e-04 -2.05020980e+00] [-3.08550561e-03 1.70583639e-05 9.99995240e-01 -2.80028819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:56.22, Y:-2.06, Z:-0.28 [[ 9.98878458e-01 4.72476035e-02 3.08057554e-03 5.62194806e+01] [-4.72472879e-02 9.98883208e-01 -1.75186307e-04 -2.06032671e+00] [-3.08541231e-03 2.94409890e-05 9.99995240e-01 -2.84414883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:56.28, Y:-2.07, Z:-0.29 [[ 9.98842140e-01 4.80092583e-02 3.08057136e-03 5.62804625e+01] [-4.80089460e-02 9.98846890e-01 -1.75259684e-04 -2.06888162e+00] [-3.08543321e-03 2.71617732e-05 9.99995240e-01 -2.86417429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters Centerline goodness : 0.998200 with order 1 Centerline is valid? [True, True] Translation: X:56.34, Y:-2.08, Z:-0.28 [[ 9.98870063e-01 4.74247557e-02 3.08056708e-03 5.63411080e+01] [-4.74244405e-02 9.98874813e-01 -1.75334886e-04 -2.07615268e+00] [-3.08541608e-03 2.90425988e-05 9.99995240e-01 -2.84010421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters Centerline goodness : 0.997455 with order 1 Centerline is valid? [True, True] Translation: X:56.40, Y:-2.09, Z:-0.29 [[ 9.99029063e-01 4.39481741e-02 3.08053951e-03 5.64025370e+01] [-4.39478409e-02 9.99033811e-01 -1.75817894e-04 -2.08647441e+00] [-3.08529001e-03 4.02641260e-05 9.99995240e-01 -2.86479754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:56.46, Y:-2.10, Z:-0.29 [[ 9.99202949e-01 3.97992084e-02 3.08051059e-03 5.64627627e+01] [-3.97988539e-02 9.99207696e-01 -1.76323289e-04 -2.09899522e+00] [-3.08508741e-03 5.35819600e-05 9.99995240e-01 -2.89754265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.11, Z:-0.29 [[ 9.99266513e-01 3.81699686e-02 3.08048395e-03 5.65241718e+01] [-3.81696049e-02 9.99271259e-01 -1.76787341e-04 -2.10783568e+00] [-3.08498705e-03 5.90768147e-05 9.99995240e-01 -2.88290578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.12, Z:-0.28 [[ 9.99268744e-01 3.81115121e-02 3.08045441e-03 5.65844272e+01] [-3.81111466e-02 9.99273491e-01 -1.77300615e-04 -2.12102702e+00] [-3.08497363e-03 5.97713138e-05 9.99995240e-01 -2.83147396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters Centerline goodness : 0.997380 with order 1 Centerline is valid? [True, True] Translation: X:56.65, Y:-2.13, Z:-0.28 [[ 9.99157381e-01 4.09272493e-02 3.08042731e-03 5.66460120e+01] [-4.09268957e-02 9.99162128e-01 -1.77770192e-04 -2.12557439e+00] [-3.08512195e-03 5.15480722e-05 9.99995240e-01 -2.79366902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:56.71, Y:-2.13, Z:-0.28 [[ 9.98950011e-01 4.57098203e-02 3.08039813e-03 5.67082585e+01] [-4.57094878e-02 9.98954759e-01 -1.78274439e-04 -2.13098922e+00] [-3.08532727e-03 3.72838318e-05 9.99995240e-01 -2.81699300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters Centerline goodness : 0.997597 with order 1 Centerline is valid? [True, True] Translation: X:56.77, Y:-2.14, Z:-0.28 [[ 9.99009461e-01 4.43915397e-02 3.08036918e-03 5.67702625e+01] [-4.43911994e-02 9.99014209e-01 -1.78773260e-04 -2.13510627e+00] [-3.08526860e-03 4.18548953e-05 9.99995240e-01 -2.80299006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:56.83, Y:-2.14, Z:-0.28 [[ 9.99194036e-01 4.00223583e-02 3.08033967e-03 5.68317417e+01] [-4.00219958e-02 9.99198783e-01 -1.79280367e-04 -2.14369273e+00] [-3.08504687e-03 5.58545328e-05 9.99995240e-01 -2.82179574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters Centerline goodness : 0.997555 with order 1 Centerline is valid? [True, True] Translation: X:56.89, Y:-2.15, Z:-0.28 [[ 9.99107892e-01 4.21180583e-02 3.08031040e-03 5.68939674e+01] [-4.21177041e-02 9.99112640e-01 -1.79781764e-04 -2.14958885e+00] [-3.08514912e-03 4.98857769e-05 9.99995240e-01 -2.80299388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:56.96, Y:-2.16, Z:-0.29 [[ 9.98802218e-01 4.88327961e-02 3.08028092e-03 5.69560570e+01] [-4.88324723e-02 9.98806967e-01 -1.80285541e-04 -2.15537399e+00] [-3.08540989e-03 2.96518658e-05 9.99995240e-01 -2.85769529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:57.02, Y:-2.16, Z:-0.28 [[ 9.98475572e-01 5.51093793e-02 3.08025120e-03 5.70169954e+01] [-5.51090838e-02 9.98480323e-01 -1.80791800e-04 -2.15990173e+00] [-3.08553354e-03 1.07663742e-05 9.99995240e-01 -2.81051263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters Centerline goodness : 0.997649 with order 1 Centerline is valid? [True, True] Translation: X:57.08, Y:-2.16, Z:-0.29 [[ 9.98067029e-01 6.20702591e-02 3.08022365e-03 5.70789326e+01] [-6.20699953e-02 9.98071782e-01 -1.81259958e-04 -2.16386083e+00] [-3.08553516e-03 -1.02798803e-05 9.99995240e-01 -2.85721745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters Centerline goodness : 0.997907 with order 1 Centerline is valid? [True, True] Translation: X:57.14, Y:-2.17, Z:-0.29 [[ 9.97983346e-01 6.34015286e-02 3.08019415e-03 5.71405799e+01] [-6.34012696e-02 9.97988099e-01 -1.81760003e-04 -2.16708686e+00] [-3.08552096e-03 -1.38947640e-05 9.99995240e-01 -2.88139552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:57.20, Y:-2.17, Z:-0.28 [[ 9.97789211e-01 6.63867733e-02 3.08016463e-03 5.72023669e+01] [-6.63865269e-02 9.97793965e-01 -1.82258863e-04 -2.17177551e+00] [-3.08546925e-03 -2.26255046e-05 9.99995240e-01 -2.84619854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters Centerline goodness : 0.997653 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.18, Z:-0.29 [[ 9.97661041e-01 6.82858692e-02 3.08013519e-03 5.72637972e+01] [-6.82856303e-02 9.97665795e-01 -1.82754943e-04 -2.17762438e+00] [-3.08542511e-03 -2.80014862e-05 9.99995240e-01 -2.86400982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters Centerline goodness : 0.997943 with order 1 Centerline is valid? [True, True] Translation: X:57.33, Y:-2.18, Z:-0.29 [[ 9.97678094e-01 6.80362645e-02 3.08010595e-03 5.73259754e+01] [-6.80360230e-02 9.97682848e-01 -1.83246554e-04 -2.18469978e+00] [-3.08543628e-03 -2.67370857e-05 9.99995240e-01 -2.88831642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters Centerline goodness : 0.997503 with order 1 Centerline is valid? [True, True] Translation: X:57.39, Y:-2.19, Z:-0.29 [[ 9.97617533e-01 6.89185823e-02 3.08007627e-03 5.73879016e+01] [-6.89183435e-02 9.97622287e-01 -1.83744009e-04 -2.18911346e+00] [-3.08541611e-03 -2.89675092e-05 9.99995240e-01 -2.85993387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters Centerline goodness : 0.997455 with order 1 Centerline is valid? [True, True] Translation: X:57.45, Y:-2.19, Z:-0.29 [[ 9.97496091e-01 7.06545267e-02 3.08004552e-03 5.74495890e+01] [-7.06542945e-02 9.97500845e-01 -1.84257995e-04 -2.19213722e+00] [-3.08536667e-03 -3.38218142e-05 9.99995240e-01 -2.87168524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters Centerline goodness : 0.997510 with order 1 Centerline is valid? [True, True] Translation: X:57.51, Y:-2.19, Z:-0.29 [[ 9.97247009e-01 7.40872269e-02 3.08002376e-03 5.75105051e+01] [-7.40870100e-02 9.97251764e-01 -1.84620963e-04 -2.19211950e+00] [-3.08523719e-03 -4.40770486e-05 9.99995240e-01 -2.85292540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters Centerline goodness : 0.997186 with order 1 Centerline is valid? [True, True] Translation: X:57.57, Y:-2.19, Z:-0.28 [[ 9.96924850e-01 7.83029777e-02 3.07999646e-03 5.75710827e+01] [-7.83027795e-02 9.96929607e-01 -1.85075288e-04 -2.19112655e+00] [-3.08503161e-03 -5.66661299e-05 9.99995240e-01 -2.83707131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters Centerline goodness : 0.997040 with order 1 Centerline is valid? [True, True] Translation: X:57.63, Y:-2.19, Z:-0.28 [[ 9.97004417e-01 7.72832813e-02 3.07999646e-03 5.76327516e+01] [-7.72830782e-02 9.97009173e-01 -1.85075288e-04 -2.18999353e+00] [-3.08508795e-03 -5.35107278e-05 9.99995240e-01 -2.84833732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters Centerline goodness : 0.996965 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:-2.19, Z:-0.28 [[ 9.97256836e-01 7.39548316e-02 3.07996986e-03 5.76941807e+01] [-7.39546113e-02 9.97261591e-01 -1.85516917e-04 -2.19153748e+00] [-3.08525552e-03 -4.27699606e-05 9.99995240e-01 -2.78858251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters Centerline goodness : 0.996215 with order 1 Centerline is valid? [True, True] Translation: X:57.76, Y:-2.19, Z:-0.28 [[ 9.97336921e-01 7.28668609e-02 3.07996546e-03 5.77555313e+01] [-7.28666352e-02 9.97341676e-01 -1.85590013e-04 -2.19143474e+00] [-3.08530127e-03 -3.93309474e-05 9.99995240e-01 -2.82944241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters Centerline goodness : 0.997860 with order 1 Centerline is valid? [True, True] Translation: X:57.82, Y:-2.19, Z:-0.29 [[ 9.97394221e-01 7.20782961e-02 3.07996104e-03 5.78159256e+01] [-7.20780664e-02 9.97398976e-01 -1.85663349e-04 -2.19336369e+00] [-3.08533228e-03 -3.68180843e-05 9.99995240e-01 -2.88672812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters Centerline goodness : 0.996458 with order 1 Centerline is valid? [True, True] Translation: X:57.88, Y:-2.20, Z:-0.28 [[ 9.97611843e-01 6.90009070e-02 3.07995885e-03 5.78770485e+01] [-6.90006625e-02 9.97616597e-01 -1.85699651e-04 -2.19616114e+00] [-3.08543151e-03 -2.72630304e-05 9.99995240e-01 -2.80870309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:57.94, Y:-2.20, Z:-0.29 [[ 9.97848866e-01 6.54840051e-02 3.07995453e-03 5.79378991e+01] [-6.54837436e-02 9.97853619e-01 -1.85771298e-04 -2.20440704e+00] [-3.08550882e-03 -1.63152740e-05 9.99995240e-01 -2.85368244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:58.00, Y:-2.21, Z:-0.28 [[ 9.97805253e-01 6.61452276e-02 3.07995024e-03 5.79988239e+01] [-6.61449690e-02 9.97810006e-01 -1.85842313e-04 -2.20698333e+00] [-3.08549775e-03 -1.82887770e-05 9.99995240e-01 -2.83089704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:58.06, Y:-2.21, Z:-0.28 [[ 9.97775794e-01 6.65881214e-02 3.07994600e-03 5.80597483e+01] [-6.65878648e-02 9.97780548e-01 -1.85912647e-04 -2.21452006e+00] [-3.08548978e-03 -1.95878881e-05 9.99995240e-01 -2.78868777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters Centerline goodness : 0.996895 with order 1 Centerline is valid? [True, True] Translation: X:58.12, Y:-2.22, Z:-0.28 [[ 9.97806334e-01 6.61289218e-02 3.07994160e-03 5.81217764e+01] [-6.61286627e-02 9.97811087e-01 -1.85985413e-04 -2.22013315e+00] [-3.08549889e-03 -1.80949962e-05 9.99995240e-01 -2.83408955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:58.18, Y:-2.23, Z:-0.28 [[ 9.97743610e-01 6.70686450e-02 3.07991012e-03 5.81827799e+01] [-6.70683888e-02 9.97748363e-01 -1.86505372e-04 -2.22586219e+00] [-3.08548394e-03 -2.04800657e-05 9.99995240e-01 -2.83159460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters Centerline goodness : 0.996492 with order 1 Centerline is valid? [True, True] Translation: X:58.24, Y:-2.23, Z:-0.29 [[ 9.97775210e-01 6.65968827e-02 3.07988101e-03 5.82448996e+01] [-6.65966228e-02 9.97779963e-01 -1.86984743e-04 -2.23144379e+00] [-3.08549617e-03 -1.85409327e-05 9.99995240e-01 -2.85473440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:58.31, Y:-2.24, Z:-0.28 [[ 9.98019120e-01 6.28359012e-02 3.07985013e-03 5.83068769e+01] [-6.28356218e-02 9.98023872e-01 -1.87491997e-04 -2.24055696e+00] [-3.08554518e-03 -6.40370034e-06 9.99995240e-01 -2.84788563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters Centerline goodness : 0.996514 with order 1 Centerline is valid? [True, True] Translation: X:58.37, Y:-2.25, Z:-0.28 [[ 9.98216578e-01 5.96169239e-02 3.07981729e-03 5.83694928e+01] [-5.96166276e-02 9.98221329e-01 -1.88029981e-04 -2.25191583e+00] [-3.08554908e-03 4.08632383e-06 9.99995240e-01 -2.82671391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters Centerline goodness : 0.997172 with order 1 Centerline is valid? [True, True] Translation: X:58.43, Y:-2.26, Z:-0.29 [[ 9.98087370e-01 6.17423395e-02 3.07978245e-03 5.84309752e+01] [-6.17420515e-02 9.98092122e-01 -1.88598936e-04 -2.25796950e+00] [-3.08555114e-03 -1.91387001e-06 9.99995240e-01 -2.85202299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:58.49, Y:-2.26, Z:-0.28 [[ 9.97533365e-01 7.01263252e-02 3.07975005e-03 5.84917257e+01] [-7.01260755e-02 9.97538118e-01 -1.89126485e-04 -2.26484374e+00] [-3.08543082e-03 -2.73108052e-05 9.99995240e-01 -2.81587109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:58.55, Y:-2.27, Z:-0.29 [[ 9.96873868e-01 7.89493895e-02 3.07973348e-03 5.85530741e+01] [-7.89491810e-02 9.96878624e-01 -1.89395886e-04 -2.26536048e+00] [-3.08507317e-03 -5.43386263e-05 9.99995240e-01 -2.86014977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters Centerline goodness : 0.997048 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:-2.27, Z:-0.29 [[ 9.96647049e-01 8.17629202e-02 3.07972926e-03 5.86146700e+01] [-8.17627249e-02 9.96651805e-01 -1.89464579e-04 -2.26908448e+00] [-3.08490890e-03 -6.29777423e-05 9.99995240e-01 -2.87471699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters Centerline goodness : 0.996688 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.27, Z:-0.29 [[ 9.96626358e-01 8.20147460e-02 3.07972508e-03 5.86755306e+01] [-8.20145517e-02 9.96631114e-01 -1.89532458e-04 -2.26904912e+00] [-3.08489429e-03 -6.36892286e-05 9.99995240e-01 -2.86593625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters Centerline goodness : 0.996751 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:-2.27, Z:-0.28 [[ 9.96688772e-01 8.12527343e-02 3.07970846e-03 5.87380857e+01] [-8.12525356e-02 9.96693528e-01 -1.89802136e-04 -2.27068607e+00] [-3.08494743e-03 -6.10604634e-05 9.99995240e-01 -2.81209826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters Centerline goodness : 0.996217 with order 1 Centerline is valid? [True, True] Translation: X:58.80, Y:-2.27, Z:-0.28 [[ 9.96874802e-01 7.89376044e-02 3.07967979e-03 5.87995110e+01] [-7.89373932e-02 9.96879557e-01 -1.90266194e-04 -2.27007288e+00] [-3.08508898e-03 -5.34303205e-05 9.99995240e-01 -2.77519126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:58.86, Y:-2.27, Z:-0.28 [[ 9.97022158e-01 7.70540811e-02 3.07967540e-03 5.88604187e+01] [-7.70538606e-02 9.97026914e-01 -1.90337203e-04 -2.26993493e+00] [-3.08518552e-03 -4.75304702e-05 9.99995240e-01 -2.78284287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters Centerline goodness : 0.995904 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:-2.27, Z:-0.28 [[ 9.97133176e-01 7.56038658e-02 3.07967322e-03 5.89213098e+01] [-7.56036383e-02 9.97137931e-01 -1.90372434e-04 -2.27211288e+00] [-3.08525188e-03 -4.30078303e-05 9.99995240e-01 -2.77115931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:-2.27, Z:-0.28 [[ 9.97208980e-01 7.45973533e-02 3.07966678e-03 5.89832262e+01] [-7.45971208e-02 9.97213735e-01 -1.90476546e-04 -2.27224519e+00] [-3.08529506e-03 -3.97893528e-05 9.99995240e-01 -2.80007357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters Centerline goodness : 0.997228 with order 1 Centerline is valid? [True, True] Translation: X:59.04, Y:-2.28, Z:-0.28 [[ 9.97159598e-01 7.52545748e-02 3.07966227e-03 5.90438772e+01] [-7.52543451e-02 9.97164353e-01 -1.90549543e-04 -2.27533838e+00] [-3.08526916e-03 -4.17496608e-05 9.99995240e-01 -2.82823007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:59.10, Y:-2.28, Z:-0.28 [[ 9.97057612e-01 7.65939605e-02 3.07966008e-03 5.91041311e+01] [-7.65937371e-02 9.97062367e-01 -1.90584949e-04 -2.27557122e+00] [-3.08521082e-03 -4.58585007e-05 9.99995240e-01 -2.80589094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters Centerline goodness : 0.997093 with order 1 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.28, Z:-0.28 [[ 9.97282071e-01 7.36137694e-02 3.07966008e-03 5.91645868e+01] [-7.36135318e-02 9.97286825e-01 -1.90584949e-04 -2.28346127e+00] [-3.08533410e-03 -3.66377027e-05 9.99995240e-01 -2.82067726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters Centerline goodness : 0.997238 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:-2.29, Z:-0.29 [[ 9.97483850e-01 7.08271426e-02 3.07965561e-03 5.92255182e+01] [-7.08268915e-02 9.97488604e-01 -1.90657101e-04 -2.28829990e+00] [-3.08542507e-03 -2.79450542e-05 9.99995240e-01 -2.86234558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters Centerline goodness : 0.997039 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:-2.29, Z:-0.29 [[ 9.97708986e-01 6.75817717e-02 3.07962691e-03 5.92866544e+01] [-6.75815038e-02 9.97713738e-01 -1.91119514e-04 -2.29445841e+00] [-3.08550227e-03 -1.74441614e-05 9.99995240e-01 -2.86185695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:59.35, Y:-2.30, Z:-0.29 [[ 9.97846135e-01 6.55256251e-02 3.07962251e-03 5.93487976e+01] [-6.55253471e-02 9.97850887e-01 -1.91190373e-04 -2.29967478e+00] [-3.08553192e-03 -1.10147591e-05 9.99995240e-01 -2.86118713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:59.41, Y:-2.31, Z:-0.29 [[ 9.98167581e-01 6.04317452e-02 3.07959054e-03 5.94115107e+01] [-6.04314414e-02 9.98172332e-01 -1.91703970e-04 -2.31391471e+00] [-3.08554708e-03 5.24859311e-06 9.99995240e-01 -2.87376276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters Centerline goodness : 0.997533 with order 1 Centerline is valid? [True, True] Translation: X:59.47, Y:-2.32, Z:-0.29 [[ 9.98283874e-01 5.84792536e-02 3.07955391e-03 5.94738572e+01] [-5.84789387e-02 9.98288624e-01 -1.92290670e-04 -2.32448024e+00] [-3.08552865e-03 1.18716306e-05 9.99995240e-01 -2.86127153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:59.53, Y:-2.34, Z:-0.28 [[ 9.98124825e-01 6.11338728e-02 3.07951695e-03 5.95348555e+01] [-6.11335687e-02 9.98129576e-01 -1.92880726e-04 -2.33896307e+00] [-3.08554849e-03 4.25717954e-06 9.99995240e-01 -2.82265426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters Centerline goodness : 0.997650 with order 1 Centerline is valid? [True, True] Translation: X:59.60, Y:-2.35, Z:-0.28 [[ 9.97586240e-01 6.93700975e-02 3.07948250e-03 5.95961161e+01] [-6.93698309e-02 9.97590993e-01 -1.93429216e-04 -2.34931560e+00] [-3.08548221e-03 -2.06608559e-05 9.99995240e-01 -2.81389902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters Centerline goodness : 0.997403 with order 1 Centerline is valid? [True, True] Translation: X:59.66, Y:-2.36, Z:-0.28 [[ 9.97241600e-01 7.41600173e-02 3.07945095e-03 5.96587525e+01] [-7.41597720e-02 9.97246354e-01 -1.93930175e-04 -2.35732036e+00] [-3.08535310e-03 -3.49761424e-05 9.99995240e-01 -2.80868050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters Centerline goodness : 0.997428 with order 1 Centerline is valid? [True, True] Translation: X:59.72, Y:-2.36, Z:-0.28 [[ 9.96865577e-01 7.90540274e-02 3.07941480e-03 5.97217785e+01] [-7.90538037e-02 9.96870332e-01 -1.94502504e-04 -2.36065883e+00] [-3.08515346e-03 -4.95466023e-05 9.99995240e-01 -2.83659558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:59.78, Y:-2.36, Z:-0.29 [[ 9.96458575e-01 8.40287216e-02 3.07937784e-03 5.97836423e+01] [-8.40285198e-02 9.96463331e-01 -1.95085985e-04 -2.36282754e+00] [-3.08487992e-03 -6.43604588e-05 9.99995240e-01 -2.85228230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters Centerline goodness : 0.997899 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:-2.36, Z:-0.28 [[ 9.96019513e-01 8.90822534e-02 3.07934355e-03 5.98458623e+01] [-8.90820741e-02 9.96024270e-01 -1.95625638e-04 -2.36210814e+00] [-3.08452769e-03 -7.94673574e-05 9.99995240e-01 -2.81834068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:-2.36, Z:-0.28 [[ 9.95619129e-01 9.34508870e-02 3.07931203e-03 5.99075978e+01] [-9.34507270e-02 9.95623886e-01 -1.96120571e-04 -2.36245189e+00] [-3.08416425e-03 -9.25025554e-05 9.99995240e-01 -2.80240316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:59.97, Y:-2.35, Z:-0.28 [[ 9.94578524e-01 1.03942664e-01 3.07930756e-03 5.99688978e+01] [-1.03942554e-01 9.94583283e-01 -1.96190665e-04 -2.35160478e+00] [-3.08302041e-03 -1.24944071e-04 9.99995240e-01 -2.82588390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:-2.35, Z:-0.28 [[ 9.94220861e-01 1.07309817e-01 3.07930756e-03 6.00297503e+01] [-1.07309723e-01 9.94225621e-01 -1.96190665e-04 -2.34633471e+00] [-3.08257966e-03 -1.35382789e-04 9.99995240e-01 -2.82447329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters Centerline goodness : 0.998305 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:-2.34, Z:-0.28 [[ 9.94308122e-01 1.06498242e-01 3.07930756e-03 6.00900491e+01] [-1.06498144e-01 9.94312882e-01 -1.96190665e-04 -2.33804821e+00] [-3.08268914e-03 -1.32866569e-04 9.99995240e-01 -2.80868736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:60.15, Y:-2.33, Z:-0.28 [[ 9.94974487e-01 1.00081411e-01 3.07931221e-03 6.01493085e+01] [-1.00081282e-01 9.94979245e-01 -1.96117791e-04 -2.33048559e+00] [-3.08347948e-03 -1.13049316e-04 9.99995240e-01 -2.80659504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:60.21, Y:-2.33, Z:-0.29 [[ 9.95828640e-01 9.11912179e-02 3.07931909e-03 6.02096481e+01] [-9.11910474e-02 9.95833397e-01 -1.96009579e-04 -2.32552683e+00] [-3.08436315e-03 -8.56143810e-05 9.99995240e-01 -2.87362478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:-2.33, Z:-0.28 [[ 9.96487682e-01 8.36828344e-02 3.07932371e-03 6.02688846e+01] [-8.36826283e-02 9.96492438e-01 -1.95937093e-04 -2.32896343e+00] [-3.08491936e-03 -6.24370016e-05 9.99995240e-01 -2.83190320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters Centerline goodness : 0.998461 with order 1 Centerline is valid? [True, True] Translation: X:60.33, Y:-2.33, Z:-0.28 [[ 9.96787773e-01 8.00290820e-02 3.07932600e-03 6.03280279e+01] [-8.00288586e-02 9.96792528e-01 -1.95901042e-04 -2.33249582e+00] [-3.08512693e-03 -5.11631817e-05 9.99995240e-01 -2.81759798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:-2.34, Z:-0.29 [[ 9.97026144e-01 7.70025059e-02 3.07932825e-03 6.03873258e+01] [-7.70022682e-02 9.97030898e-01 -1.95865636e-04 -2.33780538e+00] [-3.08526756e-03 -4.18320996e-05 9.99995240e-01 -2.85445857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters Centerline goodness : 0.998536 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:-2.34, Z:-0.29 [[ 9.97186306e-01 7.48998651e-02 3.07933034e-03 6.04474696e+01] [-7.48996175e-02 9.97191059e-01 -1.95832860e-04 -2.34407698e+00] [-3.08534853e-03 -3.53588181e-05 9.99995240e-01 -2.88462812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters Centerline goodness : 0.998098 with order 1 Centerline is valid? [True, True] Translation: X:60.51, Y:-2.35, Z:-0.29 [[ 9.97164531e-01 7.51891981e-02 3.07933034e-03 6.05069170e+01] [-7.51889518e-02 9.97169285e-01 -1.95832860e-04 -2.35094841e+00] [-3.08533815e-03 -3.62540382e-05 9.99995240e-01 -2.85361758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters Centerline goodness : 0.997895 with order 1 Centerline is valid? [True, True] Translation: X:60.57, Y:-2.35, Z:-0.29 [[ 9.96841691e-01 7.93546458e-02 3.07933262e-03 6.05676604e+01] [-7.93544195e-02 9.96846446e-01 -1.95796992e-04 -2.35429415e+00] [-3.08515918e-03 -4.91800478e-05 9.99995240e-01 -2.89946237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:-2.36, Z:-0.29 [[ 9.96412017e-01 8.45790146e-02 3.07933262e-03 6.06273546e+01] [-8.45788132e-02 9.96416773e-01 -1.95796992e-04 -2.35876692e+00] [-3.08485899e-03 -6.53518228e-05 9.99995240e-01 -2.88983218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters Centerline goodness : 0.998102 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:-2.36, Z:-0.29 [[ 9.96492985e-01 8.36196701e-02 3.07933720e-03 6.06876929e+01] [-8.36194643e-02 9.96497741e-01 -1.95724874e-04 -2.36380142e+00] [-3.08491901e-03 -6.24540632e-05 9.99995240e-01 -2.88639057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters Centerline goodness : 0.997905 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:-2.37, Z:-0.29 [[ 9.96490203e-01 8.36528173e-02 3.07933720e-03 6.07475878e+01] [-8.36526117e-02 9.96494958e-01 -1.95724874e-04 -2.37255231e+00] [-3.08491693e-03 -6.25566798e-05 9.99995240e-01 -2.92361356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters Centerline goodness : 0.998295 with order 1 Centerline is valid? [True, True] Translation: X:60.81, Y:-2.37, Z:-0.29 [[ 9.96169063e-01 8.73940306e-02 3.07933720e-03 6.08079776e+01] [-8.73938429e-02 9.96173819e-01 -1.95724874e-04 -2.37091242e+00] [-3.08466028e-03 -7.41400472e-05 9.99995240e-01 -2.89620770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters Centerline goodness : 0.997911 with order 1 Centerline is valid? [True, True] Translation: X:60.87, Y:-2.37, Z:-0.29 [[ 9.95356042e-01 9.62126139e-02 3.07934181e-03 6.08666540e+01] [-9.62124686e-02 9.95360800e-01 -1.95652392e-04 -2.36829659e+00] [-3.08388035e-03 -1.01527286e-04 9.99995240e-01 -2.90733237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters Centerline goodness : 0.997874 with order 1 Centerline is valid? [True, True] Translation: X:60.93, Y:-2.36, Z:-0.29 [[ 9.94382723e-01 1.05799424e-01 3.07934862e-03 6.09258631e+01] [-1.05799325e-01 9.94387482e-01 -1.95545044e-04 -2.36100172e+00] [-3.08275428e-03 -1.31346392e-04 9.99995240e-01 -2.91020307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:60.99, Y:-2.36, Z:-0.29 [[ 9.94266415e-01 1.06886919e-01 3.07935775e-03 6.09851747e+01] [-1.06886825e-01 9.94271174e-01 -1.95401239e-04 -2.36023881e+00] [-3.08260248e-03 -1.34861884e-04 9.99995240e-01 -2.90750417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:61.04, Y:-2.35, Z:-0.29 [[ 9.94395545e-01 1.05678845e-01 3.07936677e-03 6.10436469e+01] [-1.05678746e-01 9.94400304e-01 -1.95258908e-04 -2.35449601e+00] [-3.08275799e-03 -1.31259030e-04 9.99995240e-01 -2.92649136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:61.10, Y:-2.35, Z:-0.30 [[ 9.94781987e-01 1.01977032e-01 3.07937790e-03 6.11033551e+01] [-1.01976916e-01 9.94786746e-01 -1.95083311e-04 -2.34931831e+00] [-3.08321834e-03 -1.19960098e-04 9.99995240e-01 -2.96010843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:61.16, Y:-2.35, Z:-0.29 [[ 9.95426834e-01 9.54774035e-02 3.07938672e-03 6.11625690e+01] [-9.54772568e-02 9.95431593e-01 -1.94943978e-04 -2.34536447e+00] [-3.08393157e-03 -9.99589291e-05 9.99995240e-01 -2.93354771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters Centerline goodness : 0.998334 with order 1 Centerline is valid? [True, True] Translation: X:61.22, Y:-2.34, Z:-0.29 [[ 9.96020417e-01 8.90721437e-02 3.07939566e-03 6.12208556e+01] [-8.90719668e-02 9.96025174e-01 -1.94802568e-04 -2.34239214e+00] [-3.08450708e-03 -8.02604933e-05 9.99995240e-01 -2.93314191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters Centerline goodness : 0.998058 with order 1 Centerline is valid? [True, True] Translation: X:61.28, Y:-2.34, Z:-0.29 [[ 9.96265665e-01 8.62858118e-02 3.07940675e-03 6.12799082e+01] [-8.62856222e-02 9.96270422e-01 -1.94627180e-04 -2.34468024e+00] [-3.08471542e-03 -7.18081500e-05 9.99995240e-01 -2.91279754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters Centerline goodness : 0.998093 with order 1 Centerline is valid? [True, True] Translation: X:61.34, Y:-2.34, Z:-0.29 [[ 9.96539873e-01 8.30590047e-02 3.07941566e-03 6.13388200e+01] [-8.30588001e-02 9.96544629e-01 -1.94486093e-04 -2.34339689e+00] [-3.08492896e-03 -6.19594231e-05 9.99995240e-01 -2.89873291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters Centerline goodness : 0.998198 with order 1 Centerline is valid? [True, True] Translation: X:61.40, Y:-2.34, Z:-0.29 [[ 9.96832354e-01 7.94718497e-02 3.07942453e-03 6.13965737e+01] [-7.94716285e-02 9.96837109e-01 -1.94345544e-04 -2.34360955e+00] [-3.08512965e-03 -5.09969556e-05 9.99995240e-01 -2.94262507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-2.35, Z:-0.30 [[ 9.97162873e-01 7.52111857e-02 3.07943551e-03 6.14551460e+01] [-7.52109447e-02 9.97167627e-01 -1.94171310e-04 -2.34587925e+00] [-3.08531726e-03 -3.79868328e-05 9.99995240e-01 -2.95381793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:61.51, Y:-2.35, Z:-0.29 [[ 9.97422234e-01 7.16896351e-02 3.07944443e-03 6.15128143e+01] [-7.16893777e-02 9.97426988e-01 -1.94029850e-04 -2.34815107e+00] [-3.08543091e-03 -2.72337681e-05 9.99995240e-01 -2.88173392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:-2.35, Z:-0.29 [[ 9.97809005e-01 6.60886223e-02 3.07945543e-03 6.15716892e+01] [-6.60883387e-02 9.97813757e-01 -1.93855010e-04 -2.35382880e+00] [-3.08553461e-03 -1.00858192e-05 9.99995240e-01 -2.92909004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:-2.36, Z:-0.30 [[ 9.98139971e-01 6.08860770e-02 3.07946385e-03 6.16307098e+01] [-6.08857691e-02 9.98144722e-01 -1.93721258e-04 -2.36114358e+00] [-3.08554551e-03 5.86540625e-06 9.99995240e-01 -2.95396893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:-2.37, Z:-0.30 [[ 9.98585361e-01 5.30828865e-02 3.07946815e-03 6.16901457e+01] [-5.30825417e-02 9.98590109e-01 -1.93652892e-04 -2.37320333e+00] [-3.08540609e-03 2.99129463e-05 9.99995240e-01 -2.98102473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters Centerline goodness : 0.998274 with order 1 Centerline is valid? [True, True] Translation: X:61.75, Y:-2.39, Z:-0.29 [[ 9.98744984e-01 4.99897352e-02 3.07946815e-03 6.17503244e+01] [-4.99893757e-02 9.98749731e-01 -1.93652892e-04 -2.38593481e+00] [-3.08529864e-03 3.94691641e-05 9.99995240e-01 -2.88807374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters Centerline goodness : 0.998395 with order 1 Centerline is valid? [True, True] Translation: X:61.81, Y:-2.40, Z:-0.29 [[ 9.98571987e-01 5.33338860e-02 3.07946815e-03 6.18088880e+01] [-5.33335423e-02 9.98576735e-01 -1.93652892e-04 -2.39514027e+00] [-3.08541351e-03 2.91374080e-05 9.99995240e-01 -2.91631670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:61.87, Y:-2.41, Z:-0.29 [[ 9.98509460e-01 5.44919686e-02 3.07947023e-03 6.18681740e+01] [-5.44916306e-02 9.98514209e-01 -1.93619717e-04 -2.40812329e+00] [-3.08544550e-03 2.55257649e-05 9.99995240e-01 -2.92448082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:61.93, Y:-2.42, Z:-0.29 [[ 9.98656600e-01 5.17253579e-02 3.07947231e-03 6.19279523e+01] [-5.17250068e-02 9.98661347e-01 -1.93586762e-04 -2.42122117e+00] [-3.08536331e-03 3.40409716e-05 9.99995240e-01 -2.86571500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters Centerline goodness : 0.998202 with order 1 Centerline is valid? [True, True] Translation: X:61.99, Y:-2.44, Z:-0.29 [[ 9.98750924e-01 4.98709202e-02 3.07947231e-03 6.19881384e+01] [-4.98705603e-02 9.98755671e-01 -1.93586762e-04 -2.43763116e+00] [-3.08529478e-03 3.97699480e-05 9.99995240e-01 -2.92910138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:-2.45, Z:-0.29 [[ 9.98696570e-01 5.09478039e-02 3.07944358e-03 6.20501815e+01] [-5.09474477e-02 9.98701317e-01 -1.94042648e-04 -2.44728307e+00] [-3.08533040e-03 3.68999361e-05 9.99995240e-01 -2.92834921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters Centerline goodness : 0.998543 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:-2.46, Z:-0.30 [[ 9.98347957e-01 5.73748534e-02 3.07941145e-03 6.21099575e+01] [-5.73745262e-02 9.98352706e-01 -1.94551125e-04 -2.45739473e+00] [-3.08550110e-03 1.75499446e-05 9.99995240e-01 -2.95424655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:-2.46, Z:-0.29 [[ 9.97728602e-01 6.72915674e-02 3.07940080e-03 6.21704200e+01] [-6.72912869e-02 9.97733354e-01 -1.94719565e-04 -2.46283522e+00] [-3.08552388e-03 -1.29395632e-05 9.99995240e-01 -2.94703217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters Centerline goodness : 0.998503 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:-2.46, Z:-0.30 [[ 9.97281494e-01 7.36215921e-02 3.07940080e-03 6.22298772e+01] [-7.36213418e-02 9.97286248e-01 -1.94719565e-04 -2.46115707e+00] [-3.08537964e-03 -3.25193998e-05 9.99995240e-01 -2.95333644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters Centerline goodness : 0.998484 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.46, Z:-0.29 [[ 9.97413625e-01 7.18093224e-02 3.07939866e-03 6.22908305e+01] [-7.18090633e-02 9.97418378e-01 -1.94753380e-04 -2.45986835e+00] [-3.08543393e-03 -2.68790590e-05 9.99995240e-01 -2.94121846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters Centerline goodness : 0.998216 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:-2.46, Z:-0.29 [[ 9.97793310e-01 6.63251650e-02 3.07939866e-03 6.23525181e+01] [-6.63248799e-02 9.97798062e-01 -1.94753380e-04 -2.45865363e+00] [-3.08553507e-03 -9.91712664e-06 9.99995240e-01 -2.94272591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:62.41, Y:-2.46, Z:-0.29 [[ 9.98301373e-01 5.81797656e-02 3.07939403e-03 6.24141227e+01] [-5.81794414e-02 9.98306123e-01 -1.94826595e-04 -2.46331069e+00] [-3.08551288e-03 1.53382332e-05 9.99995240e-01 -2.91883920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters Centerline goodness : 0.997970 with order 1 Centerline is valid? [True, True] Translation: X:62.48, Y:-2.47, Z:-0.30 [[ 9.98701491e-01 5.08512559e-02 3.07938937e-03 6.24754638e+01] [-5.08508967e-02 9.98706237e-01 -1.94900186e-04 -2.47073410e+00] [-3.08531629e-03 3.80573956e-05 9.99995240e-01 -2.95628046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:62.54, Y:-2.48, Z:-0.29 [[ 9.98952341e-01 4.56589229e-02 3.07938475e-03 6.25370554e+01] [-4.56585388e-02 9.98957086e-01 -1.94973157e-04 -2.48433787e+00] [-3.08507549e-03 5.41686832e-05 9.99995240e-01 -2.93966284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:62.60, Y:-2.49, Z:-0.29 [[ 9.99084953e-01 4.26588135e-02 3.07935031e-03 6.25989303e+01] [-4.26584134e-02 9.99089696e-01 -1.95515632e-04 -2.49475314e+00] [-3.08488763e-03 6.39765270e-05 9.99995240e-01 -2.94637388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:-2.51, Z:-0.30 [[ 9.99091318e-01 4.25094859e-02 3.07931887e-03 6.26600945e+01] [-4.25090835e-02 9.99096061e-01 -1.96009554e-04 -2.50912853e+00] [-3.08486762e-03 6.49324201e-05 9.99995240e-01 -2.96678111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:-2.52, Z:-0.30 [[ 9.98876383e-01 4.72915296e-02 3.07928639e-03 6.27206103e+01] [-4.72911485e-02 9.98881128e-01 -1.96518544e-04 -2.51945547e+00] [-3.08513472e-03 5.06747432e-05 9.99995240e-01 -2.96450586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:-2.53, Z:-0.30 [[ 9.98699765e-01 5.08851507e-02 3.07925658e-03 6.27819711e+01] [-5.08847852e-02 9.98704511e-01 -1.96984474e-04 -2.52794302e+00] [-3.08529102e-03 4.00410382e-05 9.99995240e-01 -2.96599229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:62.84, Y:-2.53, Z:-0.29 [[ 9.98607978e-01 5.26557234e-02 3.07922383e-03 6.28441255e+01] [-5.26553647e-02 9.98612725e-01 -1.97495068e-04 -2.53241840e+00] [-3.08535135e-03 3.50824962e-05 9.99995240e-01 -2.90370981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters Centerline goodness : 0.997646 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:-2.54, Z:-0.29 [[ 9.98526542e-01 5.41780739e-02 3.07920060e-03 6.29061064e+01] [-5.41777213e-02 9.98531289e-01 -1.97856637e-04 -2.53724731e+00] [-3.08539764e-03 3.07410314e-05 9.99995240e-01 -2.88528290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters Centerline goodness : 0.998201 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:-2.54, Z:-0.30 [[ 9.98234513e-01 5.93158937e-02 3.07916847e-03 6.29674856e+01] [-5.93155640e-02 9.98239262e-01 -1.98355485e-04 -2.53900751e+00] [-3.08551249e-03 1.53626764e-05 9.99995240e-01 -2.95998352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:-2.54, Z:-0.30 [[ 9.97875331e-01 6.50795150e-02 3.07913878e-03 6.30295291e+01] [-6.50792113e-02 9.97880081e-01 -1.98815201e-04 -2.54367192e+00] [-3.08555006e-03 -1.99513888e-06 9.99995240e-01 -3.02396674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters Centerline goodness : 0.996601 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.54, Z:-0.29 [[ 9.97315180e-01 7.31638686e-02 3.07910682e-03 6.30917053e+01] [-7.31636019e-02 9.97319932e-01 -1.99308946e-04 -2.53972274e+00] [-3.08543682e-03 -2.65047087e-05 9.99995240e-01 -2.91521416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:63.15, Y:-2.54, Z:-0.30 [[ 9.96989201e-01 7.74793708e-02 3.07910166e-03 6.31530817e+01] [-7.74791244e-02 9.96993955e-01 -1.99388695e-04 -2.53977354e+00] [-3.08529425e-03 -3.97777245e-05 9.99995240e-01 -2.95781613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:63.21, Y:-2.54, Z:-0.30 [[ 9.96769418e-01 8.02573733e-02 3.07908226e-03 6.32142339e+01] [-8.02571393e-02 9.96774173e-01 -1.99687741e-04 -2.53550385e+00] [-3.08517609e-03 -4.80757004e-05 9.99995240e-01 -2.97767166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters Centerline goodness : 0.997779 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:-2.54, Z:-0.30 [[ 9.96724397e-01 8.08145818e-02 3.07908226e-03 6.32753305e+01] [-8.08143505e-02 9.96729151e-01 -1.99687741e-04 -2.53522750e+00] [-3.08514873e-03 -4.98003897e-05 9.99995240e-01 -2.97102508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:-2.53, Z:-0.30 [[ 9.96938600e-01 7.81277649e-02 3.07908226e-03 6.33357414e+01] [-7.81275207e-02 9.96943354e-01 -1.99687741e-04 -2.53164469e+00] [-3.08527176e-03 -4.14846461e-05 9.99995240e-01 -3.00792004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.53, Z:-0.30 [[ 9.97203814e-01 7.46664095e-02 3.07908226e-03 6.33964337e+01] [-7.46661488e-02 9.97208567e-01 -1.99687741e-04 -2.53358840e+00] [-3.08539718e-03 -3.07738372e-05 9.99995240e-01 -3.00866347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:63.46, Y:-2.53, Z:-0.29 [[ 9.97438772e-01 7.14591890e-02 3.07907980e-03 6.34574106e+01] [-7.14589130e-02 9.97443524e-01 -1.99725790e-04 -2.53363155e+00] [-3.08548045e-03 -2.08134482e-05 9.99995240e-01 -2.94312766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:63.52, Y:-2.54, Z:-0.30 [[ 9.97486339e-01 7.07921136e-02 3.07907742e-03 6.35174831e+01] [-7.07918343e-02 9.97491091e-01 -1.99762421e-04 -2.53655059e+00] [-3.08549390e-03 -1.87132522e-05 9.99995240e-01 -2.98168665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:63.58, Y:-2.54, Z:-0.30 [[ 9.97692724e-01 6.78214359e-02 3.07907742e-03 6.35777520e+01] [-6.78211424e-02 9.97697476e-01 -1.99762421e-04 -2.53985832e+00] [-3.08553594e-03 -9.52503385e-06 9.99995240e-01 -2.97586745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters Centerline goodness : 0.997574 with order 1 Centerline is valid? [True, True] Translation: X:63.64, Y:-2.55, Z:-0.29 [[ 9.98134531e-01 6.09752108e-02 3.07907508e-03 6.36385624e+01] [-6.09748845e-02 9.98139281e-01 -1.99798507e-04 -2.54958875e+00] [-3.08552854e-03 1.16795419e-05 9.99995240e-01 -2.92297731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:63.70, Y:-2.56, Z:-0.29 [[ 9.98656736e-01 5.17227556e-02 3.07907020e-03 6.36995914e+01] [-5.17223852e-02 9.98661482e-01 -1.99873625e-04 -2.56132605e+00] [-3.08528682e-03 4.03482870e-05 9.99995240e-01 -2.93083909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:63.76, Y:-2.57, Z:-0.30 [[ 9.99030100e-01 4.39246973e-02 3.07905138e-03 6.37604199e+01] [-4.39242889e-02 9.99034843e-01 -2.00163147e-04 -2.57457072e+00] [-3.08487172e-03 6.47238669e-05 9.99995240e-01 -2.96760698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters Centerline goodness : 0.998050 with order 1 Centerline is valid? [True, True] Translation: X:63.82, Y:-2.59, Z:-0.30 [[ 9.99255265e-01 3.84634362e-02 3.07901633e-03 6.38228488e+01] [-3.84630002e-02 9.99260005e-01 -2.00700824e-04 -2.59271088e+00] [-3.08445752e-03 8.21231488e-05 9.99995240e-01 -2.99106372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:63.88, Y:-2.61, Z:-0.30 [[ 9.99305370e-01 3.71388879e-02 3.07897847e-03 6.38839641e+01] [-3.71384438e-02 9.99310110e-01 -2.01280037e-04 -2.61285585e+00] [-3.08432963e-03 8.67917528e-05 9.99995240e-01 -3.02337223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters Centerline goodness : 0.998454 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:-2.63, Z:-0.30 [[ 9.99218863e-01 3.93977632e-02 3.07894559e-03 6.39462112e+01] [-3.93973283e-02 9.99223604e-01 -2.01781731e-04 -2.62989836e+00] [-3.08450486e-03 8.03218811e-05 9.99995240e-01 -3.01944968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters Centerline goodness : 0.997884 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:-2.65, Z:-0.30 [[ 9.98924198e-01 4.62705740e-02 3.07890791e-03 6.40069151e+01] [-4.62701700e-02 9.98928942e-01 -2.02354983e-04 -2.64715928e+00] [-3.08497330e-03 5.96756964e-05 9.99995240e-01 -2.95763201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:-2.67, Z:-0.30 [[ 9.98485597e-01 5.49275223e-02 3.07887666e-03 6.40676948e+01] [-5.49271580e-02 9.98490344e-01 -2.02829357e-04 -2.66675674e+00] [-3.08536953e-03 3.34082469e-05 9.99995240e-01 -2.97030654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:64.13, Y:-2.68, Z:-0.30 [[ 9.98039197e-01 6.25162582e-02 3.07884057e-03 6.41301306e+01] [-6.25159283e-02 9.98043946e-01 -2.03375750e-04 -2.68075399e+00] [-3.08553248e-03 1.05003942e-05 9.99995240e-01 -2.96490585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:-2.69, Z:-0.30 [[ 9.97543992e-01 6.99750297e-02 3.07880161e-03 6.41923468e+01] [-6.99747335e-02 9.97548743e-01 -2.03963813e-04 -2.69315760e+00] [-3.08552705e-03 -1.19754459e-05 9.99995240e-01 -2.95020726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters Centerline goodness : 0.997724 with order 1 Centerline is valid? [True, True] Translation: X:64.25, Y:-2.70, Z:-0.30 [[ 9.97108322e-01 7.59309928e-02 3.07876280e-03 6.42539736e+01] [-7.59307231e-02 9.97113075e-01 -2.04547944e-04 -2.70052632e+00] [-3.08540617e-03 -2.98162290e-05 9.99995240e-01 -2.99676306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters Centerline goodness : 0.998017 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:-2.70, Z:-0.30 [[ 9.96578195e-01 8.25979629e-02 3.07872838e-03 6.43162939e+01] [-8.25977234e-02 9.96582949e-01 -2.05064768e-04 -2.70342827e+00] [-3.08514614e-03 -4.99328792e-05 9.99995240e-01 -2.95813915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:-2.70, Z:-0.30 [[ 9.95857720e-01 9.08731175e-02 3.07870404e-03 6.43789957e+01] [-9.08729164e-02 9.95862476e-01 -2.05429552e-04 -2.70303448e+00] [-3.08463385e-03 -7.51922095e-05 9.99995240e-01 -2.99784871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters Centerline goodness : 0.997945 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:-2.70, Z:-0.30 [[ 9.95556427e-01 9.41165356e-02 3.07867021e-03 6.44421566e+01] [-9.41163484e-02 9.95561184e-01 -2.05935248e-04 -2.70204428e+00] [-3.08438647e-03 -8.47330388e-05 9.99995240e-01 -3.01260804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:64.51, Y:-2.70, Z:-0.29 [[ 9.95418937e-01 9.55597318e-02 3.07863194e-03 6.45051355e+01] [-9.55595498e-02 9.95423694e-01 -2.06505819e-04 -2.69814557e+00] [-3.08427682e-03 -8.86328790e-05 9.99995240e-01 -2.92804489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:64.57, Y:-2.69, Z:-0.30 [[ 9.95476822e-01 9.49548267e-02 3.07859766e-03 6.45662956e+01] [-9.49546402e-02 9.95481579e-01 -2.07015616e-04 -2.69477999e+00] [-3.08434439e-03 -8.62478855e-05 9.99995240e-01 -2.99285822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:-2.69, Z:-0.30 [[ 9.95425061e-01 9.54959135e-02 3.07856614e-03 6.46303915e+01] [-9.54957282e-02 9.95429818e-01 -2.07483233e-04 -2.68799495e+00] [-3.08431034e-03 -8.74559053e-05 9.99995240e-01 -3.00598747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:-2.68, Z:-0.30 [[ 9.95697516e-01 9.26119821e-02 3.07852850e-03 6.46942655e+01] [-9.26117813e-02 9.95702272e-01 -2.08040343e-04 -2.68295783e+00] [-3.08456485e-03 -7.79627549e-05 9.99995240e-01 -2.97301678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:64.76, Y:-2.68, Z:-0.30 [[ 9.96098372e-01 8.81961288e-02 3.07849010e-03 6.47575750e+01] [-8.81959051e-02 9.96103127e-01 -2.08606969e-04 -2.67840095e+00] [-3.08489194e-03 -6.37171587e-05 9.99995240e-01 -2.99680885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters Centerline goodness : 0.997693 with order 1 Centerline is valid? [True, True] Translation: X:64.82, Y:-2.67, Z:-0.30 [[ 9.96038707e-01 8.88674093e-02 3.07845156e-03 6.48196005e+01] [-8.88671870e-02 9.96043463e-01 -2.09174177e-04 -2.67221794e+00] [-3.08486032e-03 -6.52277533e-05 9.99995240e-01 -2.95996203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:64.88, Y:-2.67, Z:-0.30 [[ 9.96049858e-01 8.87423460e-02 3.07844672e-03 6.48812918e+01] [-8.87421230e-02 9.96054613e-01 -2.09245366e-04 -2.67157319e+00] [-3.08486998e-03 -6.47690806e-05 9.99995240e-01 -2.97565019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters Centerline goodness : 0.998454 with order 1 Centerline is valid? [True, True] Translation: X:64.94, Y:-2.67, Z:-0.30 [[ 9.96083555e-01 8.83633094e-02 3.07841541e-03 6.49434365e+01] [-8.83630831e-02 9.96088310e-01 -2.09704974e-04 -2.66803822e+00] [-3.08490383e-03 -6.31346003e-05 9.99995240e-01 -3.04089170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:65.01, Y:-2.66, Z:-0.30 [[ 9.96330614e-01 8.55326341e-02 3.07841065e-03 6.50057014e+01] [-8.55323941e-02 9.96335368e-01 -2.09774866e-04 -2.66175548e+00] [-3.08507200e-03 -5.42987122e-05 9.99995240e-01 -3.01169284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:65.07, Y:-2.66, Z:-0.30 [[ 9.96584608e-01 8.25205548e-02 3.07840584e-03 6.50668496e+01] [-8.25203002e-02 9.96589362e-01 -2.09845411e-04 -2.65913324e+00] [-3.08522307e-03 -4.49022676e-05 9.99995240e-01 -3.03205726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:65.13, Y:-2.66, Z:-0.30 [[ 9.96797729e-01 7.99050061e-02 3.07840584e-03 6.51272380e+01] [-7.99047391e-02 9.96802482e-01 -2.09845411e-04 -2.65867350e+00] [-3.08533028e-03 -3.68057864e-05 9.99995240e-01 -3.04306531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters Centerline goodness : 0.998467 with order 1 Centerline is valid? [True, True] Translation: X:65.19, Y:-2.66, Z:-0.30 [[ 9.97556409e-01 6.97978076e-02 3.07840584e-03 6.51883792e+01] [-6.97974924e-02 9.97561159e-01 -2.09845411e-04 -2.66215428e+00] [-3.08554485e-03 -5.53237381e-06 9.99995240e-01 -3.04125240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:65.25, Y:-2.67, Z:-0.30 [[ 9.97852661e-01 6.54262206e-02 3.07837385e-03 6.52490048e+01] [-6.54258831e-02 9.97857409e-01 -2.10313705e-04 -2.66730570e+00] [-3.08553818e-03 8.45676326e-06 9.99995240e-01 -3.02196860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:65.31, Y:-2.67, Z:-0.30 [[ 9.97604069e-01 6.91132706e-02 3.07837134e-03 6.53090929e+01] [-6.91129506e-02 9.97608819e-01 -2.10350361e-04 -2.66939289e+00] [-3.08554840e-03 -2.90894987e-06 9.99995240e-01 -2.98855442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:65.37, Y:-2.67, Z:-0.30 [[ 9.97308377e-01 7.32565689e-02 3.07837134e-03 6.53687639e+01] [-7.32562686e-02 9.97313128e-01 -2.10350361e-04 -2.67230397e+00] [-3.08550970e-03 -1.57258202e-05 9.99995240e-01 -3.01367426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:65.43, Y:-2.68, Z:-0.30 [[ 9.97189657e-01 7.48552748e-02 3.07836871e-03 6.54284478e+01] [-7.48549820e-02 9.97194408e-01 -2.10388809e-04 -2.67793405e+00] [-3.08548078e-03 -2.06336903e-05 9.99995240e-01 -3.00343977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters Centerline goodness : 0.997696 with order 1 Centerline is valid? [True, True] Translation: X:65.49, Y:-2.68, Z:-0.30 [[ 9.97224455e-01 7.43902503e-02 3.07837120e-03 6.54888580e+01] [-7.43899554e-02 9.97229206e-01 -2.10352467e-04 -2.68253683e+00] [-3.08548984e-03 -1.92312719e-05 9.99995240e-01 -2.96681887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters Centerline goodness : 0.998040 with order 1 Centerline is valid? [True, True] Translation: X:65.55, Y:-2.69, Z:-0.30 [[ 9.97384722e-01 7.22096994e-02 3.07837120e-03 6.55484015e+01] [-7.22093941e-02 9.97389472e-01 -2.10352467e-04 -2.69080634e+00] [-3.08552451e-03 -1.24849822e-05 9.99995240e-01 -3.03705217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:65.61, Y:-2.70, Z:-0.31 [[ 9.97363983e-01 7.24955767e-02 3.07835835e-03 6.56095653e+01] [-7.24952721e-02 9.97368734e-01 -2.10540268e-04 -2.69631821e+00] [-3.08552161e-03 -1.31811460e-05 9.99995240e-01 -3.05839624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:65.67, Y:-2.71, Z:-0.31 [[ 9.97279424e-01 7.36496743e-02 3.07835350e-03 6.56700400e+01] [-7.36493750e-02 9.97284175e-01 -2.10611161e-04 -2.70637392e+00] [-3.08550468e-03 -1.66806344e-05 9.99995240e-01 -3.06015317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:-2.71, Z:-0.31 [[ 9.97203707e-01 7.46678688e-02 3.07834847e-03 6.57303674e+01] [-7.46675742e-02 9.97208458e-01 -2.10684711e-04 -2.71194156e+00] [-3.08548651e-03 -1.97572380e-05 9.99995240e-01 -3.07727947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:-2.72, Z:-0.31 [[ 9.97345850e-01 7.27446195e-02 3.07833679e-03 6.57899452e+01] [-7.27443152e-02 9.97350600e-01 -2.10855279e-04 -2.72078320e+00] [-3.08551963e-03 -1.36358642e-05 9.99995240e-01 -3.05423261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:-2.73, Z:-0.31 [[ 9.97520279e-01 7.03122839e-02 3.07833442e-03 6.58509948e+01] [-7.03119679e-02 9.97525029e-01 -2.10889849e-04 -2.72920732e+00] [-3.08554377e-03 -6.07684997e-06 9.99995240e-01 -3.06936066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters Centerline goodness : 0.997970 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:-2.74, Z:-0.30 [[ 9.97580382e-01 6.94543421e-02 3.07832976e-03 6.59122951e+01] [-6.94540218e-02 9.97585131e-01 -2.10957811e-04 -2.74392177e+00] [-3.08554793e-03 -3.35500837e-06 9.99995240e-01 -3.03771259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:-2.75, Z:-0.30 [[ 9.97033228e-01 7.69107732e-02 3.07829730e-03 6.59723231e+01] [-7.69104870e-02 9.97037979e-01 -2.11430338e-04 -2.74774491e+00] [-3.08544060e-03 -2.59502724e-05 9.99995240e-01 -3.03604680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters Centerline goodness : 0.997746 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:-2.75, Z:-0.30 [[ 9.96239910e-01 8.65827136e-02 3.07829501e-03 6.60323163e+01] [-8.65824734e-02 9.96244664e-01 -2.11463724e-04 -2.75286849e+00] [-3.08504408e-03 -5.58577942e-05 9.99995240e-01 -3.03745644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:-2.75, Z:-0.30 [[ 9.95721997e-01 9.23484120e-02 3.07829501e-03 6.60923660e+01] [-9.23481993e-02 9.95726752e-01 -2.11463724e-04 -2.75440224e+00] [-3.08466903e-03 -7.37159194e-05 9.99995240e-01 -3.02812277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters Centerline goodness : 0.998006 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:-2.76, Z:-0.30 [[ 9.95504818e-01 9.46608724e-02 3.07829501e-03 6.61537820e+01] [-9.46606708e-02 9.95509574e-01 -2.11463724e-04 -2.75510346e+00] [-3.08448950e-03 -8.08803141e-05 9.99995240e-01 -3.03466698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters Centerline goodness : 0.997673 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:-2.75, Z:-0.30 [[ 9.95148766e-01 9.83333992e-02 3.07829008e-03 6.62140401e+01] [-9.83332149e-02 9.95153523e-01 -2.11535416e-04 -2.75371591e+00] [-3.08417222e-03 -9.21889524e-05 9.99995240e-01 -3.01721484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:-2.74, Z:-0.30 [[ 9.94086300e-01 1.08549311e-01 3.07829008e-03 6.62736455e+01] [-1.08549176e-01 9.94091058e-01 -2.11535416e-04 -2.74333819e+00] [-3.08306267e-03 -1.23861393e-04 9.99995240e-01 -3.03364655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters Centerline goodness : 0.997286 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:-2.74, Z:-0.30 [[ 9.93849226e-01 1.10698869e-01 3.07829743e-03 6.63327334e+01] [-1.10698744e-01 9.93853985e-01 -2.11428455e-04 -2.73917453e+00] [-3.08278306e-03 -1.30635652e-04 9.99995240e-01 -3.02894701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:-2.73, Z:-0.30 [[ 9.93488272e-01 1.13892833e-01 3.07830701e-03 6.63925134e+01] [-1.13892724e-01 9.93493031e-01 -2.11288921e-04 -2.72944869e+00] [-3.08234085e-03 -1.40683706e-04 9.99995240e-01 -3.01569901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters Centerline goodness : 0.997530 with order 1 Centerline is valid? [True, True] Translation: X:66.45, Y:-2.72, Z:-0.30 [[ 9.92698432e-01 1.20583360e-01 3.07831679e-03 6.64517209e+01] [-1.20583283e-01 9.92703192e-01 -2.11146349e-04 -2.71615035e+00] [-3.08131564e-03 -1.61588896e-04 9.99995240e-01 -3.02840252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters Centerline goodness : 0.997183 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-2.70, Z:-0.30 [[ 9.92176144e-01 1.24807945e-01 3.07832890e-03 6.65109000e+01] [-1.24807889e-01 9.92180904e-01 -2.10969638e-04 -2.70155528e+00] [-3.08058984e-03 -1.74880689e-04 9.99995240e-01 -3.02085257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters Centerline goodness : 0.996927 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-2.69, Z:-0.30 [[ 9.92255663e-01 1.24174165e-01 3.07834368e-03 6.65686423e+01] [-1.24174107e-01 9.92260423e-01 -2.10753803e-04 -2.68655514e+00] [-3.08068877e-03 -1.73128922e-04 9.99995240e-01 -3.02440743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters Centerline goodness : 0.996132 with order 1 Centerline is valid? [True, True] Translation: X:66.63, Y:-2.67, Z:-0.30 [[ 9.93123813e-01 1.17028265e-01 3.07836486e-03 6.66271727e+01] [-1.17028174e-01 9.93128573e-01 -2.10443978e-04 -2.67483073e+00] [-3.08183999e-03 -1.51258491e-04 9.99995240e-01 -3.02106299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters Centerline goodness : 0.996472 with order 1 Centerline is valid? [True, True] Translation: X:66.69, Y:-2.67, Z:-0.31 [[ 9.94555610e-01 1.04161712e-01 3.07837979e-03 6.66851224e+01] [-1.04161560e-01 9.94560368e-01 -2.10225257e-04 -2.66629588e+00] [-3.08353196e-03 -1.11568132e-04 9.99995240e-01 -3.05068759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:-2.67, Z:-0.31 [[ 9.94912698e-01 1.00693826e-01 3.07839706e-03 6.67426788e+01] [-1.00693658e-01 9.94917455e-01 -2.09972077e-04 -2.66766401e+00] [-3.08389386e-03 -1.01071176e-04 9.99995240e-01 -3.05675444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters Centerline goodness : 0.996809 with order 1 Centerline is valid? [True, True] Translation: X:66.80, Y:-2.66, Z:-0.31 [[ 9.95776631e-01 9.17574224e-02 3.07841176e-03 6.68018342e+01] [-9.17572122e-02 9.95781387e-01 -2.09756282e-04 -2.66349884e+00] [-3.08467183e-03 -7.35960773e-05 9.99995240e-01 -3.08594656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters Centerline goodness : 0.996578 with order 1 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.67, Z:-0.30 [[ 9.96286230e-01 8.60480796e-02 3.07842157e-03 6.68610833e+01] [-8.60478425e-02 9.96290984e-01 -2.09612294e-04 -2.66532829e+00] [-3.08504039e-03 -5.60576920e-05 9.99995240e-01 -3.04014089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.67, Z:-0.30 [[ 9.97093094e-01 7.61307050e-02 3.07843188e-03 6.69183204e+01] [-7.61304211e-02 9.97097846e-01 -2.09460689e-04 -2.67185110e+00] [-3.08544419e-03 -2.55105087e-05 9.99995240e-01 -3.00179500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters Centerline goodness : 0.996813 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.69, Z:-0.31 [[ 9.97870946e-01 6.51467397e-02 3.07844463e-03 6.69764850e+01] [-6.51464041e-02 9.97875695e-01 -2.09273167e-04 -2.68788718e+00] [-3.08553854e-03 8.27801531e-06 9.99995240e-01 -3.09657131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters Centerline goodness : 0.996983 with order 1 Centerline is valid? [True, True] Translation: X:67.03, Y:-2.70, Z:-0.30 [[ 9.98202158e-01 5.98579605e-02 3.07845458e-03 6.70344760e+01] [-5.98576002e-02 9.98206904e-01 -2.09126742e-04 -2.70230806e+00] [-3.08545252e-03 2.44818621e-05 9.99995240e-01 -3.04847823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters Centerline goodness : 0.996006 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:-2.72, Z:-0.29 [[ 9.98152982e-01 6.06724683e-02 3.07845980e-03 6.70921992e+01] [-6.06721121e-02 9.98157729e-01 -2.09049922e-04 -2.72130052e+00] [-3.08547201e-03 2.18871455e-05 9.99995240e-01 -2.94248198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters Centerline goodness : 0.996184 with order 1 Centerline is valid? [True, True] Translation: X:67.15, Y:-2.73, Z:-0.29 [[ 9.98081944e-01 6.18300603e-02 3.07846672e-03 6.71508421e+01] [-6.18297099e-02 9.98086691e-01 -2.08947973e-04 -2.73073262e+00] [-3.08549592e-03 1.82064949e-05 9.99995240e-01 -2.94559104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:67.21, Y:-2.75, Z:-0.30 [[ 9.97993422e-01 6.32428004e-02 3.07847658e-03 6.72094206e+01] [-6.32424571e-02 9.97998170e-01 -2.08802563e-04 -2.74930935e+00] [-3.08551925e-03 1.36931611e-05 9.99995240e-01 -3.02500828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters Centerline goodness : 0.996593 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:-2.76, Z:-0.30 [[ 9.98076790e-01 6.19131983e-02 3.07848153e-03 6.72684812e+01] [-6.19128490e-02 9.98081538e-01 -2.08729530e-04 -2.75728231e+00] [-3.08549869e-03 1.77305373e-05 9.99995240e-01 -3.02422726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters Centerline goodness : 0.996681 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:-2.77, Z:-0.30 [[ 9.98247798e-01 5.90919334e-02 3.07848652e-03 6.73268511e+01] [-5.90915709e-02 9.98252545e-01 -2.08655892e-04 -2.77255579e+00] [-3.08543688e-03 2.63776802e-05 9.99995240e-01 -3.01964654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters Centerline goodness : 0.996780 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:-2.79, Z:-0.30 [[ 9.98547978e-01 5.37815857e-02 3.07848899e-03 6.73862545e+01] [-5.37811981e-02 9.98552722e-01 -2.08619407e-04 -2.78855164e+00] [-3.08525345e-03 4.27516604e-05 9.99995240e-01 -3.01111541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:67.45, Y:-2.81, Z:-0.30 [[ 9.98657338e-01 5.17111597e-02 3.07848899e-03 6.74470507e+01] [-5.17107622e-02 9.98662082e-01 -2.08619407e-04 -2.80596978e+00] [-3.08515818e-03 4.91482891e-05 9.99995240e-01 -2.99985478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters Centerline goodness : 0.997000 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:-2.82, Z:-0.30 [[ 9.98601849e-01 5.27718743e-02 3.07848415e-03 6.75076418e+01] [-5.27714816e-02 9.98606593e-01 -2.08690868e-04 -2.81955073e+00] [-3.08520758e-03 4.59429169e-05 9.99995240e-01 -3.01643547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:-2.85, Z:-0.30 [[ 9.98575034e-01 5.32768674e-02 3.07847932e-03 6.75684766e+01] [-5.32764769e-02 9.98579778e-01 -2.08762120e-04 -2.84596320e+00] [-3.08522939e-03 4.44541091e-05 9.99995240e-01 -3.04494354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters Centerline goodness : 0.997137 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:-2.86, Z:-0.31 [[ 9.98637201e-01 5.20986048e-02 3.07844566e-03 6.76306721e+01] [-5.20982073e-02 9.98641944e-01 -2.09257202e-04 -2.86498818e+00] [-3.08516697e-03 4.85905264e-05 9.99995240e-01 -3.06509818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:-2.89, Z:-0.31 [[ 9.98254041e-01 5.89863859e-02 3.07840717e-03 6.76899267e+01] [-5.89860193e-02 9.98258787e-01 -2.09822009e-04 -2.89376616e+00] [-3.08542365e-03 2.78726839e-05 9.99995240e-01 -3.07037990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:67.75, Y:-2.91, Z:-0.30 [[ 9.97800108e-01 6.62228739e-02 3.07837604e-03 6.77512089e+01] [-6.62225404e-02 9.97804856e-01 -2.10277737e-04 -2.90629153e+00] [-3.08554376e-03 5.95726728e-06 9.99995240e-01 -3.00932300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:-2.92, Z:-0.29 [[ 9.97196195e-01 7.47681283e-02 3.07834088e-03 6.78129133e+01] [-7.47678338e-02 9.97200946e-01 -2.10791126e-04 -2.92028992e+00] [-3.08548490e-03 -1.99607710e-05 9.99995240e-01 -2.94751887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:-2.93, Z:-0.30 [[ 9.97072129e-01 7.64047975e-02 3.07830251e-03 6.78747331e+01] [-7.64045091e-02 9.97076881e-01 -2.11349963e-04 -2.92941659e+00] [-3.08545242e-03 -2.44650348e-05 9.99995240e-01 -2.95407268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters Centerline goodness : 0.995676 with order 1 Centerline is valid? [True, True] Translation: X:67.94, Y:-2.94, Z:-0.29 [[ 9.97271751e-01 7.37535031e-02 3.07826467e-03 6.79373071e+01] [-7.37532004e-02 9.97276502e-01 -2.11899733e-04 -2.93711245e+00] [-3.08550937e-03 -1.57102538e-05 9.99995240e-01 -2.89844694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters Centerline goodness : 0.996195 with order 1 Centerline is valid? [True, True] Translation: X:68.00, Y:-2.94, Z:-0.29 [[ 9.97292858e-01 7.34675447e-02 3.07822507e-03 6.80006814e+01] [-7.34672388e-02 9.97297608e-01 -2.12473461e-04 -2.93934027e+00] [-3.08551640e-03 -1.42504308e-05 9.99995240e-01 -2.91393911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.94, Z:-0.30 [[ 9.97114884e-01 7.58447944e-02 3.07818319e-03 6.80614614e+01] [-7.58444980e-02 9.97119635e-01 -2.13078409e-04 -2.93995794e+00] [-3.08547779e-03 -2.09996065e-05 9.99995240e-01 -3.01753319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters Centerline goodness : 0.996628 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:-2.94, Z:-0.30 [[ 9.96891100e-01 7.87315658e-02 3.07814940e-03 6.81237803e+01] [-7.87312817e-02 9.96895852e-01 -2.13565460e-04 -2.94205593e+00] [-3.08540871e-03 -2.94451409e-05 9.99995240e-01 -3.02876471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters Centerline goodness : 0.996694 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:-2.94, Z:-0.30 [[ 9.96875731e-01 7.89259339e-02 3.07811386e-03 6.81870666e+01] [-7.89256491e-02 9.96880482e-01 -2.14076485e-04 -2.94234450e+00] [-3.08540782e-03 -2.95344816e-05 9.99995240e-01 -3.03761159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters Centerline goodness : 0.996699 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:-2.95, Z:-0.31 [[ 9.96972384e-01 7.76955014e-02 3.07807246e-03 6.82480504e+01] [-7.76952089e-02 9.96977135e-01 -2.14670166e-04 -2.94764045e+00] [-3.08544677e-03 -2.51312549e-05 9.99995240e-01 -3.06724484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters Centerline goodness : 0.996395 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:-2.95, Z:-0.31 [[ 9.97106663e-01 7.59527986e-02 3.07805224e-03 6.83106069e+01] [-7.59524969e-02 9.97111414e-01 -2.14959680e-04 -2.95329780e+00] [-3.08548781e-03 -1.94480240e-05 9.99995240e-01 -3.06331529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters Centerline goodness : 0.996897 with order 1 Centerline is valid? [True, True] Translation: X:68.37, Y:-2.96, Z:-0.30 [[ 9.96947830e-01 7.80099339e-02 3.07801133e-03 6.83713485e+01] [-7.80096402e-02 9.96952581e-01 -2.15543862e-04 -2.95701549e+00] [-3.08544590e-03 -2.52285708e-05 9.99995240e-01 -2.99899149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:68.43, Y:-2.96, Z:-0.30 [[ 9.96813960e-01 7.97022857e-02 3.07797835e-03 6.84341857e+01] [-7.97019986e-02 9.96818712e-01 -2.16013712e-04 -2.95959929e+00] [-3.08540321e-03 -2.99955430e-05 9.99995240e-01 -3.01756347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters Centerline goodness : 0.996099 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:-2.96, Z:-0.30 [[ 9.96677807e-01 8.13871907e-02 3.07793846e-03 6.84971614e+01] [-8.13869099e-02 9.96682559e-01 -2.16580643e-04 -2.96191767e+00] [-3.08535447e-03 -3.46427802e-05 9.99995240e-01 -2.98018492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters Centerline goodness : 0.995254 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:-2.96, Z:-0.29 [[ 9.96053711e-01 8.86991051e-02 3.07789765e-03 6.85604355e+01] [-8.86988574e-02 9.96058465e-01 -2.17159133e-04 -2.95817684e+00] [-3.08502783e-03 -5.67038442e-05 9.99995240e-01 -2.93259096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:-2.95, Z:-0.30 [[ 9.95586403e-01 9.37989398e-02 3.07785646e-03 6.86230075e+01] [-9.37987146e-02 9.95591158e-01 -2.17741272e-04 -2.95438286e+00] [-3.08471058e-03 -7.19187297e-05 9.99995240e-01 -2.97849090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters Centerline goodness : 0.996010 with order 1 Centerline is valid? [True, True] Translation: X:68.69, Y:-2.95, Z:-0.30 [[ 9.95336988e-01 9.64095778e-02 3.07781837e-03 6.86858413e+01] [-9.64093635e-02 9.95341744e-01 -2.18278346e-04 -2.95177540e+00] [-3.08452523e-03 -7.94699993e-05 9.99995240e-01 -3.03028797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters Centerline goodness : 0.996224 with order 1 Centerline is valid? [True, True] Translation: X:68.75, Y:-2.95, Z:-0.30 [[ 9.95444545e-01 9.52926327e-02 3.07778311e-03 6.87485248e+01] [-9.52924115e-02 9.95449300e-01 -2.18774410e-04 -2.94716646e+00] [-3.08462463e-03 -7.55115816e-05 9.99995240e-01 -3.01709843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:68.81, Y:-2.94, Z:-0.30 [[ 9.95631387e-01 9.33202529e-02 3.07774719e-03 6.88100913e+01] [-9.33200207e-02 9.95636141e-01 -2.19278674e-04 -2.94061021e+00] [-3.08477947e-03 -6.88947012e-05 9.99995240e-01 -3.03703476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:68.87, Y:-2.94, Z:-0.31 [[ 9.95614837e-01 9.34966493e-02 3.07771396e-03 6.88705667e+01] [-9.34964165e-02 9.95619592e-01 -2.19744020e-04 -2.93760377e+00] [-3.08477765e-03 -6.89748195e-05 9.99995240e-01 -3.07603265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:68.93, Y:-2.93, Z:-0.31 [[ 9.95710976e-01 9.24671781e-02 3.07771396e-03 6.89312988e+01] [-9.24669404e-02 9.95715731e-01 -2.19744020e-04 -2.93446687e+00] [-3.08484732e-03 -6.57852606e-05 9.99995240e-01 -3.05163112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters Centerline goodness : 0.996635 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-2.93, Z:-0.30 [[ 9.96041393e-01 8.88373269e-02 3.07771396e-03 6.89919676e+01] [-8.88370719e-02 9.96046147e-01 -2.19744020e-04 -2.93216754e+00] [-3.08506660e-03 -5.45409563e-05 9.99995240e-01 -3.01879395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters Centerline goodness : 0.997281 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:-2.93, Z:-0.30 [[ 9.96167634e-01 8.74103718e-02 3.07771141e-03 6.90516945e+01] [-8.74101098e-02 9.96172387e-01 -2.19779685e-04 -2.92559592e+00] [-3.08514215e-03 -5.00856841e-05 9.99995240e-01 -2.99723286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters Centerline goodness : 0.996656 with order 1 Centerline is valid? [True, True] Translation: X:69.11, Y:-2.92, Z:-0.30 [[ 9.96185470e-01 8.72068678e-02 3.07771393e-03 6.91109151e+01] [-8.72066050e-02 9.96190223e-01 -2.19744401e-04 -2.91936654e+00] [-3.08515175e-03 -4.94908043e-05 9.99995240e-01 -2.99598197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters Centerline goodness : 0.997144 with order 1 Centerline is valid? [True, True] Translation: X:69.17, Y:-2.91, Z:-0.30 [[ 9.96399513e-01 8.47262573e-02 3.07772143e-03 6.91711708e+01] [-8.47259829e-02 9.96404265e-01 -2.19639319e-04 -2.91321241e+00] [-3.08526398e-03 -4.19144630e-05 9.99995240e-01 -3.03216099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters Centerline goodness : 0.997141 with order 1 Centerline is valid? [True, True] Translation: X:69.23, Y:-2.91, Z:-0.31 [[ 9.96559908e-01 8.28183436e-02 3.07772643e-03 6.92311552e+01] [-8.28180604e-02 9.96564660e-01 -2.19569283e-04 -2.91031415e+00] [-3.08533776e-03 -3.60773889e-05 9.99995240e-01 -3.05398785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:-2.91, Z:-0.30 [[ 9.96671492e-01 8.14645026e-02 3.07773141e-03 6.92906562e+01] [-8.14642131e-02 9.96676243e-01 -2.19499494e-04 -2.90824440e+00] [-3.08538319e-03 -3.19560793e-05 9.99995240e-01 -3.02955576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters Centerline goodness : 0.997368 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:-2.91, Z:-0.30 [[ 9.96682382e-01 8.13311552e-02 3.07774135e-03 6.93492578e+01] [-8.13308655e-02 9.96687134e-01 -2.19359949e-04 -2.90811753e+00] [-3.08538600e-03 -3.16831719e-05 9.99995240e-01 -3.03126752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters Centerline goodness : 0.997193 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:-2.91, Z:-0.31 [[ 9.96559507e-01 8.28231623e-02 3.07775144e-03 6.94077007e+01] [-8.28228802e-02 9.96564259e-01 -2.19218318e-04 -2.90581679e+00] [-3.08533344e-03 -3.64441400e-05 9.99995240e-01 -3.08094045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters Centerline goodness : 0.993282 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:-2.91, Z:-0.30 [[ 9.96429087e-01 8.43777388e-02 3.07776392e-03 6.94665118e+01] [-8.43774647e-02 9.96433839e-01 -2.19042918e-04 -2.90693948e+00] [-3.08527047e-03 -4.14331820e-05 9.99995240e-01 -2.99366377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:69.52, Y:-2.90, Z:-0.31 [[ 9.96197500e-01 8.70693286e-02 3.07777414e-03 6.95247553e+01] [-8.70690677e-02 9.96202253e-01 -2.18899306e-04 -2.90393440e+00] [-3.08514495e-03 -4.99119838e-05 9.99995240e-01 -3.09508923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters Centerline goodness : 0.996786 with order 1 Centerline is valid? [True, True] Translation: X:69.58, Y:-2.90, Z:-0.30 [[ 9.96109461e-01 8.80708222e-02 3.07778768e-03 6.95833576e+01] [-8.80705667e-02 9.96114214e-01 -2.18708675e-04 -2.90435736e+00] [-3.08508991e-03 -5.32047256e-05 9.99995240e-01 -3.03610246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:69.64, Y:-2.90, Z:-0.30 [[ 9.96458060e-01 8.40348831e-02 3.07779795e-03 6.96416922e+01] [-8.40346088e-02 9.96462813e-01 -2.18564169e-04 -2.90313598e+00] [-3.08527821e-03 -4.08515183e-05 9.99995240e-01 -3.04884711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters Centerline goodness : 0.996966 with order 1 Centerline is valid? [True, True] Translation: X:69.70, Y:-2.91, Z:-0.30 [[ 9.96790970e-01 7.99893100e-02 3.07781231e-03 6.97004291e+01] [-7.99890171e-02 9.96795721e-01 -2.18361685e-04 -2.90501184e+00] [-3.08541674e-03 -2.85302260e-05 9.99995240e-01 -2.99882519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters Centerline goodness : 0.996641 with order 1 Centerline is valid? [True, True] Translation: X:69.76, Y:-2.91, Z:-0.30 [[ 9.97202136e-01 7.46888644e-02 3.07782279e-03 6.97583544e+01] [-7.46885467e-02 9.97206886e-01 -2.18213948e-04 -2.91093499e+00] [-3.08552423e-03 -1.22746960e-05 9.99995240e-01 -3.00087387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters Centerline goodness : 0.997388 with order 1 Centerline is valid? [True, True] Translation: X:69.82, Y:-2.92, Z:-0.30 [[ 9.97527900e-01 7.02041038e-02 3.07783570e-03 6.98164213e+01] [-7.02037652e-02 9.97532648e-01 -2.18031670e-04 -2.91781368e+00] [-3.08554831e-03 1.41701884e-06 9.99995240e-01 -3.01047454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters Centerline goodness : 0.996638 with order 1 Centerline is valid? [True, True] Translation: X:69.87, Y:-2.93, Z:-0.30 [[ 9.97664327e-01 6.82379428e-02 3.07784580e-03 6.98746298e+01] [-6.82375954e-02 9.97669075e-01 -2.17888944e-04 -2.92838322e+00] [-3.08553987e-03 7.35523061e-06 9.99995240e-01 -3.00943033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters Centerline goodness : 0.997657 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:-2.94, Z:-0.30 [[ 9.97809329e-01 6.60838162e-02 3.07785329e-03 6.99334626e+01] [-6.60834588e-02 9.97814075e-01 -2.17783179e-04 -2.93662203e+00] [-3.08551727e-03 1.39108973e-05 9.99995240e-01 -3.02573223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:69.99, Y:-2.95, Z:-0.31 [[ 9.97887590e-01 6.48913344e-02 3.07785821e-03 6.99927789e+01] [-6.48909715e-02 9.97892336e-01 -2.17713624e-04 -2.94591794e+00] [-3.08549884e-03 1.75285143e-05 9.99995240e-01 -3.06089365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:70.05, Y:-2.95, Z:-0.31 [[ 9.97914667e-01 6.44735966e-02 3.07786326e-03 7.00506978e+01] [-6.44732320e-02 9.97919413e-01 -2.17642180e-04 -2.95313890e+00] [-3.08549167e-03 1.87485318e-05 9.99995240e-01 -3.09992954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters Centerline goodness : 0.997706 with order 1 Centerline is valid? [True, True] Translation: X:70.11, Y:-2.96, Z:-0.31 [[ 9.98057987e-01 6.22155996e-02 3.07786801e-03 7.01094837e+01] [-6.22152244e-02 9.98062733e-01 -2.17574920e-04 -2.96257309e+00] [-3.08544191e-03 2.56621379e-05 9.99995240e-01 -3.06425690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:70.17, Y:-2.97, Z:-0.30 [[ 9.98037436e-01 6.25444129e-02 3.07787313e-03 7.01686560e+01] [-6.25440395e-02 9.98042181e-01 -2.17502533e-04 -2.97376309e+00] [-3.08545078e-03 2.45730518e-05 9.99995240e-01 -3.03575081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:70.23, Y:-2.98, Z:-0.31 [[ 9.97739654e-01 6.71275551e-02 3.07787566e-03 7.02272267e+01] [-6.71272036e-02 9.97744402e-01 -2.17466758e-04 -2.98262689e+00] [-3.08553122e-03 1.03660218e-05 9.99995240e-01 -3.06013000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters Centerline goodness : 0.997696 with order 1 Centerline is valid? [True, True] Translation: X:70.29, Y:-2.99, Z:-0.30 [[ 9.97371880e-01 7.23868759e-02 3.07787814e-03 7.02859348e+01] [-7.23865495e-02 9.97376629e-01 -2.17431635e-04 -2.99382226e+00] [-3.08554292e-03 -5.93677987e-06 9.99995240e-01 -3.03628577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters Centerline goodness : 0.997221 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:-3.00, Z:-0.30 [[ 9.97275764e-01 7.36992278e-02 3.07788304e-03 7.03453823e+01] [-7.36989080e-02 9.97280514e-01 -2.17362240e-04 -3.00074647e+00] [-3.08553221e-03 -1.00665248e-05 9.99995240e-01 -3.03172272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:70.41, Y:-3.01, Z:-0.30 [[ 9.97018268e-01 7.71044747e-02 3.07788797e-03 7.04051278e+01] [-7.71041713e-02 9.97023019e-01 -2.17292322e-04 -3.00813380e+00] [-3.08547937e-03 -2.06735873e-05 9.99995240e-01 -3.02791568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:70.46, Y:-3.01, Z:-0.30 [[ 9.96383509e-01 8.49142510e-02 3.07789309e-03 7.04644931e+01] [-8.49139850e-02 9.96388262e-01 -2.17219808e-04 -3.01188382e+00] [-3.08522160e-03 -4.49219328e-05 9.99995240e-01 -3.00757090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters Centerline goodness : 0.998054 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:-3.01, Z:-0.31 [[ 9.95470719e-01 9.50188144e-02 3.07789820e-03 7.05227954e+01] [-9.50185969e-02 9.95475474e-01 -2.17147441e-04 -3.01237483e+00] [-3.08460526e-03 -7.62936492e-05 9.99995240e-01 -3.08016036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:-3.01, Z:-0.31 [[ 9.95194964e-01 9.78647508e-02 3.07790578e-03 7.05814301e+01] [-9.78645473e-02 9.95199720e-01 -2.17039915e-04 -3.01493938e+00] [-3.08437153e-03 -8.52208246e-05 9.99995240e-01 -3.08388909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters Centerline goodness : 0.997946 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:-3.01, Z:-0.31 [[ 9.94631424e-01 1.03435276e-01 3.07791587e-03 7.06402684e+01] [-1.03435099e-01 9.94636181e-01 -2.16896767e-04 -3.01156884e+00] [-3.08384126e-03 -1.02632192e-04 9.99995240e-01 -3.05173683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters Centerline goodness : 0.997978 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-3.01, Z:-0.31 [[ 9.94693812e-01 1.02833588e-01 3.07792583e-03 7.06981878e+01] [-1.02833409e-01 9.94698569e-01 -2.16755253e-04 -3.00983553e+00] [-3.08389814e-03 -1.00908497e-04 9.99995240e-01 -3.14267544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters Centerline goodness : 0.998017 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:-3.01, Z:-0.31 [[ 9.95074196e-01 9.90851664e-02 3.07793811e-03 7.07571936e+01] [-9.90849700e-02 9.95078953e-01 -2.16580755e-04 -3.00845463e+00] [-3.08425137e-03 -8.94634847e-05 9.99995240e-01 -3.10215580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:-3.01, Z:-0.31 [[ 9.95709552e-01 9.24825110e-02 3.07794810e-03 7.08157151e+01] [-9.24822835e-02 9.95714307e-01 -2.16438741e-04 -3.01044260e+00] [-3.08477375e-03 -6.91455471e-05 9.99995240e-01 -3.12574324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:70.87, Y:-3.01, Z:-0.32 [[ 9.96034544e-01 8.89140790e-02 3.07795801e-03 7.08742221e+01] [-8.89138350e-02 9.96039298e-01 -2.16297673e-04 -3.01421756e+00] [-3.08499904e-03 -5.82330966e-05 9.99995240e-01 -3.15678949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:70.93, Y:-3.02, Z:-0.31 [[ 9.96441554e-01 8.42303680e-02 3.07796796e-03 7.09332044e+01] [-8.42301020e-02 9.96446307e-01 -2.16156032e-04 -3.01691774e+00] [-3.08523671e-03 -4.38707023e-05 9.99995240e-01 -3.14999389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters Centerline goodness : 0.998340 with order 1 Centerline is valid? [True, True] Translation: X:70.99, Y:-3.02, Z:-0.31 [[ 9.96689829e-01 8.12398396e-02 3.07797535e-03 7.09926688e+01] [-8.12395597e-02 9.96694581e-01 -2.16050667e-04 -3.02053589e+00] [-3.08535328e-03 -3.47178598e-05 9.99995240e-01 -3.14083080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters Centerline goodness : 0.997648 with order 1 Centerline is valid? [True, True] Translation: X:71.05, Y:-3.03, Z:-0.31 [[ 9.97150252e-01 7.53783914e-02 3.07798020e-03 7.10524009e+01] [-7.53780838e-02 9.97155002e-01 -2.15981627e-04 -3.02606329e+00] [-3.08550370e-03 -1.66461154e-05 9.99995240e-01 -3.05925977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters Centerline goodness : 0.997504 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:-3.03, Z:-0.30 [[ 9.97261824e-01 7.38876154e-02 3.07798525e-03 7.11106315e+01] [-7.38873009e-02 9.97266574e-01 -2.15909625e-04 -3.03219030e+00] [-3.08552485e-03 -1.21055953e-05 9.99995240e-01 -3.04644885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:-3.04, Z:-0.31 [[ 9.97362313e-01 7.25185672e-02 3.07799108e-03 7.11700352e+01] [-7.25182464e-02 9.97367062e-01 -2.15826489e-04 -3.03921563e+00] [-3.08553835e-03 -7.95330902e-06 9.99995240e-01 -3.10885489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters Centerline goodness : 0.998052 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:-3.04, Z:-0.31 [[ 9.97206110e-01 7.46357779e-02 3.07799609e-03 7.12280968e+01] [-7.46354675e-02 9.97210861e-01 -2.15755023e-04 -3.04325353e+00] [-3.08551417e-03 -1.45754500e-05 9.99995240e-01 -3.09189696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:-3.05, Z:-0.31 [[ 9.97002442e-01 7.73088423e-02 3.07800348e-03 7.12870914e+01] [-7.73085449e-02 9.97007193e-01 -2.15649473e-04 -3.04843896e+00] [-3.08546322e-03 -2.29529196e-05 9.99995240e-01 -3.11886676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:-3.05, Z:-0.31 [[ 9.96660459e-01 8.15993552e-02 3.07800841e-03 7.13470788e+01] [-8.15990785e-02 9.96665212e-01 -2.15579063e-04 -3.04866096e+00] [-3.08533502e-03 -3.63035222e-05 9.99995240e-01 -3.14924268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters Centerline goodness : 0.997283 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:-3.05, Z:-0.31 [[ 9.96284705e-01 8.60657434e-02 3.07801358e-03 7.14053837e+01] [-8.60654882e-02 9.96289459e-01 -2.15505213e-04 -3.04823955e+00] [-3.08514010e-03 -5.02061945e-05 9.99995240e-01 -3.08350137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters Centerline goodness : 0.997347 with order 1 Centerline is valid? [True, True] Translation: X:71.46, Y:-3.05, Z:-0.31 [[ 9.96059323e-01 8.86360625e-02 3.07802641e-03 7.14642108e+01] [-8.86358202e-02 9.96064077e-01 -2.15321865e-04 -3.04716666e+00] [-3.08499682e-03 -5.83500448e-05 9.99995240e-01 -3.13977886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:-3.05, Z:-0.31 [[ 9.96110314e-01 8.80611570e-02 3.07803656e-03 7.15222084e+01] [-8.80609124e-02 9.96115068e-01 -2.15176647e-04 -3.04538206e+00] [-3.08502730e-03 -5.67150306e-05 9.99995240e-01 -3.06229816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:-3.05, Z:-0.31 [[ 9.96397888e-01 8.47453466e-02 3.07804914e-03 7.15802370e+01] [-8.47450867e-02 9.96402642e-01 -2.14996525e-04 -3.04508268e+00] [-3.08519625e-03 -4.66274575e-05 9.99995240e-01 -3.09213772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:-3.05, Z:-0.32 [[ 9.96616591e-01 8.21333985e-02 3.07806155e-03 7.16388844e+01] [-8.21331267e-02 9.96621344e-01 -2.14818679e-04 -3.04876894e+00] [-3.08530563e-03 -3.87189603e-05 9.99995240e-01 -3.16092564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters Centerline goodness : 0.997207 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.05, Z:-0.31 [[ 9.96950708e-01 7.79731385e-02 3.07807145e-03 7.16967933e+01] [-7.79728473e-02 9.96955460e-01 -2.14676870e-04 -3.05383274e+00] [-3.08543916e-03 -2.59837371e-05 9.99995240e-01 -3.10787510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters Centerline goodness : 0.996715 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.06, Z:-0.31 [[ 9.96955944e-01 7.79061728e-02 3.07808365e-03 7.17554085e+01] [-7.79058818e-02 9.96960695e-01 -2.14501757e-04 -3.05635635e+00] [-3.08543942e-03 -2.59520192e-05 9.99995240e-01 -3.08141324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:71.81, Y:-3.06, Z:-0.31 [[ 9.97036164e-01 7.68727071e-02 3.07809330e-03 7.18138997e+01] [-7.68724116e-02 9.97040915e-01 -2.14363193e-04 -3.06456789e+00] [-3.08546364e-03 -2.28925993e-05 9.99995240e-01 -3.09922312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters Centerline goodness : 0.996715 with order 1 Centerline is valid? [True, True] Translation: X:71.87, Y:-3.07, Z:-0.30 [[ 9.97013591e-01 7.71649143e-02 3.07810358e-03 7.18719081e+01] [-7.71646206e-02 9.97018343e-01 -2.14215401e-04 -3.07105964e+00] [-3.08545565e-03 -2.39450294e-05 9.99995240e-01 -3.03583718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:-3.07, Z:-0.31 [[ 9.96839532e-01 7.93818211e-02 3.07811121e-03 7.19311811e+01] [-7.93815383e-02 9.96844283e-01 -2.14105691e-04 -3.07364837e+00] [-3.08539367e-03 -3.09161870e-05 9.99995240e-01 -3.06390744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:-3.07, Z:-0.32 [[ 9.96275359e-01 8.61738635e-02 3.07812116e-03 7.19890600e+01] [-8.61736137e-02 9.96280112e-01 -2.13962582e-04 -3.07345051e+00] [-3.08510888e-03 -5.20871761e-05 9.99995240e-01 -3.16380438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters Centerline goodness : 0.997030 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:-3.07, Z:-0.31 [[ 9.95975955e-01 8.95679790e-02 3.07813346e-03 7.20485154e+01] [-8.95677458e-02 9.95980709e-01 -2.13785512e-04 -3.07049973e+00] [-3.08490988e-03 -6.27762456e-05 9.99995240e-01 -3.10787908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters Centerline goodness : 0.996482 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:-3.07, Z:-0.31 [[ 9.96080369e-01 8.83992290e-02 3.07814320e-03 7.21068660e+01] [-8.83989907e-02 9.96085123e-01 -2.13645182e-04 -3.06580252e+00] [-3.08497872e-03 -5.92969803e-05 9.99995240e-01 -3.09216339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters Centerline goodness : 0.996524 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:-3.06, Z:-0.31 [[ 9.96347103e-01 8.53403522e-02 3.07815550e-03 7.21668255e+01] [-8.53400999e-02 9.96351856e-01 -2.13467832e-04 -3.05849286e+00] [-3.08514337e-03 -5.00020421e-05 9.99995240e-01 -3.11445863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:-3.06, Z:-0.31 [[ 9.97006027e-01 7.72625861e-02 3.07817203e-03 7.22262065e+01] [-7.72622960e-02 9.97010778e-01 -2.13229262e-04 -3.05642296e+00] [-3.08544533e-03 -2.52357790e-05 9.99995240e-01 -3.09503504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:-3.06, Z:-0.31 [[ 9.97464998e-01 7.10922149e-02 3.07818235e-03 7.22842179e+01] [-7.10918958e-02 9.97469747e-01 -2.13080098e-04 -3.05656052e+00] [-3.08554211e-03 -6.29387993e-06 9.99995240e-01 -3.10914994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters Centerline goodness : 0.996653 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:-3.06, Z:-0.31 [[ 9.97922512e-01 6.43520403e-02 3.07819507e-03 7.23421080e+01] [-6.43516898e-02 9.97927259e-01 -2.12896134e-04 -3.05607563e+00] [-3.08551507e-03 1.43667900e-05 9.99995240e-01 -3.07744015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:-3.06, Z:-0.31 [[ 9.98165739e-01 6.04622377e-02 3.07820720e-03 7.24007027e+01] [-6.04618691e-02 9.98170485e-01 -2.12720709e-04 -3.05590735e+00] [-3.08543714e-03 2.62163627e-05 9.99995240e-01 -3.09576086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters Centerline goodness : 0.997152 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:-3.06, Z:-0.31 [[ 9.98218394e-01 5.95865953e-02 3.07821704e-03 7.24592220e+01] [-5.95862231e-02 9.98223140e-01 -2.12578180e-04 -3.05993685e+00] [-3.08541429e-03 2.87801219e-05 9.99995240e-01 -3.11371829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters Centerline goodness : 0.996943 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:-3.06, Z:-0.31 [[ 9.98389873e-01 5.66408480e-02 3.07822686e-03 7.25176386e+01] [-5.66404622e-02 9.98394618e-01 -2.12435815e-04 -3.06429957e+00] [-3.08531768e-03 3.77415738e-05 9.99995240e-01 -3.10355036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters Centerline goodness : 0.996832 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:-3.07, Z:-0.31 [[ 9.98735799e-01 5.01729840e-02 3.07823688e-03 7.25770165e+01] [-5.01725679e-02 9.98740541e-01 -2.12290588e-04 -3.07090033e+00] [-3.08501122e-03 5.75791608e-05 9.99995240e-01 -3.13335388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters Centerline goodness : 0.996664 with order 1 Centerline is valid? [True, True] Translation: X:72.63, Y:-3.07, Z:-0.31 [[ 9.98833108e-01 4.81969621e-02 3.07824182e-03 7.26343843e+01] [-4.81965369e-02 9.98837849e-01 -2.12218969e-04 -3.07445972e+00] [-3.08489275e-03 6.36107367e-05 9.99995240e-01 -3.07296804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters Centerline goodness : 0.996565 with order 1 Centerline is valid? [True, True] Translation: X:72.69, Y:-3.08, Z:-0.31 [[ 9.98927297e-01 4.62036707e-02 3.07825396e-03 7.26928956e+01] [-4.62032366e-02 9.98932038e-01 -2.12042667e-04 -3.07909318e+00] [-3.08476365e-03 6.95899125e-05 9.99995240e-01 -3.10035704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters Centerline goodness : 0.996625 with order 1 Centerline is valid? [True, True] Translation: X:72.75, Y:-3.09, Z:-0.31 [[ 9.99032553e-01 4.38689281e-02 3.07826381e-03 7.27509134e+01] [-4.38684833e-02 9.99037292e-01 -2.11899630e-04 -3.08695738e+00] [-3.08459615e-03 7.66558637e-05 9.99995240e-01 -3.11845682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters Centerline goodness : 0.996708 with order 1 Centerline is valid? [True, True] Translation: X:72.81, Y:-3.09, Z:-0.31 [[ 9.99072460e-01 4.29504837e-02 3.07827109e-03 7.28102449e+01] [-4.29500349e-02 9.99077199e-01 -2.11793794e-04 -3.09458795e+00] [-3.08452710e-03 7.93854959e-05 9.99995240e-01 -3.10418425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters Centerline goodness : 0.996750 with order 1 Centerline is valid? [True, True] Translation: X:72.87, Y:-3.10, Z:-0.31 [[ 9.99059486e-01 4.32512223e-02 3.07827572e-03 7.28695375e+01] [-4.32507751e-02 9.99064225e-01 -2.11726460e-04 -3.10374552e+00] [-3.08455258e-03 7.83895171e-05 9.99995240e-01 -3.09693985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters Centerline goodness : 0.996610 with order 1 Centerline is valid? [True, True] Translation: X:72.93, Y:-3.11, Z:-0.31 [[ 9.98953455e-01 4.56346147e-02 3.07828034e-03 7.29286416e+01] [-4.56341790e-02 9.98958196e-01 -2.11659256e-04 -3.11316389e+00] [-3.08473237e-03 7.09629485e-05 9.99995240e-01 -3.13142656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters Centerline goodness : 0.996580 with order 1 Centerline is valid? [True, True] Translation: X:72.99, Y:-3.12, Z:-0.31 [[ 9.98786967e-01 4.91438520e-02 3.07828511e-03 7.29871866e+01] [-4.91434332e-02 9.98791709e-01 -2.11589893e-04 -3.12101837e+00] [-3.08496399e-03 6.00557289e-05 9.99995240e-01 -3.11362898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:73.05, Y:-3.13, Z:-0.31 [[ 9.98466261e-01 5.52779373e-02 3.07829221e-03 7.30460174e+01] [-5.52775479e-02 9.98471005e-01 -2.11486555e-04 -3.12843429e+00] [-3.08527606e-03 4.10017442e-05 9.99995240e-01 -3.10399614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:-3.13, Z:-0.31 [[ 9.98258755e-01 5.89065585e-02 3.07829721e-03 7.31043926e+01] [-5.89061866e-02 9.98263501e-01 -2.11413725e-04 -3.13072313e+00] [-3.08540541e-03 2.97148516e-05 9.99995240e-01 -3.07020043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:-3.14, Z:-0.31 [[ 9.98105962e-01 6.14411237e-02 3.07830718e-03 7.31615863e+01] [-6.14407643e-02 9.98110709e-01 -2.11268544e-04 -3.13766280e+00] [-3.08547194e-03 2.17348480e-05 9.99995240e-01 -3.13354637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters Centerline goodness : 0.996223 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:-3.14, Z:-0.31 [[ 9.98225477e-01 5.94678228e-02 3.07831952e-03 7.32210836e+01] [-5.94674546e-02 9.98230223e-01 -2.11088568e-04 -3.14352058e+00] [-3.08542455e-03 2.76541601e-05 9.99995240e-01 -3.14207162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:-3.15, Z:-0.31 [[ 9.98276464e-01 5.86056724e-02 3.07832444e-03 7.32797615e+01] [-5.86053003e-02 9.98281210e-01 -2.11016756e-04 -3.15051444e+00] [-3.08540023e-03 3.02469324e-05 9.99995240e-01 -3.09427565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters Centerline goodness : 0.997128 with order 1 Centerline is valid? [True, True] Translation: X:73.34, Y:-3.16, Z:-0.32 [[ 9.98078998e-01 6.18775984e-02 3.07833178e-03 7.33377256e+01] [-6.18772422e-02 9.98083745e-01 -2.10909604e-04 -3.16170705e+00] [-3.08548349e-03 2.00257648e-05 9.99995240e-01 -3.19174614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:73.39, Y:-3.17, Z:-0.32 [[ 9.97802997e-01 6.61793183e-02 3.07834151e-03 7.33947420e+01] [-6.61789830e-02 9.97807746e-01 -2.10767533e-04 -3.17078429e+00] [-3.08554145e-03 6.58296550e-06 9.99995240e-01 -3.19012370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters Centerline goodness : 0.997402 with order 1 Centerline is valid? [True, True] Translation: X:73.45, Y:-3.18, Z:-0.32 [[ 9.97400153e-01 7.19962425e-02 3.07835358e-03 7.34538645e+01] [-7.19959354e-02 9.97404903e-01 -2.10591119e-04 -3.18183688e+00] [-3.08552672e-03 -1.15853312e-05 9.99995240e-01 -3.16150370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters Centerline goodness : 0.996753 with order 1 Centerline is valid? [True, True] Translation: X:73.51, Y:-3.19, Z:-0.31 [[ 9.97141224e-01 7.54977035e-02 3.07835838e-03 7.35129137e+01] [-7.54974133e-02 9.97145975e-01 -2.10520828e-04 -3.18750521e+00] [-3.08546651e-03 -2.24890989e-05 9.99995240e-01 -3.11082741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters Centerline goodness : 0.996651 with order 1 Centerline is valid? [True, True] Translation: X:73.57, Y:-3.20, Z:-0.31 [[ 9.97032016e-01 7.69264771e-02 3.07836322e-03 7.35706113e+01] [-7.69261939e-02 9.97036768e-01 -2.10450087e-04 -3.19637007e+00] [-3.08543050e-03 -2.69812918e-05 9.99995240e-01 -3.12777490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters Centerline goodness : 0.997048 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.20, Z:-0.32 [[ 9.97149837e-01 7.53838586e-02 3.07837041e-03 7.36297928e+01] [-7.53835684e-02 9.97154589e-01 -2.10344793e-04 -3.20097075e+00] [-3.08546779e-03 -2.23132704e-05 9.99995240e-01 -3.15579737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters Centerline goodness : 0.987714 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.21, Z:-0.30 [[ 9.97381948e-01 7.22479979e-02 3.07837531e-03 7.36894420e+01] [-7.22476931e-02 9.97386699e-01 -2.10273063e-04 -3.20778859e+00] [-3.08552240e-03 -1.26829572e-05 9.99995240e-01 -2.97276601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters Centerline goodness : 0.996280 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:-3.22, Z:-0.31 [[ 9.97601799e-01 6.91460324e-02 3.07838028e-03 7.37480725e+01] [-6.91457130e-02 9.97606549e-01 -2.10200317e-04 -3.21549404e+00] [-3.08554685e-03 -3.16058454e-06 9.99995240e-01 -3.13753212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:-3.22, Z:-0.32 [[ 9.97717703e-01 6.74530061e-02 3.07838273e-03 7.38076583e+01] [-6.74526787e-02 9.97722452e-01 -2.10164438e-04 -3.22382270e+00] [-3.08554779e-03 2.03961922e-06 9.99995240e-01 -3.17999063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:-3.23, Z:-0.32 [[ 9.97931866e-01 6.42068150e-02 3.07838796e-03 7.38665969e+01] [-6.42064724e-02 9.97936614e-01 -2.10087864e-04 -3.23204474e+00] [-3.08552513e-03 1.20009422e-05 9.99995240e-01 -3.16618320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:-3.24, Z:-0.32 [[ 9.98012242e-01 6.29451160e-02 3.07839054e-03 7.39270660e+01] [-6.29447675e-02 9.98016990e-01 -2.10050079e-04 -3.23916570e+00] [-3.08550768e-03 1.58639741e-05 9.99995240e-01 -3.18021023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters Centerline goodness : 0.997452 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:-3.24, Z:-0.32 [[ 9.97871539e-01 6.51376565e-02 3.07839054e-03 7.39869116e+01] [-6.51373184e-02 9.97876288e-01 -2.10050079e-04 -3.24249565e+00] [-3.08553509e-03 9.08489135e-06 9.99995240e-01 -3.18814783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters Centerline goodness : 0.996761 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:-3.24, Z:-0.32 [[ 9.97762694e-01 6.67842011e-02 3.07839294e-03 7.40465257e+01] [-6.67838710e-02 9.97767443e-01 -2.10014809e-04 -3.24367900e+00] [-3.08554593e-03 3.95794407e-06 9.99995240e-01 -3.16565544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters Centerline goodness : 0.997032 with order 1 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.24, Z:-0.32 [[ 9.97810196e-01 6.60706850e-02 3.07839762e-03 7.41058884e+01] [-6.60703517e-02 9.97814945e-01 -2.09946269e-04 -3.24495581e+00] [-3.08554244e-03 6.09571494e-06 9.99995240e-01 -3.17209155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters Centerline goodness : 0.996538 with order 1 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.25, Z:-0.31 [[ 9.98438855e-01 5.57707509e-02 3.07840229e-03 7.41655850e+01] [-5.57703689e-02 9.98443600e-01 -2.09877649e-04 -3.25112133e+00] [-3.08531610e-03 3.78663683e-05 9.99995240e-01 -3.12455851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters Centerline goodness : 0.997160 with order 1 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.26, Z:-0.32 [[ 9.98681487e-01 5.12426708e-02 3.07839998e-03 7.42258289e+01] [-5.12422671e-02 9.98686230e-01 -2.09911560e-04 -3.25747938e+00] [-3.08511210e-03 5.18905945e-05 9.99995240e-01 -3.18712668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters Centerline goodness : 0.997266 with order 1 Centerline is valid? [True, True] Translation: X:74.29, Y:-3.27, Z:-0.32 [[ 9.98658338e-01 5.16918564e-02 3.07839998e-03 7.42860136e+01] [-5.16914549e-02 9.98663081e-01 -2.09911560e-04 -3.26667958e+00] [-3.08513513e-03 5.05029557e-05 9.99995240e-01 -3.16262021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:-3.27, Z:-0.31 [[ 9.98603034e-01 5.27494505e-02 3.07839767e-03 7.43457951e+01] [-5.27490539e-02 9.98607777e-01 -2.09945530e-04 -3.27414693e+00] [-3.08518636e-03 4.72696786e-05 9.99995240e-01 -3.11613364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters Centerline goodness : 0.996266 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:-3.28, Z:-0.31 [[ 9.98653499e-01 5.17852471e-02 3.07839545e-03 7.44062603e+01] [-5.17848458e-02 9.98658243e-01 -2.09978063e-04 -3.28172503e+00] [-3.08513875e-03 5.02810937e-05 9.99995240e-01 -3.11540251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters Centerline goodness : 0.996411 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:-3.30, Z:-0.31 [[ 9.98899777e-01 4.67948535e-02 3.07839545e-03 7.44679295e+01] [-4.67944285e-02 9.98904519e-01 -2.09978063e-04 -3.29744853e+00] [-3.08484901e-03 6.56952846e-05 9.99995240e-01 -3.13145722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters Centerline goodness : 0.996286 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:-3.31, Z:-0.31 [[ 9.99070323e-01 4.30001594e-02 3.07836205e-03 7.45295912e+01] [-4.29997149e-02 9.99075062e-01 -2.10466488e-04 -3.31091003e+00] [-3.08456485e-03 7.79021319e-05 9.99995240e-01 -3.13590507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters Centerline goodness : 0.996498 with order 1 Centerline is valid? [True, True] Translation: X:74.59, Y:-3.32, Z:-0.32 [[ 9.98941254e-01 4.59009233e-02 3.07832736e-03 7.45899822e+01] [-4.59004910e-02 9.98945995e-01 -2.10972657e-04 -3.32305230e+00] [-3.08476663e-03 6.94525529e-05 9.99995240e-01 -3.16972003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters Centerline goodness : 0.997228 with order 1 Centerline is valid? [True, True] Translation: X:74.65, Y:-3.33, Z:-0.32 [[ 9.98537168e-01 5.39819249e-02 3.07829531e-03 7.46503283e+01] [-5.39815295e-02 9.98541912e-01 -2.11439271e-04 -3.33358936e+00] [-3.08522079e-03 4.49588817e-05 9.99995240e-01 -3.21112648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters Centerline goodness : 0.996582 with order 1 Centerline is valid? [True, True] Translation: X:74.71, Y:-3.34, Z:-0.32 [[ 9.98180480e-01 6.02183854e-02 3.07829034e-03 7.47107826e+01] [-6.02180194e-02 9.98185226e-01 -2.11511586e-04 -3.34376617e+00] [-3.08544083e-03 2.57581887e-05 9.99995240e-01 -3.18639959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters Centerline goodness : 0.996488 with order 1 Centerline is valid? [True, True] Translation: X:74.77, Y:-3.36, Z:-0.32 [[ 9.97896198e-01 6.47588004e-02 3.07828532e-03 7.47718278e+01] [-6.47584558e-02 9.97900946e-01 -2.11584663e-04 -3.35512069e+00] [-3.08552580e-03 1.17945267e-05 9.99995240e-01 -3.16169099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters Centerline goodness : 0.995963 with order 1 Centerline is valid? [True, True] Translation: X:74.83, Y:-3.36, Z:-0.32 [[ 9.97702619e-01 6.76757528e-02 3.07825270e-03 7.48335268e+01] [-6.76754206e-02 9.97707368e-01 -2.12058150e-04 -3.36293306e+00] [-3.08554660e-03 3.24892517e-06 9.99995240e-01 -3.15745239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters Centerline goodness : 0.996557 with order 1 Centerline is valid? [True, True] Translation: X:74.90, Y:-3.37, Z:-0.32 [[ 9.97127327e-01 7.56810290e-02 3.07822769e-03 7.48951871e+01] [-7.56807338e-02 9.97132078e-01 -2.12420580e-04 -3.36684262e+00] [-3.08547578e-03 -2.11521654e-05 9.99995240e-01 -3.15495373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters Centerline goodness : 0.996865 with order 1 Centerline is valid? [True, True] Translation: X:74.96, Y:-3.37, Z:-0.32 [[ 9.96395808e-01 8.47698012e-02 3.07819277e-03 7.49557259e+01] [-8.47695478e-02 9.96400561e-01 -2.12925368e-04 -3.36568750e+00] [-3.08516265e-03 -4.87790658e-05 9.99995240e-01 -3.18639621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters Centerline goodness : 0.996258 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:-3.36, Z:-0.31 [[ 9.96044155e-01 8.88063458e-02 3.07817995e-03 7.50171587e+01] [-8.88061111e-02 9.96048909e-01 -2.13110663e-04 -3.36065998e+00] [-3.08494336e-03 -6.10935600e-05 9.99995240e-01 -3.14590958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters Centerline goodness : 0.996495 with order 1 Centerline is valid? [True, True] Translation: X:75.08, Y:-3.36, Z:-0.31 [[ 9.96184413e-01 8.72189166e-02 3.07817498e-03 7.50781124e+01] [-8.72186742e-02 9.96189167e-01 -2.13182376e-04 -3.35813391e+00] [-3.08503811e-03 -5.61053800e-05 9.99995240e-01 -3.12894689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters Centerline goodness : 0.996339 with order 1 Centerline is valid? [True, True] Translation: X:75.14, Y:-3.35, Z:-0.31 [[ 9.96566376e-01 8.27404598e-02 3.07817253e-03 7.51399367e+01] [-8.27401958e-02 9.96571129e-01 -2.13217776e-04 -3.35347360e+00] [-3.08525961e-03 -4.22029312e-05 9.99995240e-01 -3.13861872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters Centerline goodness : 0.996453 with order 1 Centerline is valid? [True, True] Translation: X:75.20, Y:-3.35, Z:-0.31 [[ 9.96639621e-01 8.18534687e-02 3.07816765e-03 7.52012390e+01] [-8.18532003e-02 9.96644374e-01 -2.13288127e-04 -3.34947927e+00] [-3.08529685e-03 -3.93864755e-05 9.99995240e-01 -3.14553129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:75.26, Y:-3.35, Z:-0.32 [[ 9.96595213e-01 8.23923947e-02 3.07816765e-03 7.52621191e+01] [-8.23921288e-02 9.96599966e-01 -2.13288127e-04 -3.34700285e+00] [-3.08527510e-03 -4.10548598e-05 9.99995240e-01 -3.17767450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:-3.34, Z:-0.32 [[ 9.96578461e-01 8.25947707e-02 3.07816765e-03 7.53217965e+01] [-8.25945059e-02 9.96583214e-01 -2.13288127e-04 -3.34261108e+00] [-3.08526670e-03 -4.16813832e-05 9.99995240e-01 -3.19787985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters Centerline goodness : 0.995729 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:-3.34, Z:-0.32 [[ 9.96857393e-01 7.91572003e-02 3.07817266e-03 7.53808501e+01] [-7.91569193e-02 9.96862145e-01 -2.13215907e-04 -3.33883189e+00] [-3.08539137e-03 -3.11128110e-05 9.99995240e-01 -3.16049663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters Centerline goodness : 0.995006 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:-3.34, Z:-0.31 [[ 9.97021874e-01 7.70578179e-02 3.07818009e-03 7.54411723e+01] [-7.70575272e-02 9.97026626e-01 -2.13108468e-04 -3.33608359e+00] [-3.08544919e-03 -2.47231424e-05 9.99995240e-01 -3.13269779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters Centerline goodness : 0.995615 with order 1 Centerline is valid? [True, True] Translation: X:75.50, Y:-3.33, Z:-0.32 [[ 9.96932968e-01 7.81996260e-02 3.07818515e-03 7.55005978e+01] [-7.81993410e-02 9.96937720e-01 -2.13035442e-04 -3.33179788e+00] [-3.08541817e-03 -2.83299942e-05 9.99995240e-01 -3.15081251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters Centerline goodness : 0.995751 with order 1 Centerline is valid? [True, True] Translation: X:75.56, Y:-3.33, Z:-0.32 [[ 9.96878970e-01 7.88850017e-02 3.07819262e-03 7.55600697e+01] [-7.88847202e-02 9.96883722e-01 -2.12927434e-04 -3.33094777e+00] [-3.08539690e-03 -3.05594829e-05 9.99995240e-01 -3.18231809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters Centerline goodness : 0.995697 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:-3.33, Z:-0.32 [[ 9.97026306e-01 7.70004593e-02 3.07820211e-03 7.56187395e+01] [-7.70001693e-02 9.97031057e-01 -2.12790082e-04 -3.32950862e+00] [-3.08544804e-03 -2.48647746e-05 9.99995240e-01 -3.17713125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters Centerline goodness : 0.994708 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:-3.33, Z:-0.31 [[ 9.97272647e-01 7.37413915e-02 3.07821192e-03 7.56782642e+01] [-7.37410864e-02 9.97277397e-01 -2.12648180e-04 -3.32938673e+00] [-3.08551214e-03 -1.49224772e-05 9.99995240e-01 -3.14196744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters Centerline goodness : 0.993948 with order 1 Centerline is valid? [True, True] Translation: X:75.74, Y:-3.32, Z:-0.31 [[ 9.97568053e-01 6.96311956e-02 3.07821712e-03 7.57371098e+01] [-6.96308712e-02 9.97572803e-01 -2.12572833e-04 -3.32368163e+00] [-3.08554738e-03 -2.28307282e-06 9.99995240e-01 -3.14541709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters Centerline goodness : 0.994932 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:-3.32, Z:-0.32 [[ 9.97851135e-01 6.54494939e-02 3.07822482e-03 7.57963441e+01] [-6.54491499e-02 9.97855883e-01 -2.12461296e-04 -3.32141626e+00] [-3.08553023e-03 1.05375480e-05 9.99995240e-01 -3.16382678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:-3.32, Z:-0.32 [[ 9.97959376e-01 6.37778072e-02 3.07823483e-03 7.58560014e+01] [-6.37774557e-02 9.97964123e-01 -2.12316119e-04 -3.31965715e+00] [-3.08550898e-03 1.55608762e-05 9.99995240e-01 -3.19456761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:-3.32, Z:-0.32 [[ 9.97976382e-01 6.35111467e-02 3.07823984e-03 7.59152271e+01] [-6.35107941e-02 9.97981129e-01 -2.12243508e-04 -3.31936146e+00] [-3.08550510e-03 1.63125512e-05 9.99995240e-01 -3.17473987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:-3.32, Z:-0.31 [[ 9.98066651e-01 6.20764455e-02 3.07824991e-03 7.59740020e+01] [-6.20760866e-02 9.98071397e-01 -2.12097307e-04 -3.32117971e+00] [-3.08547944e-03 2.06015410e-05 9.99995240e-01 -3.13639204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters Centerline goodness : 0.992735 with order 1 Centerline is valid? [True, True] Translation: X:76.03, Y:-3.32, Z:-0.31 [[ 9.98099367e-01 6.15481754e-02 3.07825735e-03 7.60326528e+01] [-6.15478143e-02 9.98104114e-01 -2.11989356e-04 -3.32353083e+00] [-3.08546888e-03 2.21264303e-05 9.99995240e-01 -3.14539485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters Centerline goodness : 0.993945 with order 1 Centerline is valid? [True, True] Translation: X:76.09, Y:-3.33, Z:-0.32 [[ 9.98211307e-01 5.97051950e-02 3.07826699e-03 7.60916787e+01] [-5.97048256e-02 9.98216053e-01 -2.11849217e-04 -3.32628364e+00] [-3.08542402e-03 2.76828906e-05 9.99995240e-01 -3.19887849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters Centerline goodness : 0.993383 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-3.33, Z:-0.32 [[ 9.98470265e-01 5.52055666e-02 3.07827672e-03 7.61515800e+01] [-5.52051762e-02 9.98475009e-01 -2.11707687e-04 -3.32931856e+00] [-3.08526982e-03 4.14470212e-05 9.99995240e-01 -3.16563807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters Centerline goodness : 0.993914 with order 1 Centerline is valid? [True, True] Translation: X:76.21, Y:-3.33, Z:-0.32 [[ 9.98665389e-01 5.15554533e-02 3.07828153e-03 7.62113361e+01] [-5.15550458e-02 9.98670132e-01 -2.11637801e-04 -3.33005537e+00] [-3.08509890e-03 5.26544022e-05 9.99995240e-01 -3.22487778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:76.27, Y:-3.33, Z:-0.33 [[ 9.98714265e-01 5.05998178e-02 3.07828629e-03 7.62695618e+01] [-5.05994059e-02 9.98719007e-01 -2.11568535e-04 -3.33320144e+00] [-3.08504836e-03 5.55370566e-05 9.99995240e-01 -3.25421113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:-3.33, Z:-0.32 [[ 9.98887223e-01 4.70620931e-02 3.07829105e-03 7.63299638e+01] [-4.70616647e-02 9.98891964e-01 -2.11499274e-04 -3.33083220e+00] [-3.08483379e-03 6.63944208e-05 9.99995240e-01 -3.19015751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:76.39, Y:-3.33, Z:-0.32 [[ 9.99077354e-01 4.28364912e-02 3.07829571e-03 7.63898551e+01] [-4.28360430e-02 9.99082093e-01 -2.11431394e-04 -3.33400058e+00] [-3.08452710e-03 7.93743101e-05 9.99995240e-01 -3.16908042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters Centerline goodness : 0.993749 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:-3.34, Z:-0.32 [[ 9.99370759e-01 3.53356781e-02 3.07830075e-03 7.64492839e+01] [-3.53351945e-02 9.99375495e-01 -2.11357961e-04 -3.33969382e+00] [-3.08384681e-03 1.02452610e-04 9.99995240e-01 -3.16427361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters Centerline goodness : 0.993442 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:-3.35, Z:-0.32 [[ 9.99540391e-01 3.01584339e-02 3.07829849e-03 7.65080419e+01] [-3.01579257e-02 9.99545124e-01 -2.11390926e-04 -3.34902014e+00] [-3.08327346e-03 1.18458672e-04 9.99995240e-01 -3.16271735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:-3.36, Z:-0.32 [[ 9.99600432e-01 2.80980354e-02 3.07830081e-03 7.65675352e+01] [-2.80975176e-02 9.99605164e-01 -2.11357079e-04 -3.36104997e+00] [-3.08302411e-03 1.24780016e-04 9.99995240e-01 -3.18229762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:76.63, Y:-3.38, Z:-0.31 [[ 9.99629313e-01 2.70510844e-02 3.07830081e-03 7.66260831e+01] [-2.70505615e-02 9.99634044e-01 -2.11357079e-04 -3.37643145e+00] [-3.08289173e-03 1.28008966e-04 9.99995240e-01 -3.12838091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters Centerline goodness : 0.993147 with order 1 Centerline is valid? [True, True] Translation: X:76.69, Y:-3.39, Z:-0.31 [[ 9.99560753e-01 2.94758544e-02 3.07830325e-03 7.66859537e+01] [-2.94753431e-02 9.99565485e-01 -2.11321517e-04 -3.38967091e+00] [-3.08319457e-03 1.20494650e-04 9.99995240e-01 -3.14110656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:76.75, Y:-3.40, Z:-0.32 [[ 9.99317343e-01 3.68153748e-02 3.07830325e-03 7.67452688e+01] [-3.68148983e-02 9.99322080e-01 -2.11321517e-04 -3.39841022e+00] [-3.08399629e-03 9.78498359e-05 9.99995240e-01 -3.20206856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters Centerline goodness : 0.994439 with order 1 Centerline is valid? [True, True] Translation: X:76.81, Y:-3.40, Z:-0.32 [[ 9.99157264e-01 4.09302526e-02 3.07830563e-03 7.68058784e+01] [-4.09297958e-02 9.99162002e-01 -2.11286893e-04 -3.40318790e+00] [-3.08437404e-03 8.51144136e-05 9.99995240e-01 -3.21376833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters Centerline goodness : 0.993703 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:-3.41, Z:-0.32 [[ 9.99138095e-01 4.13955340e-02 3.07830563e-03 7.68657788e+01] [-4.13950794e-02 9.99142834e-01 -2.11286893e-04 -3.41328367e+00] [-3.08441335e-03 8.36780783e-05 9.99995240e-01 -3.20154781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters Centerline goodness : 0.994233 with order 1 Centerline is valid? [True, True] Translation: X:76.93, Y:-3.43, Z:-0.32 [[ 9.99356779e-01 3.57288673e-02 3.07830563e-03 7.69257729e+01] [-3.57283858e-02 9.99361515e-01 -2.11286893e-04 -3.42635307e+00] [-3.08388922e-03 1.01168098e-04 9.99995240e-01 -3.19057211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters Centerline goodness : 0.994300 with order 1 Centerline is valid? [True, True] Translation: X:76.99, Y:-3.44, Z:-0.32 [[ 9.99538834e-01 3.02099780e-02 3.07830320e-03 7.69864811e+01] [-3.02094703e-02 9.99543567e-01 -2.11322355e-04 -3.44070473e+00] [-3.08328220e-03 1.18230991e-04 9.99995240e-01 -3.19004613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters Centerline goodness : 0.994036 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:-3.46, Z:-0.32 [[ 9.99568197e-01 2.92223047e-02 3.07829839e-03 7.70467046e+01] [-2.92217920e-02 9.99572930e-01 -2.11392327e-04 -3.46026291e+00] [-3.08316111e-03 1.21347652e-04 9.99995240e-01 -3.19754599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:-3.48, Z:-0.32 [[ 9.99401458e-01 3.44564898e-02 3.07826738e-03 7.71070675e+01] [-3.44560005e-02 9.99406193e-01 -2.11842883e-04 -3.48018198e+00] [-3.08373885e-03 1.05651303e-04 9.99995240e-01 -3.17453910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:-3.49, Z:-0.32 [[ 9.99193083e-01 4.00463132e-02 3.07826269e-03 7.71674031e+01] [-4.00458502e-02 9.99197821e-01 -2.11911131e-04 -3.49200597e+00] [-3.08427963e-03 8.84684901e-05 9.99995240e-01 -3.16623999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters Centerline goodness : 0.993350 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:-3.51, Z:-0.32 [[ 9.98849996e-01 4.78456963e-02 3.07825767e-03 7.72272798e+01] [-4.78452702e-02 9.98854737e-01 -2.11983943e-04 -3.50630905e+00] [-3.08487478e-03 6.44600908e-05 9.99995240e-01 -3.18597655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters Centerline goodness : 0.993557 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:-3.52, Z:-0.32 [[ 9.98767342e-01 4.95411041e-02 3.07822521e-03 7.72879525e+01] [-4.95406845e-02 9.98772084e-01 -2.12454253e-04 -3.51647412e+00] [-3.08497063e-03 5.96949850e-05 9.99995240e-01 -3.20713700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters Centerline goodness : 0.993177 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:-3.52, Z:-0.32 [[ 9.98710449e-01 5.06750775e-02 3.07819317e-03 7.73495151e+01] [-5.06746619e-02 9.98715191e-01 -2.12917549e-04 -3.52492703e+00] [-3.08502789e-03 5.66565836e-05 9.99995240e-01 -3.19137567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters Centerline goodness : 0.992639 with order 1 Centerline is valid? [True, True] Translation: X:77.41, Y:-3.53, Z:-0.32 [[ 9.98614418e-01 5.25334977e-02 3.07815919e-03 7.74107567e+01] [-5.25330894e-02 9.98619161e-01 -2.13407569e-04 -3.53448412e+00] [-3.08511980e-03 5.14066639e-05 9.99995240e-01 -3.17239572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:-3.54, Z:-0.32 [[ 9.98529830e-01 5.41175067e-02 3.07812447e-03 7.74723377e+01] [-5.41171043e-02 9.98534573e-01 -2.13907278e-04 -3.54366496e+00] [-3.08518983e-03 4.70136152e-05 9.99995240e-01 -3.19913565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters Centerline goodness : 0.993670 with order 1 Centerline is valid? [True, True] Translation: X:77.53, Y:-3.56, Z:-0.32 [[ 9.98276236e-01 5.86095809e-02 3.07808880e-03 7.75340946e+01] [-5.86091983e-02 9.98280980e-01 -2.14419227e-04 -3.55561305e+00] [-3.08536453e-03 3.36453017e-05 9.99995240e-01 -3.20380281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters Centerline goodness : 0.992863 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:-3.57, Z:-0.32 [[ 9.97959034e-01 6.37831649e-02 3.07806342e-03 7.75953703e+01] [-6.37828058e-02 9.97963781e-01 -2.14782947e-04 -3.56585676e+00] [-3.08549535e-03 1.80170603e-05 9.99995240e-01 -3.17410545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:-3.58, Z:-0.32 [[ 9.97653286e-01 6.83991683e-02 3.07802842e-03 7.76579671e+01] [-6.83988296e-02 9.97658034e-01 -2.15283380e-04 -3.57561508e+00] [-3.08554499e-03 4.24462952e-06 9.99995240e-01 -3.15873309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters Centerline goodness : 0.993031 with order 1 Centerline is valid? [True, True] Translation: X:77.72, Y:-3.58, Z:-0.32 [[ 9.97177583e-01 7.50159521e-02 3.07801087e-03 7.77192877e+01] [-7.50156442e-02 9.97182334e-01 -2.15534118e-04 -3.58248829e+00] [-3.08550656e-03 -1.59731774e-05 9.99995240e-01 -3.16894775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters Centerline goodness : 0.993038 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-3.59, Z:-0.32 [[ 9.96779568e-01 8.01312593e-02 3.07797322e-03 7.77819922e+01] [-8.01309740e-02 9.96784320e-01 -2.16070348e-04 -3.58869547e+00] [-3.08538943e-03 -3.12664843e-05 9.99995240e-01 -3.16693428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters Centerline goodness : 0.991991 with order 1 Centerline is valid? [True, True] Translation: X:77.84, Y:-3.59, Z:-0.31 [[ 9.96224294e-01 8.67622161e-02 3.07793386e-03 7.78441711e+01] [-8.67619608e-02 9.96229048e-01 -2.16629589e-04 -3.59291865e+00] [-3.08512238e-03 -5.12359178e-05 9.99995240e-01 -3.14338398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters Centerline goodness : 0.992570 with order 1 Centerline is valid? [True, True] Translation: X:77.91, Y:-3.60, Z:-0.32 [[ 9.95651384e-01 9.31066525e-02 3.07789951e-03 7.79063081e+01] [-9.31064259e-02 9.95656139e-01 -2.17116606e-04 -3.59550603e+00] [-3.08474454e-03 -7.03997736e-05 9.99995240e-01 -3.18703621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters Centerline goodness : 0.992858 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:-3.60, Z:-0.32 [[ 9.95062699e-01 9.92005660e-02 3.07786306e-03 7.79679959e+01] [-9.92003670e-02 9.95067455e-01 -2.17632105e-04 -3.59531651e+00] [-3.08427059e-03 -8.87675553e-05 9.99995240e-01 -3.19820303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters Centerline goodness : 0.993131 with order 1 Centerline is valid? [True, True] Translation: X:78.03, Y:-3.59, Z:-0.32 [[ 9.94650017e-01 1.03256332e-01 3.07785790e-03 7.80291164e+01] [-1.03256152e-01 9.94654774e-01 -2.17705060e-04 -3.59319453e+00] [-3.08388548e-03 -1.01267422e-04 9.99995240e-01 -3.21799640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters Centerline goodness : 0.993125 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:-3.59, Z:-0.32 [[ 9.94451615e-01 1.05149949e-01 3.07782485e-03 7.80913920e+01] [-1.05149777e-01 9.94456372e-01 -2.18171316e-04 -3.58883007e+00] [-3.08370324e-03 -1.06671779e-04 9.99995240e-01 -3.22203465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters Centerline goodness : 0.993168 with order 1 Centerline is valid? [True, True] Translation: X:78.15, Y:-3.59, Z:-0.32 [[ 9.94385099e-01 1.05777133e-01 3.07781981e-03 7.81519222e+01] [-1.05776964e-01 9.94389856e-01 -2.18242388e-04 -3.58965124e+00] [-3.08363785e-03 -1.08545456e-04 9.99995240e-01 -3.21961039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters Centerline goodness : 0.993134 with order 1 Centerline is valid? [True, True] Translation: X:78.21, Y:-3.58, Z:-0.32 [[ 9.94432686e-01 1.05328819e-01 3.07781981e-03 7.82124356e+01] [-1.05328648e-01 9.94437443e-01 -2.18242388e-04 -3.58195484e+00] [-3.08368647e-03 -1.07155234e-04 9.99995240e-01 -3.19442872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters Centerline goodness : 0.993010 with order 1 Centerline is valid? [True, True] Translation: X:78.27, Y:-3.57, Z:-0.32 [[ 9.94697957e-01 1.02793485e-01 3.07782238e-03 7.82727385e+01] [-1.02793301e-01 9.94702714e-01 -2.18206042e-04 -3.57475417e+00] [-3.08394844e-03 -9.93304181e-05 9.99995240e-01 -3.22399082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters Centerline goodness : 0.992716 with order 1 Centerline is valid? [True, True] Translation: X:78.33, Y:-3.57, Z:-0.32 [[ 9.95348536e-01 9.62902811e-02 3.07782732e-03 7.83327891e+01] [-9.62900666e-02 9.95353292e-01 -2.18136451e-04 -3.56823737e+00] [-3.08452997e-03 -7.92424005e-05 9.99995240e-01 -3.20939596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters Centerline goodness : 0.991582 with order 1 Centerline is valid? [True, True] Translation: X:78.39, Y:-3.56, Z:-0.32 [[ 9.96067919e-01 8.85394094e-02 3.07783239e-03 7.83928297e+01] [-8.85391581e-02 9.96072673e-01 -2.18064905e-04 -3.56486794e+00] [-3.08505207e-03 -5.53012324e-05 9.99995240e-01 -3.19425381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters Centerline goodness : 0.992309 with order 1 Centerline is valid? [True, True] Translation: X:78.45, Y:-3.57, Z:-0.32 [[ 9.96696881e-01 8.11532789e-02 3.07783751e-03 7.84535954e+01] [-8.11529927e-02 9.96701633e-01 -2.17992523e-04 -3.56691949e+00] [-3.08537648e-03 -3.25032572e-05 9.99995240e-01 -3.20665536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:78.51, Y:-3.57, Z:-0.32 [[ 9.97014529e-01 7.71528099e-02 3.07783751e-03 7.85136961e+01] [-7.71525046e-02 9.97019279e-01 -2.17992523e-04 -3.56890979e+00] [-3.08548207e-03 -2.01211600e-05 9.99995240e-01 -3.19749051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters Centerline goodness : 0.993006 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:-3.57, Z:-0.32 [[ 9.97065304e-01 7.64938323e-02 3.07783751e-03 7.85727475e+01] [-7.64935238e-02 9.97070054e-01 -2.17992523e-04 -3.57318443e+00] [-3.08549470e-03 -1.80818556e-05 9.99995240e-01 -3.21668878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters Centerline goodness : 0.993185 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:-3.58, Z:-0.32 [[ 9.96929757e-01 7.82405638e-02 3.07784009e-03 7.86326494e+01] [-7.82402637e-02 9.96934508e-01 -2.17956101e-04 -3.57690443e+00] [-3.08545801e-03 -2.35240974e-05 9.99995240e-01 -3.22219019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters Centerline goodness : 0.992756 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:-3.58, Z:-0.32 [[ 9.96660893e-01 8.15940654e-02 3.07784527e-03 7.86924818e+01] [-8.15937816e-02 9.96665645e-01 -2.17882997e-04 -3.57849376e+00] [-3.08536060e-03 -3.39775720e-05 9.99995240e-01 -3.24039289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters Centerline goodness : 0.992977 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:-3.58, Z:-0.32 [[ 9.96654991e-01 8.16661234e-02 3.07785044e-03 7.87519237e+01] [-8.16658401e-02 9.96659743e-01 -2.17809913e-04 -3.57959447e+00] [-3.08535732e-03 -3.42739046e-05 9.99995240e-01 -3.22942091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:-3.59, Z:-0.32 [[ 9.96762634e-01 8.03416405e-02 3.07785562e-03 7.88110795e+01] [-8.03413512e-02 9.96767385e-01 -2.17736609e-04 -3.58517634e+00] [-3.08539942e-03 -3.02473633e-05 9.99995240e-01 -3.21732216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:78.87, Y:-3.59, Z:-0.32 [[ 9.96404749e-01 8.46646477e-02 3.07786082e-03 7.88705030e+01] [-8.46643792e-02 9.96409502e-01 -2.17663121e-04 -3.58587092e+00] [-3.08523814e-03 -4.37046085e-05 9.99995240e-01 -3.22146908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters Centerline goodness : 0.993520 with order 1 Centerline is valid? [True, True] Translation: X:78.93, Y:-3.58, Z:-0.33 [[ 9.95992585e-01 8.93828745e-02 3.07786598e-03 7.89297453e+01] [-8.93826287e-02 9.95997339e-01 -2.17590148e-04 -3.58178784e+00] [-3.08499516e-03 -5.83895778e-05 9.99995240e-01 -3.25465419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters Centerline goodness : 0.993679 with order 1 Centerline is valid? [True, True] Translation: X:78.99, Y:-3.58, Z:-0.32 [[ 9.95756050e-01 9.19805136e-02 3.07787621e-03 7.89885291e+01] [-9.19802807e-02 9.95760805e-01 -2.17445290e-04 -3.58047619e+00] [-3.08482923e-03 -6.65814554e-05 9.99995240e-01 -3.23779427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters Centerline goodness : 0.992075 with order 1 Centerline is valid? [True, True] Translation: X:79.05, Y:-3.58, Z:-0.32 [[ 9.95904223e-01 9.03620811e-02 3.07788629e-03 7.90466540e+01] [-9.03618409e-02 9.95908977e-01 -2.17302562e-04 -3.57572673e+00] [-3.08493050e-03 -6.17109318e-05 9.99995240e-01 -3.19144227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters Centerline goodness : 0.992530 with order 1 Centerline is valid? [True, True] Translation: X:79.11, Y:-3.57, Z:-0.32 [[ 9.96145554e-01 8.76616305e-02 3.07790031e-03 7.91060331e+01] [-8.76613780e-02 9.96150308e-01 -2.17103774e-04 -3.56961768e+00] [-3.08508301e-03 -5.35460239e-05 9.99995240e-01 -3.24282683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters Centerline goodness : 0.992986 with order 1 Centerline is valid? [True, True] Translation: X:79.17, Y:-3.56, Z:-0.32 [[ 9.96016497e-01 8.91160151e-02 3.07791034e-03 7.91660099e+01] [-8.91157700e-02 9.96021251e-01 -2.16961462e-04 -3.56071282e+00] [-3.08499885e-03 -5.81931547e-05 9.99995240e-01 -3.20436693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters Centerline goodness : 0.992051 with order 1 Centerline is valid? [True, True] Translation: X:79.23, Y:-3.55, Z:-0.32 [[ 9.95931063e-01 9.00657717e-02 3.07792040e-03 7.92255193e+01] [-9.00655315e-02 9.95935818e-01 -2.16818694e-04 -3.55479442e+00] [-3.08493911e-03 -6.12780640e-05 9.99995240e-01 -3.15873290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters Centerline goodness : 0.991406 with order 1 Centerline is valid? [True, True] Translation: X:79.28, Y:-3.55, Z:-0.31 [[ 9.95988447e-01 8.94289618e-02 3.07793071e-03 7.92846747e+01] [-8.94287191e-02 9.95993201e-01 -2.16672202e-04 -3.55273960e+00] [-3.08497483e-03 -5.94523909e-05 9.99995240e-01 -3.14246443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:-3.55, Z:-0.32 [[ 9.96256381e-01 8.63929995e-02 3.07794093e-03 7.93432842e+01] [-8.63927428e-02 9.96261134e-01 -2.16526949e-04 -3.54607083e+00] [-3.08513934e-03 -5.01954049e-05 9.99995240e-01 -3.15687464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:-3.54, Z:-0.32 [[ 9.96508365e-01 8.34362359e-02 3.07795432e-03 7.94025116e+01] [-8.34359656e-02 9.96513117e-01 -2.16336396e-04 -3.54150312e+00] [-3.08527215e-03 -4.12310628e-05 9.99995240e-01 -3.23222352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters Centerline goodness : 0.991863 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:-3.54, Z:-0.32 [[ 9.96940286e-01 7.81062870e-02 3.07796460e-03 7.94605103e+01] [-7.81059917e-02 9.96945037e-01 -2.16190045e-04 -3.53862311e+00] [-3.08544734e-03 -2.48789123e-05 9.99995240e-01 -3.20214413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters Centerline goodness : 0.991930 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:-3.53, Z:-0.32 [[ 9.97040615e-01 7.68149542e-02 3.07797730e-03 7.95187495e+01] [-7.68146533e-02 9.97045366e-01 -2.16009169e-04 -3.53369751e+00] [-3.08547574e-03 -2.10638439e-05 9.99995240e-01 -3.17982848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters Centerline goodness : 0.992490 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:-3.53, Z:-0.32 [[ 9.97040061e-01 7.68221449e-02 3.07798921e-03 7.95778570e+01] [-7.68218446e-02 9.97044812e-01 -2.15839321e-04 -3.53234103e+00] [-3.08547441e-03 -2.12563592e-05 9.99995240e-01 -3.21548821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters Centerline goodness : 0.992279 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:-3.53, Z:-0.32 [[ 9.97295274e-01 7.34347515e-02 3.07799945e-03 7.96361027e+01] [-7.34344356e-02 9.97300024e-01 -2.15693224e-04 -3.52929802e+00] [-3.08552830e-03 -1.09213193e-05 9.99995240e-01 -3.21922220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:79.70, Y:-3.53, Z:-0.33 [[ 9.97840509e-01 6.56113071e-02 3.07801206e-03 7.96952060e+01] [-6.56109545e-02 9.97845257e-01 -2.15513043e-04 -3.53235539e+00] [-3.08551983e-03 1.30963353e-05 9.99995240e-01 -3.26544806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:-3.53, Z:-0.33 [[ 9.98069321e-01 6.20335094e-02 3.07802222e-03 7.97531760e+01] [-6.20331402e-02 9.98074067e-01 -2.15367916e-04 -3.53295300e+00] [-3.08545418e-03 2.40127263e-05 9.99995240e-01 -3.26446177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:-3.53, Z:-0.32 [[ 9.98249004e-01 5.90715815e-02 3.07803472e-03 7.98124658e+01] [-5.90711988e-02 9.98253749e-01 -2.15189124e-04 -3.53201704e+00] [-3.08537126e-03 3.29891282e-05 9.99995240e-01 -3.23249003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters Centerline goodness : 0.987860 with order 1 Centerline is valid? [True, True] Translation: X:79.87, Y:-3.53, Z:-0.32 [[ 9.98457790e-01 5.54307399e-02 3.07804467e-03 7.98712029e+01] [-5.54303403e-02 9.98462534e-01 -2.15046681e-04 -3.53264629e+00] [-3.08523247e-03 4.40979703e-05 9.99995240e-01 -3.16955302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters Centerline goodness : 0.992588 with order 1 Centerline is valid? [True, True] Translation: X:79.93, Y:-3.54, Z:-0.32 [[ 9.98676003e-01 5.13494549e-02 3.07805451e-03 7.99288656e+01] [-5.13490364e-02 9.98680745e-01 -2.14905732e-04 -3.54110360e+00] [-3.08502906e-03 5.65660644e-05 9.99995240e-01 -3.24383475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters Centerline goodness : 0.992695 with order 1 Centerline is valid? [True, True] Translation: X:79.99, Y:-3.54, Z:-0.33 [[ 9.98767750e-01 4.95328837e-02 3.07806665e-03 7.99881758e+01] [-4.95324571e-02 9.98772491e-01 -2.14731622e-04 -3.54316369e+00] [-3.08492458e-03 6.20028142e-05 9.99995240e-01 -3.26098582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:-3.55, Z:-0.33 [[ 9.98781732e-01 4.92501558e-02 3.07807647e-03 8.00465486e+01] [-4.92497283e-02 9.98786473e-01 -2.14590804e-04 -3.54843220e+00] [-3.08490977e-03 6.27349451e-05 9.99995240e-01 -3.28221255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters Centerline goodness : 0.993578 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:-3.56, Z:-0.33 [[ 9.98793395e-01 4.90130563e-02 3.07808650e-03 8.01037341e+01] [-4.90126280e-02 9.98798136e-01 -2.14446832e-04 -3.55874461e+00] [-3.08489776e-03 6.33229703e-05 9.99995240e-01 -3.29361743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters Centerline goodness : 0.993266 with order 1 Centerline is valid? [True, True] Translation: X:80.16, Y:-3.57, Z:-0.33 [[ 9.98769527e-01 4.94970527e-02 3.07809888e-03 8.01626758e+01] [-4.94966273e-02 9.98774268e-01 -2.14268983e-04 -3.56508611e+00] [-3.08493164e-03 6.16498173e-05 9.99995240e-01 -3.30019320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters Centerline goodness : 0.993649 with order 1 Centerline is valid? [True, True] Translation: X:80.22, Y:-3.58, Z:-0.33 [[ 9.98731933e-01 5.02498940e-02 3.07810895e-03 8.02193863e+01] [-5.02494727e-02 9.98736674e-01 -2.14124234e-04 -3.57849574e+00] [-3.08498002e-03 5.91793580e-05 9.99995240e-01 -3.29036729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters Centerline goodness : 0.993332 with order 1 Centerline is valid? [True, True] Translation: X:80.28, Y:-3.59, Z:-0.33 [[ 9.98744970e-01 4.99900906e-02 3.07812140e-03 8.02773149e+01] [-4.99896686e-02 9.98749712e-01 -2.13945179e-04 -3.58739155e+00] [-3.08496800e-03 5.98024033e-05 9.99995240e-01 -3.27659500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters Centerline goodness : 0.993577 with order 1 Centerline is valid? [True, True] Translation: X:80.33, Y:-3.60, Z:-0.33 [[ 9.98655582e-01 5.17450897e-02 3.07813143e-03 8.03346647e+01] [-5.17446764e-02 9.98660324e-01 -2.13800787e-04 -3.60111982e+00] [-3.08507087e-03 5.42364351e-05 9.99995240e-01 -3.29825781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters Centerline goodness : 0.993674 with order 1 Centerline is valid? [True, True] Translation: X:80.39, Y:-3.61, Z:-0.33 [[ 9.98375569e-01 5.68924274e-02 3.07814384e-03 8.03924119e+01] [-5.68920391e-02 9.98380313e-01 -2.13621879e-04 -3.61349363e+00] [-3.08531168e-03 3.81529852e-05 9.99995240e-01 -3.31226413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters Centerline goodness : 0.994543 with order 1 Centerline is valid? [True, True] Translation: X:80.45, Y:-3.62, Z:-0.33 [[ 9.98065374e-01 6.20969775e-02 3.07815351e-03 8.04510609e+01] [-6.20966144e-02 9.98070120e-01 -2.13482519e-04 -3.62364905e+00] [-3.08546966e-03 2.19265991e-05 9.99995240e-01 -3.31325034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters Centerline goodness : 0.994799 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:-3.64, Z:-0.33 [[ 9.97866416e-01 6.52161116e-02 3.07816343e-03 8.05079337e+01] [-6.52157638e-02 9.97871163e-01 -2.13339360e-04 -3.63811752e+00] [-3.08552369e-03 1.21394031e-05 9.99995240e-01 -3.30414338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters Centerline goodness : 0.995044 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-3.65, Z:-0.33 [[ 9.97248001e-01 7.40739389e-02 3.07817669e-03 8.05648735e+01] [-7.40736339e-02 9.97252752e-01 -2.13147858e-04 -3.64693891e+00] [-3.08550888e-03 -1.54504573e-05 9.99995240e-01 -3.32885398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters Centerline goodness : 0.994834 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-3.66, Z:-0.33 [[ 9.96255427e-01 8.64039890e-02 3.07818885e-03 8.06222390e+01] [-8.64037432e-02 9.96260181e-01 -2.12972070e-04 -3.65582421e+00] [-3.08507862e-03 -5.37924589e-05 9.99995240e-01 -3.32273571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters Centerline goodness : 0.995136 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:-3.66, Z:-0.33 [[ 9.95528461e-01 9.44119061e-02 3.07820201e-03 8.06809227e+01] [-9.44116992e-02 9.95533217e-01 -2.12781792e-04 -3.66215160e+00] [-3.08454148e-03 -7.87879519e-05 9.99995240e-01 -3.31655866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:-3.67, Z:-0.33 [[ 9.94740147e-01 1.02384396e-01 3.07821167e-03 8.07384532e+01] [-1.02384227e-01 9.94744904e-01 -2.12641908e-04 -3.66857666e+00] [-3.08380658e-03 -1.03636880e-04 9.99995240e-01 -3.32770165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters Centerline goodness : 0.995098 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-3.67, Z:-0.33 [[ 9.94493144e-01 1.04756434e-01 3.07822618e-03 8.07960523e+01] [-1.04756278e-01 9.94497902e-01 -2.12431698e-04 -3.67143223e+00] [-3.08354306e-03 -1.11201649e-04 9.99995240e-01 -3.31477822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-3.67, Z:-0.33 [[ 9.94381649e-01 1.05809550e-01 3.07823811e-03 8.08548580e+01] [-1.05809399e-01 9.94386407e-01 -2.12258579e-04 -3.67367361e+00] [-3.08341712e-03 -1.14640488e-04 9.99995240e-01 -3.33136387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters Centerline goodness : 0.995005 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:-3.67, Z:-0.33 [[ 9.94282469e-01 1.06737508e-01 3.07824758e-03 8.09138993e+01] [-1.06737362e-01 9.94287227e-01 -2.12121225e-04 -3.67106088e+00] [-3.08330354e-03 -1.17655610e-04 9.99995240e-01 -3.31789672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters Centerline goodness : 0.994665 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:-3.67, Z:-0.33 [[ 9.94269673e-01 1.06856640e-01 3.07825693e-03 8.09718515e+01] [-1.06856495e-01 9.94274431e-01 -2.11985464e-04 -3.66649489e+00] [-3.08328421e-03 -1.18161028e-04 9.99995240e-01 -3.33664865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:81.03, Y:-3.66, Z:-0.34 [[ 9.94887065e-01 1.00946779e-01 3.07827169e-03 8.10305880e+01] [-1.00946606e-01 9.94891822e-01 -2.11770842e-04 -3.66240009e+00] [-3.08392492e-03 -1.00053009e-04 9.99995240e-01 -3.36152752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:81.09, Y:-3.66, Z:-0.33 [[ 9.95979909e-01 8.95239895e-02 3.07828142e-03 8.10900883e+01] [-8.95237628e-02 9.95984664e-01 -2.11629398e-04 -3.66020708e+00] [-3.08486699e-03 -6.48007072e-05 9.99995240e-01 -3.33279591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:81.15, Y:-3.66, Z:-0.33 [[ 9.96748991e-01 8.05107050e-02 3.07829106e-03 8.11483794e+01] [-8.05104357e-02 9.96753743e-01 -2.11488976e-04 -3.65767214e+00] [-3.08532527e-03 -3.70331313e-05 9.99995240e-01 -3.29355357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:-3.66, Z:-0.34 [[ 9.97002896e-01 7.73029705e-02 3.07830294e-03 8.12060410e+01] [-7.73026864e-02 9.97007648e-01 -2.11316002e-04 -3.65741830e+00] [-3.08542693e-03 -2.72784205e-05 9.99995240e-01 -3.37262580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters Centerline goodness : 0.993927 with order 1 Centerline is valid? [True, True] Translation: X:81.27, Y:-3.66, Z:-0.33 [[ 9.97322442e-01 7.30648411e-02 3.07831484e-03 8.12654166e+01] [-7.30645374e-02 9.97327192e-01 -2.11142539e-04 -3.65677471e+00] [-3.08551419e-03 -1.43384568e-05 9.99995240e-01 -3.33541218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters Centerline goodness : 0.993739 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:-3.66, Z:-0.34 [[ 9.97871892e-01 6.51322589e-02 3.07832457e-03 8.13242557e+01] [-6.51319179e-02 9.97876640e-01 -2.11000555e-04 -3.65897189e+00] [-3.08553112e-03 1.00543403e-05 9.99995240e-01 -3.35406449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters Centerline goodness : 0.993037 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:-3.67, Z:-0.33 [[ 9.98286841e-01 5.84286482e-02 3.07833450e-03 8.13819063e+01] [-5.84282757e-02 9.98291587e-01 -2.10855544e-04 -3.66627157e+00] [-3.08539544e-03 3.06325383e-05 9.99995240e-01 -3.32495506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters Centerline goodness : 0.991048 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:-3.68, Z:-0.33 [[ 9.98847296e-01 4.79020192e-02 3.07834671e-03 8.14406126e+01] [-4.79015973e-02 9.98852037e-01 -2.10677100e-04 -3.68206481e+00] [-3.08490474e-03 6.29765267e-05 9.99995240e-01 -3.25589848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters Centerline goodness : 0.992023 with order 1 Centerline is valid? [True, True] Translation: X:81.50, Y:-3.70, Z:-0.33 [[ 9.99162623e-01 4.07992247e-02 3.07835189e-03 8.14989454e+01] [-4.07987693e-02 9.99167361e-01 -2.10601439e-04 -3.70113448e+00] [-3.08438111e-03 8.48321171e-05 9.99995240e-01 -3.31371010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:-3.72, Z:-0.33 [[ 9.99125568e-01 4.16968060e-02 3.07835444e-03 8.15577738e+01] [-4.16963550e-02 9.99130307e-01 -2.10564168e-04 -3.72050515e+00] [-3.08445707e-03 8.20238844e-05 9.99995240e-01 -3.31030683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters Centerline goodness : 0.985535 with order 1 Centerline is valid? [True, True] Translation: X:81.62, Y:-3.73, Z:-0.32 [[ 9.98797575e-01 4.89277733e-02 3.07835943e-03 8.16167915e+01] [-4.89273568e-02 9.98802318e-01 -2.10491159e-04 -3.73435140e+00] [-3.08497140e-03 5.96220690e-05 9.99995240e-01 -3.22752954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:-3.75, Z:-0.34 [[ 9.98343772e-01 5.74476934e-02 3.07836451e-03 8.16746250e+01] [-5.74473177e-02 9.98348517e-01 -2.10416892e-04 -3.74829543e+00] [-3.08536861e-03 3.32246098e-05 9.99995240e-01 -3.36033201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters Centerline goodness : 0.987663 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:-3.76, Z:-0.33 [[ 9.98312313e-01 5.79918084e-02 3.07837207e-03 8.17343377e+01] [-5.79914356e-02 9.98317058e-01 -2.10306199e-04 -3.75767223e+00] [-3.08538739e-03 3.14320524e-05 9.99995240e-01 -3.28305052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters Centerline goodness : 0.992776 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:-3.77, Z:-0.34 [[ 9.98355968e-01 5.72353418e-02 3.07837207e-03 8.17928383e+01] [-5.72349654e-02 9.98360714e-01 -2.10306199e-04 -3.76943051e+00] [-3.08536268e-03 3.37699300e-05 9.99995240e-01 -3.38957095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters Centerline goodness : 0.986540 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:-3.78, Z:-0.33 [[ 9.98292512e-01 5.83316734e-02 3.07837457e-03 8.18526444e+01] [-5.83313023e-02 9.98297258e-01 -2.10269636e-04 -3.77598051e+00] [-3.08539827e-03 3.03450057e-05 9.99995240e-01 -3.29279616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:-3.78, Z:-0.34 [[ 9.98126917e-01 6.10997600e-02 3.07837457e-03 8.19128181e+01] [-6.10994021e-02 9.98131664e-01 -2.10269636e-04 -3.78312977e+00] [-3.08547055e-03 2.17889382e-05 9.99995240e-01 -3.42237526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:81.97, Y:-3.79, Z:-0.34 [[ 9.97772900e-01 6.66315543e-02 3.07837457e-03 8.19720385e+01] [-6.66312227e-02 9.97777649e-01 -2.10269636e-04 -3.78925953e+00] [-3.08554393e-03 4.68548330e-06 9.99995240e-01 -3.44525741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters Centerline goodness : 0.992419 with order 1 Centerline is valid? [True, True] Translation: X:82.03, Y:-3.79, Z:-0.34 [[ 9.97643838e-01 6.85368282e-02 3.07837946e-03 8.20316605e+01] [-6.85365059e-02 9.97648587e-01 -2.10198029e-04 -3.79403240e+00] [-3.08554722e-03 -1.27860348e-06 9.99995240e-01 -3.42095473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters Centerline goodness : 0.992027 with order 1 Centerline is valid? [True, True] Translation: X:82.09, Y:-3.80, Z:-0.34 [[ 9.97844594e-01 6.55491397e-02 3.07838189e-03 8.20908574e+01] [-6.55488032e-02 9.97849342e-01 -2.10162403e-04 -3.79697924e+00] [-3.08553731e-03 7.92516935e-06 9.99995240e-01 -3.41918736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters Centerline goodness : 0.992412 with order 1 Centerline is valid? [True, True] Translation: X:82.15, Y:-3.80, Z:-0.34 [[ 9.98230325e-01 5.93863781e-02 3.07838429e-03 8.21511138e+01] [-5.93860124e-02 9.98235071e-01 -2.10127225e-04 -3.80346589e+00] [-3.08542986e-03 2.69424005e-05 9.99995240e-01 -3.41536741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters Centerline goodness : 0.992649 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:-3.81, Z:-0.34 [[ 9.98524044e-01 5.42241430e-02 3.07838429e-03 8.22114647e+01] [-5.42237528e-02 9.98528788e-01 -2.10127225e-04 -3.81119935e+00] [-3.08524930e-03 4.28955377e-05 9.99995240e-01 -3.44146995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:-3.82, Z:-0.35 [[ 9.98795886e-01 4.89622497e-02 3.07838429e-03 8.22716863e+01] [-4.89618345e-02 9.98800628e-01 -2.10127225e-04 -3.82235246e+00] [-3.08498046e-03 5.91508658e-05 9.99995240e-01 -3.46344845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters Centerline goodness : 0.993545 with order 1 Centerline is valid? [True, True] Translation: X:82.33, Y:-3.83, Z:-0.35 [[ 9.98873319e-01 4.73562648e-02 3.07837936e-03 8.23321119e+01] [-4.73558418e-02 9.98878061e-01 -2.10199393e-04 -3.83392254e+00] [-3.08487986e-03 6.41833190e-05 9.99995240e-01 -3.46428267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters Centerline goodness : 0.993210 with order 1 Centerline is valid? [True, True] Translation: X:82.39, Y:-3.85, Z:-0.34 [[ 9.98802550e-01 4.88261147e-02 3.07834768e-03 8.23930511e+01] [-4.88256973e-02 9.98807292e-01 -2.10662367e-04 -3.84982158e+00] [-3.08496193e-03 6.01076374e-05 9.99995240e-01 -3.43633802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters Centerline goodness : 0.992661 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:-3.86, Z:-0.34 [[ 9.98715790e-01 5.05697005e-02 3.07831369e-03 8.24533905e+01] [-5.05692898e-02 9.98720533e-01 -2.11157862e-04 -3.85918017e+00] [-3.08505328e-03 5.52185544e-05 9.99995240e-01 -3.43775010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:82.51, Y:-3.87, Z:-0.34 [[ 9.98577641e-01 5.32279849e-02 3.07828237e-03 8.25145565e+01] [-5.32275854e-02 9.98582385e-01 -2.11613454e-04 -3.87320829e+00] [-3.08518231e-03 4.74629255e-05 9.99995240e-01 -3.41912772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters Centerline goodness : 0.987400 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-3.88, Z:-0.33 [[ 9.98472512e-01 5.51649136e-02 3.07825029e-03 8.25763723e+01] [-5.51645219e-02 9.98477256e-01 -2.12079082e-04 -3.88141615e+00] [-3.08526223e-03 4.19449277e-05 9.99995240e-01 -3.28453305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters Centerline goodness : 0.991920 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-3.89, Z:-0.34 [[ 9.98358513e-01 5.71909476e-02 3.07821674e-03 8.26372163e+01] [-5.71905640e-02 9.98363258e-01 -2.12564890e-04 -3.89399063e+00] [-3.08533528e-03 3.61710160e-05 9.99995240e-01 -3.35375391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters Centerline goodness : 0.992540 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-3.90, Z:-0.34 [[ 9.98148854e-01 6.07403574e-02 3.07818584e-03 8.26994666e+01] [-6.07399893e-02 9.98153600e-01 -2.13011532e-04 -3.89828513e+00] [-3.08544067e-03 2.56482418e-05 9.99995240e-01 -3.38945520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-3.91, Z:-0.34 [[ 9.97862276e-01 6.52794229e-02 3.07815272e-03 8.27612125e+01] [-6.52790749e-02 9.97867024e-01 -2.13488969e-04 -3.90857469e+00] [-3.08552353e-03 1.20936260e-05 9.99995240e-01 -3.40698849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-3.91, Z:-0.34 [[ 9.97588888e-01 6.93320683e-02 3.07811985e-03 8.28221297e+01] [-6.93317382e-02 9.97593637e-01 -2.13961864e-04 -3.91421374e+00] [-3.08554720e-03 3.45783981e-08 9.99995240e-01 -3.36908927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:-3.92, Z:-0.34 [[ 9.97288310e-01 7.35292650e-02 3.07810140e-03 8.28833598e+01] [-7.35289540e-02 9.97293060e-01 -2.14227024e-04 -3.91906421e+00] [-3.08552112e-03 -1.26834688e-05 9.99995240e-01 -3.43924675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:-3.92, Z:-0.35 [[ 9.96764820e-01 8.03144965e-02 3.07807124e-03 8.29441374e+01] [-8.03142165e-02 9.96769572e-01 -2.14659385e-04 -3.91839343e+00] [-3.08536802e-03 -3.32479568e-05 9.99995240e-01 -3.45958439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters Centerline goodness : 0.993590 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:-3.91, Z:-0.35 [[ 9.96454524e-01 8.40767917e-02 3.07807124e-03 8.30044815e+01] [-8.40765297e-02 9.96459277e-01 -2.14659385e-04 -3.91493205e+00] [-3.08522052e-03 -4.48952329e-05 9.99995240e-01 -3.50994320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:-3.91, Z:-0.35 [[ 9.96401724e-01 8.47002411e-02 3.07806896e-03 8.30657914e+01] [-8.46999820e-02 9.96406477e-01 -2.14692108e-04 -3.91306882e+00] [-3.08519232e-03 -4.67927992e-05 9.99995240e-01 -3.50057092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters Centerline goodness : 0.992314 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:-3.91, Z:-0.34 [[ 9.96787190e-01 8.00363907e-02 3.07806444e-03 8.31265083e+01] [-8.00361090e-02 9.96791942e-01 -2.14756863e-04 -3.90847535e+00] [-3.08537820e-03 -3.22894114e-05 9.99995240e-01 -3.43611003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters Centerline goodness : 0.993233 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:-3.91, Z:-0.35 [[ 9.97116190e-01 7.58276297e-02 3.07806444e-03 8.31874890e+01] [-7.58273281e-02 9.97120941e-01 -2.14756863e-04 -3.90685365e+00] [-3.08548702e-03 -1.92638572e-05 9.99995240e-01 -3.45846965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters Centerline goodness : 0.994032 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:-3.91, Z:-0.35 [[ 9.97555332e-01 6.98132218e-02 3.07806444e-03 8.32482327e+01] [-6.98128915e-02 9.97560080e-01 -2.14756863e-04 -3.91072808e+00] [-3.08554708e-03 -6.56725072e-07 9.99995240e-01 -3.49884001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:83.31, Y:-3.92, Z:-0.35 [[ 9.97912536e-01 6.45065617e-02 3.07805919e-03 8.33082048e+01] [-6.45062059e-02 9.97917283e-01 -2.14832216e-04 -3.91512950e+00] [-3.08550655e-03 1.58298416e-05 9.99995240e-01 -3.51882284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters Centerline goodness : 0.988102 with order 1 Centerline is valid? [True, True] Translation: X:83.37, Y:-3.92, Z:-0.34 [[ 9.98157907e-01 6.05913987e-02 3.07805659e-03 8.33684678e+01] [-6.05910242e-02 9.98162653e-01 -2.14869343e-04 -3.92009476e+00] [-3.08542037e-03 2.79709324e-05 9.99995240e-01 -3.43630067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters Centerline goodness : 0.994052 with order 1 Centerline is valid? [True, True] Translation: X:83.43, Y:-3.93, Z:-0.35 [[ 9.98345803e-01 5.74123999e-02 3.07805413e-03 8.34304861e+01] [-5.74120101e-02 9.98350547e-01 -2.14904627e-04 -3.92855667e+00] [-3.08531522e-03 3.78318579e-05 9.99995240e-01 -3.47312334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters Centerline goodness : 0.992512 with order 1 Centerline is valid? [True, True] Translation: X:83.49, Y:-3.94, Z:-0.34 [[ 9.98499064e-01 5.46822229e-02 3.07801780e-03 8.34912929e+01] [-5.46818186e-02 9.98503807e-01 -2.15423789e-04 -3.93669571e+00] [-3.08519234e-03 4.67888408e-05 9.99995240e-01 -3.40184679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters Centerline goodness : 0.993916 with order 1 Centerline is valid? [True, True] Translation: X:83.55, Y:-3.94, Z:-0.35 [[ 9.98271222e-01 5.86949237e-02 3.07798422e-03 8.35527754e+01] [-5.86945370e-02 9.98275966e-01 -2.15902427e-04 -3.94145448e+00] [-3.08535005e-03 3.48683205e-05 9.99995240e-01 -3.47642373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters Centerline goodness : 0.993966 with order 1 Centerline is valid? [True, True] Translation: X:83.61, Y:-3.94, Z:-0.35 [[ 9.97756544e-01 6.68760395e-02 3.07795128e-03 8.36139748e+01] [-6.68756902e-02 9.97761292e-01 -2.16371011e-04 -3.94392976e+00] [-3.08553068e-03 1.00454760e-05 9.99995240e-01 -3.46452223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:83.67, Y:-3.95, Z:-0.34 [[ 9.97527286e-01 7.02128230e-02 3.07794597e-03 8.36744155e+01] [-7.02124894e-02 9.97532034e-01 -2.16446546e-04 -3.94786596e+00] [-3.08554703e-03 -1.98913488e-07 9.99995240e-01 -3.44015598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters Centerline goodness : 0.993136 with order 1 Centerline is valid? [True, True] Translation: X:83.74, Y:-3.95, Z:-0.34 [[ 9.97462674e-01 7.11248245e-02 3.07794334e-03 8.37357267e+01] [-7.11244951e-02 9.97467423e-01 -2.16483865e-04 -3.95163140e+00] [-3.08554559e-03 -2.98259155e-06 9.99995240e-01 -3.43126734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters Centerline goodness : 0.993772 with order 1 Centerline is valid? [True, True] Translation: X:83.80, Y:-3.96, Z:-0.34 [[ 9.97415764e-01 7.17796688e-02 3.07793810e-03 8.37958342e+01] [-7.17793423e-02 9.97420513e-01 -2.16558352e-04 -3.95514792e+00] [-3.08554309e-03 -4.93365855e-06 9.99995240e-01 -3.43702610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters Centerline goodness : 0.994649 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:-3.96, Z:-0.35 [[ 9.97225175e-01 7.43806178e-02 3.07793810e-03 8.38561900e+01] [-7.43803037e-02 9.97229925e-01 -2.16558352e-04 -3.95780573e+00] [-3.08551973e-03 -1.29805303e-05 9.99995240e-01 -3.49809648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters Centerline goodness : 0.994762 with order 1 Centerline is valid? [True, True] Translation: X:83.92, Y:-3.96, Z:-0.35 [[ 9.97084809e-01 7.62391698e-02 3.07792620e-03 8.39166468e+01] [-7.62388640e-02 9.97089559e-01 -2.16727419e-04 -3.95816912e+00] [-3.08549120e-03 -1.85619804e-05 9.99995240e-01 -3.51776599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters Centerline goodness : 0.994664 with order 1 Centerline is valid? [True, True] Translation: X:83.98, Y:-3.96, Z:-0.35 [[ 9.97046276e-01 7.67414502e-02 3.07792620e-03 8.39774129e+01] [-7.67411468e-02 9.97051026e-01 -2.16727419e-04 -3.95912346e+00] [-3.08548145e-03 -2.01163207e-05 9.99995240e-01 -3.49290687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters Centerline goodness : 0.994892 with order 1 Centerline is valid? [True, True] Translation: X:84.04, Y:-3.96, Z:-0.35 [[ 9.97218668e-01 7.44678039e-02 3.07792620e-03 8.40381964e+01] [-7.44674896e-02 9.97223418e-01 -2.16727419e-04 -3.95719288e+00] [-3.08551930e-03 -1.30808096e-05 9.99995240e-01 -3.53392904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters Centerline goodness : 0.995032 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:-3.96, Z:-0.35 [[ 9.97282263e-01 7.36112336e-02 3.07792620e-03 8.40973964e+01] [-7.36109152e-02 9.97287013e-01 -2.16727419e-04 -3.96059538e+00] [-3.08552940e-03 -1.04305541e-05 9.99995240e-01 -3.53166242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters Centerline goodness : 0.994710 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:-3.96, Z:-0.35 [[ 9.97515639e-01 7.03780979e-02 3.07792872e-03 8.41581117e+01] [-7.03777643e-02 9.97520387e-01 -2.16691547e-04 -3.96234743e+00] [-3.08554699e-03 -4.64535555e-07 9.99995240e-01 -3.48956007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters Centerline goodness : 0.994534 with order 1 Centerline is valid? [True, True] Translation: X:84.22, Y:-3.97, Z:-0.35 [[ 9.97944384e-01 6.40119800e-02 3.07792872e-03 8.42179033e+01] [-6.40116161e-02 9.97949130e-01 -2.16691547e-04 -3.97252343e+00] [-3.08548715e-03 1.92229201e-05 9.99995240e-01 -3.48908909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:84.28, Y:-3.98, Z:-0.35 [[ 9.98189790e-01 6.00638773e-02 3.07792623e-03 8.42785320e+01] [-6.00634945e-02 9.98194535e-01 -2.16727038e-04 -3.98181343e+00] [-3.08538660e-03 3.14637110e-05 9.99995240e-01 -3.48058951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters Centerline goodness : 0.994754 with order 1 Centerline is valid? [True, True] Translation: X:84.34, Y:-3.99, Z:-0.35 [[ 9.98293117e-01 5.83213432e-02 3.07792114e-03 8.43396905e+01] [-5.83209519e-02 9.98297861e-01 -2.16799254e-04 -3.99492101e+00] [-3.08532611e-03 3.69219126e-05 9.99995240e-01 -3.46666256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:84.40, Y:-4.00, Z:-0.35 [[ 9.98202721e-01 5.98485912e-02 3.07788506e-03 8.44016070e+01] [-5.98482056e-02 9.98207466e-01 -2.17310242e-04 -4.00338313e+00] [-3.08537356e-03 3.27137765e-05 9.99995240e-01 -3.47798505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters Centerline goodness : 0.995078 with order 1 Centerline is valid? [True, True] Translation: X:84.46, Y:-4.01, Z:-0.35 [[ 9.98024328e-01 6.27532293e-02 3.07784915e-03 8.44618825e+01] [-6.27528560e-02 9.98029074e-01 -2.17817698e-04 -4.01168860e+00] [-3.08545170e-03 2.42435369e-05 9.99995240e-01 -3.48304472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:-4.02, Z:-0.35 [[ 9.97691103e-01 6.78453437e-02 3.07781609e-03 8.45231408e+01] [-6.78449932e-02 9.97695850e-01 -2.18283888e-04 -4.01705789e+00] [-3.08553388e-03 8.96548171e-06 9.99995240e-01 -3.46223733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters Centerline goodness : 0.995159 with order 1 Centerline is valid? [True, True] Translation: X:84.58, Y:-4.02, Z:-0.35 [[ 9.97535607e-01 7.00945106e-02 3.07781103e-03 8.45836002e+01] [-7.00941705e-02 9.97540355e-01 -2.18355207e-04 -4.02192368e+00] [-3.08554620e-03 2.08048344e-06 9.99995240e-01 -3.54249488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:84.64, Y:-4.03, Z:-0.35 [[ 9.97653306e-01 6.83988890e-02 3.07779919e-03 8.46448294e+01] [-6.83985403e-02 9.97658054e-01 -2.18521942e-04 -4.02507164e+00] [-3.08553781e-03 7.49216632e-06 9.99995240e-01 -3.54189607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:84.71, Y:-4.03, Z:-0.35 [[ 9.97930699e-01 6.42249670e-02 3.07779399e-03 8.47069954e+01] [-6.42245983e-02 9.97935445e-01 -2.18595099e-04 -4.03186106e+00] [-3.08547898e-03 2.04726774e-05 9.99995240e-01 -3.51331561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:84.77, Y:-4.04, Z:-0.35 [[ 9.98050029e-01 6.23431316e-02 3.07775785e-03 8.47691020e+01] [-6.23427523e-02 9.98054775e-01 -2.19102845e-04 -4.03883755e+00] [-3.08543047e-03 2.67997060e-05 9.99995240e-01 -3.50616220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters Centerline goodness : 0.994020 with order 1 Centerline is valid? [True, True] Translation: X:84.83, Y:-4.05, Z:-0.35 [[ 9.98181505e-01 6.02014184e-02 3.07772132e-03 8.48312730e+01] [-6.02010274e-02 9.98186249e-01 -2.19614733e-04 -4.04605587e+00] [-3.08536022e-03 3.39333793e-05 9.99995240e-01 -3.48303706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters Centerline goodness : 0.994418 with order 1 Centerline is valid? [True, True] Translation: X:84.89, Y:-4.06, Z:-0.35 [[ 9.98304268e-01 5.81301754e-02 3.07768421e-03 8.48935211e+01] [-5.81297729e-02 9.98309011e-01 -2.20133600e-04 -4.06022121e+00] [-3.08527628e-03 4.08552287e-05 9.99995240e-01 -3.49516720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:-4.07, Z:-0.35 [[ 9.98378646e-01 5.68384238e-02 3.07764186e-03 8.49549228e+01] [-5.68380134e-02 9.98383389e-01 -2.20724135e-04 -4.07394480e+00] [-3.08521212e-03 4.54392139e-05 9.99995240e-01 -3.52367942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters Centerline goodness : 0.993831 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-4.09, Z:-0.35 [[ 9.98190600e-01 6.00504293e-02 3.07760255e-03 8.50175555e+01] [-6.00500325e-02 9.98195344e-01 -2.21270802e-04 -4.08679448e+00] [-3.08533594e-03 3.60603018e-05 9.99995240e-01 -3.51720958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters Centerline goodness : 0.995209 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-4.09, Z:-0.35 [[ 9.97788211e-01 6.64019098e-02 3.07756090e-03 8.50804627e+01] [-6.64015413e-02 9.97792958e-01 -2.21848615e-04 -4.09238415e+00] [-3.08549976e-03 1.70031460e-05 9.99995240e-01 -3.49448667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:-4.10, Z:-0.35 [[ 9.97063869e-01 7.65125528e-02 3.07751783e-03 8.51422109e+01] [-7.65122306e-02 9.97068618e-01 -2.22444485e-04 -4.10016174e+00] [-3.08551624e-03 -1.36763950e-05 9.99995240e-01 -3.49612570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:-4.11, Z:-0.35 [[ 9.96509153e-01 8.34268402e-02 3.07747788e-03 8.52044545e+01] [-8.34265493e-02 9.96513904e-01 -2.22995794e-04 -4.10607921e+00] [-3.08535333e-03 -3.45260102e-05 9.99995240e-01 -3.50121295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-4.11, Z:-0.35 [[ 9.96106771e-01 8.81012527e-02 3.07743417e-03 8.52665188e+01] [-8.81009823e-02 9.96111523e-01 -2.23597414e-04 -4.10814530e+00] [-3.08516685e-03 -4.83980753e-05 9.99995240e-01 -3.52965311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters Centerline goodness : 0.994941 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:-4.11, Z:-0.35 [[ 9.95763484e-01 9.19000183e-02 3.07740719e-03 8.53283368e+01] [-9.18997648e-02 9.95768238e-01 -2.23968083e-04 -4.11020102e+00] [-3.08496701e-03 -5.97937584e-05 9.99995240e-01 -3.54454316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters Centerline goodness : 0.993721 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:-4.11, Z:-0.35 [[ 9.95410337e-01 9.56493063e-02 3.07737016e-03 8.53901281e+01] [-9.56490692e-02 9.95415092e-01 -2.24475765e-04 -4.11270423e+00] [-3.08473165e-03 -7.09020940e-05 9.99995240e-01 -3.50558760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters Centerline goodness : 0.994381 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:-4.12, Z:-0.35 [[ 9.95335573e-01 9.64242005e-02 3.07736489e-03 8.54513283e+01] [-9.64239669e-02 9.95340328e-01 -2.24548039e-04 -4.11515050e+00] [-3.08467724e-03 -7.32310792e-05 9.99995240e-01 -3.54332516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:85.51, Y:-4.12, Z:-0.36 [[ 9.95122037e-01 9.86035604e-02 3.07733093e-03 8.55123835e+01] [-9.86033358e-02 9.95126792e-01 -2.25012502e-04 -4.11711130e+00] [-3.08452148e-03 -7.95201953e-05 9.99995240e-01 -3.59397592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:-4.12, Z:-0.35 [[ 9.94938278e-01 1.00440793e-01 3.07729741e-03 8.55732533e+01] [-1.00440575e-01 9.94943034e-01 -2.25469937e-04 -4.12332222e+00] [-3.08438200e-03 -8.47568519e-05 9.99995240e-01 -3.52325880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters Centerline goodness : 0.992240 with order 1 Centerline is valid? [True, True] Translation: X:85.63, Y:-4.13, Z:-0.35 [[ 9.94960726e-01 1.00218184e-01 3.07729231e-03 8.56345168e+01] [-1.00217965e-01 9.94965481e-01 -2.25539538e-04 -4.12720076e+00] [-3.08440279e-03 -8.39969920e-05 9.99995240e-01 -3.50479576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters Centerline goodness : 0.992091 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:-4.13, Z:-0.36 [[ 9.95037026e-01 9.94577626e-02 3.07728724e-03 8.56968098e+01] [-9.94575401e-02 9.95041781e-01 -2.25608707e-04 -4.13397780e+00] [-3.08446791e-03 -8.15704024e-05 9.99995240e-01 -3.56069966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters Centerline goodness : 0.991789 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:-4.14, Z:-0.35 [[ 9.95036636e-01 9.94616658e-02 3.07727396e-03 8.57574960e+01] [-9.94614429e-02 9.95041391e-01 -2.25789669e-04 -4.13824067e+00] [-3.08447238e-03 -8.14011159e-05 9.99995240e-01 -3.50576945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters Centerline goodness : 0.990866 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-4.14, Z:-0.35 [[ 9.94995231e-01 9.98750209e-02 3.07725362e-03 8.58194881e+01] [-9.98747991e-02 9.94999987e-01 -2.26066552e-04 -4.14043869e+00] [-3.08444571e-03 -8.24049458e-05 9.99995240e-01 -3.48472284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters Centerline goodness : 0.990197 with order 1 Centerline is valid? [True, True] Translation: X:85.88, Y:-4.14, Z:-0.35 [[ 9.95196556e-01 9.78485866e-02 3.07721735e-03 8.58808259e+01] [-9.78483535e-02 9.95201310e-01 -2.26559131e-04 -4.14453708e+00] [-3.08461923e-03 -7.56297842e-05 9.99995240e-01 -3.54057518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters Centerline goodness : 0.991040 with order 1 Centerline is valid? [True, True] Translation: X:85.94, Y:-4.15, Z:-0.35 [[ 9.95728333e-01 9.22801060e-02 3.07718406e-03 8.59425515e+01] [-9.22798449e-02 9.95733086e-01 -2.27010364e-04 -4.14718883e+00] [-3.08500253e-03 -5.79214166e-05 9.99995240e-01 -3.52697888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters Centerline goodness : 0.991787 with order 1 Centerline is valid? [True, True] Translation: X:86.00, Y:-4.15, Z:-0.36 [[ 9.95922895e-01 9.01560794e-02 3.07714579e-03 8.60043500e+01] [-9.01558066e-02 9.95927647e-01 -2.27527998e-04 -4.15155064e+00] [-3.08512760e-03 -5.08222185e-05 9.99995240e-01 -3.59493004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters Centerline goodness : 0.991977 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:-4.15, Z:-0.35 [[ 9.95510835e-01 9.45976133e-02 3.07711140e-03 8.60648986e+01] [-9.45973602e-02 9.95515589e-01 -2.27992114e-04 -4.15222125e+00] [-3.08487988e-03 -6.41179965e-05 9.99995240e-01 -3.54361917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters Centerline goodness : 0.990152 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:-4.16, Z:-0.35 [[ 9.95276986e-01 9.70270717e-02 3.07710035e-03 8.61256434e+01] [-9.70268299e-02 9.95281740e-01 -2.28141133e-04 -4.15717658e+00] [-3.08471766e-03 -7.14976733e-05 9.99995240e-01 -3.46413346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:-4.16, Z:-0.35 [[ 9.95313989e-01 9.66467511e-02 3.07709507e-03 8.61878713e+01] [-9.66465071e-02 9.95318743e-01 -2.28212392e-04 -4.16332695e+00] [-3.08474638e-03 -7.02475043e-05 9.99995240e-01 -3.48994281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:-4.17, Z:-0.35 [[ 9.95237602e-01 9.74302187e-02 3.07705790e-03 8.62503011e+01] [-9.74299770e-02 9.95242356e-01 -2.28712518e-04 -4.16846566e+00] [-3.08470186e-03 -7.21743822e-05 9.99995240e-01 -3.46759495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters Centerline goodness : 0.991233 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:-4.17, Z:-0.35 [[ 9.94893268e-01 1.00885664e-01 3.07702024e-03 8.63102090e+01] [-1.00885438e-01 9.94898023e-01 -2.29217943e-04 -4.17129741e+00] [-3.08444616e-03 -8.23791461e-05 9.99995240e-01 -3.46343941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters Centerline goodness : 0.989984 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:-4.18, Z:-0.35 [[ 9.94855279e-01 1.01259597e-01 3.07700787e-03 8.63720116e+01] [-1.01259372e-01 9.94860034e-01 -2.29383912e-04 -4.18031678e+00] [-3.08441948e-03 -8.33720881e-05 9.99995240e-01 -3.45700264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters Centerline goodness : 0.990810 with order 1 Centerline is valid? [True, True] Translation: X:86.43, Y:-4.19, Z:-0.34 [[ 9.94654217e-01 1.03215891e-01 3.07697004e-03 8.64337006e+01] [-1.03215673e-01 9.94658973e-01 -2.29890312e-04 -4.18774737e+00] [-3.08426419e-03 -8.89301652e-05 9.99995240e-01 -3.44212937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters Centerline goodness : 0.991025 with order 1 Centerline is valid? [True, True] Translation: X:86.49, Y:-4.19, Z:-0.35 [[ 9.94545627e-01 1.04257031e-01 3.07693203e-03 8.64949105e+01] [-1.04256817e-01 9.94550382e-01 -2.30397922e-04 -4.19159831e+00] [-3.08418453e-03 -9.16498933e-05 9.99995240e-01 -3.45081412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters Centerline goodness : 0.990663 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:-4.20, Z:-0.35 [[ 9.94396606e-01 1.05668933e-01 3.07689709e-03 8.65564815e+01] [-1.05668724e-01 9.94401361e-01 -2.30863623e-04 -4.19643033e+00] [-3.08406576e-03 -9.55617869e-05 9.99995240e-01 -3.48656708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters Centerline goodness : 0.991380 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:-4.20, Z:-0.34 [[ 9.94182103e-01 1.07668378e-01 3.07689178e-03 8.66169873e+01] [-1.07668178e-01 9.94186859e-01 -2.30934252e-04 -4.19970641e+00] [-3.08386969e-03 -1.01692633e-04 9.99995240e-01 -3.44666800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters Centerline goodness : 0.990932 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:-4.20, Z:-0.34 [[ 9.94082881e-01 1.08580651e-01 3.07688917e-03 8.66788083e+01] [-1.08580456e-01 9.94087638e-01 -2.30969145e-04 -4.20039017e+00] [-3.08377626e-03 -1.04487556e-04 9.99995240e-01 -3.43500237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters Centerline goodness : 0.991474 with order 1 Centerline is valid? [True, True] Translation: X:86.74, Y:-4.20, Z:-0.34 [[ 9.94031981e-01 1.09045652e-01 3.07688386e-03 8.67396449e+01] [-1.09045459e-01 9.94036737e-01 -2.31039822e-04 -4.19968563e+00] [-3.08372948e-03 -1.05859240e-04 9.99995240e-01 -3.43177721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters Centerline goodness : 0.990472 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:-4.20, Z:-0.35 [[ 9.94082630e-01 1.08582954e-01 3.07688124e-03 8.67997296e+01] [-1.08582758e-01 9.94087386e-01 -2.31074746e-04 -4.20147439e+00] [-3.08377960e-03 -1.04388861e-04 9.99995240e-01 -3.47101335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters Centerline goodness : 0.991718 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:-4.20, Z:-0.34 [[ 9.94581836e-01 1.03911043e-01 3.07688124e-03 8.68610441e+01] [-1.03910825e-01 9.94586591e-01 -2.31074746e-04 -4.19820235e+00] [-3.08423604e-03 -8.98985215e-05 9.99995240e-01 -3.43413727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters Centerline goodness : 0.991913 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:-4.20, Z:-0.34 [[ 9.94993600e-01 9.98912843e-02 3.07687568e-03 8.69209744e+01] [-9.98910468e-02 9.94998354e-01 -2.31148640e-04 -4.20193906e+00] [-3.08457598e-03 -7.73609156e-05 9.99995240e-01 -3.40624784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters Centerline goodness : 0.992249 with order 1 Centerline is valid? [True, True] Translation: X:86.98, Y:-4.20, Z:-0.34 [[ 9.95457458e-01 9.51576687e-02 3.07687292e-03 8.69818881e+01] [-9.51574085e-02 9.95462211e-01 -2.31185414e-04 -4.20157924e+00] [-3.08490979e-03 -6.26520086e-05 9.99995240e-01 -3.43850740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters Centerline goodness : 0.992368 with order 1 Centerline is valid? [True, True] Translation: X:87.04, Y:-4.20, Z:-0.35 [[ 9.96158713e-01 8.75120084e-02 3.07687022e-03 8.70426841e+01] [-8.75117116e-02 9.96163464e-01 -2.31221410e-04 -4.20441125e+00] [-3.08530034e-03 -3.89289568e-05 9.99995240e-01 -3.45187089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:87.10, Y:-4.21, Z:-0.34 [[ 9.96866777e-01 7.90389935e-02 3.07686479e-03 8.71035728e+01] [-7.90386560e-02 9.96871525e-01 -2.31293602e-04 -4.20963458e+00] [-3.08552011e-03 -1.26223503e-05 9.99995240e-01 -3.43538467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters Centerline goodness : 0.992748 with order 1 Centerline is valid? [True, True] Translation: X:87.16, Y:-4.22, Z:-0.34 [[ 9.97556508e-01 6.97964649e-02 3.07685924e-03 8.71639633e+01] [-6.97960833e-02 9.97561253e-01 -2.31367386e-04 -4.21820340e+00] [-3.08550419e-03 1.60493176e-05 9.99995240e-01 -3.42656374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters Centerline goodness : 0.992901 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:-4.23, Z:-0.34 [[ 9.97957489e-01 6.38073968e-02 3.07682347e-03 8.72256054e+01] [-6.38069852e-02 9.97962231e-01 -2.31842170e-04 -4.22829842e+00] [-3.08534686e-03 3.50458007e-05 9.99995240e-01 -3.41657298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:-4.24, Z:-0.34 [[ 9.98297490e-01 5.82465051e-02 3.07678597e-03 8.72883336e+01] [-5.82460656e-02 9.98302230e-01 -2.32338729e-04 -4.23895098e+00] [-3.08509521e-03 5.27324921e-05 9.99995240e-01 -3.39108251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:87.35, Y:-4.25, Z:-0.34 [[ 9.98080004e-01 6.18614477e-02 3.07674124e-03 8.73485212e+01] [-6.18610235e-02 9.98084746e-01 -2.32929532e-04 -4.24764829e+00] [-3.08525786e-03 4.21519461e-05 9.99995240e-01 -3.44758858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters Centerline goodness : 0.993322 with order 1 Centerline is valid? [True, True] Translation: X:87.41, Y:-4.26, Z:-0.34 [[ 9.97789612e-01 6.63809089e-02 3.07670522e-03 8.74089192e+01] [-6.63805048e-02 9.97794355e-01 -2.33404365e-04 -4.25507679e+00] [-3.08541269e-03 2.86552053e-05 9.99995240e-01 -3.38691835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters Centerline goodness : 0.993060 with order 1 Centerline is valid? [True, True] Translation: X:87.47, Y:-4.26, Z:-0.34 [[ 9.97633121e-01 6.86927248e-02 3.07666986e-03 8.74702704e+01] [-6.86923302e-02 9.97637865e-01 -2.33869490e-04 -4.26303942e+00] [-3.08546749e-03 2.19723269e-05 9.99995240e-01 -3.39703189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters Centerline goodness : 0.992868 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:-4.27, Z:-0.34 [[ 9.97570552e-01 6.95954596e-02 3.07662929e-03 8.75333496e+01] [-6.95950677e-02 9.97575296e-01 -2.34402013e-04 -4.26961164e+00] [-3.08548269e-03 1.97143217e-05 9.99995240e-01 -3.40595990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:-4.28, Z:-0.34 [[ 9.97491203e-01 7.07236507e-02 3.07658442e-03 8.75960006e+01] [-7.07232623e-02 9.97495947e-01 -2.34989456e-04 -4.27620043e+00] [-3.08549981e-03 1.68138277e-05 9.99995240e-01 -3.42887460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters Centerline goodness : 0.993509 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:-4.28, Z:-0.34 [[ 9.97518137e-01 7.03427430e-02 3.07653946e-03 8.76575709e+01] [-7.03423509e-02 9.97522881e-01 -2.35576649e-04 -4.28249565e+00] [-3.08548961e-03 1.85809619e-05 9.99995240e-01 -3.41020949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters Centerline goodness : 0.992773 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:-4.29, Z:-0.34 [[ 9.97613105e-01 6.89828068e-02 3.07649773e-03 8.77199798e+01] [-6.89824066e-02 9.97617849e-01 -2.36120342e-04 -4.29006553e+00] [-3.08545729e-03 2.33325296e-05 9.99995240e-01 -3.39792276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters Centerline goodness : 0.992528 with order 1 Centerline is valid? [True, True] Translation: X:87.78, Y:-4.30, Z:-0.34 [[ 9.97754312e-01 6.69094106e-02 3.07645107e-03 8.77811107e+01] [-6.69089987e-02 9.97759054e-01 -2.36726760e-04 -4.29820383e+00] [-3.08539616e-03 3.03528846e-05 9.99995240e-01 -3.43029289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters Centerline goodness : 0.992355 with order 1 Centerline is valid? [True, True] Translation: X:87.84, Y:-4.30, Z:-0.35 [[ 9.97731832e-01 6.72437814e-02 3.07640779e-03 8.78436024e+01] [-6.72433694e-02 9.97736575e-01 -2.37287847e-04 -4.30381305e+00] [-3.08540071e-03 2.98816132e-05 9.99995240e-01 -3.45780478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:-4.31, Z:-0.34 [[ 9.97625758e-01 6.87995826e-02 3.07636250e-03 8.79058550e+01] [-6.87991762e-02 9.97630501e-01 -2.37873646e-04 -4.31104235e+00] [-3.08543867e-03 2.56576705e-05 9.99995240e-01 -3.43668174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters Centerline goodness : 0.992567 with order 1 Centerline is valid? [True, True] Translation: X:87.97, Y:-4.32, Z:-0.34 [[ 9.97588422e-01 6.93388549e-02 3.07631692e-03 8.79683133e+01] [-6.93384492e-02 9.97593165e-01 -2.38461672e-04 -4.32319401e+00] [-3.08544739e-03 2.45795587e-05 9.99995240e-01 -3.41713485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:88.03, Y:-4.33, Z:-0.34 [[ 9.97315559e-01 7.31588217e-02 3.07627054e-03 8.80294854e+01] [-7.31584324e-02 9.97320303e-01 -2.39058505e-04 -4.33088168e+00] [-3.08551630e-03 1.33616364e-05 9.99995240e-01 -3.42088678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters Centerline goodness : 0.992310 with order 1 Centerline is valid? [True, True] Translation: X:88.09, Y:-4.34, Z:-0.34 [[ 9.96644098e-01 8.17990144e-02 3.07622743e-03 8.80922987e+01] [-8.17986645e-02 9.96648845e-01 -2.39611938e-04 -4.33604499e+00] [-3.08551853e-03 -1.28234715e-05 9.99995240e-01 -3.42119285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:88.15, Y:-4.34, Z:-0.34 [[ 9.95849390e-01 9.09644416e-02 3.07618228e-03 8.81546369e+01] [-9.09641335e-02 9.95854140e-01 -2.40190106e-04 -4.33746243e+00] [-3.08527762e-03 -4.06290860e-05 9.99995240e-01 -3.41849839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters Centerline goodness : 0.992971 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:-4.33, Z:-0.34 [[ 9.95274300e-01 9.70546489e-02 3.07614215e-03 8.82167207e+01] [-9.70543683e-02 9.95279052e-01 -2.40702973e-04 -4.33263741e+00] [-3.08498119e-03 -5.89875509e-05 9.99995240e-01 -3.42822218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters Centerline goodness : 0.993243 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:-4.33, Z:-0.34 [[ 9.95125373e-01 9.85699186e-02 3.07613646e-03 8.82786844e+01] [-9.85696451e-02 9.95130126e-01 -2.40775694e-04 -4.32971997e+00] [-3.08488930e-03 -6.36116768e-05 9.99995240e-01 -3.38904923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters Centerline goodness : 0.993468 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:-4.32, Z:-0.34 [[ 9.95034244e-01 9.94856338e-02 3.07609973e-03 8.83414045e+01] [-9.94853632e-02 9.95038996e-01 -2.41244061e-04 -4.31996666e+00] [-3.08483951e-03 -6.59807965e-05 9.99995240e-01 -3.42227749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:88.40, Y:-4.31, Z:-0.34 [[ 9.95160014e-01 9.82195679e-02 3.07609417e-03 8.84012820e+01] [-9.82192910e-02 9.95164767e-01 -2.41314969e-04 -4.31223143e+00] [-3.08492238e-03 -6.19847802e-05 9.99995240e-01 -3.44702883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters Centerline goodness : 0.994119 with order 1 Centerline is valid? [True, True] Translation: X:88.46, Y:-4.31, Z:-0.35 [[ 9.95739279e-01 9.21619585e-02 3.07609693e-03 8.84621368e+01] [-9.21616528e-02 9.95744029e-01 -2.41279777e-04 -4.30699969e+00] [-3.08524196e-03 -4.32464263e-05 9.99995240e-01 -3.45193978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters Centerline goodness : 0.994225 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:-4.31, Z:-0.35 [[ 9.96571418e-01 8.26797781e-02 3.07609693e-03 8.85222316e+01] [-8.26794272e-02 9.96576166e-01 -2.41279777e-04 -4.30617549e+00] [-3.08551384e-03 -1.38774027e-05 9.99995240e-01 -3.46071234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters Centerline goodness : 0.994135 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:-4.30, Z:-0.35 [[ 9.97053432e-01 7.66484874e-02 3.07609421e-03 8.85832968e+01] [-7.66481077e-02 9.97058178e-01 -2.41314461e-04 -4.30486706e+00] [-3.08554127e-03 4.82661169e-06 9.99995240e-01 -3.47176283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters Centerline goodness : 0.994122 with order 1 Centerline is valid? [True, True] Translation: X:88.64, Y:-4.31, Z:-0.35 [[ 9.97256057e-01 7.39654950e-02 3.07609421e-03 8.86438636e+01] [-7.39651025e-02 9.97260801e-01 -2.41314461e-04 -4.30869639e+00] [-3.08551712e-03 1.31286847e-05 9.99995240e-01 -3.49710653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters Centerline goodness : 0.994360 with order 1 Centerline is valid? [True, True] Translation: X:88.70, Y:-4.31, Z:-0.35 [[ 9.97873977e-01 6.51004127e-02 3.07609421e-03 8.87042876e+01] [-6.50999781e-02 9.97878717e-01 -2.41314461e-04 -4.31340906e+00] [-3.08527861e-03 4.05477558e-05 9.99995240e-01 -3.48437752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters Centerline goodness : 0.994619 with order 1 Centerline is valid? [True, True] Translation: X:88.76, Y:-4.32, Z:-0.35 [[ 9.98132870e-01 6.10025488e-02 3.07609153e-03 8.87640110e+01] [-6.10020946e-02 9.98137609e-01 -2.41348549e-04 -4.31940008e+00] [-3.08508552e-03 5.32498935e-05 9.99995240e-01 -3.48865621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:88.82, Y:-4.33, Z:-0.35 [[ 9.98136210e-01 6.09478788e-02 3.07608890e-03 8.88242908e+01] [-6.09474243e-02 9.98140949e-01 -2.41382050e-04 -4.32585137e+00] [-3.08508202e-03 5.34524696e-05 9.99995240e-01 -3.48228023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters Centerline goodness : 0.994127 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:-4.33, Z:-0.35 [[ 9.97833355e-01 6.57201166e-02 3.07608890e-03 8.88846689e+01] [-6.57196847e-02 9.97838095e-01 -2.41382050e-04 -4.33121842e+00] [-3.08530235e-03 3.86994683e-05 9.99995240e-01 -3.46892797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters Centerline goodness : 0.986775 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:-4.34, Z:-0.32 [[ 9.97630695e-01 6.87279781e-02 3.07608890e-03 8.89438713e+01] [-6.87275605e-02 9.97635437e-01 -2.41382050e-04 -4.33878017e+00] [-3.08540499e-03 2.93980565e-05 9.99995240e-01 -3.23835062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters Centerline goodness : 0.992372 with order 1 Centerline is valid? [True, True] Translation: X:89.00, Y:-4.35, Z:-0.34 [[ 9.97920439e-01 6.43842748e-02 3.07609175e-03 8.90040600e+01] [-6.43838367e-02 9.97925179e-01 -2.41345811e-04 -4.35331709e+00] [-3.08524828e-03 4.27933286e-05 9.99995240e-01 -3.37537437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters Centerline goodness : 0.993910 with order 1 Centerline is valid? [True, True] Translation: X:89.07, Y:-4.37, Z:-0.34 [[ 9.98007132e-01 6.30262000e-02 3.07608611e-03 8.90655346e+01] [-6.30257552e-02 9.98011872e-01 -2.41417667e-04 -4.36686592e+00] [-3.08518609e-03 4.70639035e-05 9.99995240e-01 -3.41557637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:89.13, Y:-4.38, Z:-0.34 [[ 9.97745156e-01 6.70458177e-02 3.07604524e-03 8.91264375e+01] [-6.70453904e-02 9.97749897e-01 -2.41937294e-04 -4.37764703e+00] [-3.08534470e-03 3.51571090e-05 9.99995240e-01 -3.41808361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters Centerline goodness : 0.993895 with order 1 Centerline is valid? [True, True] Translation: X:89.19, Y:-4.39, Z:-0.35 [[ 9.97145215e-01 7.54450685e-02 3.07600759e-03 8.91868943e+01] [-7.54446796e-02 9.97149959e-01 -2.42414985e-04 -4.38830504e+00] [-3.08552986e-03 9.65453482e-06 9.99995240e-01 -3.45131408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters Centerline goodness : 0.994222 with order 1 Centerline is valid? [True, True] Translation: X:89.25, Y:-4.40, Z:-0.35 [[ 9.96826804e-01 7.95415734e-02 3.07600205e-03 8.92478371e+01] [-7.95412039e-02 9.96831550e-01 -2.42485205e-04 -4.39851809e+00] [-3.08554355e-03 -2.95315430e-06 9.99995240e-01 -3.45834144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters Centerline goodness : 0.995030 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-4.41, Z:-0.35 [[ 9.97004164e-01 7.72867111e-02 3.07596622e-03 8.93099699e+01] [-7.72863294e-02 9.97008909e-01 -2.42938936e-04 -4.40948444e+00] [-3.08554168e-03 4.48099279e-06 9.99995240e-01 -3.48180275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters Centerline goodness : 0.994331 with order 1 Centerline is valid? [True, True] Translation: X:89.37, Y:-4.42, Z:-0.35 [[ 9.97159985e-01 7.52496058e-02 3.07591849e-03 8.93713831e+01] [-7.52492126e-02 9.97164729e-01 -2.43541742e-04 -4.42210785e+00] [-3.08552385e-03 1.13896350e-05 9.99995240e-01 -3.48501917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:89.43, Y:-4.43, Z:-0.35 [[ 9.97227589e-01 7.43483379e-02 3.07587409e-03 8.94341235e+01] [-7.43479387e-02 9.97232332e-01 -2.44101173e-04 -4.43202163e+00] [-3.08550961e-03 1.47395252e-05 9.99995240e-01 -3.49573257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters Centerline goodness : 0.994461 with order 1 Centerline is valid? [True, True] Translation: X:89.50, Y:-4.45, Z:-0.35 [[ 9.97119853e-01 7.57795308e-02 3.07582633e-03 8.94951714e+01] [-7.57791365e-02 9.97124597e-01 -2.44701506e-04 -4.44504221e+00] [-3.08552546e-03 1.09132665e-05 9.99995240e-01 -3.49111482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters Centerline goodness : 0.994606 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:-4.45, Z:-0.35 [[ 9.96886310e-01 7.87922844e-02 3.07578175e-03 8.95579065e+01] [-7.87919027e-02 9.96891055e-01 -2.45260675e-04 -4.45389792e+00] [-3.08554396e-03 2.15031302e-06 9.99995240e-01 -3.48178847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters Centerline goodness : 0.993921 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:-4.46, Z:-0.35 [[ 9.96795031e-01 7.99387701e-02 3.07573422e-03 8.96200752e+01] [-7.99383921e-02 9.96799776e-01 -2.45855201e-04 -4.46159922e+00] [-3.08554455e-03 -8.02005902e-07 9.99995240e-01 -3.46314648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:-4.47, Z:-0.34 [[ 9.97029409e-01 7.69603606e-02 3.07568589e-03 8.96808916e+01] [-7.69599665e-02 9.97034153e-01 -2.46458421e-04 -4.47302079e+00] [-3.08553140e-03 9.02161151e-06 9.99995240e-01 -3.44516261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:-4.48, Z:-0.35 [[ 9.97127445e-01 7.56795807e-02 3.07564095e-03 8.97417506e+01] [-7.56791787e-02 9.97132188e-01 -2.47017901e-04 -4.48403884e+00] [-3.08551480e-03 1.35463468e-05 9.99995240e-01 -3.49751628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters Centerline goodness : 0.994715 with order 1 Centerline is valid? [True, True] Translation: X:89.80, Y:-4.49, Z:-0.35 [[ 9.96834716e-01 7.94423614e-02 3.07559771e-03 8.98044766e+01] [-7.94419757e-02 9.96839461e-01 -2.47555147e-04 -4.48998133e+00] [-3.08554353e-03 2.44000649e-06 9.99995240e-01 -3.50241336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters Centerline goodness : 0.994780 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:-4.49, Z:-0.35 [[ 9.96250032e-01 8.64662650e-02 3.07555170e-03 8.98673508e+01] [-8.64659110e-02 9.96254779e-01 -2.48125426e-04 -4.49430283e+00] [-3.08548756e-03 -1.87354164e-05 9.99995240e-01 -3.52330217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters Centerline goodness : 0.994709 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:-4.50, Z:-0.35 [[ 9.96191666e-01 8.71361337e-02 3.07550475e-03 8.99304722e+01] [-8.71357811e-02 9.96196413e-01 -2.48706072e-04 -4.49963875e+00] [-3.08547808e-03 -2.02275925e-05 9.99995240e-01 -3.52416843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters Centerline goodness : 0.994942 with order 1 Centerline is valid? [True, True] Translation: X:89.99, Y:-4.51, Z:-0.35 [[ 9.96303339e-01 8.58498629e-02 3.07545829e-03 8.99928185e+01] [-8.58495024e-02 9.96308085e-01 -2.49279191e-04 -4.50540749e+00] [-3.08550455e-03 -1.56688737e-05 9.99995240e-01 -3.50537693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters Centerline goodness : 0.994864 with order 1 Centerline is valid? [True, True] Translation: X:90.05, Y:-4.51, Z:-0.35 [[ 9.96328869e-01 8.55530617e-02 3.07541015e-03 9.00544102e+01] [-8.55526980e-02 9.96333616e-01 -2.49871713e-04 -4.51011516e+00] [-3.08551181e-03 -1.41552347e-05 9.99995240e-01 -3.51106913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:90.12, Y:-4.52, Z:-0.35 [[ 9.96354445e-01 8.52546888e-02 3.07536545e-03 9.01175690e+01] [-8.52543220e-02 9.96359191e-01 -2.50420640e-04 -4.51568202e+00] [-3.08551817e-03 -1.26804787e-05 9.99995240e-01 -3.51455694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters Centerline goodness : 0.994818 with order 1 Centerline is valid? [True, True] Translation: X:90.18, Y:-4.52, Z:-0.35 [[ 9.96260455e-01 8.63460960e-02 3.07531818e-03 9.01798737e+01] [-8.63457326e-02 9.96265201e-01 -2.50999823e-04 -4.51847217e+00] [-3.08550534e-03 -1.54794032e-05 9.99995240e-01 -3.48308127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:90.24, Y:-4.52, Z:-0.35 [[ 9.96106303e-01 8.81066153e-02 3.07528882e-03 9.02429142e+01] [-8.81062591e-02 9.96111050e-01 -2.51359000e-04 -4.52097766e+00] [-3.08547557e-03 -2.05719101e-05 9.99995240e-01 -3.47203309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters Centerline goodness : 0.995995 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:-4.52, Z:-0.36 [[ 9.96110557e-01 8.80585118e-02 3.07524221e-03 9.03054959e+01] [-8.80581537e-02 9.96115304e-01 -2.51928028e-04 -4.52140807e+00] [-3.08548023e-03 -1.98519825e-05 9.99995240e-01 -3.58540665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters Centerline goodness : 0.995535 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:-4.52, Z:-0.35 [[ 9.96089951e-01 8.82912907e-02 3.07519884e-03 9.03687452e+01] [-8.82909320e-02 9.96094698e-01 -2.52456276e-04 -4.52195257e+00] [-3.08547895e-03 -2.00430125e-05 9.99995240e-01 -3.54171952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters Centerline goodness : 0.995867 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:-4.52, Z:-0.35 [[ 9.96037778e-01 8.88779395e-02 3.07514933e-03 9.04309045e+01] [-8.88775818e-02 9.96042525e-01 -2.53057907e-04 -4.52096463e+00] [-3.08547077e-03 -2.12566007e-05 9.99995240e-01 -3.52436781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:-4.52, Z:-0.35 [[ 9.95918993e-01 9.01992454e-02 3.07510336e-03 9.04922735e+01] [-9.01988922e-02 9.95923740e-01 -2.53615314e-04 -4.51928772e+00] [-3.08544435e-03 -2.47906091e-05 9.99995240e-01 -3.54149951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:90.55, Y:-4.52, Z:-0.36 [[ 9.95733481e-01 9.22246106e-02 3.07506539e-03 9.05545972e+01] [-9.22242657e-02 9.95738229e-01 -2.54074888e-04 -4.51877441e+00] [-3.08539212e-03 -3.06047750e-05 9.99995240e-01 -3.59799006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters Centerline goodness : 0.996444 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:-4.52, Z:-0.36 [[ 9.96188919e-01 8.71675481e-02 3.07502585e-03 9.06172424e+01] [-8.71671776e-02 9.96193665e-01 -2.54552581e-04 -4.52117594e+00] [-3.08550999e-03 -1.44588638e-05 9.99995240e-01 -3.55127324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters Centerline goodness : 0.990240 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:-4.52, Z:-0.34 [[ 9.96586144e-01 8.25021317e-02 3.07497861e-03 9.06791640e+01] [-8.25017372e-02 9.96590888e-01 -2.55121971e-04 -4.52437417e+00] [-3.08554377e-03 5.59944720e-07 9.99995240e-01 -3.42677978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:-4.53, Z:-0.35 [[ 9.97108471e-01 7.59291906e-02 3.07493687e-03 9.07416894e+01] [-7.59287634e-02 9.97113212e-01 -2.55623979e-04 -4.53052280e+00] [-3.08546950e-03 2.14086803e-05 9.99995240e-01 -3.51059516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters Centerline goodness : 0.995792 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:-4.54, Z:-0.35 [[ 9.97298246e-01 7.33945067e-02 3.07488940e-03 9.08036668e+01] [-7.33940656e-02 9.97302986e-01 -2.56193722e-04 -4.53624739e+00] [-3.08539960e-03 2.98229152e-05 9.99995240e-01 -3.51724732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters Centerline goodness : 0.996271 with order 1 Centerline is valid? [True, True] Translation: X:90.87, Y:-4.54, Z:-0.36 [[ 9.97335132e-01 7.28915623e-02 3.07484534e-03 9.08652992e+01] [-7.28911172e-02 9.97339871e-01 -2.56721447e-04 -4.54166229e+00] [-3.08537869e-03 3.19084064e-05 9.99995240e-01 -3.55929052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters Centerline goodness : 0.994335 with order 1 Centerline is valid? [True, True] Translation: X:90.93, Y:-4.55, Z:-0.35 [[ 9.97477845e-01 7.09118813e-02 3.07480473e-03 9.09273837e+01] [-7.09114253e-02 9.97482583e-01 -2.57206926e-04 -4.55030435e+00] [-3.08530319e-03 3.85194238e-05 9.99995240e-01 -3.52552263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters Centerline goodness : 0.995692 with order 1 Centerline is valid? [True, True] Translation: X:90.99, Y:-4.56, Z:-0.36 [[ 9.97420227e-01 7.17177590e-02 3.07475858e-03 9.09896905e+01] [-7.17173051e-02 9.97424965e-01 -2.57757470e-04 -4.55522729e+00] [-3.08532676e-03 3.65791147e-05 9.99995240e-01 -3.55851898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters Centerline goodness : 0.995661 with order 1 Centerline is valid? [True, True] Translation: X:91.05, Y:-4.56, Z:-0.36 [[ 9.97252487e-01 7.40136710e-02 3.07471857e-03 9.10513715e+01] [-7.40132266e-02 9.97257226e-01 -2.58233903e-04 -4.55569314e+00] [-3.08539815e-03 2.99545604e-05 9.99995240e-01 -3.55688152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters Centerline goodness : 0.996292 with order 1 Centerline is valid? [True, True] Translation: X:91.11, Y:-4.56, Z:-0.36 [[ 9.97116991e-01 7.58172327e-02 3.07468165e-03 9.11123853e+01] [-7.58167955e-02 9.97121731e-01 -2.58672727e-04 -4.55812025e+00] [-3.08544374e-03 2.48144611e-05 9.99995240e-01 -3.57118219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters Centerline goodness : 0.996489 with order 1 Centerline is valid? [True, True] Translation: X:91.17, Y:-4.56, Z:-0.36 [[ 9.97067471e-01 7.64657089e-02 3.07467601e-03 9.11741675e+01] [-7.64652746e-02 9.97072211e-01 -2.58739743e-04 -4.56001968e+00] [-3.08545873e-03 2.28750360e-05 9.99995240e-01 -3.60446295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters Centerline goodness : 0.995308 with order 1 Centerline is valid? [True, True] Translation: X:91.24, Y:-4.56, Z:-0.36 [[ 9.97269773e-01 7.37803886e-02 3.07467039e-03 9.12363071e+01] [-7.37799413e-02 9.97274513e-01 -2.58806503e-04 -4.56441304e+00] [-3.08538526e-03 3.12509016e-05 9.99995240e-01 -3.56981804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:91.30, Y:-4.57, Z:-0.36 [[ 9.97469923e-01 7.10232300e-02 3.07462978e-03 9.12967367e+01] [-7.10227681e-02 9.97474661e-01 -2.59288013e-04 -4.57006967e+00] [-3.08528077e-03 4.02632766e-05 9.99995240e-01 -3.61799254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters Centerline goodness : 0.996753 with order 1 Centerline is valid? [True, True] Translation: X:91.36, Y:-4.58, Z:-0.36 [[ 9.97619416e-01 6.88915658e-02 3.07459247e-03 9.13579109e+01] [-6.88910925e-02 9.97624153e-01 -2.59729673e-04 -4.57998466e+00] [-3.08518090e-03 4.72993299e-05 9.99995240e-01 -3.60173272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:91.42, Y:-4.59, Z:-0.36 [[ 9.97708408e-01 6.75905245e-02 3.07456459e-03 9.14207130e+01] [-6.75900439e-02 9.97713144e-01 -2.60059348e-04 -4.58881111e+00] [-3.08511105e-03 5.16534421e-05 9.99995240e-01 -3.56587870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters Centerline goodness : 0.995542 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-4.60, Z:-0.36 [[ 9.97617377e-01 6.89210905e-02 3.07451626e-03 9.14832815e+01] [-6.89206145e-02 9.97622113e-01 -2.60629434e-04 -4.59872412e+00] [-3.08516828e-03 4.81109022e-05 9.99995240e-01 -3.56214735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters Centerline goodness : 0.996710 with order 1 Centerline is valid? [True, True] Translation: X:91.55, Y:-4.61, Z:-0.36 [[ 9.97477274e-01 7.09199289e-02 3.07446812e-03 9.15462403e+01] [-7.09194606e-02 9.97482011e-01 -2.61196092e-04 -4.60580213e+00] [-3.08525065e-03 4.24975445e-05 9.99995240e-01 -3.61681844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters Centerline goodness : 0.996682 with order 1 Centerline is valid? [True, True] Translation: X:91.61, Y:-4.61, Z:-0.36 [[ 9.97244120e-01 7.41263348e-02 3.07442001e-03 9.16078416e+01] [-7.41258800e-02 9.97248858e-01 -2.61761157e-04 -4.61409341e+00] [-3.08536524e-03 3.31456858e-05 9.99995240e-01 -3.64491818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters Centerline goodness : 0.996703 with order 1 Centerline is valid? [True, True] Translation: X:91.67, Y:-4.62, Z:-0.36 [[ 9.96741668e-01 8.06014598e-02 3.07439009e-03 9.16704443e+01] [-8.06010347e-02 9.96746409e-01 -2.62112087e-04 -4.62183621e+00] [-3.08551390e-03 1.34590164e-05 9.99995240e-01 -3.61227400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters Centerline goodness : 0.996307 with order 1 Centerline is valid? [True, True] Translation: X:91.73, Y:-4.63, Z:-0.36 [[ 9.96154994e-01 8.75544183e-02 3.07434097e-03 9.17322092e+01] [-8.75540246e-02 9.96159738e-01 -2.62686951e-04 -4.62764257e+00] [-3.08553410e-03 -7.49400733e-06 9.99995240e-01 -3.60399410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters Centerline goodness : 0.996181 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:-4.63, Z:-0.36 [[ 9.95732561e-01 9.22345672e-02 3.07429782e-03 9.17939299e+01] [-9.22341942e-02 9.95737307e-01 -2.63191025e-04 -4.63154335e+00] [-3.08546834e-03 -2.14875090e-05 9.99995240e-01 -3.58792329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:-4.63, Z:-0.35 [[ 9.94645162e-01 1.03303197e-01 3.07425428e-03 9.18544318e+01] [-1.03302875e-01 9.94649912e-01 -2.63698574e-04 -4.62984217e+00] [-3.08504766e-03 -5.52927945e-05 9.99995240e-01 -3.53412806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters Centerline goodness : 0.996059 with order 1 Centerline is valid? [True, True] Translation: X:91.92, Y:-4.62, Z:-0.36 [[ 9.93361164e-01 1.14996294e-01 3.07425428e-03 9.19150296e+01] [-1.14996028e-01 9.93365916e-01 -2.63698574e-04 -4.62084207e+00] [-3.08418378e-03 -9.15791091e-05 9.99995240e-01 -3.58006084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters Centerline goodness : 0.996225 with order 1 Centerline is valid? [True, True] Translation: X:91.98, Y:-4.61, Z:-0.36 [[ 9.93055609e-01 1.17605723e-01 3.07426047e-03 9.19757758e+01] [-1.17605470e-01 9.93060363e-01 -2.63626381e-04 -4.61376825e+00] [-3.08393019e-03 -9.97541920e-05 9.99995240e-01 -3.57711749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:92.04, Y:-4.61, Z:-0.36 [[ 9.93725346e-01 1.11805566e-01 3.07426669e-03 9.20355715e+01] [-1.11805286e-01 9.93730098e-01 -2.63553884e-04 -4.60725924e+00] [-3.08445813e-03 -8.18190911e-05 9.99995240e-01 -3.58577055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters Centerline goodness : 0.995570 with order 1 Centerline is valid? [True, True] Translation: X:92.10, Y:-4.60, Z:-0.36 [[ 9.94704576e-01 1.02729526e-01 3.07426977e-03 9.20958283e+01] [-1.02729202e-01 9.94709325e-01 -2.63517924e-04 -4.60242229e+00] [-3.08507588e-03 -5.36947943e-05 9.99995240e-01 -3.57257527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters Centerline goodness : 0.996459 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:-4.60, Z:-0.36 [[ 9.95682682e-01 9.27714648e-02 3.07427585e-03 9.21558226e+01] [-9.27710936e-02 9.95687428e-01 -2.63447004e-04 -4.60213350e+00] [-3.08545818e-03 -2.28943130e-05 9.99995240e-01 -3.56475259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters Centerline goodness : 0.990208 with order 1 Centerline is valid? [True, True] Translation: X:92.22, Y:-4.61, Z:-0.35 [[ 9.96545324e-01 8.29937738e-02 3.07428225e-03 9.22156346e+01] [-8.29933562e-02 9.96550066e-01 -2.63372236e-04 -4.60725878e+00] [-3.08553444e-03 7.31736857e-06 9.99995240e-01 -3.48850679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters Centerline goodness : 0.989167 with order 1 Centerline is valid? [True, True] Translation: X:92.27, Y:-4.61, Z:-0.35 [[ 9.96915079e-01 7.84275033e-02 3.07428225e-03 9.22747056e+01] [-7.84270640e-02 9.96919819e-01 -2.63372236e-04 -4.61395569e+00] [-3.08546854e-03 2.14528229e-05 9.99995240e-01 -3.48030387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:92.33, Y:-4.63, Z:-0.36 [[ 9.97205152e-01 7.46487317e-02 3.07428539e-03 9.23341967e+01] [-7.46482746e-02 9.97209891e-01 -2.63335579e-04 -4.62682078e+00] [-3.08536547e-03 3.31094957e-05 9.99995240e-01 -3.62077159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters Centerline goodness : 0.995598 with order 1 Centerline is valid? [True, True] Translation: X:92.39, Y:-4.64, Z:-0.36 [[ 9.97207759e-01 7.46139042e-02 3.07428238e-03 9.23941035e+01] [-7.46134468e-02 9.97212497e-01 -2.63370808e-04 -4.63503672e+00] [-3.08536393e-03 3.32526086e-05 9.99995240e-01 -3.59324688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters Centerline goodness : 0.995264 with order 1 Centerline is valid? [True, True] Translation: X:92.45, Y:-4.64, Z:-0.36 [[ 9.97071587e-01 7.64120339e-02 3.07428238e-03 9.24539944e+01] [-7.64115850e-02 9.97076326e-01 -2.63370808e-04 -4.64481250e+00] [-3.08541888e-03 2.76887602e-05 9.99995240e-01 -3.56990550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters Centerline goodness : 0.994486 with order 1 Centerline is valid? [True, True] Translation: X:92.51, Y:-4.66, Z:-0.35 [[ 9.96740653e-01 8.06140162e-02 3.07428238e-03 9.25141820e+01] [-8.06135873e-02 9.96745394e-01 -2.63370808e-04 -4.65530275e+00] [-3.08550818e-03 1.46834604e-05 9.99995240e-01 -3.53293689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters Centerline goodness : 0.994956 with order 1 Centerline is valid? [True, True] Translation: X:92.57, Y:-4.66, Z:-0.35 [[ 9.96173378e-01 8.73449992e-02 3.07428238e-03 9.25738812e+01] [-8.73446023e-02 9.96178122e-01 -2.63370808e-04 -4.66254592e+00] [-3.08553697e-03 -6.15898412e-06 9.99995240e-01 -3.54856400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters Centerline goodness : 0.995009 with order 1 Centerline is valid? [True, True] Translation: X:92.63, Y:-4.67, Z:-0.36 [[ 9.95419637e-01 9.55525750e-02 3.07428238e-03 9.26324872e+01] [-9.55522173e-02 9.95424384e-01 -2.63370808e-04 -4.66973890e+00] [-3.08538140e-03 -3.15900234e-05 9.99995240e-01 -3.55826387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:-4.67, Z:-0.36 [[ 9.94453914e-01 1.05128311e-01 3.07428546e-03 9.26923026e+01] [-1.05127999e-01 9.94458664e-01 -2.63334828e-04 -4.67464328e+00] [-3.08493375e-03 -6.13191277e-05 9.99995240e-01 -3.56591295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters Centerline goodness : 0.995291 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:-4.68, Z:-0.36 [[ 9.93725549e-01 1.11803769e-01 3.07429179e-03 9.27522728e+01] [-1.11803489e-01 9.93730301e-01 -2.63260817e-04 -4.67679102e+00] [-3.08445046e-03 -8.21075491e-05 9.99995240e-01 -3.59108533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters Centerline goodness : 0.995280 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:-4.68, Z:-0.36 [[ 9.93765456e-01 1.11448496e-01 3.07429804e-03 9.28115164e+01] [-1.11448214e-01 9.93770208e-01 -2.63187838e-04 -4.68069620e+00] [-3.08447769e-03 -8.10780454e-05 9.99995240e-01 -3.61635650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters Centerline goodness : 0.996175 with order 1 Centerline is valid? [True, True] Translation: X:92.87, Y:-4.69, Z:-0.37 [[ 9.93935226e-01 1.09924134e-01 3.07430439e-03 9.28700750e+01] [-1.09923846e-01 9.93939978e-01 -2.63113674e-04 -4.68543712e+00] [-3.08459658e-03 -7.64214123e-05 9.99995240e-01 -3.65571586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters Centerline goodness : 0.995626 with order 1 Centerline is valid? [True, True] Translation: X:92.93, Y:-4.69, Z:-0.36 [[ 9.94267382e-01 1.06878067e-01 3.07431381e-03 9.29292946e+01] [-1.06877765e-01 9.94272133e-01 -2.63003569e-04 -4.68942614e+00] [-3.08481386e-03 -6.70799178e-05 9.99995240e-01 -3.62876842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters Centerline goodness : 0.995888 with order 1 Centerline is valid? [True, True] Translation: X:92.99, Y:-4.69, Z:-0.36 [[ 9.94154632e-01 1.07921808e-01 3.07431995e-03 9.29886726e+01] [-1.07921510e-01 9.94159383e-01 -2.62931826e-04 -4.69418532e+00] [-3.08474010e-03 -7.03903590e-05 9.99995240e-01 -3.63523995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters Centerline goodness : 0.995375 with order 1 Centerline is valid? [True, True] Translation: X:93.05, Y:-4.70, Z:-0.36 [[ 9.93951446e-01 1.09777376e-01 3.07432314e-03 9.30468909e+01] [-1.09777087e-01 9.93956197e-01 -2.62894472e-04 -4.69814165e+00] [-3.08460240e-03 -7.61858993e-05 9.99995240e-01 -3.64920024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters Centerline goodness : 0.996162 with order 1 Centerline is valid? [True, True] Translation: X:93.11, Y:-4.70, Z:-0.36 [[ 9.93971451e-01 1.09596087e-01 3.07433272e-03 9.31062380e+01] [-1.09595799e-01 9.93976203e-01 -2.62782353e-04 -4.69964272e+00] [-3.08461348e-03 -7.57357930e-05 9.99995240e-01 -3.62609021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters Centerline goodness : 0.995878 with order 1 Centerline is valid? [True, True] Translation: X:93.17, Y:-4.70, Z:-0.36 [[ 9.94210678e-01 1.07404261e-01 3.07433887e-03 9.31662658e+01] [-1.07403962e-01 9.94215429e-01 -2.62710397e-04 -4.70259951e+00] [-3.08477136e-03 -6.90066942e-05 9.99995240e-01 -3.61586819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters Centerline goodness : 0.996411 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:-4.71, Z:-0.37 [[ 9.94517453e-01 1.04525522e-01 3.07434501e-03 9.32259914e+01] [-1.04525209e-01 9.94522203e-01 -2.62638564e-04 -4.70887234e+00] [-3.08495680e-03 -6.01479197e-05 9.99995240e-01 -3.67361017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters Centerline goodness : 0.996110 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:-4.71, Z:-0.37 [[ 9.94435414e-01 1.05303160e-01 3.07435121e-03 9.32847522e+01] [-1.05302852e-01 9.94440164e-01 -2.62565938e-04 -4.70978619e+00] [-3.08490735e-03 -6.26330817e-05 9.99995240e-01 -3.65342785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters Centerline goodness : 0.995643 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:-4.71, Z:-0.37 [[ 9.94438809e-01 1.05271100e-01 3.07436042e-03 9.33444484e+01] [-1.05270791e-01 9.94443559e-01 -2.62458064e-04 -4.70897185e+00] [-3.08490717e-03 -6.26418688e-05 9.99995240e-01 -3.67422669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:-4.71, Z:-0.37 [[ 9.94517955e-01 1.04520740e-01 3.07436647e-03 9.34032738e+01] [-1.04520428e-01 9.94522705e-01 -2.62387122e-04 -4.70937284e+00] [-3.08495216e-03 -6.03853943e-05 9.99995240e-01 -3.70704754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters Centerline goodness : 0.996050 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:-4.71, Z:-0.37 [[ 9.94718086e-01 1.02598628e-01 3.07437860e-03 9.34621790e+01] [-1.02598308e-01 9.94722835e-01 -2.62244974e-04 -4.70993922e+00] [-3.08506057e-03 -5.45662233e-05 9.99995240e-01 -3.67973935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-4.71, Z:-0.37 [[ 9.94977008e-01 1.00056496e-01 3.07438515e-03 9.35221834e+01] [-1.00056164e-01 9.94981756e-01 -2.62168192e-04 -4.70959154e+00] [-3.08518876e-03 -4.67598597e-05 9.99995240e-01 -3.65565790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:-4.71, Z:-0.36 [[ 9.95226370e-01 9.75449640e-02 3.07439140e-03 9.35810729e+01] [-9.75446197e-02 9.95231118e-01 -2.62094858e-04 -4.71125498e+00] [-3.08529602e-03 -3.90466256e-05 9.99995240e-01 -3.63565924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-4.71, Z:-0.36 [[ 9.95318171e-01 9.66037567e-02 3.07440071e-03 9.36404564e+01] [-9.66034082e-02 9.95322919e-01 -2.61985578e-04 -4.70858512e+00] [-3.08533028e-03 -3.62385808e-05 9.99995240e-01 -3.60926180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters Centerline goodness : 0.995609 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:-4.71, Z:-0.36 [[ 9.95380475e-01 9.59596690e-02 3.07441300e-03 9.36989146e+01] [-9.59593180e-02 9.95385222e-01 -2.61841311e-04 -4.71087093e+00] [-3.08535147e-03 -3.43868459e-05 9.99995240e-01 -3.63517409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters Centerline goodness : 0.995615 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:-4.71, Z:-0.36 [[ 9.95455064e-01 9.51827946e-02 3.07442518e-03 9.37582940e+01] [-9.51824402e-02 9.95459811e-01 -2.61698247e-04 -4.70760728e+00] [-3.08537587e-03 -3.21224456e-05 9.99995240e-01 -3.62281715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters Centerline goodness : 0.994947 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:-4.71, Z:-0.36 [[ 9.95517929e-01 9.45230193e-02 3.07443777e-03 9.38166981e+01] [-9.45226622e-02 9.95522676e-01 -2.61550181e-04 -4.70754043e+00] [-3.08539503e-03 -3.02261485e-05 9.99995240e-01 -3.60913652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:-4.71, Z:-0.37 [[ 9.95754760e-01 9.19945909e-02 3.07445337e-03 9.38758165e+01] [-9.19942223e-02 9.95759506e-01 -2.61366763e-04 -4.70562928e+00] [-3.08546049e-03 -2.25747476e-05 9.99995240e-01 -3.66020857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters Centerline goodness : 0.995671 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:-4.71, Z:-0.37 [[ 9.96131662e-01 8.78194766e-02 3.07446623e-03 9.39349386e+01] [-8.78190886e-02 9.96136406e-01 -2.61215387e-04 -4.70818666e+00] [-3.08552754e-03 -9.79190437e-06 9.99995240e-01 -3.66925700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters Centerline goodness : 0.995283 with order 1 Centerline is valid? [True, True] Translation: X:93.99, Y:-4.71, Z:-0.37 [[ 9.96415018e-01 8.45438326e-02 3.07447901e-03 9.39928900e+01] [-8.45434295e-02 9.96419761e-01 -2.61064827e-04 -4.71149236e+00] [-3.08554306e-03 2.01914414e-07 9.99995240e-01 -3.67357934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters Centerline goodness : 0.995283 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:-4.72, Z:-0.36 [[ 9.96872902e-01 7.89617886e-02 3.07449477e-03 9.40503018e+01] [-7.89613595e-02 9.96877643e-01 -2.60879154e-04 -4.71718349e+00] [-3.08549458e-03 1.72970728e-05 9.99995240e-01 -3.63643350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:-4.73, Z:-0.36 [[ 9.97007320e-01 7.72460449e-02 3.07451029e-03 9.41084458e+01] [-7.72456083e-02 9.97012060e-01 -2.60696079e-04 -4.72535784e+00] [-3.08546158e-03 2.24234815e-05 9.99995240e-01 -3.61389196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:-4.73, Z:-0.36 [[ 9.96921624e-01 7.83442640e-02 3.07452278e-03 9.41668433e+01] [-7.83438331e-02 9.96926364e-01 -2.60548635e-04 -4.73275840e+00] [-3.08548531e-03 1.88766689e-05 9.99995240e-01 -3.60257398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters Centerline goodness : 0.995100 with order 1 Centerline is valid? [True, True] Translation: X:94.23, Y:-4.74, Z:-0.36 [[ 9.96421948e-01 8.44621201e-02 3.07453205e-03 9.42254303e+01] [-8.44617186e-02 9.96426691e-01 -2.60439282e-04 -4.73861183e+00] [-3.08554305e-03 -1.72843910e-07 9.99995240e-01 -3.62836574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters Centerline goodness : 0.996277 with order 1 Centerline is valid? [True, True] Translation: X:94.28, Y:-4.74, Z:-0.37 [[ 9.96100931e-01 8.81673533e-02 3.07454416e-03 9.42839872e+01] [-8.81669699e-02 9.96105676e-01 -2.60296252e-04 -4.74376958e+00] [-3.08552052e-03 -1.17919035e-05 9.99995240e-01 -3.67534978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters Centerline goodness : 0.995612 with order 1 Centerline is valid? [True, True] Translation: X:94.34, Y:-4.75, Z:-0.36 [[ 9.96238344e-01 8.66008596e-02 3.07455635e-03 9.43426043e+01] [-8.66004691e-02 9.96243088e-01 -2.60152147e-04 -4.74963209e+00] [-3.08553491e-03 -7.08447806e-06 9.99995240e-01 -3.63164294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:94.40, Y:-4.75, Z:-0.36 [[ 9.96064880e-01 8.85737091e-02 3.07456849e-03 9.44012186e+01] [-8.85733285e-02 9.96069625e-01 -2.60008596e-04 -4.75188287e+00] [-3.08551421e-03 -1.33393340e-05 9.99995240e-01 -3.60855011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters Centerline goodness : 0.995088 with order 1 Centerline is valid? [True, True] Translation: X:94.46, Y:-4.75, Z:-0.36 [[ 9.95646161e-01 9.31625995e-02 3.07458081e-03 9.44592360e+01] [-9.31622412e-02 9.95650907e-01 -2.59862844e-04 -4.75188315e+00] [-3.08541867e-03 -2.77033962e-05 9.99995240e-01 -3.62085447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:94.52, Y:-4.74, Z:-0.36 [[ 9.94872026e-01 1.01094996e-01 3.07459728e-03 9.45193345e+01] [-1.01094676e-01 9.94876776e-01 -2.59667827e-04 -4.74428968e+00] [-3.08509655e-03 -5.24891574e-05 9.99995240e-01 -3.64088513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters Centerline goodness : 0.995595 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:-4.74, Z:-0.37 [[ 9.94978922e-01 1.00037453e-01 3.07460989e-03 9.45772027e+01] [-1.00037129e-01 9.94983671e-01 -2.59518379e-04 -4.74189803e+00] [-3.08514820e-03 -4.93598292e-05 9.99995240e-01 -3.66789493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters Centerline goodness : 0.995477 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:-4.74, Z:-0.36 [[ 9.95775663e-01 9.17680528e-02 3.07462630e-03 9.46363843e+01] [-9.17676895e-02 9.95780409e-01 -2.59323826e-04 -4.73767266e+00] [-3.08545028e-03 -2.39229968e-05 9.99995240e-01 -3.64623008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters Centerline goodness : 0.995275 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:-4.74, Z:-0.37 [[ 9.96539909e-01 8.30587526e-02 3.07463858e-03 9.46956637e+01] [-8.30583483e-02 9.96544652e-01 -2.59178204e-04 -4.73813364e+00] [-3.08554165e-03 2.90702138e-06 9.99995240e-01 -3.66101806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:94.75, Y:-4.74, Z:-0.36 [[ 9.96815273e-01 7.96859957e-02 3.07465081e-03 9.47542191e+01] [-7.96855758e-02 9.96820015e-01 -2.59032974e-04 -4.73818640e+00] [-3.08551477e-03 1.32027046e-05 9.99995240e-01 -3.64784441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:-4.74, Z:-0.37 [[ 9.96900603e-01 7.86112849e-02 3.07466288e-03 9.48132046e+01] [-7.86108603e-02 9.96905344e-01 -2.58889684e-04 -4.73970960e+00] [-3.08549951e-03 1.63853875e-05 9.99995240e-01 -3.65988507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters Centerline goodness : 0.994545 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:-4.74, Z:-0.36 [[ 9.96998112e-01 7.73647937e-02 3.07467481e-03 9.48723634e+01] [-7.73643636e-02 9.97002853e-01 -2.58747945e-04 -4.74150785e+00] [-3.08547753e-03 2.01009532e-05 9.99995240e-01 -3.62024823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters Centerline goodness : 0.993562 with order 1 Centerline is valid? [True, True] Translation: X:94.93, Y:-4.74, Z:-0.36 [[ 9.97269656e-01 7.37819705e-02 3.07468663e-03 9.49306150e+01] [-7.37815238e-02 9.97274395e-01 -2.58607359e-04 -4.74356179e+00] [-3.08538681e-03 3.10462067e-05 9.99995240e-01 -3.59607160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:94.99, Y:-4.74, Z:-0.36 [[ 9.97666691e-01 6.82035233e-02 3.07470188e-03 9.49883798e+01] [-6.82030507e-02 9.97671427e-01 -2.58425965e-04 -4.74493134e+00] [-3.08516777e-03 4.81189289e-05 9.99995240e-01 -3.63370377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters Centerline goodness : 0.994160 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:-4.75, Z:-0.36 [[ 9.98192246e-01 6.00232080e-02 3.07471626e-03 9.50455045e+01] [-6.00226971e-02 9.98196979e-01 -2.58254708e-04 -4.75174945e+00] [-3.08467376e-03 7.32350843e-05 9.99995240e-01 -3.64397697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters Centerline goodness : 0.994719 with order 1 Centerline is valid? [True, True] Translation: X:95.10, Y:-4.76, Z:-0.37 [[ 9.98756323e-01 4.97629765e-02 3.07473042e-03 9.51042385e+01] [-4.97624175e-02 9.98761050e-01 -2.58086045e-04 -4.76279085e+00] [-3.08376411e-03 1.04759051e-04 9.99995240e-01 -3.65879770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:95.16, Y:-4.78, Z:-0.36 [[ 9.99035340e-01 4.38056601e-02 3.07473601e-03 9.51626120e+01] [-4.38050732e-02 9.99040064e-01 -2.58019401e-04 -4.77934589e+00] [-3.08308717e-03 1.23081464e-04 9.99995240e-01 -3.64439431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters Centerline goodness : 0.987403 with order 1 Centerline is valid? [True, True] Translation: X:95.22, Y:-4.79, Z:-0.35 [[ 9.99014958e-01 4.42680320e-02 3.07474199e-03 9.52202944e+01] [-4.42674475e-02 9.99019683e-01 -2.57948156e-04 -4.79344409e+00] [-3.08314662e-03 1.21583087e-04 9.99995240e-01 -3.53932121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters Centerline goodness : 0.994745 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:-4.81, Z:-0.37 [[ 9.98850485e-01 4.78357106e-02 3.07475081e-03 9.52791484e+01] [-4.78351433e-02 9.98855211e-01 -2.57842958e-04 -4.80845827e+00] [-3.08356497e-03 1.10465418e-04 9.99995240e-01 -3.66932957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters Centerline goodness : 0.995705 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:-4.82, Z:-0.37 [[ 9.98813696e-01 4.85978136e-02 3.07475690e-03 9.53373949e+01] [-4.85972500e-02 9.98818422e-01 -2.57770318e-04 -4.82025844e+00] [-3.08365091e-03 1.08039794e-04 9.99995240e-01 -3.67771765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:-4.83, Z:-0.37 [[ 9.98793183e-01 4.90175752e-02 3.07476598e-03 9.53964980e+01] [-4.90170140e-02 9.98797910e-01 -2.57662005e-04 -4.83147418e+00] [-3.08369980e-03 1.06635208e-04 9.99995240e-01 -3.70260591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters Centerline goodness : 0.996044 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:-4.84, Z:-0.37 [[ 9.98628227e-01 5.22705403e-02 3.07477217e-03 9.54555059e+01] [-5.22699947e-02 9.98632956e-01 -2.57588098e-04 -4.84216850e+00] [-3.08403309e-03 9.65164204e-05 9.99995240e-01 -3.71477305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:95.51, Y:-4.85, Z:-0.37 [[ 9.98480889e-01 5.50132771e-02 3.07477523e-03 9.55147082e+01] [-5.50127446e-02 9.98485619e-01 -2.57551544e-04 -4.85450721e+00] [-3.08428760e-03 8.80084704e-05 9.99995240e-01 -3.67884785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters Centerline goodness : 0.994934 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:-4.87, Z:-0.37 [[ 9.98347727e-01 5.73791143e-02 3.07477197e-03 9.55737517e+01] [-5.73785929e-02 9.98352458e-01 -2.57590463e-04 -4.86543269e+00] [-3.08448647e-03 8.07387637e-05 9.99995240e-01 -3.66636966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters Centerline goodness : 0.994931 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:-4.88, Z:-0.37 [[ 9.98333630e-01 5.76238600e-02 3.07477505e-03 9.56321715e+01] [-5.76233399e-02 9.98338362e-01 -2.57553712e-04 -4.87730591e+00] [-3.08450712e-03 7.99457240e-05 9.99995240e-01 -3.65660132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters Centerline goodness : 0.987556 with order 1 Centerline is valid? [True, True] Translation: X:95.69, Y:-4.89, Z:-0.36 [[ 9.98287775e-01 5.84128734e-02 3.07477807e-03 9.56907268e+01] [-5.84123571e-02 9.98292507e-01 -2.57517597e-04 -4.89057787e+00] [-3.08457025e-03 7.74716343e-05 9.99995240e-01 -3.56997126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters Centerline goodness : 0.995121 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:-4.90, Z:-0.37 [[ 9.98047374e-01 6.23857809e-02 3.07477507e-03 9.57490555e+01] [-6.23852833e-02 9.98052108e-01 -2.57553410e-04 -4.90294993e+00] [-3.08485341e-03 6.52297900e-05 9.99995240e-01 -3.71386100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters Centerline goodness : 0.994149 with order 1 Centerline is valid? [True, True] Translation: X:95.81, Y:-4.91, Z:-0.37 [[ 9.97715048e-01 6.74924353e-02 3.07477800e-03 9.58093397e+01] [-6.74919621e-02 9.97719785e-01 -2.57518404e-04 -4.91176721e+00] [-3.08514739e-03 4.94071866e-05 9.99995240e-01 -3.68911913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters Centerline goodness : 0.994572 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:-4.92, Z:-0.37 [[ 9.97153395e-01 7.53369302e-02 3.07477800e-03 9.58690787e+01] [-7.53364942e-02 9.97158135e-01 -2.57518404e-04 -4.91826876e+00] [-3.08544055e-03 2.51423557e-05 9.99995240e-01 -3.68615477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:-4.92, Z:-0.37 [[ 9.96780570e-01 8.01189206e-02 3.07477800e-03 9.59282120e+01] [-8.01185074e-02 9.96785312e-01 -2.57518404e-04 -4.92255435e+00] [-3.08552565e-03 1.03427175e-05 9.99995240e-01 -3.69175297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters Centerline goodness : 0.993932 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:-4.92, Z:-0.36 [[ 9.96787054e-01 8.00382040e-02 3.07478407e-03 9.59874374e+01] [-8.00377906e-02 9.96791797e-01 -2.57445964e-04 -4.92436079e+00] [-3.08552505e-03 1.05198810e-05 9.99995240e-01 -3.64369116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters Centerline goodness : 0.993704 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-4.93, Z:-0.36 [[ 9.97091535e-01 7.61512733e-02 3.07478076e-03 9.60475333e+01] [-7.61508414e-02 9.97096276e-01 -2.57485469e-04 -4.92839729e+00] [-3.08546029e-03 2.25894396e-05 9.99995240e-01 -3.62407412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters Centerline goodness : 0.992693 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:-4.93, Z:-0.36 [[ 9.97388198e-01 7.21618207e-02 3.07478076e-03 9.61068599e+01] [-7.21613697e-02 9.97392937e-01 -2.57485469e-04 -4.93362622e+00] [-3.08534523e-03 3.49325765e-05 9.99995240e-01 -3.64422206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters Centerline goodness : 0.993190 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-4.94, Z:-0.37 [[ 9.97549148e-01 6.99016640e-02 3.07478370e-03 9.61673435e+01] [-6.99012025e-02 9.97553886e-01 -2.57450322e-04 -4.94182902e+00] [-3.08525864e-03 4.18882716e-05 9.99995240e-01 -3.68608518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters Centerline goodness : 0.993135 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:-4.95, Z:-0.37 [[ 9.97556300e-01 6.97995222e-02 3.07478370e-03 9.62263418e+01] [-6.97990602e-02 9.97561038e-01 -2.57450322e-04 -4.95215838e+00] [-3.08525433e-03 4.22041784e-05 9.99995240e-01 -3.67035666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters Centerline goodness : 0.992894 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-4.96, Z:-0.37 [[ 9.97500591e-01 7.05911881e-02 3.07478658e-03 9.62862415e+01] [-7.05907299e-02 9.97505330e-01 -2.57415945e-04 -4.96143625e+00] [-3.08528730e-03 3.97211282e-05 9.99995240e-01 -3.67348882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:-4.97, Z:-0.37 [[ 9.97250425e-01 7.40414424e-02 3.07478658e-03 9.63462630e+01] [-7.40410006e-02 9.97255165e-01 -2.57415945e-04 -4.97223273e+00] [-3.08540625e-03 2.90478854e-05 9.99995240e-01 -3.69644067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters Centerline goodness : 0.991405 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:-4.98, Z:-0.37 [[ 9.96949204e-01 7.79925030e-02 3.07478658e-03 9.64059249e+01] [-7.79920800e-02 9.96953945e-01 -2.57415945e-04 -4.98112604e+00] [-3.08549713e-03 1.68216203e-05 9.99995240e-01 -3.68191559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters Centerline goodness : 0.991127 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:-4.99, Z:-0.37 [[ 9.96643153e-01 8.18105774e-02 3.07478658e-03 9.64646314e+01] [-8.18101725e-02 9.96647896e-01 -2.57415945e-04 -4.99043458e+00] [-3.08553893e-03 5.00301829e-06 9.99995240e-01 -3.71236819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters Centerline goodness : 0.990824 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:-4.99, Z:-0.37 [[ 9.96292173e-01 8.59793664e-02 3.07478959e-03 9.65250663e+01] [-8.59789815e-02 9.96296918e-01 -2.57380066e-04 -4.99400071e+00] [-3.08553276e-03 -7.94153189e-06 9.99995240e-01 -3.70630245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters Centerline goodness : 0.990727 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:-5.00, Z:-0.37 [[ 9.95738317e-01 9.21723901e-02 3.07478959e-03 9.65843248e+01] [-9.21720348e-02 9.95743064e-01 -2.57380066e-04 -4.99702728e+00] [-3.08542374e-03 -2.71264191e-05 9.99995240e-01 -3.69669064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters Centerline goodness : 0.991537 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-5.00, Z:-0.37 [[ 9.95503495e-01 9.46748984e-02 3.07478653e-03 9.66436745e+01] [-9.46745548e-02 9.95508243e-01 -2.57416522e-04 -5.00006274e+00] [-3.08534622e-03 -3.48449990e-05 9.99995240e-01 -3.72143314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters Centerline goodness : 0.990492 with order 1 Centerline is valid? [True, True] Translation: X:96.70, Y:-5.00, Z:-0.37 [[ 9.95509842e-01 9.46081357e-02 3.07478951e-03 9.67044731e+01] [-9.46077919e-02 9.95514590e-01 -2.57380906e-04 -5.00461501e+00] [-3.08534815e-03 -3.46738211e-05 9.99995240e-01 -3.68716451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters Centerline goodness : 0.990695 with order 1 Centerline is valid? [True, True] Translation: X:96.76, Y:-5.01, Z:-0.37 [[ 9.95644651e-01 9.31787288e-02 3.07478951e-03 9.67640060e+01] [-9.31783782e-02 9.95649398e-01 -2.57380906e-04 -5.00890598e+00] [-3.08539475e-03 -3.02439777e-05 9.99995240e-01 -3.68827915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters Centerline goodness : 0.990338 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:-5.02, Z:-0.37 [[ 9.96174632e-01 8.73306857e-02 3.07479250e-03 9.68251900e+01] [-8.73303073e-02 9.96179377e-01 -2.57345208e-04 -5.01566244e+00] [-3.08551901e-03 -1.21618063e-05 9.99995240e-01 -3.73042311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters Centerline goodness : 0.990809 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:-5.02, Z:-0.37 [[ 9.96514153e-01 8.33671915e-02 3.07478649e-03 9.68864957e+01] [-8.33667941e-02 9.96518897e-01 -2.57416990e-04 -5.02333960e+00] [-3.08554298e-03 1.84581336e-07 9.99995240e-01 -3.71712398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters Centerline goodness : 0.990281 with order 1 Centerline is valid? [True, True] Translation: X:96.95, Y:-5.03, Z:-0.37 [[ 9.96750197e-01 8.04959088e-02 3.07478049e-03 9.69474894e+01] [-8.04954975e-02 9.96754939e-01 -2.57488644e-04 -5.03092320e+00] [-3.08552943e-03 9.14587087e-06 9.99995240e-01 -3.73793782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters Centerline goodness : 0.991715 with order 1 Centerline is valid? [True, True] Translation: X:97.01, Y:-5.04, Z:-0.37 [[ 9.96717854e-01 8.08954017e-02 3.07477455e-03 9.70084687e+01] [-8.08949920e-02 9.96722596e-01 -2.57559622e-04 -5.04009306e+00] [-3.08553266e-03 7.98041108e-06 9.99995240e-01 -3.74539179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters Centerline goodness : 0.990623 with order 1 Centerline is valid? [True, True] Translation: X:97.07, Y:-5.05, Z:-0.37 [[ 9.96883533e-01 7.88274519e-02 3.07476851e-03 9.70692605e+01] [-7.88270322e-02 9.96888275e-01 -2.57631725e-04 -5.05246404e+00] [-3.08550912e-03 1.44539481e-05 9.99995240e-01 -3.74932474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters Centerline goodness : 0.989964 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:-5.07, Z:-0.37 [[ 9.97171565e-01 7.50960491e-02 3.07476244e-03 9.71301689e+01] [-7.50956115e-02 9.97176305e-01 -2.57704087e-04 -5.06509745e+00] [-3.08543281e-03 2.60740219e-05 9.99995240e-01 -3.68835265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters Centerline goodness : 0.989244 with order 1 Centerline is valid? [True, True] Translation: X:97.19, Y:-5.08, Z:-0.37 [[ 9.97197709e-01 7.47480853e-02 3.07471821e-03 9.71918727e+01] [-7.47476444e-02 9.97202448e-01 -2.58230690e-04 -5.07643030e+00] [-3.08541878e-03 2.76791092e-05 9.99995240e-01 -3.66878451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters Centerline goodness : 0.989361 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:-5.09, Z:-0.37 [[ 9.96947201e-01 7.80181074e-02 3.07468698e-03 9.72542930e+01] [-7.80176809e-02 9.96951942e-01 -2.58602057e-04 -5.08884881e+00] [-3.08549080e-03 1.79326495e-05 9.99995240e-01 -3.66396116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters Centerline goodness : 0.990108 with order 1 Centerline is valid? [True, True] Translation: X:97.32, Y:-5.10, Z:-0.37 [[ 9.96876545e-01 7.89157850e-02 3.07463785e-03 9.73156574e+01] [-7.89153610e-02 9.96881286e-01 -2.59184877e-04 -5.09700829e+00] [-3.08550271e-03 1.57391693e-05 9.99995240e-01 -3.68017410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters Centerline goodness : 0.989675 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:-5.11, Z:-0.37 [[ 9.96754026e-01 8.04484792e-02 3.07459208e-03 9.73774055e+01] [-8.04480608e-02 9.96758768e-01 -2.59726684e-04 -5.11296503e+00] [-3.08552123e-03 1.15386480e-05 9.99995240e-01 -3.74878844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters Centerline goodness : 0.989349 with order 1 Centerline is valid? [True, True] Translation: X:97.44, Y:-5.13, Z:-0.37 [[ 9.96292864e-01 8.59713662e-02 3.07454291e-03 9.74382608e+01] [-8.59709723e-02 9.96297608e-01 -2.60307384e-04 -5.12619675e+00] [-3.08553873e-03 -4.97905437e-06 9.99995240e-01 -3.72023456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters Centerline goodness : 0.983788 with order 1 Centerline is valid? [True, True] Translation: X:97.50, Y:-5.13, Z:-0.36 [[ 9.94858277e-01 1.01230213e-01 3.07449720e-03 9.74998375e+01] [-1.01229891e-01 9.94863026e-01 -2.60846188e-04 -5.13388621e+00] [-3.08510911e-03 -5.17260260e-05 9.99995240e-01 -3.62218992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters Centerline goodness : 0.990617 with order 1 Centerline is valid? [True, True] Translation: X:97.56, Y:-5.13, Z:-0.38 [[ 9.93245115e-01 1.15994350e-01 3.07445265e-03 9.75604081e+01] [-1.15994096e-01 9.93249869e-01 -2.61370297e-04 -5.13118231e+00] [-3.08401716e-03 -9.70135840e-05 9.99995240e-01 -3.75177937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters Centerline goodness : 0.990086 with order 1 Centerline is valid? [True, True] Translation: X:97.62, Y:-5.13, Z:-0.38 [[ 9.92372205e-01 1.23239416e-01 3.07444952e-03 9.76218048e+01] [-1.23239197e-01 9.92376961e-01 -2.61407097e-04 -5.12864694e+00] [-3.08322852e-03 -1.19479551e-04 9.99995240e-01 -3.77761238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters Centerline goodness : 0.991310 with order 1 Centerline is valid? [True, True] Translation: X:97.68, Y:-5.12, Z:-0.38 [[ 9.92222744e-01 1.24437032e-01 3.07444339e-03 9.76827545e+01] [-1.24436818e-01 9.92227499e-01 -2.61479103e-04 -5.12382187e+00] [-3.08308496e-03 -1.23128441e-04 9.99995240e-01 -3.77775135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters Centerline goodness : 0.990301 with order 1 Centerline is valid? [True, True] Translation: X:97.74, Y:-5.11, Z:-0.37 [[ 9.93005864e-01 1.18025002e-01 3.07444339e-03 9.77441291e+01] [-1.18024757e-01 9.93010618e-01 -2.61479103e-04 -5.11183372e+00] [-3.08381601e-03 -1.03210152e-04 9.99995240e-01 -3.69444725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters Centerline goodness : 0.990721 with order 1 Centerline is valid? [True, True] Translation: X:97.80, Y:-5.11, Z:-0.37 [[ 9.93571653e-01 1.13163237e-01 3.07444339e-03 9.78044188e+01] [-1.13162970e-01 9.93576406e-01 -2.61479103e-04 -5.11045313e+00] [-3.08428424e-03 -8.81149197e-05 9.99995240e-01 -3.69545861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters Centerline goodness : 0.991344 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-5.11, Z:-0.37 [[ 9.94461718e-01 1.05054457e-01 3.07444072e-03 9.78656379e+01] [-1.05054151e-01 9.94466469e-01 -2.61510555e-04 -5.10778636e+00] [-3.08490105e-03 -6.29205233e-05 9.99995240e-01 -3.73519287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:-5.11, Z:-0.37 [[ 9.94816602e-01 1.01638954e-01 3.07444072e-03 9.79249018e+01] [-1.01638631e-01 9.94821351e-01 -2.61510555e-04 -5.11046045e+00] [-3.08509893e-03 -5.23269039e-05 9.99995240e-01 -3.73782647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters Centerline goodness : 0.991803 with order 1 Centerline is valid? [True, True] Translation: X:97.98, Y:-5.12, Z:-0.37 [[ 9.95153245e-01 9.82881866e-02 3.07444683e-03 9.79847647e+01] [-9.82878478e-02 9.95157993e-01 -2.61438640e-04 -5.11521770e+00] [-3.08525667e-03 -4.20092512e-05 9.99995240e-01 -3.74898318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:98.04, Y:-5.12, Z:-0.38 [[ 9.94978157e-01 1.00045064e-01 3.07444683e-03 9.80442678e+01] [-1.00044734e-01 9.94982906e-01 -2.61438640e-04 -5.11762929e+00] [-3.08517769e-03 -4.74564780e-05 9.99995240e-01 -3.77438638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters Centerline goodness : 0.991149 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-5.12, Z:-0.37 [[ 9.94745877e-01 1.02328819e-01 3.07445308e-03 9.81026403e+01] [-1.02328500e-01 9.94750627e-01 -2.61365124e-04 -5.11935828e+00] [-3.08505932e-03 -5.46122907e-05 9.99995240e-01 -3.73653628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters Centerline goodness : 0.992225 with order 1 Centerline is valid? [True, True] Translation: X:98.16, Y:-5.12, Z:-0.38 [[ 9.95054196e-01 9.92859290e-02 3.07446232e-03 9.81615916e+01] [-9.92855956e-02 9.95058944e-01 -2.61256372e-04 -5.12456412e+00] [-3.08521031e-03 -4.52855738e-05 9.99995240e-01 -3.77277901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:98.22, Y:-5.13, Z:-0.38 [[ 9.95278903e-01 9.70074861e-02 3.07446848e-03 9.82210489e+01] [-9.70071421e-02 9.95283651e-01 -2.61183940e-04 -5.12937137e+00] [-3.08530501e-03 -3.82945354e-05 9.99995240e-01 -3.76777602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters Centerline goodness : 0.991812 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:-5.13, Z:-0.38 [[ 9.95075539e-01 9.90717906e-02 3.07447153e-03 9.82801671e+01] [-9.90714565e-02 9.95080287e-01 -2.61147990e-04 -5.13372835e+00] [-3.08521841e-03 -4.47303956e-05 9.99995240e-01 -3.77803661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters Centerline goodness : 0.991847 with order 1 Centerline is valid? [True, True] Translation: X:98.34, Y:-5.14, Z:-0.38 [[ 9.94873173e-01 1.01083710e-01 3.07447764e-03 9.83387024e+01] [-1.01083386e-01 9.94877923e-01 -2.61076090e-04 -5.13877308e+00] [-3.08512046e-03 -5.10410104e-05 9.99995240e-01 -3.77628301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters Centerline goodness : 0.991264 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-5.14, Z:-0.38 [[ 9.94895223e-01 1.00866463e-01 3.07448671e-03 9.83982177e+01] [-1.00866138e-01 9.94899972e-01 -2.60969167e-04 -5.14345027e+00] [-3.08512978e-03 -5.04746228e-05 9.99995240e-01 -3.75913263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters Centerline goodness : 0.991428 with order 1 Centerline is valid? [True, True] Translation: X:98.46, Y:-5.15, Z:-0.38 [[ 9.94978115e-01 1.00045485e-01 3.07449259e-03 9.84582076e+01] [-1.00045156e-01 9.94982863e-01 -2.60899867e-04 -5.14717258e+00] [-3.08516930e-03 -4.79984342e-05 9.99995240e-01 -3.75898378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters Centerline goodness : 0.991923 with order 1 Centerline is valid? [True, True] Translation: X:98.52, Y:-5.15, Z:-0.38 [[ 9.95058025e-01 9.92475450e-02 3.07449840e-03 9.85177059e+01] [-9.92472127e-02 9.95062773e-01 -2.60831437e-04 -5.14879091e+00] [-3.08520578e-03 -4.55929821e-05 9.99995240e-01 -3.75068901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters Centerline goodness : 0.992170 with order 1 Centerline is valid? [True, True] Translation: X:98.58, Y:-5.15, Z:-0.38 [[ 9.95171211e-01 9.81061057e-02 3.07450465e-03 9.85775949e+01] [-9.81057682e-02 9.95175959e-01 -2.60757759e-04 -5.15383642e+00] [-3.08525504e-03 -4.21280251e-05 9.99995240e-01 -3.75485033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters Centerline goodness : 0.991579 with order 1 Centerline is valid? [True, True] Translation: X:98.64, Y:-5.16, Z:-0.38 [[ 9.95464827e-01 9.50806257e-02 3.07451094e-03 9.86369861e+01] [-9.50802740e-02 9.95469574e-01 -2.60683538e-04 -5.16163294e+00] [-3.08536805e-03 -3.28240495e-05 9.99995240e-01 -3.76547959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters Centerline goodness : 0.991877 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:-5.17, Z:-0.38 [[ 9.95830009e-01 9.11764252e-02 3.07451405e-03 9.86970626e+01] [-9.11760550e-02 9.95834755e-01 -2.60646855e-04 -5.16925831e+00] [-3.08547279e-03 -2.07621026e-05 9.99995240e-01 -3.79898282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters Centerline goodness : 0.992039 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:-5.18, Z:-0.38 [[ 9.96176427e-01 8.73102111e-02 3.07451405e-03 9.87567975e+01] [-8.73098225e-02 9.96181172e-01 -2.60646855e-04 -5.17814000e+00] [-3.08553014e-03 -8.78502347e-06 9.99995240e-01 -3.76185001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters Centerline goodness : 0.992290 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:-5.19, Z:-0.38 [[ 9.96388557e-01 8.48551162e-02 3.07451405e-03 9.88166628e+01] [-8.48547159e-02 9.96393300e-01 -2.60646855e-04 -5.18661003e+00] [-3.08554242e-03 -1.18147295e-06 9.99995240e-01 -3.78470158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters Centerline goodness : 0.992871 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:-5.19, Z:-0.38 [[ 9.96489853e-01 8.36571588e-02 3.07451098e-03 9.88767779e+01] [-8.36567527e-02 9.96494596e-01 -2.60683016e-04 -5.19320048e+00] [-3.08554158e-03 2.56437585e-06 9.99995240e-01 -3.82262778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters Centerline goodness : 0.992145 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:-5.20, Z:-0.38 [[ 9.96543512e-01 8.30155196e-02 3.07449687e-03 9.89373978e+01] [-8.30151099e-02 9.96548254e-01 -2.60849385e-04 -5.20032477e+00] [-3.08553903e-03 4.71806650e-06 9.99995240e-01 -3.77689946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters Centerline goodness : 0.992197 with order 1 Centerline is valid? [True, True] Translation: X:99.00, Y:-5.21, Z:-0.38 [[ 9.96399511e-01 8.47263966e-02 3.07449087e-03 9.89988964e+01] [-8.47259949e-02 9.96404254e-01 -2.60920006e-04 -5.20627928e+00] [-3.08554260e-03 -5.08731206e-07 9.99995240e-01 -3.79032576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters Centerline goodness : 0.992742 with order 1 Centerline is valid? [True, True] Translation: X:99.06, Y:-5.21, Z:-0.38 [[ 9.96244995e-01 8.65243116e-02 3.07448485e-03 9.90586342e+01] [-8.65239182e-02 9.96249740e-01 -2.60991021e-04 -5.21256727e+00] [-3.08553680e-03 -6.00547663e-06 9.99995240e-01 -3.80510753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters Centerline goodness : 0.992901 with order 1 Centerline is valid? [True, True] Translation: X:99.12, Y:-5.22, Z:-0.38 [[ 9.96315414e-01 8.57096406e-02 3.07448485e-03 9.91192987e+01] [-8.57092433e-02 9.96320158e-01 -2.60991021e-04 -5.22021526e+00] [-3.08554068e-03 -3.48239213e-06 9.99995240e-01 -3.81370329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters Centerline goodness : 0.987556 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-5.23, Z:-0.37 [[ 9.96185691e-01 8.72044575e-02 3.07447883e-03 9.91801179e+01] [-8.72040671e-02 9.96190435e-01 -2.61061844e-04 -5.22687342e+00] [-3.08553216e-03 -8.04098540e-06 9.99995240e-01 -3.70079576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters Centerline goodness : 0.993642 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:-5.23, Z:-0.38 [[ 9.96044378e-01 8.88039637e-02 3.07447268e-03 9.92405367e+01] [-8.88035807e-02 9.96049123e-01 -2.61134244e-04 -5.23275003e+00] [-3.08551558e-03 -1.29228872e-05 9.99995240e-01 -3.79741435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:99.30, Y:-5.24, Z:-0.38 [[ 9.95634893e-01 9.32829409e-02 3.07445844e-03 9.93010198e+01] [-9.32825787e-02 9.95639640e-01 -2.61301883e-04 -5.23921005e+00] [-3.08542770e-03 -2.66321388e-05 9.99995240e-01 -3.78451152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters Centerline goodness : 0.994204 with order 1 Centerline is valid? [True, True] Translation: X:99.36, Y:-5.24, Z:-0.38 [[ 9.95406770e-01 9.56865201e-02 3.07445844e-03 9.93610684e+01] [-9.56861693e-02 9.95411517e-01 -2.61301883e-04 -5.24345880e+00] [-3.08535440e-03 -3.40814873e-05 9.99995240e-01 -3.84235030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters Centerline goodness : 0.993646 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:-5.25, Z:-0.38 [[ 9.95318645e-01 9.65988754e-02 3.07445551e-03 9.94215238e+01] [-9.65985290e-02 9.95323393e-01 -2.61336332e-04 -5.24837565e+00] [-3.08532228e-03 -3.68749555e-05 9.99995240e-01 -3.80953042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters Centerline goodness : 0.992445 with order 1 Centerline is valid? [True, True] Translation: X:99.48, Y:-5.25, Z:-0.37 [[ 9.94758541e-01 1.02205641e-01 3.07445551e-03 9.94815838e+01] [-1.02205321e-01 9.94763290e-01 -2.61336332e-04 -5.25010728e+00] [-3.08506552e-03 -5.42591643e-05 9.99995240e-01 -3.74389436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters Centerline goodness : 0.993347 with order 1 Centerline is valid? [True, True] Translation: X:99.54, Y:-5.25, Z:-0.38 [[ 9.94508159e-01 1.04613905e-01 3.07446146e-03 9.95409909e+01] [-1.04613597e-01 9.94512909e-01 -2.61266272e-04 -5.25065326e+00] [-3.08492370e-03 -6.17990322e-05 9.99995240e-01 -3.79223676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:-5.25, Z:-0.38 [[ 9.95012792e-01 9.97000061e-02 3.07446762e-03 9.96014187e+01] [-9.96996748e-02 9.95017541e-01 -2.61193749e-04 -5.25430811e+00] [-3.08519023e-03 -4.66323008e-05 9.99995240e-01 -3.76651786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters Centerline goodness : 0.993506 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:-5.26, Z:-0.38 [[ 9.95532721e-01 9.43670964e-02 3.07446762e-03 9.96623564e+01] [-9.43667398e-02 9.95537468e-01 -2.61193749e-04 -5.26110486e+00] [-3.08539581e-03 -3.01005624e-05 9.99995240e-01 -3.80546228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:-5.27, Z:-0.38 [[ 9.95926685e-01 9.01142926e-02 3.07446156e-03 9.97225651e+01] [-9.01139154e-02 9.95931430e-01 -2.61265122e-04 -5.26985430e+00] [-3.08549662e-03 -1.68508622e-05 9.99995240e-01 -3.83580351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters Centerline goodness : 0.993262 with order 1 Centerline is valid? [True, True] Translation: X:99.78, Y:-5.28, Z:-0.38 [[ 9.95900331e-01 9.04050818e-02 3.07445854e-03 9.97826476e+01] [-9.04047060e-02 9.95905076e-01 -2.61300645e-04 -5.27725919e+00] [-3.08549177e-03 -1.77161218e-05 9.99995240e-01 -3.79223794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters Centerline goodness : 0.993775 with order 1 Centerline is valid? [True, True] Translation: X:99.84, Y:-5.29, Z:-0.38 [[ 9.95880643e-01 9.06217057e-02 3.07445555e-03 9.98431222e+01] [-9.06213307e-02 9.95885388e-01 -2.61335755e-04 -5.29166855e+00] [-3.08548805e-03 -1.83520339e-05 9.99995240e-01 -3.83350089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters Centerline goodness : 0.993785 with order 1 Centerline is valid? [True, True] Translation: X:99.90, Y:-5.30, Z:-0.38 [[ 9.95775890e-01 9.17656013e-02 3.07444933e-03 9.99034260e+01] [-9.17652316e-02 9.95780635e-01 -2.61408940e-04 -5.30187982e+00] [-3.08546546e-03 -2.18228353e-05 9.99995240e-01 -3.79089946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters Centerline goodness : 0.993395 with order 1 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.31, Z:-0.38 [[ 9.95526725e-01 9.44303275e-02 3.07444309e-03 9.99638771e+01] [-9.44299703e-02 9.95531472e-01 -2.61482345e-04 -5.31275337e+00] [-3.08539672e-03 -3.00069065e-05 9.99995240e-01 -3.82358022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters Centerline goodness : 0.994359 with order 1 Centerline is valid? [True, True] Translation: X:100.02, Y:-5.32, Z:-0.38 [[ 9.95240096e-01 9.74048195e-02 3.07443676e-03 1.00023413e+02] [-9.74044762e-02 9.95244844e-01 -2.61556705e-04 -5.31965024e+00] [-3.08529422e-03 -3.91521822e-05 9.99995240e-01 -3.83183817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters Centerline goodness : 0.992847 with order 1 Centerline is valid? [True, True] Translation: X:100.08, Y:-5.33, Z:-0.38 [[ 9.95148992e-01 9.83312339e-02 3.07442216e-03 1.00084152e+02] [-9.83308945e-02 9.95153740e-01 -2.61728169e-04 -5.32816661e+00] [-3.08525877e-03 -4.18521583e-05 9.99995240e-01 -3.81332941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters Centerline goodness : 0.992351 with order 1 Centerline is valid? [True, True] Translation: X:100.14, Y:-5.33, Z:-0.38 [[ 9.94748633e-01 1.02302031e-01 3.07438259e-03 1.00144982e+02] [-1.02301709e-01 9.94753382e-01 -2.62192187e-04 -5.32910935e+00] [-3.08507527e-03 -5.36992730e-05 9.99995240e-01 -3.81090231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters Centerline goodness : 0.992842 with order 1 Centerline is valid? [True, True] Translation: X:100.21, Y:-5.33, Z:-0.38 [[ 9.94526725e-01 1.04437262e-01 3.07437959e-03 1.00205964e+02] [-1.04436950e-01 9.94531475e-01 -2.62227429e-04 -5.33084910e+00] [-3.08495358e-03 -6.02866401e-05 9.99995240e-01 -3.80892842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters Centerline goodness : 0.993072 with order 1 Centerline is valid? [True, True] Translation: X:100.27, Y:-5.33, Z:-0.38 [[ 9.94339641e-01 1.06203707e-01 3.07437351e-03 1.00267742e+02] [-1.06203403e-01 9.94344391e-01 -2.62298673e-04 -5.32769492e+00] [-3.08484315e-03 -6.56949600e-05 9.99995240e-01 -3.82514269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters Centerline goodness : 0.993452 with order 1 Centerline is valid? [True, True] Translation: X:100.33, Y:-5.33, Z:-0.38 [[ 9.94420388e-01 1.05444963e-01 3.07436738e-03 1.00328497e+02] [-1.05444656e-01 9.94425138e-01 -2.62370505e-04 -5.32705490e+00] [-3.08489385e-03 -6.32690310e-05 9.99995240e-01 -3.83307654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:100.39, Y:-5.32, Z:-0.38 [[ 9.94381573e-01 1.05810377e-01 3.07436738e-03 1.00388614e+02] [-1.05810071e-01 9.94386323e-01 -2.62370505e-04 -5.32325466e+00] [-3.08487039e-03 -6.44026357e-05 9.99995240e-01 -3.81435007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters Centerline goodness : 0.993513 with order 1 Centerline is valid? [True, True] Translation: X:100.45, Y:-5.32, Z:-0.39 [[ 9.94241213e-01 1.07121234e-01 3.07437357e-03 1.00448305e+02] [-1.07120935e-01 9.94245964e-01 -2.62297944e-04 -5.31849188e+00] [-3.08478119e-03 -6.85423457e-05 9.99995240e-01 -3.85166863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:-5.32, Z:-0.39 [[ 9.94562258e-01 1.04098338e-01 3.07438275e-03 1.00508289e+02] [-1.04098025e-01 9.94567008e-01 -2.62190320e-04 -5.31507490e+00] [-3.08497322e-03 -5.92725741e-05 9.99995240e-01 -3.85382263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:100.57, Y:-5.31, Z:-0.38 [[ 9.95168633e-01 9.81322555e-02 3.07438898e-03 1.00567568e+02] [-9.81319139e-02 9.95173381e-01 -2.62117181e-04 -5.31203385e+00] [-3.08527223e-03 -4.08448779e-05 9.99995240e-01 -3.82190187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:-5.31, Z:-0.39 [[ 9.95726846e-01 9.22962449e-02 3.07439824e-03 1.00626390e+02] [-9.22958758e-02 9.95731592e-01 -2.62008522e-04 -5.31434647e+00] [-3.08545786e-03 -2.28653595e-05 9.99995240e-01 -3.87067747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters Centerline goodness : 0.994754 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:-5.32, Z:-0.39 [[ 9.95956502e-01 8.97841541e-02 3.07440731e-03 1.00685879e+02] [-8.97837734e-02 9.95961247e-01 -2.61902073e-04 -5.31543874e+00] [-3.08550519e-03 -1.51888172e-05 9.99995240e-01 -3.86835438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters Centerline goodness : 0.994441 with order 1 Centerline is valid? [True, True] Translation: X:100.74, Y:-5.32, Z:-0.39 [[ 9.95992291e-01 8.93862600e-02 3.07441328e-03 1.00744211e+02] [-8.93858776e-02 9.95997036e-01 -2.61832032e-04 -5.31774120e+00] [-3.08551070e-03 -1.40264431e-05 9.99995240e-01 -3.85394056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters Centerline goodness : 0.993871 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:-5.32, Z:-0.38 [[ 9.96353783e-01 8.52624576e-02 3.07442210e-03 1.00804017e+02] [-8.52620559e-02 9.96358526e-01 -2.61728319e-04 -5.32220039e+00] [-3.08554228e-03 -1.35754820e-06 9.99995240e-01 -3.83398120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:-5.33, Z:-0.38 [[ 9.96657023e-01 8.16414533e-02 3.07442809e-03 1.00863882e+02] [-8.16410346e-02 9.96661765e-01 -2.61658038e-04 -5.32743390e+00] [-3.08552706e-03 9.78383180e-06 9.99995240e-01 -3.84129736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters Centerline goodness : 0.994051 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:-5.33, Z:-0.38 [[ 9.96783735e-01 8.00795460e-02 3.07443422e-03 1.00923633e+02] [-8.00791201e-02 9.96788476e-01 -2.61585931e-04 -5.33414920e+00] [-3.08550829e-03 1.45466142e-05 9.99995240e-01 -3.84553580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters Centerline goodness : 0.994874 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:-5.34, Z:-0.39 [[ 9.96367327e-01 8.51040344e-02 3.07443422e-03 1.00983461e+02] [-8.51036324e-02 9.96372071e-01 -2.61585931e-04 -5.33979128e+00] [-3.08554241e-03 -1.00984464e-06 9.99995240e-01 -3.87667229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:-5.34, Z:-0.39 [[ 9.95710963e-01 9.24674303e-02 3.07444046e-03 1.01041799e+02] [-9.24670636e-02 9.95715709e-01 -2.61512550e-04 -5.34455412e+00] [-3.08545006e-03 -2.38935692e-05 9.99995240e-01 -3.89680848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters Centerline goodness : 0.995462 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:-5.35, Z:-0.39 [[ 9.95472275e-01 9.50026208e-02 3.07444973e-03 1.01100576e+02] [-9.50022666e-02 9.95477022e-01 -2.61403594e-04 -5.34884262e+00] [-3.08537808e-03 -3.18596621e-05 9.99995240e-01 -3.90605218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters Centerline goodness : 0.995195 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:-5.35, Z:-0.39 [[ 9.95344784e-01 9.63291662e-02 3.07446202e-03 1.01158844e+02] [-9.63288187e-02 9.95349532e-01 -2.61258986e-04 -5.35406529e+00] [-3.08533119e-03 -3.61165253e-05 9.99995240e-01 -3.88639142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters Centerline goodness : 0.994811 with order 1 Centerline is valid? [True, True] Translation: X:101.22, Y:-5.36, Z:-0.39 [[ 9.95390576e-01 9.58548291e-02 3.07447433e-03 1.01217777e+02] [-9.58544798e-02 9.95395324e-01 -2.61113936e-04 -5.35539513e+00] [-3.08534641e-03 -3.47917866e-05 9.99995240e-01 -3.88664424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters Centerline goodness : 0.995324 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:-5.36, Z:-0.39 [[ 9.95489121e-01 9.48259373e-02 3.07448688e-03 1.01275184e+02] [-9.48255836e-02 9.95493868e-01 -2.60966130e-04 -5.35704309e+00] [-3.08537919e-03 -3.17510694e-05 9.99995240e-01 -3.89271628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:-5.36, Z:-0.39 [[ 9.95683115e-01 9.27668147e-02 3.07450445e-03 1.01333506e+02] [-9.27664517e-02 9.95687861e-01 -2.60758934e-04 -5.35879211e+00] [-3.08543654e-03 -2.55776012e-05 9.99995240e-01 -3.86761204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters Centerline goodness : 0.994655 with order 1 Centerline is valid? [True, True] Translation: X:101.39, Y:-5.37, Z:-0.39 [[ 9.96184458e-01 8.72185350e-02 3.07451357e-03 1.01392419e+02] [-8.72181459e-02 9.96189202e-01 -2.60651343e-04 -5.36691578e+00] [-3.08553085e-03 -8.49655677e-06 9.99995240e-01 -3.85196058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:-5.38, Z:-0.38 [[ 9.96642672e-01 8.18164475e-02 3.07451980e-03 1.01451885e+02] [-8.18160329e-02 9.96647415e-01 -2.60577846e-04 -5.37677943e+00] [-3.08553177e-03 8.15798733e-06 9.99995240e-01 -3.83955466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:101.51, Y:-5.39, Z:-0.39 [[ 9.96771184e-01 8.02356118e-02 3.07452597e-03 1.01510477e+02] [-8.02351900e-02 9.96775926e-01 -2.60505085e-04 -5.38784683e+00] [-3.08551525e-03 1.29787868e-05 9.99995240e-01 -3.88904806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters Centerline goodness : 0.995462 with order 1 Centerline is valid? [True, True] Translation: X:101.57, Y:-5.40, Z:-0.39 [[ 9.96756012e-01 8.04238765e-02 3.07452903e-03 1.01570744e+02] [-8.04234557e-02 9.96760754e-01 -2.60469006e-04 -5.39870328e+00] [-3.08551780e-03 1.23597985e-05 9.99995240e-01 -3.91825197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters Centerline goodness : 0.994692 with order 1 Centerline is valid? [True, True] Translation: X:101.63, Y:-5.41, Z:-0.39 [[ 9.96730443e-01 8.07401498e-02 3.07452903e-03 1.01629869e+02] [-8.07397305e-02 9.96735185e-01 -2.60469006e-04 -5.40847357e+00] [-3.08552156e-03 1.13807425e-05 9.99995240e-01 -3.89344017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:101.69, Y:-5.42, Z:-0.39 [[ 9.96737083e-01 8.06581370e-02 3.07453204e-03 1.01688693e+02] [-8.06577174e-02 9.96741825e-01 -2.60433459e-04 -5.41553302e+00] [-3.08552075e-03 1.15989497e-05 9.99995240e-01 -3.89983952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters Centerline goodness : 0.995901 with order 1 Centerline is valid? [True, True] Translation: X:101.75, Y:-5.42, Z:-0.39 [[ 9.96739022e-01 8.06341696e-02 3.07453501e-03 1.01748903e+02] [-8.06337499e-02 9.96743764e-01 -2.60398355e-04 -5.42285198e+00] [-3.08552060e-03 1.16379144e-05 9.99995240e-01 -3.94917296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:101.81, Y:-5.43, Z:-0.39 [[ 9.96732755e-01 8.07116027e-02 3.07453501e-03 1.01808139e+02] [-8.07111834e-02 9.96737497e-01 -2.60398355e-04 -5.42972874e+00] [-3.08552150e-03 1.13982105e-05 9.99995240e-01 -3.89036884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:101.87, Y:-5.44, Z:-0.39 [[ 9.96580375e-01 8.25718047e-02 3.07453794e-03 1.01867328e+02] [-8.25713944e-02 9.96585118e-01 -2.60363785e-04 -5.43729800e+00] [-3.08553746e-03 5.60455373e-06 9.99995240e-01 -3.88636472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters Centerline goodness : 0.995477 with order 1 Centerline is valid? [True, True] Translation: X:101.93, Y:-5.45, Z:-0.40 [[ 9.96421833e-01 8.44634654e-02 3.07453474e-03 1.01927349e+02] [-8.44630640e-02 9.96426577e-01 -2.60401489e-04 -5.44544244e+00] [-3.08554254e-03 -2.14895157e-07 9.99995240e-01 -3.95164947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:101.99, Y:-5.45, Z:-0.39 [[ 9.96354278e-01 8.52566670e-02 3.07453474e-03 1.01987137e+02] [-8.52562694e-02 9.96359022e-01 -2.60401489e-04 -5.45443936e+00] [-3.08554139e-03 -2.67122424e-06 9.99995240e-01 -3.87925046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:102.05, Y:-5.46, Z:-0.39 [[ 9.96158873e-01 8.75102710e-02 3.07453474e-03 1.02046417e+02] [-8.75098841e-02 9.96163617e-01 -2.60401489e-04 -5.46228516e+00] [-3.08552746e-03 -9.65092489e-06 9.99995240e-01 -3.92272028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:102.11, Y:-5.47, Z:-0.40 [[ 9.95691843e-01 9.26730856e-02 3.07453773e-03 1.02106512e+02] [-9.26727234e-02 9.95696590e-01 -2.60366263e-04 -5.46862370e+00] [-3.08543567e-03 -2.56812202e-05 9.99995240e-01 -3.96381088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:-5.47, Z:-0.39 [[ 9.95063429e-01 9.91933398e-02 3.07453773e-03 1.02165821e+02] [-9.91930087e-02 9.95068178e-01 -2.60366263e-04 -5.47307655e+00] [-3.08520125e-03 -4.58917010e-05 9.99995240e-01 -3.89745633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters Centerline goodness : 0.993795 with order 1 Centerline is valid? [True, True] Translation: X:102.22, Y:-5.48, Z:-0.39 [[ 9.94731280e-01 1.02470619e-01 3.07454358e-03 1.02224966e+02] [-1.02470304e-01 9.94736030e-01 -2.60297122e-04 -5.47688432e+00] [-3.08503208e-03 -5.61237245e-05 9.99995240e-01 -3.88649426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters Centerline goodness : 0.994227 with order 1 Centerline is valid? [True, True] Translation: X:102.28, Y:-5.48, Z:-0.39 [[ 9.94724982e-01 1.02531733e-01 3.07454935e-03 1.02283216e+02] [-1.02531419e-01 9.94729732e-01 -2.60228918e-04 -5.48149731e+00] [-3.08502738e-03 -5.63817008e-05 9.99995240e-01 -3.91017400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:102.34, Y:-5.48, Z:-0.39 [[ 9.94677415e-01 1.02992174e-01 3.07455790e-03 1.02343063e+02] [-1.02991861e-01 9.94682165e-01 -2.60127898e-04 -5.48299809e+00] [-3.08499905e-03 -5.79110964e-05 9.99995240e-01 -3.87638377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters Centerline goodness : 0.994330 with order 1 Centerline is valid? [True, True] Translation: X:102.40, Y:-5.48, Z:-0.39 [[ 9.94504575e-01 1.04647970e-01 3.07456332e-03 1.02402184e+02] [-1.04647665e-01 9.94509325e-01 -2.60063875e-04 -5.48355670e+00] [-3.08489705e-03 -6.31111595e-05 9.99995240e-01 -3.86927791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters Centerline goodness : 0.994669 with order 1 Centerline is valid? [True, True] Translation: X:102.46, Y:-5.48, Z:-0.39 [[ 9.94052186e-01 1.08861371e-01 3.07457414e-03 1.02461588e+02] [-1.08861088e-01 9.94056938e-01 -2.59935851e-04 -5.47717661e+00] [-3.08459873e-03 -7.63116838e-05 9.99995240e-01 -3.90965183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters Centerline goodness : 0.994232 with order 1 Centerline is valid? [True, True] Translation: X:102.52, Y:-5.47, Z:-0.39 [[ 9.94135623e-01 1.08096761e-01 3.07458522e-03 1.02521238e+02] [-1.08096474e-01 9.94140375e-01 -2.59804770e-04 -5.47124073e+00] [-3.08465335e-03 -7.40706429e-05 9.99995240e-01 -3.89910908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters Centerline goodness : 0.993365 with order 1 Centerline is valid? [True, True] Translation: X:102.58, Y:-5.47, Z:-0.39 [[ 9.94744023e-01 1.02346837e-01 3.07459622e-03 1.02579296e+02] [-1.02346523e-01 9.94748773e-01 -2.59674440e-04 -5.46628779e+00] [-3.08502768e-03 -5.63646353e-05 9.99995240e-01 -3.89243154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters Centerline goodness : 0.994296 with order 1 Centerline is valid? [True, True] Translation: X:102.64, Y:-5.47, Z:-0.39 [[ 9.95678466e-01 9.28167013e-02 3.07460982e-03 1.02638479e+02] [-9.28163424e-02 9.95683212e-01 -2.59513296e-04 -5.46599400e+00] [-3.08542455e-03 -2.69822382e-05 9.99995240e-01 -3.91810622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:-5.47, Z:-0.39 [[ 9.96476811e-01 8.38123578e-02 3.07462064e-03 1.02698200e+02] [-8.38119565e-02 9.96481555e-01 -2.59385073e-04 -5.46791078e+00] [-3.08554243e-03 7.81238634e-07 9.99995240e-01 -3.87306049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters Centerline goodness : 0.994883 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:-5.47, Z:-0.39 [[ 9.96866949e-01 7.90369071e-02 3.07462671e-03 1.02757012e+02] [-7.90364832e-02 9.96871690e-01 -2.59313130e-04 -5.47328264e+00] [-3.08550363e-03 1.54930062e-05 9.99995240e-01 -3.93572702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-5.48, Z:-0.40 [[ 9.97084541e-01 7.62428000e-02 3.07463566e-03 1.02816108e+02] [-7.62423632e-02 9.97089281e-01 -2.59206947e-04 -5.48041640e+00] [-3.08544893e-03 2.40337507e-05 9.99995240e-01 -4.01231279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters Centerline goodness : 0.993959 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-5.49, Z:-0.39 [[ 9.96977306e-01 7.76324490e-02 3.07464103e-03 1.02875692e+02] [-7.76320189e-02 9.96982047e-01 -2.59143207e-04 -5.48796150e+00] [-3.08547983e-03 1.96693059e-05 9.99995240e-01 -3.93188076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-5.50, Z:-0.39 [[ 9.96806280e-01 7.97984176e-02 3.07464708e-03 1.02935218e+02] [-7.97979981e-02 9.96811021e-01 -2.59071392e-04 -5.49675859e+00] [-3.08551559e-03 1.28933085e-05 9.99995240e-01 -3.90548572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters Centerline goodness : 0.992415 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:-5.50, Z:-0.39 [[ 9.96714408e-01 8.09378478e-02 3.07465311e-03 1.02993882e+02] [-8.09374339e-02 9.96719150e-01 -2.58999808e-04 -5.50230678e+00] [-3.08552853e-03 9.29430715e-06 9.99995240e-01 -3.90052912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters Centerline goodness : 0.993228 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:-5.51, Z:-0.39 [[ 9.96270400e-01 8.62313003e-02 3.07466207e-03 1.03053785e+02] [-8.62309119e-02 9.96275144e-01 -2.58893502e-04 -5.50668417e+00] [-3.08553412e-03 -7.20298132e-06 9.99995240e-01 -3.90636260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:-5.51, Z:-0.39 [[ 9.95634614e-01 9.32859173e-02 3.07466801e-03 1.03111455e+02] [-9.32855628e-02 9.95639361e-01 -2.58822864e-04 -5.50717976e+00] [-3.08540502e-03 -2.91291335e-05 9.99995240e-01 -3.93880128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:-5.51, Z:-0.39 [[ 9.95497125e-01 9.47418655e-02 3.07468275e-03 1.03169452e+02] [-9.47415185e-02 9.95501872e-01 -2.58647687e-04 -5.50863511e+00] [-3.08535720e-03 -3.38170835e-05 9.99995240e-01 -3.92381421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:103.23, Y:-5.51, Z:-0.39 [[ 9.96042350e-01 8.88267008e-02 3.07469936e-03 1.03228048e+02] [-8.88263262e-02 9.96047096e-01 -2.58450042e-04 -5.51267650e+00] [-3.08550263e-03 -1.56870611e-05 9.99995240e-01 -3.89611896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters Centerline goodness : 0.993398 with order 1 Centerline is valid? [True, True] Translation: X:103.29, Y:-5.52, Z:-0.39 [[ 9.96701428e-01 8.10975257e-02 3.07471092e-03 1.03287661e+02] [-8.10971147e-02 9.96706171e-01 -2.58312467e-04 -5.51976705e+00] [-3.08553185e-03 8.11022045e-06 9.99995240e-01 -3.90127431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters Centerline goodness : 0.993576 with order 1 Centerline is valid? [True, True] Translation: X:103.35, Y:-5.53, Z:-0.39 [[ 9.97179229e-01 7.49942086e-02 3.07471664e-03 1.03346751e+02] [-7.49937688e-02 9.97183969e-01 -2.58244317e-04 -5.52799931e+00] [-3.08542497e-03 2.69312802e-05 9.99995240e-01 -3.93790414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters Centerline goodness : 0.993186 with order 1 Centerline is valid? [True, True] Translation: X:103.41, Y:-5.54, Z:-0.39 [[ 9.97457394e-01 7.11989694e-02 3.07472227e-03 1.03405596e+02] [-7.11985117e-02 9.97462132e-01 -2.58177307e-04 -5.53766273e+00] [-3.08530099e-03 3.86052137e-05 9.99995240e-01 -3.87660794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters Centerline goodness : 0.988055 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:-5.55, Z:-0.38 [[ 9.97514906e-01 7.03886275e-02 3.07472783e-03 1.03464255e+02] [-7.03881662e-02 9.97519644e-01 -2.58111064e-04 -5.54599750e+00] [-3.08526949e-03 4.10451798e-05 9.99995240e-01 -3.78034229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters Centerline goodness : 0.993127 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:-5.56, Z:-0.39 [[ 9.97528866e-01 7.01905048e-02 3.07473057e-03 1.03523873e+02] [-7.01900427e-02 9.97533604e-01 -2.58078389e-04 -5.55586680e+00] [-3.08526172e-03 4.16251728e-05 9.99995240e-01 -3.89106441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:103.58, Y:-5.57, Z:-0.39 [[ 9.97913287e-01 6.44950997e-02 3.07473057e-03 1.03584948e+02] [-6.44946105e-02 9.97918022e-01 -2.58078389e-04 -5.56518685e+00] [-3.08497384e-03 5.92363029e-05 9.99995240e-01 -3.90533028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters Centerline goodness : 0.993136 with order 1 Centerline is valid? [True, True] Translation: X:103.64, Y:-5.58, Z:-0.40 [[ 9.98186941e-01 6.01113697e-02 3.07472463e-03 1.03644050e+02] [-6.01108595e-02 9.98191674e-01 -2.58149241e-04 -5.57945518e+00] [-3.08468223e-03 7.28568616e-05 9.99995240e-01 -3.96396575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters Centerline goodness : 0.992306 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:-5.59, Z:-0.39 [[ 9.98185820e-01 6.01299884e-02 3.07472168e-03 1.03704672e+02] [-6.01294782e-02 9.98190553e-01 -2.58184364e-04 -5.59291743e+00] [-3.08468275e-03 7.28345613e-05 9.99995240e-01 -3.94093128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:-5.61, Z:-0.39 [[ 9.97929974e-01 6.42363801e-02 3.07471578e-03 1.03765137e+02] [-6.42358892e-02 9.97934709e-01 -2.58254560e-04 -5.60559195e+00] [-3.08495494e-03 6.02128642e-05 9.99995240e-01 -3.92439130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:-5.62, Z:-0.40 [[ 9.97676029e-01 6.80667938e-02 3.07467775e-03 1.03826001e+02] [-6.80663196e-02 9.97680765e-01 -2.58706534e-04 -5.61965852e+00] [-3.08515618e-03 4.88233086e-05 9.99995240e-01 -3.95669276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters Centerline goodness : 0.991743 with order 1 Centerline is valid? [True, True] Translation: X:103.89, Y:-5.63, Z:-0.39 [[ 9.97396904e-01 7.20413933e-02 3.07466633e-03 1.03887534e+02] [-7.20409376e-02 9.97401642e-01 -2.58842182e-04 -5.63371316e+00] [-3.08532460e-03 3.66665456e-05 9.99995240e-01 -3.89259850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters Centerline goodness : 0.992713 with order 1 Centerline is valid? [True, True] Translation: X:103.95, Y:-5.65, Z:-0.39 [[ 9.96866513e-01 7.90424077e-02 3.07462358e-03 1.03948793e+02] [-7.90419837e-02 9.96871254e-01 -2.59348955e-04 -5.64631073e+00] [-3.08550343e-03 1.55119410e-05 9.99995240e-01 -3.90145501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters Centerline goodness : 0.992262 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:-5.65, Z:-0.39 [[ 9.95969797e-01 8.96365507e-02 3.07458117e-03 1.04009363e+02] [-8.96361756e-02 9.95974542e-01 -2.59850756e-04 -5.65429634e+00] [-3.08549670e-03 -1.67901936e-05 9.99995240e-01 -3.92080086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters Centerline goodness : 0.992345 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:-5.66, Z:-0.39 [[ 9.94933177e-01 1.00491393e-01 3.07457505e-03 1.04069011e+02] [-1.00491070e-01 9.94937926e-01 -2.59923219e-04 -5.66026073e+00] [-3.08513137e-03 -5.03611012e-05 9.99995240e-01 -3.87972288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:-5.66, Z:-0.39 [[ 9.94391728e-01 1.05714892e-01 3.07457213e-03 1.04129852e+02] [-1.05714593e-01 9.94396479e-01 -2.59957742e-04 -5.66454698e+00] [-3.08482510e-03 -6.65273127e-05 9.99995240e-01 -3.88190142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters Centerline goodness : 0.991842 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:-5.67, Z:-0.39 [[ 9.93895079e-01 1.10286531e-01 3.07456600e-03 1.04189469e+02] [-1.10286254e-01 9.93899831e-01 -2.60030209e-04 -5.66984524e+00] [-3.08448846e-03 -8.06396215e-05 9.99995240e-01 -3.85299485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters Centerline goodness : 0.992302 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:-5.68, Z:-0.39 [[ 9.93801207e-01 1.11129239e-01 3.07455081e-03 1.04250234e+02] [-1.11128965e-01 9.93805960e-01 -2.60209646e-04 -5.67510709e+00] [-3.08442382e-03 -8.30749888e-05 9.99995240e-01 -3.87169958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters Centerline goodness : 0.991491 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:-5.68, Z:-0.39 [[ 9.93427246e-01 1.14424014e-01 3.07454471e-03 1.04310985e+02] [-1.14423756e-01 9.93431999e-01 -2.60281724e-04 -5.67794349e+00] [-3.08413358e-03 -9.32299983e-05 9.99995240e-01 -3.92323751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters Centerline goodness : 0.993049 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:-5.68, Z:-0.39 [[ 9.92674187e-01 1.20782889e-01 3.07454471e-03 1.04370690e+02] [-1.20782661e-01 9.92678942e-01 -2.60281724e-04 -5.67657891e+00] [-3.08347337e-03 -1.12976743e-04 9.99995240e-01 -3.92933512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters Centerline goodness : 0.993453 with order 1 Centerline is valid? [True, True] Translation: X:104.43, Y:-5.67, Z:-0.39 [[ 9.92113079e-01 1.25308362e-01 3.07454131e-03 1.04430777e+02] [-1.25308156e-01 9.92117835e-01 -2.60321857e-04 -5.67258648e+00] [-3.08292778e-03 -1.26996383e-04 9.99995240e-01 -3.92493370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters Centerline goodness : 0.993219 with order 1 Centerline is valid? [True, True] Translation: X:104.49, Y:-5.67, Z:-0.39 [[ 9.92358833e-01 1.23347043e-01 3.07454736e-03 1.04491384e+02] [-1.23346828e-01 9.92363589e-01 -2.60250383e-04 -5.66752183e+00] [-3.08316997e-03 -1.20973898e-04 9.99995240e-01 -3.91463082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters Centerline goodness : 0.993469 with order 1 Centerline is valid? [True, True] Translation: X:104.55, Y:-5.66, Z:-0.39 [[ 9.93062038e-01 1.17551417e-01 3.07455363e-03 1.04550506e+02] [-1.17551174e-01 9.93066792e-01 -2.60176303e-04 -5.66391035e+00] [-3.08382121e-03 -1.03046180e-04 9.99995240e-01 -3.92994264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters Centerline goodness : 0.993364 with order 1 Centerline is valid? [True, True] Translation: X:104.61, Y:-5.66, Z:-0.39 [[ 9.93504331e-01 1.13752764e-01 3.07456296e-03 1.04608251e+02] [-1.13752504e-01 9.93509084e-01 -2.60066057e-04 -5.66386852e+00] [-3.08418946e-03 -9.13624800e-05 9.99995240e-01 -3.92944330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:104.67, Y:-5.67, Z:-0.39 [[ 9.94428068e-01 1.05372505e-01 3.07457763e-03 1.04667810e+02] [-1.05372205e-01 9.94432819e-01 -2.59892455e-04 -5.66501906e+00] [-3.08484642e-03 -6.55306717e-05 9.99995240e-01 -3.88749851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:104.73, Y:-5.67, Z:-0.39 [[ 9.94683332e-01 1.02935006e-01 3.07458356e-03 1.04727659e+02] [-1.02934695e-01 9.94688082e-01 -2.59822350e-04 -5.67062983e+00] [-3.08499644e-03 -5.80403588e-05 9.99995240e-01 -3.88677912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters Centerline goodness : 0.994504 with order 1 Centerline is valid? [True, True] Translation: X:104.79, Y:-5.67, Z:-0.39 [[ 9.94535667e-01 1.04352066e-01 3.07458967e-03 1.04786524e+02] [-1.04351762e-01 9.94540418e-01 -2.59750045e-04 -5.67349231e+00] [-3.08490914e-03 -6.25081637e-05 9.99995240e-01 -3.90229695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters Centerline goodness : 0.994675 with order 1 Centerline is valid? [True, True] Translation: X:104.85, Y:-5.68, Z:-0.39 [[ 9.94124508e-01 1.08198934e-01 3.07459610e-03 1.04845566e+02] [-1.08198648e-01 9.94129260e-01 -2.59673883e-04 -5.67670466e+00] [-3.08464238e-03 -7.45189690e-05 9.99995240e-01 -3.91503563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:-5.68, Z:-0.39 [[ 9.93767673e-01 1.11428713e-01 3.07460824e-03 1.04903087e+02] [-1.11428443e-01 9.93772426e-01 -2.59530043e-04 -5.67759564e+00] [-3.08437999e-03 -8.46862426e-05 9.99995240e-01 -3.92041637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters Centerline goodness : 0.994360 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:-5.68, Z:-0.39 [[ 9.93899680e-01 1.10245059e-01 3.07462325e-03 1.04961651e+02] [-1.10244784e-01 9.93904432e-01 -2.59352141e-04 -5.67791164e+00] [-3.08447396e-03 -8.11911667e-05 9.99995240e-01 -3.93715197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters Centerline goodness : 0.995662 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:-5.68, Z:-0.39 [[ 9.94002629e-01 1.09312942e-01 3.07463507e-03 1.05019581e+02] [-1.09312663e-01 9.94007382e-01 -2.59211839e-04 -5.67619423e+00] [-3.08454517e-03 -7.84392978e-05 9.99995240e-01 -3.94054910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:-5.68, Z:-0.39 [[ 9.93903688e-01 1.10208921e-01 3.07465083e-03 1.05078164e+02] [-1.10208647e-01 9.93908440e-01 -2.59024756e-04 -5.67587290e+00] [-3.08446825e-03 -8.14074489e-05 9.99995240e-01 -3.91740746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters Centerline goodness : 0.995504 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:-5.67, Z:-0.39 [[ 9.93586882e-01 1.13029443e-01 3.07466685e-03 1.05136965e+02] [-1.13029183e-01 9.93591635e-01 -2.58834573e-04 -5.67209613e+00] [-3.08421918e-03 -9.03524452e-05 9.99995240e-01 -3.93590401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters Centerline goodness : 0.994862 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-5.67, Z:-0.39 [[ 9.93552224e-01 1.13333683e-01 3.07468119e-03 1.05196252e+02] [-1.13333425e-01 9.93556978e-01 -2.58664054e-04 -5.66829381e+00] [-3.08418630e-03 -9.14679030e-05 9.99995240e-01 -3.89911778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters Centerline goodness : 0.993948 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:-5.67, Z:-0.39 [[ 9.94278297e-01 1.06776467e-01 3.07469259e-03 1.05255402e+02] [-1.06776178e-01 9.94283049e-01 -2.58528520e-04 -5.66781867e+00] [-3.08471948e-03 -7.12546247e-05 9.99995240e-01 -3.87314682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters Centerline goodness : 0.994560 with order 1 Centerline is valid? [True, True] Translation: X:105.31, Y:-5.67, Z:-0.39 [[ 9.94841368e-01 1.01396246e-01 3.07470389e-03 1.05313503e+02] [-1.01395932e-01 9.94846118e-01 -2.58394040e-04 -5.66804621e+00] [-3.08505741e-03 -5.47013859e-05 9.99995240e-01 -3.87139134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters Centerline goodness : 0.990827 with order 1 Centerline is valid? [True, True] Translation: X:105.37, Y:-5.67, Z:-0.38 [[ 9.95431943e-01 9.54242776e-02 3.07471908e-03 1.05371825e+02] [-9.54239352e-02 9.95436691e-01 -2.58213156e-04 -5.67317275e+00] [-3.08532799e-03 -3.63681706e-05 9.99995240e-01 -3.77692451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:105.43, Y:-5.68, Z:-0.39 [[ 9.96000415e-01 8.92956818e-02 3.07473020e-03 1.05429252e+02] [-8.92953106e-02 9.96005161e-01 -2.58080599e-04 -5.68144556e+00] [-3.08549264e-03 -1.75106045e-05 9.99995240e-01 -3.87034103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:105.49, Y:-5.69, Z:-0.39 [[ 9.96384631e-01 8.49011916e-02 3.07474393e-03 1.05487730e+02] [-8.49007999e-02 9.96389376e-01 -2.57916917e-04 -5.69187365e+00] [-3.08553964e-03 -4.06376730e-06 9.99995240e-01 -3.91576354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters Centerline goodness : 0.996383 with order 1 Centerline is valid? [True, True] Translation: X:105.55, Y:-5.70, Z:-0.40 [[ 9.96616998e-01 8.21285914e-02 3.07475483e-03 1.05546189e+02] [-8.21281870e-02 9.96621741e-01 -2.57786920e-04 -5.70164947e+00] [-3.08553919e-03 4.39078683e-06 9.99995240e-01 -3.97058326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters Centerline goodness : 0.996643 with order 1 Centerline is valid? [True, True] Translation: X:105.61, Y:-5.71, Z:-0.40 [[ 9.96769908e-01 8.02514606e-02 3.07476029e-03 1.05605077e+02] [-8.02510474e-02 9.96774650e-01 -2.57721780e-04 -5.71393534e+00] [-3.08552567e-03 1.01365804e-05 9.99995240e-01 -4.00199861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters Centerline goodness : 0.996332 with order 1 Centerline is valid? [True, True] Translation: X:105.66, Y:-5.73, Z:-0.39 [[ 9.96586258e-01 8.25007609e-02 3.07476566e-03 1.05663560e+02] [-8.25003586e-02 9.96591002e-01 -2.57657702e-04 -5.72953512e+00] [-3.08554075e-03 3.10885541e-06 9.99995240e-01 -3.94177421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters Centerline goodness : 0.995779 with order 1 Centerline is valid? [True, True] Translation: X:105.72, Y:-5.74, Z:-0.39 [[ 9.96376799e-01 8.49930604e-02 3.07477101e-03 1.05722490e+02] [-8.49926701e-02 9.96381543e-01 -2.57593859e-04 -5.74170424e+00] [-3.08553878e-03 -4.67245371e-06 9.99995240e-01 -3.91646912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:105.78, Y:-5.75, Z:-0.39 [[ 9.95914551e-01 9.02482880e-02 3.07477718e-03 1.05780373e+02] [-9.02479230e-02 9.95919297e-01 -2.57520201e-04 -5.75350477e+00] [-3.08547069e-03 -2.10241394e-05 9.99995240e-01 -3.89989991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters Centerline goodness : 0.995753 with order 1 Centerline is valid? [True, True] Translation: X:105.84, Y:-5.77, Z:-0.39 [[ 9.95329720e-01 9.64846802e-02 3.07478636e-03 1.05838976e+02] [-9.64843453e-02 9.95334469e-01 -2.57410578e-04 -5.76711659e+00] [-3.08527702e-03 -4.04603497e-05 9.99995240e-01 -3.88544746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters Centerline goodness : 0.995542 with order 1 Centerline is valid? [True, True] Translation: X:105.90, Y:-5.78, Z:-0.39 [[ 9.94663237e-01 1.03129002e-01 3.07479239e-03 1.05897590e+02] [-1.03128699e-01 9.94667987e-01 -2.57338523e-04 -5.77546513e+00] [-3.08493662e-03 -6.11341717e-05 9.99995240e-01 -3.90070433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters Centerline goodness : 0.995800 with order 1 Centerline is valid? [True, True] Translation: X:105.96, Y:-5.78, Z:-0.39 [[ 9.93689543e-01 1.12123317e-01 3.07480131e-03 1.05955769e+02] [-1.12123058e-01 9.93694296e-01 -2.57231872e-04 -5.77790690e+00] [-3.08425421e-03 -8.91475033e-05 9.99995240e-01 -3.91984400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters Centerline goodness : 0.995715 with order 1 Centerline is valid? [True, True] Translation: X:106.01, Y:-5.78, Z:-0.39 [[ 9.93027162e-01 1.17845668e-01 3.07481564e-03 1.06014829e+02] [-1.17845436e-01 9.93031916e-01 -2.57060475e-04 -5.77823103e+00] [-3.08368353e-03 -1.07084957e-04 9.99995240e-01 -3.90444757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters Centerline goodness : 0.995806 with order 1 Centerline is valid? [True, True] Translation: X:106.07, Y:-5.77, Z:-0.39 [[ 9.92373116e-01 1.23232078e-01 3.07482774e-03 1.06073451e+02] [-1.23231872e-01 9.92377871e-01 -2.56915669e-04 -5.76884263e+00] [-3.08305126e-03 -1.23960576e-04 9.99995240e-01 -3.89007897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters Centerline goodness : 0.995200 with order 1 Centerline is valid? [True, True] Translation: X:106.13, Y:-5.77, Z:-0.39 [[ 9.92806347e-01 1.19691701e-01 3.07484268e-03 1.06133125e+02] [-1.19691479e-01 9.92811102e-01 -2.56736696e-04 -5.76602178e+00] [-3.08346720e-03 -1.13142647e-04 9.99995240e-01 -3.90212881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters Centerline goodness : 0.995372 with order 1 Centerline is valid? [True, True] Translation: X:106.19, Y:-5.76, Z:-0.40 [[ 9.93788197e-01 1.11245512e-01 3.07485450e-03 1.06192675e+02] [-1.11245250e-01 9.93792951e-01 -2.56595035e-04 -5.76283591e+00] [-3.08431378e-03 -8.70618406e-05 9.99995240e-01 -3.95310248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters Centerline goodness : 0.995885 with order 1 Centerline is valid? [True, True] Translation: X:106.25, Y:-5.76, Z:-0.40 [[ 9.94584702e-01 1.03883666e-01 3.07486631e-03 1.06252303e+02] [-1.03883369e-01 9.94589453e-01 -2.56453451e-04 -5.76143336e+00] [-3.08487093e-03 -6.43627926e-05 9.99995240e-01 -3.96354036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters Centerline goodness : 0.995983 with order 1 Centerline is valid? [True, True] Translation: X:106.31, Y:-5.76, Z:-0.39 [[ 9.95345654e-01 9.63201670e-02 3.07487826e-03 1.06311451e+02] [-9.63198347e-02 9.95350402e-01 -2.56310151e-04 -5.76341267e+00] [-3.08526915e-03 -4.10545712e-05 9.99995240e-01 -3.91322940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters Centerline goodness : 0.996033 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:-5.77, Z:-0.39 [[ 9.96153490e-01 8.75715127e-02 3.07489020e-03 1.06370339e+02] [-8.75711392e-02 9.96158235e-01 -2.56166810e-04 -5.76952324e+00] [-3.08551011e-03 -1.40901761e-05 9.99995240e-01 -3.93541971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters Centerline goodness : 0.995899 with order 1 Centerline is valid? [True, True] Translation: X:106.43, Y:-5.78, Z:-0.39 [[ 9.96653162e-01 8.16885583e-02 3.07490218e-03 1.06429487e+02] [-8.16881572e-02 9.96657905e-01 -2.56022956e-04 -5.77736102e+00] [-3.08553971e-03 3.98299645e-06 9.99995240e-01 -3.93709067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters Centerline goodness : 0.996243 with order 1 Centerline is valid? [True, True] Translation: X:106.49, Y:-5.79, Z:-0.39 [[ 9.97018659e-01 7.70995314e-02 3.07490809e-03 1.06488505e+02] [-7.70991087e-02 9.97023401e-01 -2.55951877e-04 -5.78796486e+00] [-3.08548909e-03 1.81161236e-05 9.99995240e-01 -3.91366395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters Centerline goodness : 0.996136 with order 1 Centerline is valid? [True, True] Translation: X:106.55, Y:-5.80, Z:-0.39 [[ 9.97364327e-01 7.24909970e-02 3.07491393e-03 1.06547149e+02] [-7.24905526e-02 9.97369066e-01 -2.55881764e-04 -5.80052020e+00] [-3.08537316e-03 3.23051332e-05 9.99995240e-01 -3.92916836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters Centerline goodness : 0.996005 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:-5.81, Z:-0.39 [[ 9.97332883e-01 7.29223287e-02 3.07491681e-03 1.06606179e+02] [-7.29218865e-02 9.97337622e-01 -2.55847157e-04 -5.80763474e+00] [-3.08538719e-03 3.09360486e-05 9.99995240e-01 -3.92260465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters Centerline goodness : 0.996071 with order 1 Centerline is valid? [True, True] Translation: X:106.66, Y:-5.81, Z:-0.39 [[ 9.96874827e-01 7.89374737e-02 3.07492276e-03 1.06664746e+02] [-7.89370603e-02 9.96879569e-01 -2.55775611e-04 -5.81488226e+00] [-3.08551795e-03 1.22509047e-05 9.99995240e-01 -3.93343421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters Centerline goodness : 0.996023 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:-5.82, Z:-0.40 [[ 9.96599625e-01 8.23391331e-02 3.07493160e-03 1.06723790e+02] [-8.23387362e-02 9.96604368e-01 -2.55669324e-04 -5.81941827e+00] [-3.08554185e-03 1.61397090e-06 9.99995240e-01 -3.95973345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters Centerline goodness : 0.995940 with order 1 Centerline is valid? [True, True] Translation: X:106.78, Y:-5.83, Z:-0.40 [[ 9.96758883e-01 8.03882671e-02 3.07493757e-03 1.06782464e+02] [-8.03878611e-02 9.96763626e-01 -2.55597438e-04 -5.82770511e+00] [-3.08553296e-03 7.58136252e-06 9.99995240e-01 -3.96216218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters Centerline goodness : 0.995615 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:-5.83, Z:-0.39 [[ 9.96999788e-01 7.73431813e-02 3.07494054e-03 1.06841507e+02] [-7.73427610e-02 9.97004530e-01 -2.55561780e-04 -5.83395933e+00] [-3.08549560e-03 1.69706493e-05 9.99995240e-01 -3.94189639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:-5.84, Z:-0.39 [[ 9.96773723e-01 8.02040529e-02 3.07494608e-03 1.06900290e+02] [-8.02036464e-02 9.96778466e-01 -2.55495076e-04 -5.84451842e+00] [-3.08553177e-03 8.04889024e-06 9.99995240e-01 -3.94673421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters Centerline goodness : 0.995915 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:-5.85, Z:-0.40 [[ 9.96309283e-01 8.57808650e-02 3.07495195e-03 1.06958643e+02] [-8.57804852e-02 9.96314028e-01 -2.55424346e-04 -5.84991055e+00] [-3.08552829e-03 -9.28922330e-06 9.99995240e-01 -3.95748777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters Centerline goodness : 0.995368 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:-5.86, Z:-0.39 [[ 9.95452858e-01 9.52058372e-02 3.07496070e-03 1.07018166e+02] [-9.52055026e-02 9.95457607e-01 -2.55318986e-04 -5.85599738e+00] [-3.08530088e-03 -3.85951649e-05 9.99995240e-01 -3.94013659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters Centerline goodness : 0.995385 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:-5.86, Z:-0.39 [[ 9.94750853e-01 1.02280422e-01 3.07496642e-03 1.07077447e+02] [-1.02280122e-01 9.94755604e-01 -2.55250095e-04 -5.85594784e+00] [-3.08494717e-03 -6.05976903e-05 9.99995240e-01 -3.89960298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:-5.86, Z:-0.39 [[ 9.94237752e-01 1.07153331e-01 3.07497791e-03 1.07136824e+02] [-1.07153054e-01 9.94242505e-01 -2.55111560e-04 -5.85512571e+00] [-3.08460980e-03 -7.58517308e-05 9.99995240e-01 -3.90394958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters Centerline goodness : 0.995729 with order 1 Centerline is valid? [True, True] Translation: X:107.20, Y:-5.85, Z:-0.39 [[ 9.94074057e-01 1.08661467e-01 3.07498923e-03 1.07195411e+02] [-1.08661198e-01 9.94078809e-01 -2.54975050e-04 -5.85170035e+00] [-3.08448760e-03 -8.06679308e-05 9.99995240e-01 -3.94449840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters Centerline goodness : 0.995728 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:-5.85, Z:-0.39 [[ 9.94250673e-01 1.07033372e-01 3.07500323e-03 1.07254383e+02] [-1.07033095e-01 9.94255426e-01 -2.54806177e-04 -5.84918875e+00] [-3.08461141e-03 -7.57859012e-05 9.99995240e-01 -3.93126205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:107.31, Y:-5.85, Z:-0.39 [[ 9.94503467e-01 1.04658485e-01 3.07501516e-03 1.07311974e+02] [-1.04658198e-01 9.94508219e-01 -2.54662051e-04 -5.84895504e+00] [-3.08478039e-03 -6.85632525e-05 9.99995240e-01 -3.93817141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:-5.84, Z:-0.40 [[ 9.94893410e-01 1.00884321e-01 3.07503133e-03 1.07371071e+02] [-1.00884016e-01 9.94898161e-01 -2.54466696e-04 -5.84358349e+00] [-3.08501471e-03 -5.70542717e-05 9.99995240e-01 -3.97105265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:-5.84, Z:-0.40 [[ 9.94967823e-01 1.00147770e-01 3.07504305e-03 1.07429788e+02] [-1.00147462e-01 9.94972573e-01 -2.54324902e-04 -5.84357695e+00] [-3.08505357e-03 -5.49126650e-05 9.99995240e-01 -3.95809587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters Centerline goodness : 0.995817 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:-5.84, Z:-0.40 [[ 9.95014286e-01 9.96850824e-02 3.07505478e-03 1.07487980e+02] [-9.96847727e-02 9.95019036e-01 -2.54183069e-04 -5.84209714e+00] [-3.08507630e-03 -5.36203522e-05 9.99995240e-01 -3.96981496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:-5.84, Z:-0.40 [[ 9.95149303e-01 9.83280699e-02 3.07507100e-03 1.07547472e+02] [-9.83277544e-02 9.95154053e-01 -2.53986647e-04 -5.84217584e+00] [-3.08514339e-03 -4.96101919e-05 9.99995240e-01 -3.98747577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters Centerline goodness : 0.995468 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:-5.84, Z:-0.39 [[ 9.95608231e-01 9.35670556e-02 3.07508239e-03 1.07606323e+02] [-9.35667178e-02 9.95612979e-01 -2.53848656e-04 -5.84434574e+00] [-3.08534382e-03 -3.49915551e-05 9.99995240e-01 -3.94899513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:107.67, Y:-5.85, Z:-0.39 [[ 9.95909779e-01 9.03009235e-02 3.07509368e-03 1.07665550e+02] [-9.03005705e-02 9.95914526e-01 -2.53711882e-04 -5.84721190e+00] [-3.08544088e-03 -2.50085695e-05 9.99995240e-01 -3.92914269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters Centerline goodness : 0.996100 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:-5.85, Z:-0.40 [[ 9.96106477e-01 8.81046538e-02 3.07510504e-03 1.07723888e+02] [-8.81042908e-02 9.96111224e-01 -2.53574045e-04 -5.84886805e+00] [-3.08548770e-03 -1.83432006e-05 9.99995240e-01 -3.99327948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters Centerline goodness : 0.995362 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:-5.85, Z:-0.40 [[ 9.96393710e-01 8.47945659e-02 3.07511923e-03 1.07782438e+02] [-8.47941876e-02 9.96398455e-01 -2.53401898e-04 -5.85121467e+00] [-3.08553115e-03 -8.26418017e-06 9.99995240e-01 -3.98343242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters Centerline goodness : 0.995026 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:-5.86, Z:-0.40 [[ 9.96676211e-01 8.14068479e-02 3.07513023e-03 1.07840544e+02] [-8.14064539e-02 9.96680955e-01 -2.53268291e-04 -5.85606451e+00] [-3.08554151e-03 2.09103331e-06 9.99995240e-01 -3.95050977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:-5.86, Z:-0.40 [[ 9.96818035e-01 7.96514179e-02 3.07514547e-03 1.07899392e+02] [-7.96510162e-02 9.96822778e-01 -2.53083114e-04 -5.86082342e+00] [-3.08553348e-03 7.33935050e-06 9.99995240e-01 -3.97736735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:-5.87, Z:-0.40 [[ 9.97043512e-01 7.67774627e-02 3.07515675e-03 1.07956606e+02] [-7.67770477e-02 9.97048254e-01 -2.52946015e-04 -5.86566611e+00] [-3.08550022e-03 1.60967265e-05 9.99995240e-01 -3.96967367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters Centerline goodness : 0.994902 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:-5.87, Z:-0.40 [[ 9.97173950e-01 7.50643563e-02 3.07517072e-03 1.08014922e+02] [-7.50639337e-02 9.97178691e-01 -2.52776035e-04 -5.87350013e+00] [-3.08546919e-03 2.12272660e-05 9.99995240e-01 -3.95947522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters Centerline goodness : 0.995384 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:-5.88, Z:-0.40 [[ 9.97343727e-01 7.27738573e-02 3.07518239e-03 1.08071974e+02] [-7.27734242e-02 9.97348467e-01 -2.52633985e-04 -5.88066528e+00] [-3.08541360e-03 2.81713668e-05 9.99995240e-01 -3.99153896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters Centerline goodness : 0.995224 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:-5.89, Z:-0.40 [[ 9.97216564e-01 7.44960936e-02 3.07519684e-03 1.08130784e+02] [-7.44956693e-02 9.97221305e-01 -2.52458012e-04 -5.88832285e+00] [-3.08545894e-03 2.26664649e-05 9.99995240e-01 -3.97798131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters Centerline goodness : 0.995128 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:-5.89, Z:-0.40 [[ 9.97166088e-01 7.51687150e-02 3.07520884e-03 1.08188796e+02] [-7.51682943e-02 9.97170830e-01 -2.52311783e-04 -5.89434731e+00] [-3.08547450e-03 2.04385506e-05 9.99995240e-01 -3.99837035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters Centerline goodness : 0.991042 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:-5.90, Z:-0.39 [[ 9.97177299e-01 7.50198520e-02 3.07522361e-03 1.08247534e+02] [-7.50194312e-02 9.97182040e-01 -2.52131604e-04 -5.90280680e+00] [-3.08547263e-03 2.07183858e-05 9.99995240e-01 -3.91087727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters Centerline goodness : 0.994962 with order 1 Centerline is valid? [True, True] Translation: X:108.31, Y:-5.91, Z:-0.39 [[ 9.97102472e-01 7.60079212e-02 3.07523572e-03 1.08305996e+02] [-7.60075056e-02 9.97107214e-01 -2.51983762e-04 -5.90632395e+00] [-3.08549249e-03 1.75126354e-05 9.99995240e-01 -3.94278285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters Centerline goodness : 0.994532 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:-5.91, Z:-0.40 [[ 9.96913122e-01 7.84523377e-02 3.07524471e-03 1.08364880e+02] [-7.84519340e-02 9.96917866e-01 -2.51873993e-04 -5.91032527e+00] [-3.08552650e-03 9.83759349e-06 9.99995240e-01 -3.97773561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:-5.91, Z:-0.40 [[ 9.96695354e-01 8.11721225e-02 3.07525625e-03 1.08423672e+02] [-8.11717322e-02 9.96700099e-01 -2.51733011e-04 -5.91334598e+00] [-3.08554191e-03 1.27724535e-06 9.99995240e-01 -3.98621795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:-5.92, Z:-0.40 [[ 9.96943104e-01 7.80704219e-02 3.07526777e-03 1.08480775e+02] [-7.80700172e-02 9.96947847e-01 -2.51592313e-04 -5.91895543e+00] [-3.08552349e-03 1.07370138e-05 9.99995240e-01 -3.96787848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters Centerline goodness : 0.993026 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:-5.93, Z:-0.40 [[ 9.97545776e-01 6.99497440e-02 3.07528208e-03 1.08539348e+02] [-6.99493012e-02 9.97550516e-01 -2.51417254e-04 -5.92633823e+00] [-3.08533580e-03 3.56863875e-05 9.99995240e-01 -4.00529678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters Centerline goodness : 0.993429 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:-5.93, Z:-0.40 [[ 9.97925304e-01 6.43088692e-02 3.07529362e-03 1.08599008e+02] [-6.43084001e-02 9.97930041e-01 -2.51275937e-04 -5.93381398e+00] [-3.08508716e-03 5.29874033e-05 9.99995240e-01 -4.03481286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters Centerline goodness : 0.993208 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:-5.94, Z:-0.40 [[ 9.98133989e-01 6.09842777e-02 3.07529933e-03 1.08657668e+02] [-6.09837930e-02 9.98138725e-01 -2.51206120e-04 -5.94298061e+00] [-3.08489497e-03 6.31939487e-05 9.99995240e-01 -4.01589428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters Centerline goodness : 0.993543 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:-5.95, Z:-0.40 [[ 9.98215737e-01 5.96312391e-02 3.07530517e-03 1.08716583e+02] [-5.96307483e-02 9.98220472e-01 -2.51134520e-04 -5.95447469e+00] [-3.08480804e-03 6.73036816e-05 9.99995240e-01 -3.95324753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters Centerline goodness : 0.993735 with order 1 Centerline is valid? [True, True] Translation: X:108.78, Y:-5.96, Z:-0.40 [[ 9.98095722e-01 6.16074090e-02 3.07531107e-03 1.08775022e+02] [-6.16069278e-02 9.98100458e-01 -2.51062323e-04 -5.96448632e+00] [-3.08493668e-03 6.11237638e-05 9.99995240e-01 -3.97866085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:-5.98, Z:-0.40 [[ 9.98133452e-01 6.09930627e-02 3.07530834e-03 1.08834563e+02] [-6.09925784e-02 9.98138188e-01 -2.51095746e-04 -5.97644833e+00] [-3.08489779e-03 6.30560791e-05 9.99995240e-01 -3.96533907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters Centerline goodness : 0.992822 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:-5.99, Z:-0.40 [[ 9.98365081e-01 5.70763328e-02 3.07530834e-03 1.08893660e+02] [-5.70758300e-02 9.98369815e-01 -2.51095746e-04 -5.99065615e+00] [-3.08462664e-03 7.51594493e-05 9.99995240e-01 -4.00350775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters Centerline goodness : 0.993229 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:-6.00, Z:-0.40 [[ 9.98440164e-01 5.57474747e-02 3.07530834e-03 1.08952958e+02] [-5.57469655e-02 9.98444897e-01 -2.51095746e-04 -6.00239167e+00] [-3.08452387e-03 7.92649703e-05 9.99995240e-01 -4.04453126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters Centerline goodness : 0.993129 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:-6.02, Z:-0.40 [[ 9.98378186e-01 5.68466377e-02 3.07530549e-03 1.09013559e+02] [-5.68461337e-02 9.98382920e-01 -2.51130651e-04 -6.01882595e+00] [-3.08460841e-03 7.59041368e-05 9.99995240e-01 -4.02613046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters Centerline goodness : 0.988684 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:-6.03, Z:-0.39 [[ 9.98056940e-01 6.22325209e-02 3.07529987e-03 1.09073152e+02] [-6.22320422e-02 9.98061676e-01 -2.51199398e-04 -6.02945606e+00] [-3.08497172e-03 5.93291114e-05 9.99995240e-01 -3.89331141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:109.13, Y:-6.04, Z:-0.40 [[ 9.97602521e-01 6.91357617e-02 3.07529987e-03 1.09132993e+02] [-6.91353157e-02 9.97607260e-01 -2.51199398e-04 -6.04119266e+00] [-3.08530834e-03 3.79853252e-05 9.99995240e-01 -4.01918871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters Centerline goodness : 0.993615 with order 1 Centerline is valid? [True, True] Translation: X:109.19, Y:-6.05, Z:-0.40 [[ 9.97132095e-01 7.56183003e-02 3.07529709e-03 1.09193264e+02] [-7.56178851e-02 9.97136837e-01 -2.51233478e-04 -6.04670669e+00] [-3.08548986e-03 1.79655020e-05 9.99995240e-01 -3.99702283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters Centerline goodness : 0.993543 with order 1 Centerline is valid? [True, True] Translation: X:109.25, Y:-6.05, Z:-0.40 [[ 9.96701240e-01 8.10998159e-02 3.07529709e-03 1.09253814e+02] [-8.10994268e-02 9.96705985e-01 -2.51233478e-04 -6.05058796e+00] [-3.08554200e-03 9.99887573e-07 9.99995240e-01 -3.99082576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:109.31, Y:-6.05, Z:-0.40 [[ 9.96167340e-01 8.74138098e-02 3.07529709e-03 1.09313952e+02] [-8.74134507e-02 9.96172086e-01 -2.51233478e-04 -6.04945469e+00] [-3.08548639e-03 -1.85517455e-05 9.99995240e-01 -4.01816695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters Centerline goodness : 0.993649 with order 1 Centerline is valid? [True, True] Translation: X:109.37, Y:-6.05, Z:-0.40 [[ 9.95908605e-01 9.03138585e-02 3.07529986e-03 1.09374236e+02] [-9.03135133e-02 9.95913353e-01 -2.51199549e-04 -6.04790202e+00] [-3.08541900e-03 -2.75693424e-05 9.99995240e-01 -3.96667037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters Centerline goodness : 0.993366 with order 1 Centerline is valid? [True, True] Translation: X:109.43, Y:-6.04, Z:-0.40 [[ 9.95937521e-01 8.99944286e-02 3.07530546e-03 1.09433142e+02] [-8.99940822e-02 9.95942268e-01 -2.51130944e-04 -6.04397497e+00] [-3.08542708e-03 -2.66485627e-05 9.99995240e-01 -4.00255242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters Centerline goodness : 0.993620 with order 1 Centerline is valid? [True, True] Translation: X:109.49, Y:-6.04, Z:-0.40 [[ 9.95928304e-01 9.00963722e-02 3.07531142e-03 1.09492684e+02] [-9.00960265e-02 9.95933051e-01 -2.51057984e-04 -6.04239623e+00] [-3.08542370e-03 -2.70375864e-05 9.99995240e-01 -4.00640328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters Centerline goodness : 0.994068 with order 1 Centerline is valid? [True, True] Translation: X:109.55, Y:-6.04, Z:-0.40 [[ 9.95788329e-01 9.16304921e-02 3.07531738e-03 1.09551584e+02] [-9.16301539e-02 9.95793077e-01 -2.50984956e-04 -6.04015264e+00] [-3.08537763e-03 -3.18639151e-05 9.99995240e-01 -3.97411074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:109.61, Y:-6.04, Z:-0.40 [[ 9.95615221e-01 9.34926450e-02 3.07532962e-03 1.09610261e+02] [-9.34923161e-02 9.95619970e-01 -2.50834905e-04 -6.03709604e+00] [-3.08531080e-03 -3.77846397e-05 9.99995240e-01 -4.02672023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:-6.03, Z:-0.40 [[ 9.95638800e-01 9.32412010e-02 3.07534477e-03 1.09669200e+02] [-9.32408715e-02 9.95643549e-01 -2.50648956e-04 -6.03321566e+00] [-3.08531799e-03 -3.71920009e-05 9.99995240e-01 -4.01000351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:-6.03, Z:-0.40 [[ 9.95701807e-01 9.25659461e-02 3.07535687e-03 1.09727138e+02] [-9.25656138e-02 9.95706555e-01 -2.50500384e-04 -6.03067169e+00] [-3.08534081e-03 -3.52486121e-05 9.99995240e-01 -4.04965664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters Centerline goodness : 0.993922 with order 1 Centerline is valid? [True, True] Translation: X:109.79, Y:-6.03, Z:-0.40 [[ 9.95731730e-01 9.22435078e-02 3.07537188e-03 1.09786460e+02] [-9.22431746e-02 9.95736478e-01 -2.50316071e-04 -6.02788213e+00] [-3.08534999e-03 -3.44344104e-05 9.99995240e-01 -4.02998440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters Centerline goodness : 0.993392 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:-6.03, Z:-0.40 [[ 9.95947172e-01 8.98875557e-02 3.07538362e-03 1.09844169e+02] [-8.98872117e-02 9.95951920e-01 -2.50171719e-04 -6.02680760e+00] [-3.08542154e-03 -2.72798425e-05 9.99995240e-01 -4.02438798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters Centerline goodness : 0.993779 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:-6.03, Z:-0.40 [[ 9.96094293e-01 8.82422915e-02 3.07540008e-03 1.09902537e+02] [-8.82419403e-02 9.96099040e-01 -2.49969248e-04 -6.02966272e+00] [-3.08546092e-03 -2.23863287e-05 9.99995240e-01 -4.01402140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters Centerline goodness : 0.993434 with order 1 Centerline is valid? [True, True] Translation: X:109.96, Y:-6.03, Z:-0.40 [[ 9.96240427e-01 8.65768649e-02 3.07541163e-03 1.09961170e+02] [-8.65765062e-02 9.96245174e-01 -2.49827022e-04 -6.03300015e+00] [-3.08549323e-03 -1.73706145e-05 9.99995240e-01 -3.98437110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters Centerline goodness : 0.994172 with order 1 Centerline is valid? [True, True] Translation: X:110.02, Y:-6.04, Z:-0.40 [[ 9.96209258e-01 8.69347779e-02 3.07542316e-03 1.10018551e+02] [-8.69344213e-02 9.96214005e-01 -2.49684961e-04 -6.03604719e+00] [-3.08548593e-03 -1.86216633e-05 9.99995240e-01 -3.99662699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:-6.04, Z:-0.40 [[ 9.96060190e-01 8.86264084e-02 3.07543742e-03 1.10076936e+02] [-8.86260604e-02 9.96064937e-01 -2.49509176e-04 -6.04343822e+00] [-3.08544849e-03 -2.40377459e-05 9.99995240e-01 -3.99958357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:-6.05, Z:-0.40 [[ 9.95822811e-01 9.12549768e-02 3.07544900e-03 1.10135436e+02] [-9.12546418e-02 9.95827559e-01 -2.49366435e-04 -6.04806017e+00] [-3.08537280e-03 -3.23242122e-05 9.99995240e-01 -4.03357175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters Centerline goodness : 0.993237 with order 1 Centerline is valid? [True, True] Translation: X:110.19, Y:-6.05, Z:-0.41 [[ 9.95365149e-01 9.61184725e-02 3.07546067e-03 1.10193820e+02] [-9.61181612e-02 9.95369900e-01 -2.49222457e-04 -6.05102501e+00] [-3.08517586e-03 -4.75402756e-05 9.99995240e-01 -4.05457333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters Centerline goodness : 0.993989 with order 1 Centerline is valid? [True, True] Translation: X:110.25, Y:-6.05, Z:-0.40 [[ 9.94565202e-01 1.04070170e-01 3.07547244e-03 1.10252411e+02] [-1.04069897e-01 9.94569955e-01 -2.49077048e-04 -6.04890110e+00] [-3.08469398e-03 -7.23407343e-05 9.99995240e-01 -4.04362032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters Centerline goodness : 0.993657 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:-6.05, Z:-0.40 [[ 9.94292306e-01 1.06645916e-01 3.07548704e-03 1.10310452e+02] [-1.06645656e-01 9.94297059e-01 -2.48896705e-04 -6.04809268e+00] [-3.08449153e-03 -8.05112548e-05 9.99995240e-01 -4.04934918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters Centerline goodness : 0.993722 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:-6.05, Z:-0.40 [[ 9.94518127e-01 1.04519074e-01 3.07550488e-03 1.10368373e+02] [-1.04518805e-01 9.94522879e-01 -2.48675992e-04 -6.04774051e+00] [-3.08465136e-03 -7.41353128e-05 9.99995240e-01 -4.04627626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters Centerline goodness : 0.993653 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:-6.05, Z:-0.41 [[ 9.94311952e-01 1.06462592e-01 3.07551961e-03 1.10426868e+02] [-1.06462332e-01 9.94316705e-01 -2.48493737e-04 -6.04651766e+00] [-3.08449581e-03 -8.03466975e-05 9.99995240e-01 -4.06040233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters Centerline goodness : 0.993829 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:-6.05, Z:-0.41 [[ 9.94057728e-01 1.08810729e-01 3.07553398e-03 1.10484677e+02] [-1.08810481e-01 9.94062482e-01 -2.48315782e-04 -6.04650347e+00] [-3.08429236e-03 -8.78101108e-05 9.99995240e-01 -4.06645819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters Centerline goodness : 0.994188 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:-6.04, Z:-0.40 [[ 9.93233526e-01 1.16093516e-01 3.07555116e-03 1.10544178e+02] [-1.16093303e-01 9.93238281e-01 -2.48102733e-04 -6.03844670e+00] [-3.08355827e-03 -1.10626942e-04 9.99995240e-01 -4.04249842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters Centerline goodness : 0.994154 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:-6.03, Z:-0.40 [[ 9.93541661e-01 1.13426226e-01 3.07556266e-03 1.10603190e+02] [-1.13426001e-01 9.93546416e-01 -2.47960162e-04 -6.03305436e+00] [-3.08383944e-03 -1.02490023e-04 9.99995240e-01 -4.01640916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:-6.03, Z:-0.40 [[ 9.94116084e-01 1.08276276e-01 3.07558034e-03 1.10660086e+02] [-1.08276027e-01 9.94120838e-01 -2.47740647e-04 -6.03186440e+00] [-3.08432294e-03 -8.67286593e-05 9.99995240e-01 -3.99741623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:110.72, Y:-6.03, Z:-0.40 [[ 9.94718212e-01 1.02597365e-01 3.07560076e-03 1.10717962e+02] [-1.02597090e-01 9.94722964e-01 -2.47486926e-04 -6.02595073e+00] [-3.08476221e-03 -6.93679338e-05 9.99995240e-01 -4.03316832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters Centerline goodness : 0.995079 with order 1 Centerline is valid? [True, True] Translation: X:110.78, Y:-6.02, Z:-0.40 [[ 9.95062737e-01 9.92002494e-02 3.07562736e-03 1.10776408e+02] [-9.91999592e-02 9.95067489e-01 -2.47155919e-04 -6.02051018e+00] [-3.08497472e-03 -5.91664624e-05 9.99995240e-01 -4.04341516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters Centerline goodness : 0.994757 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:-6.02, Z:-0.40 [[ 9.96030610e-01 8.89582158e-02 3.07564446e-03 1.10834350e+02] [-8.89578773e-02 9.96035358e-01 -2.46942936e-04 -6.02108704e+00] [-3.08541823e-03 -2.76400794e-05 9.99995240e-01 -3.98765745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters Centerline goodness : 0.994702 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:-6.03, Z:-0.40 [[ 9.97073046e-01 7.63929443e-02 3.07566191e-03 1.10892370e+02] [-7.63925467e-02 9.97077789e-01 -2.46725407e-04 -6.02723346e+00] [-3.08552225e-03 1.10456067e-05 9.99995240e-01 -4.00413737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:-6.04, Z:-0.41 [[ 9.97750508e-01 6.69661407e-02 3.07567338e-03 1.10949418e+02] [-6.69656987e-02 9.97755248e-01 -2.46582275e-04 -6.03597755e+00] [-3.08528192e-03 4.00629729e-05 9.99995240e-01 -4.06176153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters Centerline goodness : 0.995124 with order 1 Centerline is valid? [True, True] Translation: X:111.01, Y:-6.05, Z:-0.41 [[ 9.97848210e-01 6.54941913e-02 3.07568748e-03 1.11008086e+02] [-6.54937429e-02 9.97852950e-01 -2.46406333e-04 -6.04557745e+00] [-3.08522200e-03 4.44378339e-05 9.99995240e-01 -4.06453909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:111.07, Y:-6.06, Z:-0.40 [[ 9.97657661e-01 6.83354380e-02 3.07569944e-03 1.11065010e+02] [-6.83350035e-02 9.97662401e-01 -2.46256970e-04 -6.05939512e+00] [-3.08533776e-03 3.55022212e-05 9.99995240e-01 -4.01744287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:-6.07, Z:-0.40 [[ 9.97272415e-01 7.37446314e-02 3.07571417e-03 1.11122878e+02] [-7.37442231e-02 9.97277158e-01 -2.46072806e-04 -6.07269877e+00] [-3.08548603e-03 1.85854693e-05 9.99995240e-01 -4.03097299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:-6.08, Z:-0.40 [[ 9.96853096e-01 7.92113946e-02 3.07572554e-03 1.11180996e+02] [-7.92110129e-02 9.96857841e-01 -2.45930605e-04 -6.08497551e+00] [-3.08554163e-03 1.52534942e-06 9.99995240e-01 -4.01140744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters Centerline goodness : 0.995082 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:-6.10, Z:-0.40 [[ 9.96593195e-01 8.24168902e-02 3.07573721e-03 1.11239141e+02] [-8.24165241e-02 9.96597941e-01 -2.45784625e-04 -6.09850658e+00] [-3.08553017e-03 -8.54428475e-06 9.99995240e-01 -4.03396784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters Centerline goodness : 0.995226 with order 1 Centerline is valid? [True, True] Translation: X:111.30, Y:-6.11, Z:-0.40 [[ 9.96539546e-01 8.30630688e-02 3.07574877e-03 1.11297117e+02] [-8.30627063e-02 9.96544292e-01 -2.45639857e-04 -6.10750614e+00] [-3.08552348e-03 -1.06901852e-05 9.99995240e-01 -4.04797201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters Centerline goodness : 0.995415 with order 1 Centerline is valid? [True, True] Translation: X:111.36, Y:-6.12, Z:-0.40 [[ 9.96403607e-01 8.46781621e-02 3.07576053e-03 1.11355454e+02] [-8.46778077e-02 9.96408354e-01 -2.45492447e-04 -6.11846335e+00] [-3.08550134e-03 -1.58390990e-05 9.99995240e-01 -4.02796986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:111.41, Y:-6.13, Z:-0.40 [[ 9.96222694e-01 8.67806681e-02 3.07577232e-03 1.11412153e+02] [-8.67803242e-02 9.96227441e-01 -2.45344621e-04 -6.12904705e+00] [-3.08545996e-03 -2.24986398e-05 9.99995240e-01 -4.03580371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters Centerline goodness : 0.995623 with order 1 Centerline is valid? [True, True] Translation: X:111.47, Y:-6.14, Z:-0.40 [[ 9.96157114e-01 8.75302475e-02 3.07578698e-03 1.11470297e+02] [-8.75299077e-02 9.96161862e-01 -2.45160737e-04 -6.13894831e+00] [-3.08544067e-03 -2.50047385e-05 9.99995240e-01 -4.04688259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters Centerline goodness : 0.995907 with order 1 Centerline is valid? [True, True] Translation: X:111.53, Y:-6.15, Z:-0.41 [[ 9.96100712e-01 8.81697803e-02 3.07579880e-03 1.11527870e+02] [-8.81694440e-02 9.96105461e-01 -2.45012375e-04 -6.14700169e+00] [-3.08542267e-03 -2.71344689e-05 9.99995240e-01 -4.08809928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters Centerline goodness : 0.995921 with order 1 Centerline is valid? [True, True] Translation: X:111.59, Y:-6.15, Z:-0.41 [[ 9.96039500e-01 8.88586185e-02 3.07581347e-03 1.11585988e+02] [-8.88582861e-02 9.96044249e-01 -2.44828036e-04 -6.15475082e+00] [-3.08540140e-03 -2.94531192e-05 9.99995240e-01 -4.06146355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters Centerline goodness : 0.995999 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:-6.16, Z:-0.40 [[ 9.96031028e-01 8.89535346e-02 3.07582535e-03 1.11642816e+02] [-8.89532031e-02 9.96035776e-01 -2.44678710e-04 -6.16342011e+00] [-3.08539713e-03 -2.98969306e-05 9.99995240e-01 -4.03920941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters Centerline goodness : 0.995995 with order 1 Centerline is valid? [True, True] Translation: X:111.70, Y:-6.17, Z:-0.41 [[ 9.96241739e-01 8.65617563e-02 3.07583640e-03 1.11700980e+02] [-8.65614138e-02 9.96246486e-01 -2.44539699e-04 -6.17371843e+00] [-3.08545899e-03 -2.26280931e-05 9.99995240e-01 -4.08499443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters Centerline goodness : 0.996053 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:-6.18, Z:-0.41 [[ 9.96497819e-01 8.35621721e-02 3.07584817e-03 1.11758715e+02] [-8.35618158e-02 9.96502566e-01 -2.44391607e-04 -6.18344431e+00] [-3.08551249e-03 -1.34877547e-05 9.99995240e-01 -4.09893249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters Centerline goodness : 0.996027 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:-6.20, Z:-0.41 [[ 9.96683605e-01 8.13162367e-02 3.07585978e-03 1.11816598e+02] [-8.13158701e-02 9.96688351e-01 -2.44245398e-04 -6.19557272e+00] [-3.08553473e-03 -6.68083106e-06 9.99995240e-01 -4.06785527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:111.87, Y:-6.21, Z:-0.41 [[ 9.96735325e-01 8.06798035e-02 3.07587150e-03 1.11874933e+02] [-8.06794344e-02 9.96740071e-01 -2.44097754e-04 -6.20779649e+00] [-3.08553813e-03 -4.85871821e-06 9.99995240e-01 -4.07635150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters Centerline goodness : 0.996188 with order 1 Centerline is valid? [True, True] Translation: X:111.93, Y:-6.22, Z:-0.40 [[ 9.96597099e-01 8.23696620e-02 3.07587823e-03 1.11933225e+02] [-8.23693012e-02 9.96601846e-01 -2.44012852e-04 -6.21812185e+00] [-3.08552518e-03 -1.01754406e-05 9.99995240e-01 -4.04258415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters Centerline goodness : 0.996394 with order 1 Centerline is valid? [True, True] Translation: X:111.99, Y:-6.22, Z:-0.40 [[ 9.96243392e-01 8.65427238e-02 3.07588663e-03 1.11992151e+02] [-8.65423832e-02 9.96248140e-01 -2.43906905e-04 -6.22494167e+00] [-3.08545470e-03 -2.32039175e-05 9.99995240e-01 -4.01358298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters Centerline goodness : 0.996352 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:-6.23, Z:-0.40 [[ 9.95426776e-01 9.54781306e-02 3.07589779e-03 1.12049458e+02] [-9.54778330e-02 9.95431527e-01 -2.43766149e-04 -6.23053302e+00] [-3.08511997e-03 -5.10287038e-05 9.99995240e-01 -4.04950508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters Centerline goodness : 0.996612 with order 1 Centerline is valid? [True, True] Translation: X:112.11, Y:-6.23, Z:-0.41 [[ 9.94988431e-01 9.99427919e-02 3.07591159e-03 1.12107902e+02] [-9.99425162e-02 9.94993183e-01 -2.43591870e-04 -6.23279879e+00] [-3.08485631e-03 -6.50432512e-05 9.99995240e-01 -4.05282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters Centerline goodness : 0.996643 with order 1 Centerline is valid? [True, True] Translation: X:112.17, Y:-6.24, Z:-0.41 [[ 9.94969347e-01 1.00132602e-01 3.07592255e-03 1.12165877e+02] [-1.00132327e-01 9.94974099e-01 -2.43453404e-04 -6.23540203e+00] [-3.08484089e-03 -6.57706092e-05 9.99995240e-01 -4.11680212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters Centerline goodness : 0.996114 with order 1 Centerline is valid? [True, True] Translation: X:112.22, Y:-6.24, Z:-0.41 [[ 9.95027819e-01 9.95498779e-02 3.07593715e-03 1.12224835e+02] [-9.95496013e-02 9.95032571e-01 -2.43268771e-04 -6.23634406e+00] [-3.08487503e-03 -6.41491222e-05 9.99995240e-01 -4.09245479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters Centerline goodness : 0.996606 with order 1 Centerline is valid? [True, True] Translation: X:112.28, Y:-6.24, Z:-0.41 [[ 9.95030533e-01 9.95227438e-02 3.07594878e-03 1.12283690e+02] [-9.95224676e-02 9.95035285e-01 -2.43121664e-04 -6.23917921e+00] [-3.08487371e-03 -6.42125340e-05 9.99995240e-01 -4.09243759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters Centerline goodness : 0.996859 with order 1 Centerline is valid? [True, True] Translation: X:112.34, Y:-6.24, Z:-0.41 [[ 9.95089438e-01 9.89320465e-02 3.07596035e-03 1.12343167e+02] [-9.89317679e-02 9.95094190e-01 -2.42975142e-04 -6.23761321e+00] [-3.08490830e-03 -6.25281984e-05 9.99995240e-01 -4.09623692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters Centerline goodness : 0.996238 with order 1 Centerline is valid? [True, True] Translation: X:112.40, Y:-6.24, Z:-0.41 [[ 9.95651736e-01 9.31029436e-02 3.07597186e-03 1.12402469e+02] [-9.31026376e-02 9.95656487e-01 -2.42829415e-04 -6.23867907e+00] [-3.08521947e-03 -4.46075641e-05 9.99995240e-01 -4.09650188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters Centerline goodness : 0.996733 with order 1 Centerline is valid? [True, True] Translation: X:112.46, Y:-6.24, Z:-0.41 [[ 9.96145744e-01 8.76595413e-02 3.07598329e-03 1.12460641e+02] [-8.76592098e-02 9.96150493e-01 -2.42684515e-04 -6.23819096e+00] [-3.08541588e-03 -2.78891175e-05 9.99995240e-01 -4.11332222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:112.52, Y:-6.24, Z:-0.41 [[ 9.96742376e-01 8.05926381e-02 3.07599745e-03 1.12519617e+02] [-8.05922734e-02 9.96747123e-01 -2.42504934e-04 -6.23651880e+00] [-3.08553572e-03 -6.18668291e-06 9.99995240e-01 -4.11279548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters Centerline goodness : 0.996516 with order 1 Centerline is valid? [True, True] Translation: X:112.58, Y:-6.24, Z:-0.41 [[ 9.97035535e-01 7.68809524e-02 3.07600886e-03 1.12577950e+02] [-7.68805705e-02 9.97040280e-01 -2.42360073e-04 -6.23859331e+00] [-3.08553761e-03 5.15628910e-06 9.99995240e-01 -4.10341882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters Centerline goodness : 0.996680 with order 1 Centerline is valid? [True, True] Translation: X:112.64, Y:-6.24, Z:-0.41 [[ 9.97477625e-01 7.09149195e-02 3.07602292e-03 1.12636443e+02] [-7.09145098e-02 9.97482368e-01 -2.42181507e-04 -6.24274029e+00] [-3.08545291e-03 2.34359773e-05 9.99995240e-01 -4.10371026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:112.69, Y:-6.25, Z:-0.41 [[ 9.98052346e-01 6.23061278e-02 3.07603419e-03 1.12694744e+02] [-6.23056777e-02 9.98057085e-01 -2.42038241e-04 -6.24760467e+00] [-3.08513818e-03 4.99124392e-05 9.99995240e-01 -4.11956136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters Centerline goodness : 0.993114 with order 1 Centerline is valid? [True, True] Translation: X:112.75, Y:-6.26, Z:-0.40 [[ 9.98587353e-01 5.30456015e-02 3.07604035e-03 1.12754776e+02] [-5.30451076e-02 9.98592088e-01 -2.41960011e-04 -6.25893587e+00] [-3.08454447e-03 7.84493161e-05 9.99995240e-01 -4.00110341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:112.81, Y:-6.27, Z:-0.41 [[ 9.98869076e-01 4.74458371e-02 3.07604035e-03 1.12814630e+02] [-4.74453167e-02 9.98873808e-01 -2.41960011e-04 -6.26949123e+00] [-3.08405613e-03 9.57426645e-05 9.99995240e-01 -4.08778011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters Centerline goodness : 0.996944 with order 1 Centerline is valid? [True, True] Translation: X:112.87, Y:-6.28, Z:-0.41 [[ 9.98937440e-01 4.59840081e-02 3.07604035e-03 1.12873526e+02] [-4.59834808e-02 9.98942171e-01 -2.41960011e-04 -6.27772937e+00] [-3.08391271e-03 1.00255872e-04 9.99995240e-01 -4.14113961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:112.93, Y:-6.29, Z:-0.41 [[ 9.98903211e-01 4.67216514e-02 3.07604314e-03 1.12933531e+02] [-4.67211277e-02 9.98907943e-01 -2.41924415e-04 -6.28643259e+00] [-3.08398704e-03 9.79428708e-05 9.99995240e-01 -4.11344236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters Centerline goodness : 0.991601 with order 1 Centerline is valid? [True, True] Translation: X:112.99, Y:-6.30, Z:-0.40 [[ 9.98973137e-01 4.52018834e-02 3.07604314e-03 1.12993127e+02] [-4.52013525e-02 9.98977867e-01 -2.41924415e-04 -6.29923927e+00] [-3.08383446e-03 1.02634681e-04 9.99995240e-01 -3.96166360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters Centerline goodness : 0.996473 with order 1 Centerline is valid? [True, True] Translation: X:113.05, Y:-6.31, Z:-0.41 [[ 9.99047122e-01 4.35360194e-02 3.07604314e-03 1.13053626e+02] [-4.35354807e-02 9.99051852e-01 -2.41924415e-04 -6.31306894e+00] [-3.08365903e-03 1.07776874e-04 9.99995240e-01 -4.08572132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:113.11, Y:-6.33, Z:-0.41 [[ 9.98863828e-01 4.75561799e-02 3.07603742e-03 1.13112982e+02] [-4.75556600e-02 9.98868560e-01 -2.41997241e-04 -6.32591797e+00] [-3.08406553e-03 9.54393007e-05 9.99995240e-01 -4.06595339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:113.17, Y:-6.34, Z:-0.41 [[ 9.98335818e-01 5.75858734e-02 3.07603458e-03 1.13172408e+02] [-5.75854009e-02 9.98340555e-01 -2.42033236e-04 -6.33585741e+00] [-3.08486777e-03 6.44957642e-05 9.99995240e-01 -4.06792489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:113.23, Y:-6.34, Z:-0.40 [[ 9.97782134e-01 6.64932397e-02 3.07603458e-03 1.13232714e+02] [-6.64928095e-02 9.97786875e-01 -2.42033236e-04 -6.34087119e+00] [-3.08532051e-03 3.69622575e-05 9.99995240e-01 -3.95681924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:113.29, Y:-6.34, Z:-0.41 [[ 9.96713280e-01 8.09516856e-02 3.07603458e-03 1.13291544e+02] [-8.09513242e-02 9.96718027e-01 -2.42033236e-04 -6.34171514e+00] [-3.08553212e-03 -7.77133186e-06 9.99995240e-01 -4.09592584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters Centerline goodness : 0.997179 with order 1 Centerline is valid? [True, True] Translation: X:113.35, Y:-6.35, Z:-0.41 [[ 9.96508155e-01 8.34388129e-02 3.07604334e-03 1.13349620e+02] [-8.34384637e-02 9.96512902e-01 -2.41921882e-04 -6.34571148e+00] [-3.08550255e-03 -1.55832026e-05 9.99995240e-01 -4.07739917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:113.41, Y:-6.35, Z:-0.41 [[ 9.96398568e-01 8.47374294e-02 3.07605183e-03 1.13409378e+02] [-8.47370866e-02 9.96403316e-01 -2.41813948e-04 -6.34728285e+00] [-3.08547893e-03 -1.97125985e-05 9.99995240e-01 -4.07756766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [True, True] Translation: X:113.47, Y:-6.35, Z:-0.41 [[ 9.96201600e-01 8.70224647e-02 3.07605774e-03 1.13468018e+02] [-8.70221330e-02 9.96206349e-01 -2.41738718e-04 -6.34657937e+00] [-3.08542495e-03 -2.68646077e-05 9.99995240e-01 -4.09992488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters Centerline goodness : 0.997343 with order 1 Centerline is valid? [True, True] Translation: X:113.53, Y:-6.34, Z:-0.41 [[ 9.96149107e-01 8.76213148e-02 3.07606651e-03 1.13527358e+02] [-8.76209863e-02 9.96153856e-01 -2.41626983e-04 -6.34456411e+00] [-3.08540719e-03 -2.88314791e-05 9.99995240e-01 -4.08667309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters Centerline goodness : 0.997393 with order 1 Centerline is valid? [True, True] Translation: X:113.59, Y:-6.34, Z:-0.41 [[ 9.96635480e-01 8.19039589e-02 3.07607799e-03 1.13587139e+02] [-8.19036037e-02 9.96640227e-01 -2.41480753e-04 -6.34395205e+00] [-3.08552130e-03 -1.12735869e-05 9.99995240e-01 -4.10760803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:-6.35, Z:-0.41 [[ 9.97108586e-01 7.59276280e-02 3.07608373e-03 1.13645660e+02] [-7.59272445e-02 9.97113331e-01 -2.41407624e-04 -6.34652806e+00] [-3.08553361e-03 7.15105312e-06 9.99995240e-01 -4.10323366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:-6.35, Z:-0.41 [[ 9.97659126e-01 6.83140201e-02 3.07609222e-03 1.13705519e+02] [-6.83136008e-02 9.97663868e-01 -2.41299429e-04 -6.34916587e+00] [-3.08539020e-03 3.05956415e-05 9.99995240e-01 -4.09520851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:113.76, Y:-6.35, Z:-0.41 [[ 9.97817074e-01 6.59668411e-02 3.07609759e-03 1.13764044e+02] [-6.59664108e-02 9.97821815e-01 -2.41230919e-04 -6.35455855e+00] [-3.08531053e-03 3.77852120e-05 9.99995240e-01 -4.06661189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters Centerline goodness : 0.997281 with order 1 Centerline is valid? [True, True] Translation: X:113.82, Y:-6.36, Z:-0.41 [[ 9.97829676e-01 6.57759444e-02 3.07610553e-03 1.13823967e+02] [-6.57755135e-02 9.97834417e-01 -2.41129678e-04 -6.35970855e+00] [-3.08530450e-03 3.82739274e-05 9.99995240e-01 -4.11002679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:113.88, Y:-6.36, Z:-0.41 [[ 9.98025313e-01 6.27376490e-02 3.07611104e-03 1.13882061e+02] [-6.27372040e-02 9.98030052e-01 -2.41059415e-04 -6.36341559e+00] [-3.08517476e-03 4.75967927e-05 9.99995240e-01 -4.13130101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters Centerline goodness : 0.997509 with order 1 Centerline is valid? [True, True] Translation: X:113.94, Y:-6.37, Z:-0.41 [[ 9.98302436e-01 5.81617025e-02 3.07611922e-03 1.13941216e+02] [-5.81612360e-02 9.98307173e-01 -2.40954899e-04 -6.37147980e+00] [-3.08492623e-03 6.16349666e-05 9.99995240e-01 -4.11152775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:114.00, Y:-6.38, Z:-0.41 [[ 9.98521785e-01 5.42658489e-02 3.07612191e-03 1.14001498e+02] [-5.42653640e-02 9.98526521e-01 -2.40920545e-04 -6.37903431e+00] [-3.08466307e-03 7.36375371e-05 9.99995240e-01 -4.13451835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters Centerline goodness : 0.998021 with order 1 Centerline is valid? [True, True] Translation: X:114.06, Y:-6.39, Z:-0.41 [[ 9.98744072e-01 5.00081553e-02 3.07612191e-03 1.14061447e+02] [-5.00076503e-02 9.98748806e-01 -2.40920545e-04 -6.39236665e+00] [-3.08432108e-03 8.67883374e-05 9.99995240e-01 -4.12000267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:114.12, Y:-6.41, Z:-0.41 [[ 9.98820644e-01 4.84546988e-02 3.07612191e-03 1.14120432e+02] [-4.84541864e-02 9.98825377e-01 -2.40920545e-04 -6.40766321e+00] [-3.08418236e-03 9.15854294e-05 9.99995240e-01 -4.09763803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:114.18, Y:-6.42, Z:-0.41 [[ 9.98688008e-01 5.11155561e-02 3.07611911e-03 1.14180026e+02] [-5.11150562e-02 9.98692742e-01 -2.40956276e-04 -6.42009874e+00] [-3.08441445e-03 8.34041421e-05 9.99995240e-01 -4.10445708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [True, True] Translation: X:114.24, Y:-6.43, Z:-0.41 [[ 9.98353553e-01 5.72775681e-02 3.07611636e-03 1.14240645e+02] [-5.72770973e-02 9.98358290e-01 -2.40991455e-04 -6.43129277e+00] [-3.08486967e-03 6.44036598e-05 9.99995240e-01 -4.11596011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:-6.44, Z:-0.42 [[ 9.97471363e-01 7.10029334e-02 3.07611071e-03 1.14300135e+02] [-7.10025276e-02 9.97476106e-01 -2.41063585e-04 -6.43968120e+00] [-3.08546315e-03 2.20423874e-05 9.99995240e-01 -4.15543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters Centerline goodness : 0.998469 with order 1 Centerline is valid? [True, True] Translation: X:114.36, Y:-6.44, Z:-0.41 [[ 9.96508564e-01 8.34339240e-02 3.07611350e-03 1.14359454e+02] [-8.34335775e-02 9.96513312e-01 -2.41027913e-04 -6.44129957e+00] [-3.08549796e-03 -1.64647749e-05 9.99995240e-01 -4.12220654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:-6.44, Z:-0.41 [[ 9.95794032e-01 9.15684647e-02 3.07611626e-03 1.14419189e+02] [-9.15681571e-02 9.95798782e-01 -2.40992739e-04 -6.44139141e+00] [-3.08526016e-03 -4.16951652e-05 9.99995240e-01 -4.12037481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:-6.44, Z:-0.41 [[ 9.95380299e-01 9.59614378e-02 3.07612192e-03 1.14479117e+02] [-9.59611514e-02 9.95385051e-01 -2.40920483e-04 -6.43575236e+00] [-3.08504484e-03 -5.53806983e-05 9.99995240e-01 -4.12593576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:114.54, Y:-6.43, Z:-0.41 [[ 9.95464934e-01 9.50794592e-02 3.07612780e-03 1.14537741e+02] [-9.50791688e-02 9.95469685e-01 -2.40845305e-04 -6.43235109e+00] [-3.08509141e-03 -5.27226187e-05 9.99995240e-01 -4.14062572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters Centerline goodness : 0.997010 with order 1 Centerline is valid? [True, True] Translation: X:114.60, Y:-6.43, Z:-0.41 [[ 9.95767673e-01 9.18546561e-02 3.07614229e-03 1.14596820e+02] [-9.18543508e-02 9.95772424e-01 -2.40660098e-04 -6.42819540e+00] [-3.08524342e-03 -4.29155069e-05 9.99995240e-01 -4.12362033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters Centerline goodness : 0.996995 with order 1 Centerline is valid? [True, True] Translation: X:114.66, Y:-6.43, Z:-0.41 [[ 9.96136568e-01 8.77637420e-02 3.07615345e-03 1.14655637e+02] [-8.77634177e-02 9.96141318e-01 -2.40517373e-04 -6.42854177e+00] [-3.08539226e-03 -3.03855893e-05 9.99995240e-01 -4.14062990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters Centerline goodness : 0.997063 with order 1 Centerline is valid? [True, True] Translation: X:114.71, Y:-6.43, Z:-0.41 [[ 9.96282504e-01 8.60912879e-02 3.07616486e-03 1.14714386e+02] [-8.60909561e-02 9.96287253e-01 -2.40371414e-04 -6.42767440e+00] [-3.08543772e-03 -2.53521392e-05 9.99995240e-01 -4.12606682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:114.77, Y:-6.43, Z:-0.41 [[ 9.96517000e-01 8.33331074e-02 3.07617618e-03 1.14773173e+02] [-8.33327629e-02 9.96521747e-01 -2.40226415e-04 -6.42684676e+00] [-3.08549527e-03 -1.69565539e-05 9.99995240e-01 -4.11252707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters Centerline goodness : 0.996262 with order 1 Centerline is valid? [True, True] Translation: X:114.83, Y:-6.43, Z:-0.41 [[ 9.97006995e-01 7.72501719e-02 3.07618756e-03 1.14830924e+02] [-7.72497989e-02 9.97011741e-01 -2.40080587e-04 -6.42697291e+00] [-3.08554138e-03 1.72715417e-06 9.99995240e-01 -4.11773909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters Centerline goodness : 0.996293 with order 1 Centerline is valid? [True, True] Translation: X:114.89, Y:-6.43, Z:-0.41 [[ 9.97438002e-01 7.14700571e-02 3.07620150e-03 1.14890270e+02] [-7.14696571e-02 9.97442746e-01 -2.39901803e-04 -6.42918949e+00] [-3.08548067e-03 1.94321086e-05 9.99995240e-01 -4.10499888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters Centerline goodness : 0.996488 with order 1 Centerline is valid? [True, True] Translation: X:114.95, Y:-6.44, Z:-0.41 [[ 9.97815185e-01 6.59954073e-02 3.07620718e-03 1.14948909e+02] [-6.59949815e-02 9.97819926e-01 -2.39829043e-04 -6.43557701e+00] [-3.08532843e-03 3.62908250e-05 9.99995240e-01 -4.12560234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters Centerline goodness : 0.996649 with order 1 Centerline is valid? [True, True] Translation: X:115.01, Y:-6.44, Z:-0.42 [[ 9.97929048e-01 6.42506992e-02 3.07621553e-03 1.15008392e+02] [-6.42502655e-02 9.97933788e-01 -2.39721833e-04 -6.44427479e+00] [-3.08526171e-03 4.15777162e-05 9.99995240e-01 -4.16548280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters Centerline goodness : 0.996980 with order 1 Centerline is valid? [True, True] Translation: X:115.07, Y:-6.45, Z:-0.42 [[ 9.97784576e-01 6.64565716e-02 3.07622120e-03 1.15066980e+02] [-6.64561485e-02 9.97789318e-01 -2.39649032e-04 -6.45490429e+00] [-3.08534691e-03 3.46842946e-05 9.99995240e-01 -4.18662210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:-6.47, Z:-0.42 [[ 9.97514879e-01 7.03889452e-02 3.07622693e-03 1.15125895e+02] [-7.03885411e-02 9.97519622e-01 -2.39575520e-04 -6.46566418e+00] [-3.08546019e-03 2.24490203e-05 9.99995240e-01 -4.18738721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:-6.48, Z:-0.41 [[ 9.97418234e-01 7.17454009e-02 3.07623261e-03 1.15184363e+02] [-7.17450034e-02 9.97422978e-01 -2.39502541e-04 -6.47882860e+00] [-3.08548830e-03 1.81798823e-05 9.99995240e-01 -4.08799761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters Centerline goodness : 0.996577 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:-6.49, Z:-0.42 [[ 9.97428503e-01 7.16025073e-02 3.07623847e-03 1.15243765e+02] [-7.16021094e-02 9.97433246e-01 -2.39427263e-04 -6.48804382e+00] [-3.08548611e-03 1.85464133e-05 9.99995240e-01 -4.15572455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters Centerline goodness : 0.996529 with order 1 Centerline is valid? [True, True] Translation: X:115.30, Y:-6.50, Z:-0.42 [[ 9.97290928e-01 7.34938224e-02 3.07624137e-03 1.15302354e+02] [-7.34934336e-02 9.97295672e-01 -2.39389936e-04 -6.49769486e+00] [-3.08551589e-03 1.26578701e-05 9.99995240e-01 -4.18465894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters Centerline goodness : 0.997035 with order 1 Centerline is valid? [True, True] Translation: X:115.36, Y:-6.50, Z:-0.42 [[ 9.96882412e-01 7.88415735e-02 3.07624393e-03 1.15361545e+02] [-7.88412103e-02 9.96887158e-01 -2.39357096e-04 -6.50144578e+00] [-3.08553936e-03 -3.92391561e-06 9.99995240e-01 -4.17797988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:115.42, Y:-6.51, Z:-0.41 [[ 9.96528416e-01 8.31964663e-02 3.07624950e-03 1.15420694e+02] [-8.31961240e-02 9.96533164e-01 -2.39285459e-04 -6.50515220e+00] [-3.08549235e-03 -1.74772749e-05 9.99995240e-01 -4.10998405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters Centerline goodness : 0.992986 with order 1 Centerline is valid? [True, True] Translation: X:115.48, Y:-6.51, Z:-0.41 [[ 9.96501792e-01 8.35147561e-02 3.07625514e-03 1.15480526e+02] [-8.35144156e-02 9.96506540e-01 -2.39212874e-04 -6.50864939e+00] [-3.08548618e-03 -1.85355924e-05 9.99995240e-01 -4.07695044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:115.54, Y:-6.52, Z:-0.42 [[ 9.96957937e-01 7.78807273e-02 3.07626098e-03 1.15540675e+02] [-7.78803601e-02 9.96962684e-01 -2.39137833e-04 -6.51649541e+00] [-3.08554163e-03 -1.16995163e-06 9.99995240e-01 -4.16388046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:115.60, Y:-6.52, Z:-0.42 [[ 9.97329900e-01 7.29630498e-02 3.07626098e-03 1.15599586e+02] [-7.29626592e-02 9.97334645e-01 -2.39137833e-04 -6.52197951e+00] [-3.08550987e-03 1.40471302e-05 9.99995240e-01 -4.15940655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters Centerline goodness : 0.996423 with order 1 Centerline is valid? [True, True] Translation: X:115.66, Y:-6.54, Z:-0.42 [[ 9.97862046e-01 6.52830214e-02 3.07626383e-03 1.15659512e+02] [-6.52825945e-02 9.97866788e-01 -2.39101186e-04 -6.53604702e+00] [-3.08531075e-03 3.77635144e-05 9.99995240e-01 -4.19597988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters Centerline goodness : 0.997155 with order 1 Centerline is valid? [True, True] Translation: X:115.72, Y:-6.54, Z:-0.42 [[ 9.97969700e-01 6.36161493e-02 3.07625795e-03 1.15719204e+02] [-6.36157142e-02 9.97974440e-01 -2.39176728e-04 -6.54298472e+00] [-3.08524231e-03 4.29927806e-05 9.99995240e-01 -4.23652076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:115.78, Y:-6.56, Z:-0.42 [[ 9.97941375e-01 6.40589467e-02 3.07625505e-03 1.15779896e+02] [-6.40585136e-02 9.97946116e-01 -2.39214027e-04 -6.55539681e+00] [-3.08526058e-03 4.16612485e-05 9.99995240e-01 -4.23920055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters Centerline goodness : 0.996855 with order 1 Centerline is valid? [True, True] Translation: X:115.84, Y:-6.57, Z:-0.42 [[ 9.98060853e-01 6.21696963e-02 3.07624934e-03 1.15840147e+02] [-6.21692540e-02 9.98065592e-01 -2.39287392e-04 -6.56743264e+00] [-3.08517505e-03 4.75752522e-05 9.99995240e-01 -4.19374700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters Centerline goodness : 0.996664 with order 1 Centerline is valid? [True, True] Translation: X:115.90, Y:-6.58, Z:-0.42 [[ 9.98245016e-01 5.91390232e-02 3.07624366e-03 1.15901161e+02] [-5.91385663e-02 9.98249755e-01 -2.39360426e-04 -6.58270668e+00] [-3.08501502e-03 5.70157122e-05 9.99995240e-01 -4.17855007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters Centerline goodness : 0.996749 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:-6.60, Z:-0.42 [[ 9.98251476e-01 5.90298809e-02 3.07620129e-03 1.15961959e+02] [-5.90294218e-02 9.98256215e-01 -2.39903809e-04 -6.59593803e+00] [-3.08499854e-03 5.78979478e-05 9.99995240e-01 -4.16735102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:-6.61, Z:-0.42 [[ 9.98021928e-01 6.27914639e-02 3.07616087e-03 1.16023363e+02] [-6.27910211e-02 9.98026668e-01 -2.40420911e-04 -6.61105915e+00] [-3.08518696e-03 4.67900589e-05 9.99995240e-01 -4.19409978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:116.09, Y:-6.62, Z:-0.42 [[ 9.97885383e-01 6.49253401e-02 3.07612044e-03 1.16086199e+02] [-6.49249058e-02 9.97890123e-01 -2.40937062e-04 -6.61925185e+00] [-3.08527313e-03 4.07107420e-05 9.99995240e-01 -4.20033502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters Centerline goodness : 0.996468 with order 1 Centerline is valid? [True, True] Translation: X:116.15, Y:-6.63, Z:-0.42 [[ 9.97544909e-01 6.99620755e-02 3.07607363e-03 1.16147574e+02] [-6.99616633e-02 9.97549652e-01 -2.41533203e-04 -6.63229666e+00] [-3.08543435e-03 2.57329890e-05 9.99995240e-01 -4.17404411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:-6.64, Z:-0.42 [[ 9.97257044e-01 7.39521949e-02 3.07604452e-03 1.16209940e+02] [-7.39518005e-02 9.97261787e-01 -2.41903367e-04 -6.64448100e+00] [-3.08551095e-03 1.37608059e-05 9.99995240e-01 -4.19537891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters Centerline goodness : 0.996754 with order 1 Centerline is valid? [True, True] Translation: X:116.27, Y:-6.66, Z:-0.42 [[ 9.97099028e-01 7.60530453e-02 3.07599645e-03 1.16270937e+02] [-7.60526591e-02 9.97103773e-01 -2.42513140e-04 -6.65690577e+00] [-3.08553153e-03 7.87190670e-06 9.99995240e-01 -4.18448264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters Centerline goodness : 0.991549 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:-6.67, Z:-0.41 [[ 9.96754466e-01 8.04429844e-02 3.07595166e-03 1.16332270e+02] [-8.04426173e-02 9.96759212e-01 -2.43079936e-04 -6.66572890e+00] [-3.08553723e-03 -5.14659083e-06 9.99995240e-01 -4.07902332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters Centerline goodness : 0.996894 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:-6.67, Z:-0.42 [[ 9.96519925e-01 8.32981235e-02 3.07592263e-03 1.16394622e+02] [-8.32977688e-02 9.96524672e-01 -2.43446713e-04 -6.67034163e+00] [-3.08551144e-03 -1.36179915e-05 9.99995240e-01 -4.22016766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:116.46, Y:-6.68, Z:-0.42 [[ 9.96462656e-01 8.39804385e-02 3.07587647e-03 1.16456223e+02] [-8.39800853e-02 9.96467403e-01 -2.44028478e-04 -6.67653096e+00] [-3.08550426e-03 -1.51471031e-05 9.99995240e-01 -4.20147823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:116.52, Y:-6.68, Z:-0.42 [[ 9.96722040e-01 8.08437670e-02 3.07583348e-03 1.16518918e+02] [-8.08433972e-02 9.96726786e-01 -2.44569133e-04 -6.68076023e+00] [-3.08553751e-03 -4.89338273e-06 9.99995240e-01 -4.16117221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters Centerline goodness : 0.996750 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:-6.69, Z:-0.42 [[ 9.96887113e-01 7.87821214e-02 3.07578685e-03 1.16581697e+02] [-7.87817400e-02 9.96891858e-01 -2.45154192e-04 -6.68526073e+00] [-3.08554064e-03 2.07521493e-06 9.99995240e-01 -4.15668954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:-6.69, Z:-0.41 [[ 9.96754251e-01 8.04456572e-02 3.07574006e-03 1.16644463e+02] [-8.04452819e-02 9.96758996e-01 -2.45739872e-04 -6.68614641e+00] [-3.08554028e-03 -2.48651428e-06 9.99995240e-01 -4.14996715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters Centerline goodness : 0.997477 with order 1 Centerline is valid? [True, True] Translation: X:116.71, Y:-6.69, Z:-0.42 [[ 9.96482783e-01 8.37412879e-02 3.07569244e-03 1.16707378e+02] [-8.37409265e-02 9.96487530e-01 -2.46334491e-04 -6.68801340e+00] [-3.08551752e-03 -1.20932555e-05 9.99995240e-01 -4.21467353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters Centerline goodness : 0.997791 with order 1 Centerline is valid? [True, True] Translation: X:116.77, Y:-6.69, Z:-0.42 [[ 9.96434524e-01 8.43135851e-02 3.07564506e-03 1.16770384e+02] [-8.43132245e-02 9.96439270e-01 -2.46924543e-04 -6.68894812e+00] [-3.08551262e-03 -1.32734140e-05 9.99995240e-01 -4.21257621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters Centerline goodness : 0.997930 with order 1 Centerline is valid? [True, True] Translation: X:116.83, Y:-6.69, Z:-0.42 [[ 9.96511921e-01 8.33938327e-02 3.07559831e-03 1.16833950e+02] [-8.33934660e-02 9.96516667e-01 -2.47505538e-04 -6.68904485e+00] [-3.08552541e-03 -9.84258418e-06 9.99995240e-01 -4.15609961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters Centerline goodness : 0.997582 with order 1 Centerline is valid? [True, True] Translation: X:116.90, Y:-6.69, Z:-0.42 [[ 9.96726637e-01 8.07870811e-02 3.07555104e-03 1.16896281e+02] [-8.07867002e-02 9.96731382e-01 -2.48091475e-04 -6.69241287e+00] [-3.08554083e-03 -1.18423897e-06 9.99995240e-01 -4.17223786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:116.96, Y:-6.70, Z:-0.42 [[ 9.96941552e-01 7.80902296e-02 3.07550722e-03 1.16958895e+02] [-7.80898342e-02 9.96946295e-01 -2.48633528e-04 -6.69747519e+00] [-3.08553138e-03 7.70724618e-06 9.99995240e-01 -4.24470161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters Centerline goodness : 0.997891 with order 1 Centerline is valid? [True, True] Translation: X:117.02, Y:-6.71, Z:-0.42 [[ 9.96970060e-01 7.77254270e-02 3.07546061e-03 1.17020998e+02] [-7.77250280e-02 9.96974803e-01 -2.49208789e-04 -6.70645025e+00] [-3.08552659e-03 9.41343958e-06 9.99995240e-01 -4.21303398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:117.08, Y:-6.71, Z:-0.42 [[ 9.96734813e-01 8.06861524e-02 3.07541402e-03 1.17082432e+02] [-8.06857658e-02 9.96739557e-01 -2.49782411e-04 -6.71410441e+00] [-3.08554079e-03 8.24689455e-07 9.99995240e-01 -4.20386042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters Centerline goodness : 0.997803 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:-6.73, Z:-0.42 [[ 9.96619162e-01 8.21023039e-02 3.07537060e-03 1.17145061e+02] [-8.21019224e-02 9.96623907e-01 -2.50315821e-04 -6.72666917e+00] [-3.08553937e-03 -3.02429435e-06 9.99995240e-01 -4.21189937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:-6.73, Z:-0.43 [[ 9.96557236e-01 8.28505719e-02 3.07532392e-03 1.17208009e+02] [-8.28501922e-02 9.96561981e-01 -2.50888084e-04 -6.73304259e+00] [-3.08553712e-03 -4.76684170e-06 9.99995240e-01 -4.25694946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters Centerline goodness : 0.997918 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:-6.74, Z:-0.42 [[ 9.96240456e-01 8.65765387e-02 3.07527738e-03 1.17269709e+02] [-8.65761750e-02 9.96245202e-01 -2.51457212e-04 -6.74378474e+00] [-3.08550063e-03 -1.57339055e-05 9.99995240e-01 -4.20945760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:-6.75, Z:-0.42 [[ 9.95826618e-01 9.12134307e-02 3.07523400e-03 1.17332079e+02] [-9.12130874e-02 9.95831366e-01 -2.51986693e-04 -6.75110064e+00] [-3.08539904e-03 -2.95665314e-05 9.99995240e-01 -4.17899352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:-6.75, Z:-0.42 [[ 9.95091111e-01 9.89152338e-02 3.07518825e-03 1.17394366e+02] [-9.89149256e-02 9.95095862e-01 -2.52543679e-04 -6.75430394e+00] [-3.08508752e-03 -5.28780471e-05 9.99995240e-01 -4.21786558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:117.46, Y:-6.76, Z:-0.42 [[ 9.94626907e-01 1.03478787e-01 3.07514883e-03 1.17457124e+02] [-1.03478499e-01 9.94631659e-01 -2.53022881e-04 -6.75978234e+00] [-3.08482288e-03 -6.65484197e-05 9.99995240e-01 -4.22966392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters Centerline goodness : 0.998190 with order 1 Centerline is valid? [True, True] Translation: X:117.52, Y:-6.76, Z:-0.43 [[ 9.94787993e-01 1.01918555e-01 3.07510078e-03 1.17518933e+02] [-1.01918258e-01 9.94792744e-01 -2.53605455e-04 -6.76420098e+00] [-3.08493505e-03 -6.11252521e-05 9.99995240e-01 -4.27212136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:117.58, Y:-6.77, Z:-0.43 [[ 9.95242405e-01 9.73812033e-02 3.07505613e-03 1.17581172e+02] [-9.73808828e-02 9.95247155e-01 -2.54145720e-04 -6.77047091e+00] [-3.08518988e-03 -4.65150832e-05 9.99995240e-01 -4.25139686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:117.64, Y:-6.78, Z:-0.43 [[ 9.95715384e-01 9.24197942e-02 3.07500837e-03 1.17642527e+02] [-9.24194482e-02 9.95720132e-01 -2.54722252e-04 -6.77649622e+00] [-3.08538912e-03 -3.05597117e-05 9.99995240e-01 -4.25400883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters Centerline goodness : 0.998003 with order 1 Centerline is valid? [True, True] Translation: X:117.71, Y:-6.79, Z:-0.42 [[ 9.96262631e-01 8.63209995e-02 3.07497855e-03 1.17705331e+02] [-8.63206234e-02 9.96267376e-01 -2.55081713e-04 -6.78551219e+00] [-3.08551972e-03 -1.13056869e-05 9.99995240e-01 -4.24853088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:117.77, Y:-6.79, Z:-0.42 [[ 9.96743216e-01 8.05822897e-02 3.07493075e-03 1.17768137e+02] [-8.05818845e-02 9.96747959e-01 -2.55656687e-04 -6.79327429e+00] [-3.08553235e-03 7.04035426e-06 9.99995240e-01 -4.23901682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:117.83, Y:-6.80, Z:-0.42 [[ 9.97233337e-01 7.42712310e-02 3.07488314e-03 1.17830550e+02] [-7.42707939e-02 9.97238078e-01 -2.56227946e-04 -6.80318656e+00] [-3.08542092e-03 2.71450371e-05 9.99995240e-01 -4.19199715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters Centerline goodness : 0.997844 with order 1 Centerline is valid? [True, True] Translation: X:117.89, Y:-6.82, Z:-0.42 [[ 9.97491578e-01 7.07184367e-02 3.07483528e-03 1.17892500e+02] [-7.07179811e-02 9.97496316e-01 -2.56801043e-04 -6.81895873e+00] [-3.08529744e-03 3.87107341e-05 9.99995240e-01 -4.21663988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:117.96, Y:-6.83, Z:-0.43 [[ 9.97504432e-01 7.05368957e-02 3.07478707e-03 1.17955152e+02] [-7.05364374e-02 9.97509170e-01 -2.57377018e-04 -6.83128407e+00] [-3.08528287e-03 3.98501907e-05 9.99995240e-01 -4.27369493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters Centerline goodness : 0.998343 with order 1 Centerline is valid? [True, True] Translation: X:118.02, Y:-6.84, Z:-0.43 [[ 9.97313180e-01 7.31913074e-02 3.07473630e-03 1.18016521e+02] [-7.31908598e-02 9.97317919e-01 -2.57982064e-04 -6.84240517e+00] [-3.08537166e-03 3.22463189e-05 9.99995240e-01 -4.29074566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:118.08, Y:-6.85, Z:-0.43 [[ 9.97262454e-01 7.38792577e-02 3.07468919e-03 1.18079135e+02] [-7.38788117e-02 9.97267193e-01 -2.58542409e-04 -6.84889860e+00] [-3.08538757e-03 3.06802536e-05 9.99995240e-01 -4.29721574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:118.14, Y:-6.86, Z:-0.43 [[ 9.97154486e-01 7.53224879e-02 3.07463972e-03 1.18140799e+02] [-7.53220469e-02 9.97159226e-01 -2.59129382e-04 -6.85724934e+00] [-3.08542363e-03 2.68038689e-05 9.99995240e-01 -4.27757444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters Centerline goodness : 0.998077 with order 1 Centerline is valid? [True, True] Translation: X:118.20, Y:-6.86, Z:-0.43 [[ 9.96945476e-01 7.80401477e-02 3.07459383e-03 1.18203661e+02] [-7.80397180e-02 9.96950217e-01 -2.59672738e-04 -6.86183670e+00] [-3.08548188e-03 1.89391263e-05 9.99995240e-01 -4.27523117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters Centerline goodness : 0.998349 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:-6.86, Z:-0.43 [[ 9.96741003e-01 8.06096815e-02 3.07454525e-03 1.18265922e+02] [-8.06092622e-02 9.96745744e-01 -2.60246615e-04 -6.86379175e+00] [-3.08551829e-03 1.15616476e-05 9.99995240e-01 -4.32278644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters Centerline goodness : 0.998467 with order 1 Centerline is valid? [True, True] Translation: X:118.33, Y:-6.87, Z:-0.43 [[ 9.96639757e-01 8.18519550e-02 3.07450162e-03 1.18326655e+02] [-8.18515401e-02 9.96644499e-01 -2.60761081e-04 -6.86671176e+00] [-3.08552893e-03 8.23216785e-06 9.99995240e-01 -4.25789219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:-6.87, Z:-0.43 [[ 9.96745374e-01 8.05556117e-02 3.07446141e-03 1.18389484e+02] [-8.05551891e-02 9.96750116e-01 -2.61234280e-04 -6.87138300e+00] [-3.08551365e-03 1.27202400e-05 9.99995240e-01 -4.28914045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:-6.88, Z:-0.43 [[ 9.96786832e-01 8.00409889e-02 3.07441309e-03 1.18452346e+02] [-8.00405621e-02 9.96791573e-01 -2.61801743e-04 -6.87622483e+00] [-3.08550393e-03 1.48827782e-05 9.99995240e-01 -4.30920592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:118.52, Y:-6.88, Z:-0.43 [[ 9.96781182e-01 8.01113175e-02 3.07436431e-03 1.18515026e+02] [-8.01108893e-02 9.96785923e-01 -2.62373319e-04 -6.88069059e+00] [-3.08550214e-03 1.52387289e-05 9.99995240e-01 -4.31787931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:118.58, Y:-6.89, Z:-0.43 [[ 9.96699878e-01 8.11165882e-02 3.07431419e-03 1.18577463e+02] [-8.11161629e-02 9.96704620e-01 -2.62959260e-04 -6.88684879e+00] [-3.08551351e-03 1.27148921e-05 9.99995240e-01 -4.26290896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters Centerline goodness : 0.998494 with order 1 Centerline is valid? [True, True] Translation: X:118.64, Y:-6.89, Z:-0.42 [[ 9.96451967e-01 8.41072307e-02 3.07426437e-03 1.18640550e+02] [-8.41068179e-02 9.96456709e-01 -2.63540431e-04 -6.89072503e+00] [-3.08553701e-03 4.03878791e-06 9.99995240e-01 -4.24490769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:118.70, Y:-6.89, Z:-0.43 [[ 9.95799592e-01 9.15080388e-02 3.07421488e-03 1.18702364e+02] [-9.15076595e-02 9.95804337e-01 -2.64116394e-04 -6.89222245e+00] [-3.08548529e-03 -1.83072111e-05 9.99995240e-01 -4.32233878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:-6.89, Z:-0.43 [[ 9.95499192e-01 9.47201602e-02 3.07416912e-03 1.18765243e+02] [-9.47197946e-02 9.95503938e-01 -2.64647941e-04 -6.89487039e+00] [-3.08541496e-03 -2.77278567e-05 9.99995240e-01 -4.30626576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:118.83, Y:-6.90, Z:-0.43 [[ 9.95284627e-01 9.69487530e-02 3.07412101e-03 1.18827959e+02] [-9.69483962e-02 9.95289374e-01 -2.65205610e-04 -6.89559774e+00] [-3.08535133e-03 -3.40760352e-05 9.99995240e-01 -4.32188074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:118.89, Y:-6.89, Z:-0.43 [[ 9.95505591e-01 9.46528843e-02 3.07407319e-03 1.18890130e+02] [-9.46525149e-02 9.95510337e-01 -2.65758783e-04 -6.89444302e+00] [-3.08542647e-03 -2.64044046e-05 9.99995240e-01 -4.29534144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:118.95, Y:-6.89, Z:-0.43 [[ 9.95736726e-01 9.21895996e-02 3.07402848e-03 1.18952982e+02] [-9.21892169e-02 9.95741471e-01 -2.66274930e-04 -6.89489455e+00] [-3.08548542e-03 -1.82525517e-05 9.99995240e-01 -4.29310253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:-6.90, Z:-0.43 [[ 9.96212543e-01 8.68971851e-02 3.07397695e-03 1.19015259e+02] [-8.68967753e-02 9.96217285e-01 -2.66868468e-04 -6.89586409e+00] [-3.08553909e-03 -1.26097019e-06 9.99995240e-01 -4.32001629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:119.08, Y:-6.90, Z:-0.43 [[ 9.96869148e-01 7.90091972e-02 3.07392892e-03 1.19077601e+02] [-7.90087482e-02 9.96873887e-01 -2.67420564e-04 -6.90328030e+00] [-3.08544816e-03 2.37160332e-05 9.99995240e-01 -4.28723614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:119.14, Y:-6.91, Z:-0.43 [[ 9.97174097e-01 7.50624538e-02 3.07388171e-03 1.19139104e+02] [-7.50619844e-02 9.97178834e-01 -2.67962153e-04 -6.91317421e+00] [-3.08532368e-03 3.64732571e-05 9.99995240e-01 -4.31618668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:119.20, Y:-6.93, Z:-0.43 [[ 9.97577573e-01 6.94948754e-02 3.07385234e-03 1.19200538e+02] [-6.94943785e-02 9.97582307e-01 -2.68298643e-04 -6.92923647e+00] [-3.08506609e-03 5.40332512e-05 9.99995240e-01 -4.27784539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters Centerline goodness : 0.998327 with order 1 Centerline is valid? [True, True] Translation: X:119.26, Y:-6.95, Z:-0.43 [[ 9.97634431e-01 6.86738202e-02 3.07380247e-03 1.19261659e+02] [-6.86733177e-02 9.97639165e-01 -2.68868824e-04 -6.94545640e+00] [-3.08500998e-03 5.71445833e-05 9.99995240e-01 -4.26441759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters Centerline goodness : 0.998598 with order 1 Centerline is valid? [True, True] Translation: X:119.32, Y:-6.96, Z:-0.43 [[ 9.97558331e-01 6.97705336e-02 3.07375611e-03 1.19323199e+02] [-6.97700346e-02 9.97563066e-01 -2.69397749e-04 -6.96189101e+00] [-3.08506159e-03 5.42838991e-05 9.99995240e-01 -4.32870425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:119.38, Y:-6.97, Z:-0.43 [[ 9.97233687e-01 7.42665893e-02 3.07370700e-03 1.19384942e+02] [-7.42661099e-02 9.97238423e-01 -2.69956885e-04 -6.97426159e+00] [-3.08526750e-03 4.09378381e-05 9.99995240e-01 -4.25147778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:-6.98, Z:-0.43 [[ 9.96929023e-01 7.82500808e-02 3.07368541e-03 1.19446376e+02] [-7.82496196e-02 9.96933761e-01 -2.70202485e-04 -6.98320344e+00] [-3.08540412e-03 2.88579848e-05 9.99995240e-01 -4.28018099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:-6.99, Z:-0.43 [[ 9.96858102e-01 7.91484525e-02 3.07363913e-03 1.19507790e+02] [-7.91479939e-02 9.96862840e-01 -2.70727924e-04 -6.99142481e+00] [-3.08542433e-03 2.66049531e-05 9.99995240e-01 -4.28770646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:-7.00, Z:-0.42 [[ 9.96583269e-01 8.25369048e-02 3.07359409e-03 1.19571099e+02] [-8.25364608e-02 9.96588009e-01 -2.71238324e-04 -6.99583469e+00] [-3.08549418e-03 1.66279974e-05 9.99995240e-01 -4.24343045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters Centerline goodness : 0.997234 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:-7.00, Z:-0.42 [[ 9.96025377e-01 8.90168582e-02 3.07354632e-03 1.19634364e+02] [-8.90164434e-02 9.96030119e-01 -2.71778491e-04 -6.99709125e+00] [-3.08553758e-03 -2.89788865e-06 9.99995240e-01 -4.24989197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters Centerline goodness : 0.997808 with order 1 Centerline is valid? [True, True] Translation: X:119.70, Y:-6.99, Z:-0.43 [[ 9.94977317e-01 1.00053452e-01 3.07349547e-03 1.19696382e+02] [-1.00053088e-01 9.94982063e-01 -2.72352359e-04 -6.99394762e+00] [-3.08532266e-03 -3.65282930e-05 9.99995240e-01 -4.30878188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters Centerline goodness : 0.998323 with order 1 Centerline is valid? [True, True] Translation: X:119.76, Y:-6.99, Z:-0.43 [[ 9.94439548e-01 1.05264141e-01 3.07346410e-03 1.19759567e+02] [-1.05263801e-01 9.94444296e-01 -2.72705959e-04 -6.99065360e+00] [-3.08509500e-03 -5.23349234e-05 9.99995240e-01 -4.29684814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:119.82, Y:-6.99, Z:-0.43 [[ 9.94690775e-01 1.02863096e-01 3.07341424e-03 1.19823460e+02] [-1.02862743e-01 9.94695522e-01 -2.73266722e-04 -6.98880098e+00] [-3.08522044e-03 -4.43239304e-05 9.99995240e-01 -4.32442252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:-6.99, Z:-0.43 [[ 9.95200410e-01 9.78095036e-02 3.07336452e-03 1.19886466e+02] [-9.78091243e-02 9.95205155e-01 -2.73824737e-04 -6.98913214e+00] [-3.08541088e-03 -2.80926019e-05 9.99995240e-01 -4.34575110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:-6.99, Z:-0.43 [[ 9.95468779e-01 9.50392852e-02 3.07331429e-03 1.19948385e+02] [-9.50388910e-02 9.95473522e-01 -2.74387353e-04 -6.99115546e+00] [-3.08548058e-03 -1.89403390e-05 9.99995240e-01 -4.32495700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:-6.99, Z:-0.43 [[ 9.95578493e-01 9.38830073e-02 3.07328296e-03 1.20010420e+02] [-9.38826065e-02 9.95583236e-01 -2.74737851e-04 -6.99354844e+00] [-3.08550221e-03 -1.50047192e-05 9.99995240e-01 -4.31425155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:120.07, Y:-7.00, Z:-0.43 [[ 9.95545421e-01 9.42330653e-02 3.07323793e-03 1.20073304e+02] [-9.42326646e-02 9.95550164e-01 -2.75240612e-04 -6.99809981e+00] [-3.08549929e-03 -1.55848684e-05 9.99995240e-01 -4.30253196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:-7.00, Z:-0.43 [[ 9.95481756e-01 9.49032645e-02 3.07318673e-03 1.20136099e+02] [-9.49028652e-02 9.95486499e-01 -2.75811049e-04 -7.00059154e+00] [-3.08549127e-03 -1.70893589e-05 9.99995240e-01 -4.30712593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:-7.01, Z:-0.43 [[ 9.95655477e-01 9.30630304e-02 3.07313424e-03 1.20197784e+02] [-9.30626206e-02 9.95660219e-01 -2.76394738e-04 -7.00592006e+00] [-3.08551964e-03 -1.07999910e-05 9.99995240e-01 -4.31720310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters Centerline goodness : 0.998542 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:-7.01, Z:-0.43 [[ 9.95831235e-01 9.11630814e-02 3.07308526e-03 1.20260818e+02] [-9.11626608e-02 9.95835977e-01 -2.76938231e-04 -7.01066460e+00] [-3.08553540e-03 -4.36688894e-06 9.99995240e-01 -4.31668857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:120.32, Y:-7.01, Z:-0.43 [[ 9.95607344e-01 9.35765623e-02 3.07303071e-03 1.20322418e+02] [-9.35761514e-02 9.95612087e-01 -2.77542269e-04 -7.01478109e+00] [-3.08551797e-03 -1.12392649e-05 9.99995240e-01 -4.30295298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:-7.01, Z:-0.44 [[ 9.95172859e-01 9.80894400e-02 3.07298008e-03 1.20385296e+02] [-9.80890489e-02 9.95177603e-01 -2.78101692e-04 -7.01422895e+00] [-3.08543979e-03 -2.46664372e-05 9.99995240e-01 -4.40071062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:-7.02, Z:-0.44 [[ 9.95192076e-01 9.78942780e-02 3.07293470e-03 1.20447986e+02] [-9.78938844e-02 9.95196820e-01 -2.78602185e-04 -7.01602147e+00] [-3.08544840e-03 -2.35588278e-05 9.99995240e-01 -4.40919371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:-7.01, Z:-0.44 [[ 9.95264291e-01 9.71573429e-02 3.07288730e-03 1.20509795e+02] [-9.71569442e-02 9.95269034e-01 -2.79124085e-04 -7.01187467e+00] [-3.08546853e-03 -2.07501050e-05 9.99995240e-01 -4.40479588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:120.57, Y:-7.01, Z:-0.44 [[ 9.95075392e-01 9.90733108e-02 3.07284378e-03 1.20571572e+02] [-9.90729197e-02 9.95080137e-01 -2.79602361e-04 -7.00806661e+00] [-3.08542694e-03 -2.62101760e-05 9.99995240e-01 -4.37498216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters Centerline goodness : 0.998217 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:-7.00, Z:-0.43 [[ 9.95183995e-01 9.79763983e-02 3.07283710e-03 1.20632067e+02] [-9.79760018e-02 9.95188738e-01 -2.79675774e-04 -7.00450026e+00] [-3.08545450e-03 -2.27354386e-05 9.99995240e-01 -4.34304730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters Centerline goodness : 0.998416 with order 1 Centerline is valid? [True, True] Translation: X:120.69, Y:-7.01, Z:-0.43 [[ 9.95626717e-01 9.33702226e-02 3.07283378e-03 1.20693070e+02] [-9.33698040e-02 9.95631459e-01 -2.79712178e-04 -7.00731660e+00] [-3.08552677e-03 -8.42097046e-06 9.99995240e-01 -4.32207667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters Centerline goodness : 0.998391 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:-7.01, Z:-0.43 [[ 9.96283543e-01 8.60793797e-02 3.07282730e-03 1.20754960e+02] [-8.60789262e-02 9.96288282e-01 -2.79783362e-04 -7.00897038e+00] [-3.08550541e-03 1.42378853e-05 9.99995240e-01 -4.30152447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:120.81, Y:-7.01, Z:-0.44 [[ 9.96446082e-01 8.41769770e-02 3.07277818e-03 1.20814913e+02] [-8.41765128e-02 9.96450820e-01 -2.80321795e-04 -7.01185034e+00] [-3.08546898e-03 2.06698026e-05 9.99995240e-01 -4.37013589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters Centerline goodness : 0.998515 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:-7.02, Z:-0.44 [[ 9.96252914e-01 8.64331541e-02 3.07277472e-03 1.20875643e+02] [-8.64327005e-02 9.96257652e-01 -2.80359697e-04 -7.01534596e+00] [-3.08550770e-03 1.37209478e-05 9.99995240e-01 -4.38102291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters Centerline goodness : 0.998415 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:-7.02, Z:-0.43 [[ 9.95951211e-01 8.98428781e-02 3.07277472e-03 1.20936319e+02] [-8.98424407e-02 9.95955951e-01 -2.80359697e-04 -7.01901095e+00] [-3.08553659e-03 3.15899912e-06 9.99995240e-01 -4.33850457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:121.00, Y:-7.02, Z:-0.44 [[ 9.95968541e-01 8.96505649e-02 3.07277472e-03 1.20996178e+02] [-8.96501266e-02 9.95973281e-01 -2.80359697e-04 -7.02435862e+00] [-3.08553593e-03 3.75479535e-06 9.99995240e-01 -4.37979413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:121.06, Y:-7.03, Z:-0.44 [[ 9.95897749e-01 9.04335801e-02 3.07277472e-03 1.21055887e+02] [-9.04331456e-02 9.95902489e-01 -2.80359697e-04 -7.02796005e+00] [-3.08553793e-03 1.32890732e-06 9.99995240e-01 -4.38769888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters Centerline goodness : 0.998393 with order 1 Centerline is valid? [True, True] Translation: X:121.12, Y:-7.03, Z:-0.44 [[ 9.95332462e-01 9.64564571e-02 3.07277093e-03 1.21115905e+02] [-9.64560511e-02 9.95337205e-01 -2.80401258e-04 -7.02916427e+00] [-3.08548974e-03 -1.72948756e-05 9.99995240e-01 -4.37653867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:121.18, Y:-7.03, Z:-0.44 [[ 9.95101650e-01 9.88092309e-02 3.07277754e-03 1.21175941e+02] [-9.88088363e-02 9.95106394e-01 -2.80328795e-04 -7.02997480e+00] [-3.08543965e-03 -2.46619265e-05 9.99995240e-01 -4.36307651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:121.24, Y:-7.03, Z:-0.43 [[ 9.95780491e-01 9.17157095e-02 3.07278409e-03 1.21235976e+02] [-9.17152813e-02 9.95785232e-01 -2.80256940e-04 -7.03129659e+00] [-3.08553699e-03 -2.74686463e-06 9.99995240e-01 -4.34206651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters Centerline goodness : 0.998104 with order 1 Centerline is valid? [True, True] Translation: X:121.30, Y:-7.04, Z:-0.44 [[ 9.96225122e-01 8.67528898e-02 3.07278734e-03 1.21295961e+02] [-8.67524381e-02 9.96229861e-01 -2.80221369e-04 -7.03700431e+00] [-3.08551252e-03 1.25917743e-05 9.99995240e-01 -4.35144580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters Centerline goodness : 0.997956 with order 1 Centerline is valid? [True, True] Translation: X:121.36, Y:-7.04, Z:-0.43 [[ 9.96353003e-01 8.52716310e-02 3.07278734e-03 1.21356016e+02] [-8.52711723e-02 9.96357741e-01 -2.80221369e-04 -7.04195304e+00] [-3.08549038e-03 1.71792242e-05 9.99995240e-01 -4.34997173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:121.42, Y:-7.05, Z:-0.44 [[ 9.95812530e-01 9.13671892e-02 3.07278734e-03 1.21415506e+02] [-9.13667595e-02 9.95817271e-01 -2.80221369e-04 -7.04716112e+00] [-3.08553774e-03 -1.70267119e-06 9.99995240e-01 -4.37540662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:121.48, Y:-7.05, Z:-0.44 [[ 9.95472075e-01 9.50047680e-02 3.07279393e-03 1.21475067e+02] [-9.50043558e-02 9.95476817e-01 -2.80149101e-04 -7.05311253e+00] [-3.08551062e-03 -1.30482003e-05 9.99995240e-01 -4.41883352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:121.53, Y:-7.06, Z:-0.44 [[ 9.95474268e-01 9.49817831e-02 3.07280066e-03 1.21534047e+02] [-9.49813710e-02 9.95479011e-01 -2.80075220e-04 -7.06267501e+00] [-3.08551061e-03 -1.30511449e-05 9.99995240e-01 -4.39838176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:121.59, Y:-7.07, Z:-0.44 [[ 9.95161730e-01 9.82022849e-02 3.07280400e-03 1.21592816e+02] [-9.82018883e-02 9.95166474e-01 -2.80038547e-04 -7.06984044e+00] [-3.08545195e-03 -2.30715109e-05 9.99995240e-01 -4.41312714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:121.65, Y:-7.08, Z:-0.44 [[ 9.94661039e-01 1.03150254e-01 3.07281068e-03 1.21650696e+02] [-1.03149881e-01 9.94665785e-01 -2.79965245e-04 -7.07707818e+00] [-3.08529813e-03 -3.84895341e-05 9.99995240e-01 -4.43138907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters Centerline goodness : 0.998040 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-7.08, Z:-0.44 [[ 9.94476356e-01 1.04915851e-01 3.07282065e-03 1.21709315e+02] [-1.04915487e-01 9.94481102e-01 -2.79855792e-04 -7.08242894e+00] [-3.08522337e-03 -4.40765071e-05 9.99995240e-01 -4.38393628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters Centerline goodness : 0.997387 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:-7.09, Z:-0.44 [[ 9.94196170e-01 1.07538516e-01 3.07283040e-03 1.21769316e+02] [-1.07538165e-01 9.94200918e-01 -2.79748671e-04 -7.08692689e+00] [-3.08509456e-03 -5.23214847e-05 9.99995240e-01 -4.36544713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:121.83, Y:-7.09, Z:-0.44 [[ 9.94306791e-01 1.06510857e-01 3.07283696e-03 1.21827472e+02] [-1.06510501e-01 9.94311538e-01 -2.79676622e-04 -7.09026130e+00] [-3.08514584e-03 -4.92050411e-05 9.99995240e-01 -4.39170647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters Centerline goodness : 0.998068 with order 1 Centerline is valid? [True, True] Translation: X:121.89, Y:-7.09, Z:-0.44 [[ 9.94550279e-01 1.04212763e-01 3.07284667e-03 1.21885923e+02] [-1.04212396e-01 9.94555025e-01 -2.79569944e-04 -7.09489531e+00] [-3.08524985e-03 -4.21823479e-05 9.99995240e-01 -4.38628340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:-7.10, Z:-0.44 [[ 9.94675344e-01 1.03012218e-01 3.07285622e-03 1.21945838e+02] [-1.03011846e-01 9.94680090e-01 -2.79464903e-04 -7.10008455e+00] [-3.08529720e-03 -3.85637441e-05 9.99995240e-01 -4.36223130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters Centerline goodness : 0.997989 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:-7.11, Z:-0.44 [[ 9.94643221e-01 1.03321929e-01 3.07286261e-03 1.22005534e+02] [-1.03321559e-01 9.94647967e-01 -2.79394592e-04 -7.10573034e+00] [-3.08528414e-03 -3.95950181e-05 9.99995240e-01 -4.35255521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters Centerline goodness : 0.998226 with order 1 Centerline is valid? [True, True] Translation: X:122.06, Y:-7.11, Z:-0.44 [[ 9.94289324e-01 1.06673794e-01 3.07286909e-03 1.22064500e+02] [-1.06673440e-01 9.94294071e-01 -2.79323366e-04 -7.10588035e+00] [-3.08513200e-03 -5.00652748e-05 9.99995240e-01 -4.37516162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters Centerline goodness : 0.998344 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:-7.11, Z:-0.44 [[ 9.93995853e-01 1.09374590e-01 3.07287866e-03 1.22123309e+02] [-1.09374249e-01 9.94000601e-01 -2.79217992e-04 -7.10731600e+00] [-3.08498259e-03 -5.85522706e-05 9.99995240e-01 -4.40210941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:-7.11, Z:-0.44 [[ 9.94012266e-01 1.09225324e-01 3.07289145e-03 1.22182823e+02] [-1.09224983e-01 9.94017015e-01 -2.79077156e-04 -7.10583536e+00] [-3.08498868e-03 -5.82304009e-05 9.99995240e-01 -4.40734234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:-7.10, Z:-0.44 [[ 9.94006773e-01 1.09275305e-01 3.07290465e-03 1.22242711e+02] [-1.09274964e-01 9.94011521e-01 -2.78931747e-04 -7.10187214e+00] [-3.08498298e-03 -5.85315006e-05 9.99995240e-01 -4.39404177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:122.30, Y:-7.09, Z:-0.44 [[ 9.94083684e-01 1.08573411e-01 3.07291815e-03 1.22302770e+02] [-1.08573067e-01 9.94088432e-01 -2.78782933e-04 -7.09484889e+00] [-3.08502080e-03 -5.65025841e-05 9.99995240e-01 -4.39055498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters Centerline goodness : 0.997175 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:-7.09, Z:-0.44 [[ 9.94214797e-01 1.07366168e-01 3.07293160e-03 1.22361040e+02] [-1.07365820e-01 9.94219545e-01 -2.78634657e-04 -7.09237152e+00] [-3.08508459e-03 -5.29051201e-05 9.99995240e-01 -4.38384452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters Centerline goodness : 0.997253 with order 1 Centerline is valid? [True, True] Translation: X:122.42, Y:-7.09, Z:-0.44 [[ 9.94805012e-01 1.01752370e-01 3.07295033e-03 1.22420752e+02] [-1.01751995e-01 9.94809758e-01 -2.78427927e-04 -7.08851513e+00] [-3.08533167e-03 -3.56973287e-05 9.99995240e-01 -4.39490692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:-7.09, Z:-0.44 [[ 9.95780312e-01 9.17176468e-02 3.07296362e-03 1.22479090e+02] [-9.17172247e-02 9.95785054e-01 -2.78281097e-04 -7.08608800e+00] [-3.08553453e-03 -4.73685803e-06 9.99995240e-01 -4.39538563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-7.09, Z:-0.44 [[ 9.96712348e-01 8.09632761e-02 3.07298004e-03 1.22537944e+02] [-8.09628035e-02 9.96717085e-01 -2.78099700e-04 -7.09077310e+00] [-3.08540757e-03 2.83883259e-05 9.99995240e-01 -4.38239397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters Centerline goodness : 0.996814 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:-7.10, Z:-0.44 [[ 9.97262809e-01 7.38745344e-02 3.07299350e-03 1.22596041e+02] [-7.38740285e-02 9.97267542e-01 -2.77950915e-04 -7.09760966e+00] [-3.08513017e-03 5.01757008e-05 9.99995240e-01 -4.40732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters Centerline goodness : 0.996807 with order 1 Centerline is valid? [True, True] Translation: X:122.66, Y:-7.11, Z:-0.44 [[ 9.97492345e-01 7.07076936e-02 3.07300337e-03 1.22655010e+02] [-7.07071731e-02 9.97497077e-01 -2.77841684e-04 -7.10754733e+00] [-3.08495743e-03 5.98615720e-05 9.99995240e-01 -4.38290015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-7.12, Z:-0.44 [[ 9.97583916e-01 6.94038011e-02 3.07300975e-03 1.22714416e+02] [-6.94032745e-02 9.97588647e-01 -2.77771123e-04 -7.11746734e+00] [-3.08487801e-03 6.38230653e-05 9.99995240e-01 -4.40593303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters Centerline goodness : 0.997111 with order 1 Centerline is valid? [True, True] Translation: X:122.77, Y:-7.13, Z:-0.44 [[ 9.97610986e-01 6.90135958e-02 3.07301623e-03 1.22773436e+02] [-6.90130677e-02 9.97615717e-01 -2.77699410e-04 -7.12792461e+00] [-3.08485433e-03 6.49577054e-05 9.99995240e-01 -4.37543371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters Centerline goodness : 0.996726 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:-7.14, Z:-0.44 [[ 9.97539190e-01 7.00437070e-02 3.07302276e-03 1.22832332e+02] [-7.00431840e-02 9.97543921e-01 -2.77627142e-04 -7.13806349e+00] [-3.08492121e-03 6.16996557e-05 9.99995240e-01 -4.36698407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters Centerline goodness : 0.996394 with order 1 Centerline is valid? [True, True] Translation: X:122.89, Y:-7.15, Z:-0.44 [[ 9.97099372e-01 7.60486650e-02 3.07302924e-03 1.22890216e+02] [-7.60481707e-02 9.97104106e-01 -2.77555384e-04 -7.14788692e+00] [-3.08523779e-03 4.30520472e-05 9.99995240e-01 -4.36146755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters Centerline goodness : 0.996832 with order 1 Centerline is valid? [True, True] Translation: X:122.95, Y:-7.16, Z:-0.44 [[ 9.96868792e-01 7.90137138e-02 3.07304224e-03 1.22948004e+02] [-7.90132340e-02 9.96873529e-01 -2.77411360e-04 -7.15572241e+00] [-3.08535377e-03 3.37317219e-05 9.99995240e-01 -4.35743118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:123.01, Y:-7.17, Z:-0.44 [[ 9.96900007e-01 7.86189031e-02 3.07305193e-03 1.23007286e+02] [-7.86184218e-02 9.96904743e-01 -2.77304041e-04 -7.16521063e+00] [-3.08534138e-03 3.48459082e-05 9.99995240e-01 -4.37511634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters Centerline goodness : 0.995840 with order 1 Centerline is valid? [True, True] Translation: X:123.07, Y:-7.18, Z:-0.44 [[ 9.97259485e-01 7.39193886e-02 3.07305851e-03 1.23065663e+02] [-7.39188852e-02 9.97264219e-01 -2.77231046e-04 -7.17592704e+00] [-3.08514405e-03 4.93142307e-05 9.99995240e-01 -4.36143965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters Centerline goodness : 0.996167 with order 1 Centerline is valid? [True, True] Translation: X:123.13, Y:-7.19, Z:-0.44 [[ 9.97487632e-01 7.07741456e-02 3.07306177e-03 1.23125136e+02] [-7.07736274e-02 9.97492364e-01 -2.77194907e-04 -7.18871457e+00] [-3.08497389e-03 5.90067625e-05 9.99995240e-01 -4.36670401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters Centerline goodness : 0.995697 with order 1 Centerline is valid? [True, True] Translation: X:123.18, Y:-7.20, Z:-0.44 [[ 9.97503987e-01 7.05432634e-02 3.07306177e-03 1.23184767e+02] [-7.05427441e-02 9.97508719e-01 -2.77194907e-04 -7.19906064e+00] [-3.08496015e-03 5.97208145e-05 9.99995240e-01 -4.38461722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters Centerline goodness : 0.996398 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:-7.21, Z:-0.44 [[ 9.97231067e-01 7.43017859e-02 3.07306177e-03 1.23243710e+02] [-7.43012844e-02 9.97235801e-01 -2.77194907e-04 -7.20966163e+00] [-3.08516329e-03 4.80949359e-05 9.99995240e-01 -4.40137360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters Centerline goodness : 0.995759 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:-7.21, Z:-0.44 [[ 9.96632966e-01 8.19346546e-02 3.07305857e-03 1.23304384e+02] [-8.19341892e-02 9.96637703e-01 -2.77230385e-04 -7.21474177e+00] [-3.08544081e-03 2.45083782e-05 9.99995240e-01 -4.36560469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters Centerline goodness : 0.996200 with order 1 Centerline is valid? [True, True] Translation: X:123.36, Y:-7.22, Z:-0.43 [[ 9.96272136e-01 8.62112902e-02 3.07305857e-03 1.23363025e+02] [-8.62108452e-02 9.96276876e-01 -2.77230385e-04 -7.21638643e+00] [-3.08551758e-03 1.12659309e-05 9.99995240e-01 -4.32070862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters Centerline goodness : 0.995394 with order 1 Centerline is valid? [True, True] Translation: X:123.42, Y:-7.22, Z:-0.43 [[ 9.96266475e-01 8.62766941e-02 3.07306505e-03 1.23422077e+02] [-8.62762496e-02 9.96271214e-01 -2.77158524e-04 -7.21771466e+00] [-3.08551857e-03 1.09912185e-05 9.99995240e-01 -4.32234034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters Centerline goodness : 0.995875 with order 1 Centerline is valid? [True, True] Translation: X:123.48, Y:-7.22, Z:-0.43 [[ 9.96539177e-01 8.30675878e-02 3.07307471e-03 1.23482226e+02] [-8.30671284e-02 9.96543915e-01 -2.77051359e-04 -7.21869582e+00] [-3.08546790e-03 2.08210412e-05 9.99995240e-01 -4.33888312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters Centerline goodness : 0.996358 with order 1 Centerline is valid? [True, True] Translation: X:123.54, Y:-7.22, Z:-0.44 [[ 9.97012299e-01 7.71818090e-02 3.07308117e-03 1.23542930e+02] [-7.71813218e-02 9.97017034e-01 -2.76979684e-04 -7.22122806e+00] [-3.08529207e-03 3.89676840e-05 9.99995240e-01 -4.36157641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters Centerline goodness : 0.995877 with order 1 Centerline is valid? [True, True] Translation: X:123.60, Y:-7.23, Z:-0.44 [[ 9.97575081e-01 6.95306754e-02 3.07308117e-03 1.23602137e+02] [-6.95301519e-02 9.97579812e-01 -2.76979684e-04 -7.22993839e+00] [-3.08490232e-03 6.26362293e-05 9.99995240e-01 -4.37479411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters Centerline goodness : 0.995793 with order 1 Centerline is valid? [True, True] Translation: X:123.66, Y:-7.24, Z:-0.43 [[ 9.97906450e-01 6.46008763e-02 3.07308443e-03 1.23662535e+02] [-6.46003296e-02 9.97911179e-01 -2.76943544e-04 -7.24039690e+00] [-3.08455610e-03 7.78414819e-05 9.99995240e-01 -4.34721910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters Centerline goodness : 0.996218 with order 1 Centerline is valid? [True, True] Translation: X:123.72, Y:-7.25, Z:-0.44 [[ 9.97948451e-01 6.39487784e-02 3.07307792e-03 1.23721477e+02] [-6.39482284e-02 9.97953179e-01 -2.77015797e-04 -7.25359368e+00] [-3.08450270e-03 7.99295965e-05 9.99995240e-01 -4.38870511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters Centerline goodness : 0.995972 with order 1 Centerline is valid? [True, True] Translation: X:123.78, Y:-7.26, Z:-0.44 [[ 9.97918756e-01 6.44105028e-02 3.07307471e-03 1.23782000e+02] [-6.44099548e-02 9.97923485e-01 -2.77051388e-04 -7.26359887e+00] [-3.08453844e-03 7.85381735e-05 9.99995240e-01 -4.37514530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters Centerline goodness : 0.996159 with order 1 Centerline is valid? [True, True] Translation: X:123.84, Y:-7.28, Z:-0.44 [[ 9.97930351e-01 6.42306103e-02 3.07306834e-03 1.23842591e+02] [-6.42300613e-02 9.97935079e-01 -2.77121973e-04 -7.27653138e+00] [-3.08452242e-03 7.91650594e-05 9.99995240e-01 -4.37438660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters Centerline goodness : 0.996211 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:-7.29, Z:-0.44 [[ 9.97954915e-01 6.38478229e-02 3.07306173e-03 1.23902309e+02] [-6.38472718e-02 9.97959643e-01 -2.77195330e-04 -7.29180259e+00] [-3.08448990e-03 8.04218340e-05 9.99995240e-01 -4.36970658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:-7.31, Z:-0.43 [[ 9.97835849e-01 6.56823730e-02 3.07301907e-03 1.23962902e+02] [-6.56818291e-02 9.97840579e-01 -2.77667453e-04 -7.30713273e+00] [-3.08462098e-03 7.52250251e-05 9.99995240e-01 -4.32819199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:124.02, Y:-7.32, Z:-0.43 [[ 9.97376542e-01 7.23228260e-02 3.07297336e-03 1.24024343e+02] [-7.23223121e-02 9.97381274e-01 -2.78172440e-04 -7.32103095e+00] [-3.08504430e-03 5.51981284e-05 9.99995240e-01 -4.33057451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters Centerline goodness : 0.995803 with order 1 Centerline is valid? [True, True] Translation: X:124.08, Y:-7.33, Z:-0.44 [[ 9.96603849e-01 8.22880678e-02 3.07292603e-03 1.24084482e+02] [-8.22875996e-02 9.96608586e-01 -2.78694267e-04 -7.33225051e+00] [-3.08543768e-03 2.48840719e-05 9.99995240e-01 -4.36994861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters Centerline goodness : 0.996048 with order 1 Centerline is valid? [True, True] Translation: X:124.15, Y:-7.34, Z:-0.44 [[ 9.96024156e-01 8.90305456e-02 3.07287921e-03 1.24145125e+02] [-8.90301079e-02 9.96028896e-01 -2.79209558e-04 -7.33877931e+00] [-3.08553467e-03 4.52069709e-06 9.99995240e-01 -4.37196901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters Centerline goodness : 0.995612 with order 1 Centerline is valid? [True, True] Translation: X:124.21, Y:-7.34, Z:-0.44 [[ 9.95349238e-01 9.62831878e-02 3.07285338e-03 1.24205415e+02] [-9.62827838e-02 9.95353981e-01 -2.79493500e-04 -7.34215772e+00] [-3.08548737e-03 -1.76692359e-05 9.99995240e-01 -4.39371357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:124.27, Y:-7.34, Z:-0.44 [[ 9.94848529e-01 1.01326022e-01 3.07285013e-03 1.24265678e+02] [-1.01325642e-01 9.94853274e-01 -2.79529213e-04 -7.34258547e+00] [-3.08535860e-03 -3.32692855e-05 9.99995240e-01 -4.37708287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters Centerline goodness : 0.995253 with order 1 Centerline is valid? [True, True] Translation: X:124.33, Y:-7.34, Z:-0.44 [[ 9.94736392e-01 1.02421031e-01 3.07284692e-03 1.24326384e+02] [-1.02420656e-01 9.94741138e-01 -2.79564489e-04 -7.33837502e+00] [-3.08532053e-03 -3.66300255e-05 9.99995240e-01 -4.39686522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:124.39, Y:-7.34, Z:-0.44 [[ 9.94881362e-01 1.01003135e-01 3.07284692e-03 1.24386053e+02] [-1.01002753e-01 9.94886107e-01 -2.79564489e-04 -7.33600675e+00] [-3.08536960e-03 -3.22324988e-05 9.99995240e-01 -4.41820241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters Centerline goodness : 0.995680 with order 1 Centerline is valid? [True, True] Translation: X:124.45, Y:-7.34, Z:-0.44 [[ 9.95371734e-01 9.60503448e-02 3.07285015e-03 1.24445341e+02] [-9.60499395e-02 9.95376477e-01 -2.79529012e-04 -7.33720203e+00] [-3.08549162e-03 -1.69117937e-05 9.99995240e-01 -4.39886959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters Centerline goodness : 0.995686 with order 1 Centerline is valid? [True, True] Translation: X:124.51, Y:-7.34, Z:-0.44 [[ 9.95930722e-01 9.00697238e-02 3.07285335e-03 1.24506966e+02] [-9.00692902e-02 9.95935462e-01 -2.79493897e-04 -7.34144550e+00] [-3.08553755e-03 1.58683901e-06 9.99995240e-01 -4.41143347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters Centerline goodness : 0.995555 with order 1 Centerline is valid? [True, True] Translation: X:124.57, Y:-7.35, Z:-0.44 [[ 9.96342651e-01 8.53925049e-02 3.07284682e-03 1.24566781e+02] [-8.53920488e-02 9.96347389e-01 -2.79565634e-04 -7.34831426e+00] [-3.08549571e-03 1.61464791e-05 9.99995240e-01 -4.43817267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters Centerline goodness : 0.995359 with order 1 Centerline is valid? [True, True] Translation: X:124.63, Y:-7.36, Z:-0.44 [[ 9.96527711e-01 8.32050429e-02 3.07284359e-03 1.24626639e+02] [-8.32045762e-02 9.96532448e-01 -2.79601148e-04 -7.35584432e+00] [-3.08545257e-03 2.29556430e-05 9.99995240e-01 -4.40688753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters Centerline goodness : 0.996017 with order 1 Centerline is valid? [True, True] Translation: X:124.69, Y:-7.37, Z:-0.44 [[ 9.96999447e-01 7.73476589e-02 3.07284048e-03 1.24686688e+02] [-7.73471644e-02 9.97004182e-01 -2.79635344e-04 -7.36745342e+00] [-3.08526394e-03 4.11207865e-05 9.99995240e-01 -4.40436192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters Centerline goodness : 0.995871 with order 1 Centerline is valid? [True, True] Translation: X:124.75, Y:-7.38, Z:-0.44 [[ 9.97207958e-01 7.46112947e-02 3.07283367e-03 1.24748449e+02] [-7.46107869e-02 9.97212692e-01 -2.79710075e-04 -7.37637112e+00] [-3.08513827e-03 4.96625741e-05 9.99995240e-01 -4.42859155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:124.81, Y:-7.39, Z:-0.45 [[ 9.97406208e-01 7.19125430e-02 3.07278617e-03 1.24809623e+02] [-7.19120208e-02 9.97410940e-01 -2.80230912e-04 -7.38939004e+00] [-3.08498266e-03 5.85337882e-05 9.99995240e-01 -4.47744970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters Centerline goodness : 0.990851 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-7.41, Z:-0.44 [[ 9.97574883e-01 6.95335192e-02 3.07273585e-03 1.24871690e+02] [-6.95329841e-02 9.97579614e-01 -2.80781610e-04 -7.40676103e+00] [-3.08482238e-03 6.64441889e-05 9.99995240e-01 -4.38135738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters Centerline goodness : 0.995062 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:-7.42, Z:-0.45 [[ 9.97861315e-01 6.52943627e-02 3.07268294e-03 1.24932407e+02] [-6.52938057e-02 9.97866043e-01 -2.81359448e-04 -7.42426569e+00] [-3.08449715e-03 8.01305464e-05 9.99995240e-01 -4.45342565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:-7.45, Z:-0.45 [[ 9.98163897e-01 6.04929271e-02 3.07265013e-03 1.24993601e+02] [-6.04923462e-02 9.98168621e-01 -2.81717359e-04 -7.44544023e+00] [-3.08406485e-03 9.53282812e-05 9.99995240e-01 -4.48555331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:125.05, Y:-7.47, Z:-0.45 [[ 9.98175052e-01 6.03085844e-02 3.07259635e-03 1.25053829e+02] [-6.03080009e-02 9.98179776e-01 -2.82302635e-04 -7.46601377e+00] [-3.08402881e-03 9.64853037e-05 9.99995240e-01 -4.46027106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:-7.48, Z:-0.45 [[ 9.98008592e-01 6.30032519e-02 3.07254641e-03 1.25115524e+02] [-6.30026794e-02 9.98013318e-01 -2.82845140e-04 -7.48401463e+00] [-3.08426240e-03 8.87032239e-05 9.99995240e-01 -4.48260223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters Centerline goodness : 0.993668 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:-7.50, Z:-0.44 [[ 9.97788421e-01 6.63989979e-02 3.07249324e-03 1.25175958e+02] [-6.63984397e-02 9.97793148e-01 -2.83421580e-04 -7.50101571e+00] [-3.08453161e-03 7.87860139e-05 9.99995240e-01 -4.41376742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters Centerline goodness : 0.993945 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:-7.51, Z:-0.44 [[ 9.97348124e-01 7.27136862e-02 3.07244652e-03 1.25238357e+02] [-7.27131564e-02 9.97352854e-01 -2.83927085e-04 -7.51259008e+00] [-3.08495870e-03 5.97668607e-05 9.99995240e-01 -4.40803693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters Centerline goodness : 0.995067 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:-7.52, Z:-0.45 [[ 9.96574693e-01 8.26404400e-02 3.07239372e-03 1.25298851e+02] [-8.26399556e-02 9.96579428e-01 -2.84497375e-04 -7.52074040e+00] [-3.08539536e-03 2.96204041e-05 9.99995240e-01 -4.48900714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters Centerline goodness : 0.994383 with order 1 Centerline is valid? [True, True] Translation: X:125.36, Y:-7.53, Z:-0.44 [[ 9.95882193e-01 9.06047392e-02 3.07236826e-03 1.25359678e+02] [-9.06042918e-02 9.95886932e-01 -2.84772013e-04 -7.52775010e+00] [-3.08553309e-03 5.22962685e-06 9.99995240e-01 -4.43866268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters Centerline goodness : 0.994494 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:-7.53, Z:-0.44 [[ 9.95131865e-01 9.85044757e-02 3.07232607e-03 1.25422710e+02] [-9.85040645e-02 9.95136608e-01 -2.85226512e-04 -7.52989763e+00] [-3.08548023e-03 -1.87986145e-05 9.99995240e-01 -4.44660371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:-7.53, Z:-0.45 [[ 9.94670716e-01 1.03056920e-01 3.07227468e-03 1.25486080e+02] [-1.03056529e-01 9.94675460e-01 -2.85778886e-04 -7.53326207e+00] [-3.08536773e-03 -3.23620761e-05 9.99995240e-01 -4.48714533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters Centerline goodness : 0.995127 with order 1 Centerline is valid? [True, True] Translation: X:125.55, Y:-7.53, Z:-0.45 [[ 9.94260845e-01 1.06938924e-01 3.07222350e-03 1.25548497e+02] [-1.06938550e-01 9.94265591e-01 -2.86328037e-04 -7.53201411e+00] [-3.08522573e-03 -4.38543706e-05 9.99995240e-01 -4.48927603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters Centerline goodness : 0.995518 with order 1 Centerline is valid? [True, True] Translation: X:125.61, Y:-7.53, Z:-0.45 [[ 9.93818415e-01 1.10975312e-01 3.07217602e-03 1.25611648e+02] [-1.10974956e-01 9.93823162e-01 -2.86836631e-04 -7.53236475e+00] [-3.08503147e-03 -5.58710717e-05 9.99995240e-01 -4.50466884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters Centerline goodness : 0.995605 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:-7.53, Z:-0.45 [[ 9.93594747e-01 1.12960351e-01 3.07212094e-03 1.25674039e+02] [-1.12960002e-01 9.93599494e-01 -2.87425369e-04 -7.53121234e+00] [-3.08492548e-03 -6.14424516e-05 9.99995240e-01 -4.47853495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:-7.53, Z:-0.45 [[ 9.93663721e-01 1.12352002e-01 3.07206989e-03 1.25736770e+02] [-1.12351648e-01 9.93668468e-01 -2.87969982e-04 -7.53429257e+00] [-3.08497298e-03 -5.90067922e-05 9.99995240e-01 -4.46642043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters Centerline goodness : 0.995601 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:-7.54, Z:-0.45 [[ 9.93741509e-01 1.11661883e-01 3.07201700e-03 1.25798888e+02] [-1.11661525e-01 9.93746256e-01 -2.88533033e-04 -7.53767988e+00] [-3.08502354e-03 -5.62988509e-05 9.99995240e-01 -4.45987063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters Centerline goodness : 0.995817 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:-7.54, Z:-0.45 [[ 9.93653688e-01 1.12440706e-01 3.07196783e-03 1.25862556e+02] [-1.12440349e-01 9.93658434e-01 -2.89055616e-04 -7.53683263e+00] [-3.08498836e-03 -5.81919567e-05 9.99995240e-01 -4.47048900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters Centerline goodness : 0.996095 with order 1 Centerline is valid? [True, True] Translation: X:125.92, Y:-7.54, Z:-0.45 [[ 9.93468738e-01 1.14063270e-01 3.07191334e-03 1.25924724e+02] [-1.14062919e-01 9.93473486e-01 -2.89633500e-04 -7.53770312e+00] [-3.08490100e-03 -6.26495764e-05 9.99995240e-01 -4.49054675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters Centerline goodness : 0.996693 with order 1 Centerline is valid? [True, True] Translation: X:125.99, Y:-7.54, Z:-0.45 [[ 9.93276096e-01 1.15728827e-01 3.07186267e-03 1.25987463e+02] [-1.15728483e-01 9.93280843e-01 -2.90170010e-04 -7.53764457e+00] [-3.08480337e-03 -6.72830709e-05 9.99995240e-01 -4.53090868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters Centerline goodness : 0.997036 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:-7.54, Z:-0.45 [[ 9.93394363e-01 1.14709211e-01 3.07181282e-03 1.26050279e+02] [-1.14708860e-01 9.93399111e-01 -2.90696754e-04 -7.53713951e+00] [-3.08488172e-03 -6.35876303e-05 9.99995240e-01 -4.51678060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:-7.54, Z:-0.45 [[ 9.93763238e-01 1.11468344e-01 3.07176595e-03 1.26112594e+02] [-1.11467976e-01 9.93767984e-01 -2.91191124e-04 -7.54158995e+00] [-3.08508125e-03 -5.30285006e-05 9.99995240e-01 -4.50466142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters Centerline goodness : 0.997114 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:-7.54, Z:-0.45 [[ 9.94530632e-01 1.04400129e-01 3.07171906e-03 1.26174747e+02] [-1.04399726e-01 9.94535375e-01 -2.91684908e-04 -7.54303837e+00] [-3.08538521e-03 -3.05970520e-05 9.99995240e-01 -4.49313543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters Centerline goodness : 0.996680 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:-7.55, Z:-0.45 [[ 9.94745074e-01 1.02336714e-01 3.07166896e-03 1.26236471e+02] [-1.02336299e-01 9.94749816e-01 -2.92211547e-04 -7.55103355e+00] [-3.08544611e-03 -2.36672379e-05 9.99995240e-01 -4.45684743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:-7.56, Z:-0.45 [[ 9.94796040e-01 1.01840089e-01 3.07162060e-03 1.26297911e+02] [-1.01839671e-01 9.94800782e-01 -2.92719043e-04 -7.56095570e+00] [-3.08546111e-03 -2.16170863e-05 9.99995240e-01 -4.45759926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:-7.57, Z:-0.45 [[ 9.94566906e-01 1.04054003e-01 3.07156908e-03 1.26359713e+02] [-1.04053593e-01 9.94571648e-01 -2.93258695e-04 -7.57016034e+00] [-3.08541026e-03 -2.79424075e-05 9.99995240e-01 -4.45397925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters Centerline goodness : 0.996450 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:-7.57, Z:-0.45 [[ 9.93793518e-01 1.11198066e-01 3.07153521e-03 1.26421489e+02] [-1.11197689e-01 9.93798263e-01 -2.93613007e-04 -7.57369099e+00] [-3.08513555e-03 -4.97569155e-05 9.99995240e-01 -4.48315007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters Centerline goodness : 0.996534 with order 1 Centerline is valid? [True, True] Translation: X:126.48, Y:-7.58, Z:-0.45 [[ 9.92797632e-01 1.19764055e-01 3.07148708e-03 1.26482342e+02] [-1.19763717e-01 9.92802380e-01 -2.94115646e-04 -7.57592313e+00] [-3.08460416e-03 -7.58553939e-05 9.99995240e-01 -4.48621164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters Centerline goodness : 0.996996 with order 1 Centerline is valid? [True, True] Translation: X:126.54, Y:-7.58, Z:-0.45 [[ 9.92539223e-01 1.21887067e-01 3.07148368e-03 1.26543300e+02] [-1.21886740e-01 9.92543972e-01 -2.94151081e-04 -7.57852375e+00] [-3.08443583e-03 -8.24166466e-05 9.99995240e-01 -4.51508125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters Centerline goodness : 0.996980 with order 1 Centerline is valid? [True, True] Translation: X:126.60, Y:-7.58, Z:-0.45 [[ 9.92682490e-01 1.20714706e-01 3.07147697e-03 1.26604359e+02] [-1.20714373e-01 9.92687239e-01 -2.94221156e-04 -7.58153632e+00] [-3.08453281e-03 -7.87032277e-05 9.99995240e-01 -4.49917595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters Centerline goodness : 0.997070 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:-7.58, Z:-0.45 [[ 9.92772593e-01 1.19971431e-01 3.07147026e-03 1.26665762e+02] [-1.19971094e-01 9.92777342e-01 -2.94291194e-04 -7.58225894e+00] [-3.08459262e-03 -7.63234155e-05 9.99995240e-01 -4.50897254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:-7.58, Z:-0.45 [[ 9.92755647e-01 1.20111580e-01 3.07146342e-03 1.26724943e+02] [-1.20111243e-01 9.92760395e-01 -2.94362536e-04 -7.58348574e+00] [-3.08458359e-03 -7.66872213e-05 9.99995240e-01 -4.53290332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters Centerline goodness : 0.996807 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:-7.58, Z:-0.45 [[ 9.92459829e-01 1.22531846e-01 3.07146680e-03 1.26784968e+02] [-1.22531522e-01 9.92464579e-01 -2.94327302e-04 -7.58296609e+00] [-3.08438647e-03 -8.42434766e-05 9.99995240e-01 -4.48958604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:126.84, Y:-7.58, Z:-0.45 [[ 9.92417087e-01 1.22877550e-01 3.07147374e-03 1.26844273e+02] [-1.22877227e-01 9.92421836e-01 -2.94254915e-04 -7.58270934e+00] [-3.08435493e-03 -8.53905696e-05 9.99995240e-01 -4.48824686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters Centerline goodness : 0.996978 with order 1 Centerline is valid? [True, True] Translation: X:126.90, Y:-7.59, Z:-0.45 [[ 9.92476614e-01 1.22395820e-01 3.07148098e-03 1.26903300e+02] [-1.22395496e-01 9.92481363e-01 -2.94179231e-04 -7.58540525e+00] [-3.08439394e-03 -8.39694301e-05 9.99995240e-01 -4.49659809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters Centerline goodness : 0.996997 with order 1 Centerline is valid? [True, True] Translation: X:126.96, Y:-7.58, Z:-0.45 [[ 9.92296205e-01 1.23849940e-01 3.07148435e-03 1.26961451e+02] [-1.23849622e-01 9.92300955e-01 -2.94144059e-04 -7.58148772e+00] [-3.08426658e-03 -8.85241424e-05 9.99995240e-01 -4.51373027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters Centerline goodness : 0.996888 with order 1 Centerline is valid? [True, True] Translation: X:127.02, Y:-7.58, Z:-0.45 [[ 9.92234378e-01 1.24344296e-01 3.07150226e-03 1.27021697e+02] [-1.24343982e-01 9.92239128e-01 -2.93956986e-04 -7.58317588e+00] [-3.08421660e-03 -9.02485930e-05 9.99995240e-01 -4.53556470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters Centerline goodness : 0.996350 with order 1 Centerline is valid? [True, True] Translation: X:127.08, Y:-7.58, Z:-0.45 [[ 9.92287878e-01 1.23916639e-01 3.07150918e-03 1.27079394e+02] [-1.23916322e-01 9.92292628e-01 -2.93884619e-04 -7.58248664e+00] [-3.08425311e-03 -8.89919769e-05 9.99995240e-01 -4.50644931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters Centerline goodness : 0.996694 with order 1 Centerline is valid? [True, True] Translation: X:127.14, Y:-7.58, Z:-0.45 [[ 9.92429979e-01 1.22773382e-01 3.07152635e-03 1.27138017e+02] [-1.22773060e-01 9.92434728e-01 -2.93705089e-04 -7.58014756e+00] [-3.08434858e-03 -8.56189545e-05 9.99995240e-01 -4.51181971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:-7.58, Z:-0.46 [[ 9.92780044e-01 1.19909761e-01 3.07154269e-03 1.27197644e+02] [-1.19909426e-01 9.92784792e-01 -2.93534065e-04 -7.57786437e+00] [-3.08457847e-03 -7.68921600e-05 9.99995240e-01 -4.57587516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters Centerline goodness : 0.996414 with order 1 Centerline is valid? [True, True] Translation: X:127.26, Y:-7.58, Z:-0.46 [[ 9.93494993e-01 1.13834377e-01 3.07155594e-03 1.27256958e+02] [-1.13834014e-01 9.93499739e-01 -2.93395318e-04 -7.57776389e+00] [-3.08498850e-03 -5.81607625e-05 9.99995240e-01 -4.55011934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters Centerline goodness : 0.996752 with order 1 Centerline is valid? [True, True] Translation: X:127.31, Y:-7.58, Z:-0.45 [[ 9.94018864e-01 1.09165305e-01 3.07156942e-03 1.27314452e+02] [-1.09164920e-01 9.94023608e-01 -2.93254134e-04 -7.57968583e+00] [-3.08522570e-03 -4.38074905e-05 9.99995240e-01 -4.53650321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:127.37, Y:-7.58, Z:-0.45 [[ 9.93974196e-01 1.09571265e-01 3.07158618e-03 1.27372884e+02] [-1.09570882e-01 9.93978941e-01 -2.93078475e-04 -7.58059854e+00] [-3.08520496e-03 -4.52439670e-05 9.99995240e-01 -4.52833802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters Centerline goodness : 0.996554 with order 1 Centerline is valid? [True, True] Translation: X:127.43, Y:-7.58, Z:-0.45 [[ 9.93841461e-01 1.10768746e-01 3.07160194e-03 1.27431785e+02] [-1.10768370e-01 9.93846207e-01 -2.92913212e-04 -7.58380107e+00] [-3.08514557e-03 -4.91270458e-05 9.99995240e-01 -4.49921360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters Centerline goodness : 0.996497 with order 1 Centerline is valid? [True, True] Translation: X:127.49, Y:-7.59, Z:-0.45 [[ 9.93844254e-01 1.10743689e-01 3.07161546e-03 1.27490638e+02] [-1.10743313e-01 9.93848999e-01 -2.92771413e-04 -7.58708067e+00] [-3.08514454e-03 -4.91916857e-05 9.99995240e-01 -4.48439516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters Centerline goodness : 0.996353 with order 1 Centerline is valid? [True, True] Translation: X:127.55, Y:-7.59, Z:-0.45 [[ 9.94096229e-01 1.08458532e-01 3.07162911e-03 1.27547782e+02] [-1.08458145e-01 9.94100973e-01 -2.92628087e-04 -7.59298712e+00] [-3.08524750e-03 -4.22427197e-05 9.99995240e-01 -4.49861852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters Centerline goodness : 0.995668 with order 1 Centerline is valid? [True, True] Translation: X:127.61, Y:-7.60, Z:-0.45 [[ 9.94013744e-01 1.09211915e-01 3.07164733e-03 1.27605815e+02] [-1.09211532e-01 9.94018489e-01 -2.92436731e-04 -7.59784111e+00] [-3.08521181e-03 -4.47731816e-05 9.99995240e-01 -4.48006113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters Centerline goodness : 0.995397 with order 1 Centerline is valid? [True, True] Translation: X:127.66, Y:-7.60, Z:-0.45 [[ 9.93871102e-01 1.10502475e-01 3.07166530e-03 1.27664185e+02] [-1.10502100e-01 9.93875848e-01 -2.92247902e-04 -7.60341181e+00] [-3.08514807e-03 -4.89687203e-05 9.99995240e-01 -4.50510808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters Centerline goodness : 0.996631 with order 1 Centerline is valid? [True, True] Translation: X:127.72, Y:-7.61, Z:-0.46 [[ 9.93420619e-01 1.14481608e-01 3.07167855e-03 1.27722718e+02] [-1.14481252e-01 9.93425366e-01 -2.92108585e-04 -7.60681465e+00] [-3.08492444e-03 -6.14629152e-05 9.99995240e-01 -4.55728770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:127.78, Y:-7.61, Z:-0.46 [[ 9.93085368e-01 1.17354239e-01 3.07169163e-03 1.27781568e+02] [-1.17353897e-01 9.93090116e-01 -2.91970937e-04 -7.60593813e+00] [-3.08473062e-03 -7.05229169e-05 9.99995240e-01 -4.55081564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters Centerline goodness : 0.996717 with order 1 Centerline is valid? [True, True] Translation: X:127.84, Y:-7.61, Z:-0.46 [[ 9.93037275e-01 1.17760496e-01 3.07170498e-03 1.27841198e+02] [-1.17760157e-01 9.93042023e-01 -2.91830402e-04 -7.60534555e+00] [-3.08469822e-03 -7.19259927e-05 9.99995240e-01 -4.56183462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters Centerline goodness : 0.996069 with order 1 Centerline is valid? [True, True] Translation: X:127.90, Y:-7.60, Z:-0.46 [[ 9.93507161e-01 1.13728121e-01 3.07171883e-03 1.27899307e+02] [-1.13727763e-01 9.93511908e-01 -2.91684613e-04 -7.60161031e+00] [-3.08496197e-03 -5.95489571e-05 9.99995240e-01 -4.55021319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:127.96, Y:-7.60, Z:-0.45 [[ 9.94551489e-01 1.04201252e-01 3.07173593e-03 1.27957566e+02] [-1.04200849e-01 9.94556232e-01 -2.91504328e-04 -7.60153520e+00] [-3.08538923e-03 -3.01614277e-05 9.99995240e-01 -4.52320455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters Centerline goodness : 0.995488 with order 1 Centerline is valid? [True, True] Translation: X:128.02, Y:-7.60, Z:-0.45 [[ 9.95237723e-01 9.74291476e-02 3.07175231e-03 1.28016137e+02] [-9.74287125e-02 9.95242463e-01 -2.91331676e-04 -7.60270264e+00] [-3.08552253e-03 -9.33259832e-06 9.99995240e-01 -4.51711742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters Centerline goodness : 0.995347 with order 1 Centerline is valid? [True, True] Translation: X:128.07, Y:-7.61, Z:-0.45 [[ 9.95350790e-01 9.62671737e-02 3.07176571e-03 1.28073694e+02] [-9.62667335e-02 9.95355530e-01 -2.91190274e-04 -7.60520621e+00] [-3.08553105e-03 -5.87238233e-06 9.99995240e-01 -4.54135477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters Centerline goodness : 0.994961 with order 1 Centerline is valid? [True, True] Translation: X:128.13, Y:-7.61, Z:-0.46 [[ 9.95478193e-01 9.49406738e-02 3.07178223e-03 1.28132533e+02] [-9.49402278e-02 9.95482932e-01 -2.91015974e-04 -7.61103524e+00] [-3.08553603e-03 -1.93564875e-06 9.99995240e-01 -4.55156197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters Centerline goodness : 0.994330 with order 1 Centerline is valid? [True, True] Translation: X:128.19, Y:-7.62, Z:-0.45 [[ 9.95822747e-01 9.12557939e-02 3.07179531e-03 1.28190872e+02] [-9.12553308e-02 9.95827485e-01 -2.90877821e-04 -7.61691814e+00] [-3.08552248e-03 9.34505325e-06 9.99995240e-01 -4.53257421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:-7.62, Z:-0.46 [[ 9.95915490e-01 9.02380282e-02 3.07180861e-03 1.28248708e+02] [-9.02375607e-02 9.95920227e-01 -2.90737281e-04 -7.62175684e+00] [-3.08551189e-03 1.23572454e-05 9.99995240e-01 -4.56995851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters Centerline goodness : 0.994719 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:-7.63, Z:-0.46 [[ 9.96059016e-01 8.86397190e-02 3.07182499e-03 1.28307344e+02] [-8.86392444e-02 9.96063753e-01 -2.90564076e-04 -7.62837463e+00] [-3.08548905e-03 1.71347213e-05 9.99995240e-01 -4.57435043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:-7.64, Z:-0.46 [[ 9.96285491e-01 8.60568657e-02 3.07183895e-03 1.28365114e+02] [-8.60563792e-02 9.96290226e-01 -2.90416449e-04 -7.63703973e+00] [-3.08543545e-03 2.49863567e-05 9.99995240e-01 -4.56676263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters Centerline goodness : 0.994133 with order 1 Centerline is valid? [True, True] Translation: X:128.42, Y:-7.65, Z:-0.46 [[ 9.96425915e-01 8.44154025e-02 3.07185270e-03 1.28422376e+02] [-8.44149087e-02 9.96430649e-01 -2.90270958e-04 -7.64552455e+00] [-3.08539152e-03 2.99233397e-05 9.99995240e-01 -4.55430944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters Centerline goodness : 0.994002 with order 1 Centerline is valid? [True, True] Translation: X:128.48, Y:-7.65, Z:-0.45 [[ 9.96435621e-01 8.43007531e-02 3.07186857e-03 1.28481221e+02] [-8.43002593e-02 9.96440356e-01 -2.90102864e-04 -7.65173011e+00] [-3.08538970e-03 3.01095106e-05 9.99995240e-01 -4.54709231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters Centerline goodness : 0.994524 with order 1 Centerline is valid? [True, True] Translation: X:128.54, Y:-7.66, Z:-0.46 [[ 9.96173615e-01 8.73423869e-02 3.07188116e-03 1.28539254e+02] [-8.73419079e-02 9.96178351e-01 -2.89969544e-04 -7.65866126e+00] [-3.08546814e-03 2.05560478e-05 9.99995240e-01 -4.61483657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters Centerline goodness : 0.990068 with order 1 Centerline is valid? [True, True] Translation: X:128.60, Y:-7.66, Z:-0.45 [[ 9.96059787e-01 8.86310523e-02 3.07189366e-03 1.28597957e+02] [-8.86305799e-02 9.96064524e-01 -2.89837076e-04 -7.66474534e+00] [-3.08549286e-03 1.64313405e-05 9.99995240e-01 -4.51751351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters Centerline goodness : 0.990401 with order 1 Centerline is valid? [True, True] Translation: X:128.66, Y:-7.67, Z:-0.45 [[ 9.96231170e-01 8.66834405e-02 3.07190699e-03 1.28656237e+02] [-8.66829593e-02 9.96235906e-01 -2.89695714e-04 -7.67143251e+00] [-3.08545586e-03 2.23219122e-05 9.99995240e-01 -4.50857522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters Centerline goodness : 0.987834 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:-7.68, Z:-0.45 [[ 9.96612636e-01 8.21816152e-02 3.07192026e-03 1.28714523e+02] [-8.21811130e-02 9.96617369e-01 -2.89554923e-04 -7.68223334e+00] [-3.08532518e-03 3.61202695e-05 9.99995240e-01 -4.52064154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters Centerline goodness : 0.993351 with order 1 Centerline is valid? [True, True] Translation: X:128.77, Y:-7.69, Z:-0.46 [[ 9.96841721e-01 7.93545679e-02 3.07193007e-03 1.28772420e+02] [-7.93540526e-02 9.96846453e-01 -2.89450820e-04 -7.69172468e+00] [-3.08521184e-03 4.47665530e-05 9.99995240e-01 -4.61600208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters Centerline goodness : 0.992525 with order 1 Centerline is valid? [True, True] Translation: X:128.83, Y:-7.70, Z:-0.46 [[ 9.96913953e-01 7.84419082e-02 3.07193709e-03 1.28831510e+02] [-7.84413888e-02 9.96918685e-01 -2.89376219e-04 -7.70332229e+00] [-3.08517071e-03 4.75161788e-05 9.99995240e-01 -4.57799361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters Centerline goodness : 0.991784 with order 1 Centerline is valid? [True, True] Translation: X:128.89, Y:-7.71, Z:-0.45 [[ 9.96425879e-01 8.44158215e-02 3.07194372e-03 1.28889739e+02] [-8.44153307e-02 9.96430614e-01 -2.89305849e-04 -7.71376705e+00] [-3.08540076e-03 2.89526894e-05 9.99995240e-01 -4.54100423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters Centerline goodness : 0.991626 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:-7.72, Z:-0.46 [[ 9.95607889e-01 9.35707954e-02 3.07195000e-03 1.28948965e+02] [-9.35703484e-02 9.95612629e-01 -2.89239146e-04 -7.71708121e+00] [-3.08553655e-03 5.25343763e-07 9.99995240e-01 -4.55543062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters Centerline goodness : 0.991401 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:-7.72, Z:-0.45 [[ 9.95030232e-01 9.95258783e-02 3.07196306e-03 1.29006902e+02] [-9.95254601e-02 9.95034974e-01 -2.89100381e-04 -7.71836850e+00] [-3.08548365e-03 -1.80749182e-05 9.99995240e-01 -4.53420671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters Centerline goodness : 0.991438 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:-7.72, Z:-0.45 [[ 9.94883097e-01 1.00986072e-01 3.07197979e-03 1.29065170e+02] [-1.00985662e-01 9.94887839e-01 -2.88922556e-04 -7.71961324e+00] [-3.08545249e-03 -2.27817443e-05 9.99995240e-01 -4.53264172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters Centerline goodness : 0.991481 with order 1 Centerline is valid? [True, True] Translation: X:129.12, Y:-7.72, Z:-0.46 [[ 9.94864640e-01 1.01167738e-01 3.07199573e-03 1.29124178e+02] [-1.01167328e-01 9.94869383e-01 -2.88752895e-04 -7.72105237e+00] [-3.08544698e-03 -2.35155563e-05 9.99995240e-01 -4.58311634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:-7.72, Z:-0.46 [[ 9.95059789e-01 9.92299256e-02 3.07200871e-03 1.29183259e+02] [-9.92295075e-02 9.95064531e-01 -2.88614760e-04 -7.72217162e+00] [-3.08548613e-03 -1.76449692e-05 9.99995240e-01 -4.59724865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters Centerline goodness : 0.991501 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:-7.72, Z:-0.46 [[ 9.95082548e-01 9.90014420e-02 3.07202179e-03 1.29241147e+02] [-9.90010232e-02 9.95087290e-01 -2.88475520e-04 -7.72339884e+00] [-3.08548933e-03 -1.70763446e-05 9.99995240e-01 -4.63147937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters Centerline goodness : 0.991898 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:-7.72, Z:-0.46 [[ 9.94926211e-01 1.00560416e-01 3.07203790e-03 1.29300164e+02] [-1.00560005e-01 9.94930954e-01 -2.88303783e-04 -7.72429425e+00] [-3.08545755e-03 -2.20831564e-05 9.99995240e-01 -4.63753062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters Centerline goodness : 0.991570 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:-7.72, Z:-0.46 [[ 9.95004365e-01 9.97841451e-02 3.07205106e-03 1.29358259e+02] [-9.97837310e-02 9.95009107e-01 -2.88163524e-04 -7.72288304e+00] [-3.08547293e-03 -1.98167523e-05 9.99995240e-01 -4.64237308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters Centerline goodness : 0.992303 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:-7.72, Z:-0.47 [[ 9.95123488e-01 9.85890816e-02 3.07206742e-03 1.29417640e+02] [-9.85886623e-02 9.95128229e-01 -2.87988999e-04 -7.72439839e+00] [-3.08549358e-03 -1.62864009e-05 9.99995240e-01 -4.67556205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters Centerline goodness : 0.991517 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:-7.72, Z:-0.47 [[ 9.95283776e-01 9.69575547e-02 3.07208093e-03 1.29476366e+02] [-9.69571281e-02 9.95288517e-01 -2.87844801e-04 -7.72484755e+00] [-3.08551560e-03 -1.13728835e-05 9.99995240e-01 -4.66402271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters Centerline goodness : 0.991348 with order 1 Centerline is valid? [True, True] Translation: X:129.53, Y:-7.73, Z:-0.46 [[ 9.95262669e-01 9.71739771e-02 3.07209431e-03 1.29534480e+02] [-9.71735519e-02 9.95267410e-01 -2.87701924e-04 -7.72533554e+00] [-3.08551249e-03 -1.21873314e-05 9.99995240e-01 -4.64023618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters Centerline goodness : 0.991109 with order 1 Centerline is valid? [True, True] Translation: X:129.59, Y:-7.72, Z:-0.46 [[ 9.95166161e-01 9.81573952e-02 3.07211164e-03 1.29592499e+02] [-9.81569753e-02 9.95170903e-01 -2.87516724e-04 -7.72376971e+00] [-3.08549801e-03 -1.54222723e-05 9.99995240e-01 -4.64793904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters Centerline goodness : 0.990553 with order 1 Centerline is valid? [True, True] Translation: X:129.65, Y:-7.72, Z:-0.46 [[ 9.95124732e-01 9.85765220e-02 3.07213188e-03 1.29651617e+02] [-9.85761048e-02 9.95129473e-01 -2.87300359e-04 -7.72492804e+00] [-3.08549005e-03 -1.69391017e-05 9.99995240e-01 -4.62025481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters Centerline goodness : 0.989445 with order 1 Centerline is valid? [True, True] Translation: X:129.71, Y:-7.73, Z:-0.46 [[ 9.94896320e-01 1.00855707e-01 3.07214532e-03 1.29710447e+02] [-1.00855301e-01 9.94901063e-01 -2.87156545e-04 -7.72649098e+00] [-3.08544202e-03 -2.41511502e-05 9.99995240e-01 -4.64641575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters Centerline goodness : 0.990481 with order 1 Centerline is valid? [True, True] Translation: X:129.77, Y:-7.72, Z:-0.46 [[ 9.94869612e-01 1.01118830e-01 3.07215874e-03 1.29769286e+02] [-1.01118426e-01 9.94874355e-01 -2.87012948e-04 -7.72425557e+00] [-3.08543435e-03 -2.51113946e-05 9.99995240e-01 -4.64109100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters Centerline goodness : 0.990256 with order 1 Centerline is valid? [True, True] Translation: X:129.83, Y:-7.73, Z:-0.46 [[ 9.95283399e-01 9.69614230e-02 3.07217244e-03 1.29827022e+02] [-9.69609994e-02 9.95288140e-01 -2.86866238e-04 -7.72712399e+00] [-3.08551175e-03 -1.23677052e-05 9.99995240e-01 -4.64557738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters Centerline goodness : 0.990385 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:-7.73, Z:-0.47 [[ 9.95828043e-01 9.11979734e-02 3.07219310e-03 1.29884214e+02] [-9.11975231e-02 9.95832782e-01 -2.86644766e-04 -7.73134359e+00] [-3.08553202e-03 5.27249496e-06 9.99995240e-01 -4.66695121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters Centerline goodness : 0.991000 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:-7.73, Z:-0.47 [[ 9.96143798e-01 8.76817861e-02 3.07221296e-03 1.29942349e+02] [-8.76813197e-02 9.96148535e-01 -2.86431771e-04 -7.73488302e+00] [-3.08549529e-03 1.59515456e-05 9.99995240e-01 -4.67002646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters Centerline goodness : 0.990406 with order 1 Centerline is valid? [True, True] Translation: X:130.00, Y:-7.74, Z:-0.47 [[ 9.96085992e-01 8.83360500e-02 3.07223288e-03 1.30000383e+02] [-8.83355874e-02 9.96090730e-01 -2.86217950e-04 -7.73915749e+00] [-3.08550605e-03 1.37101953e-05 9.99995240e-01 -4.67680087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters Centerline goodness : 0.990500 with order 1 Centerline is valid? [True, True] Translation: X:130.06, Y:-7.74, Z:-0.47 [[ 9.95946972e-01 8.98898808e-02 3.07225288e-03 1.30058560e+02] [-8.98894263e-02 9.95951710e-01 -2.86003118e-04 -7.74268566e+00] [-3.08552429e-03 8.68089063e-06 9.99995240e-01 -4.65755009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters Centerline goodness : 0.990570 with order 1 Centerline is valid? [True, True] Translation: X:130.12, Y:-7.75, Z:-0.47 [[ 9.95862134e-01 9.08249441e-02 3.07227277e-03 1.30116280e+02] [-9.08244946e-02 9.95866873e-01 -2.85789281e-04 -7.74866254e+00] [-3.08553147e-03 5.56910134e-06 9.99995240e-01 -4.65808449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters Centerline goodness : 0.989722 with order 1 Centerline is valid? [True, True] Translation: X:130.17, Y:-7.76, Z:-0.46 [[ 9.96057313e-01 8.86588444e-02 3.07229302e-03 1.30173667e+02] [-8.86583853e-02 9.96062051e-01 -2.85571401e-04 -7.75548439e+00] [-3.08551292e-03 1.20609439e-05 9.99995240e-01 -4.64012245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters Centerline goodness : 0.990107 with order 1 Centerline is valid? [True, True] Translation: X:130.23, Y:-7.76, Z:-0.46 [[ 9.96432785e-01 8.43342468e-02 3.07230968e-03 1.30231930e+02] [-8.43337677e-02 9.96437521e-01 -2.85392035e-04 -7.76457842e+00] [-3.08543297e-03 2.52745296e-05 9.99995240e-01 -4.61449681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters Centerline goodness : 0.989856 with order 1 Centerline is valid? [True, True] Translation: X:130.29, Y:-7.77, Z:-0.46 [[ 9.96720980e-01 8.08569644e-02 3.07232295e-03 1.30290365e+02] [-8.08564692e-02 9.96725715e-01 -2.85249108e-04 -7.77317759e+00] [-3.08532767e-03 3.58965844e-05 9.99995240e-01 -4.62954031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters Centerline goodness : 0.990163 with order 1 Centerline is valid? [True, True] Translation: X:130.35, Y:-7.79, Z:-0.47 [[ 9.97162116e-01 7.52215095e-02 3.07233624e-03 1.30348295e+02] [-7.52209880e-02 9.97166847e-01 -2.85105886e-04 -7.78746966e+00] [-3.08507794e-03 5.31926212e-05 9.99995240e-01 -4.65739036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters Centerline goodness : 0.990384 with order 1 Centerline is valid? [True, True] Translation: X:130.41, Y:-7.79, Z:-0.47 [[ 9.97181288e-01 7.49669257e-02 3.07234960e-03 1.30407228e+02] [-7.49664034e-02 9.97186019e-01 -2.84961925e-04 -7.79391180e+00] [-3.08506678e-03 5.38357004e-05 9.99995240e-01 -4.70430239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters Centerline goodness : 0.990125 with order 1 Centerline is valid? [True, True] Translation: X:130.47, Y:-7.80, Z:-0.47 [[ 9.97001983e-01 7.73149849e-02 3.07236320e-03 1.30465138e+02] [-7.73144743e-02 9.97006716e-01 -2.84815174e-04 -7.80155003e+00] [-3.08518722e-03 4.64231480e-05 9.99995240e-01 -4.70092546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters Centerline goodness : 0.990628 with order 1 Centerline is valid? [True, True] Translation: X:130.52, Y:-7.81, Z:-0.47 [[ 9.96715632e-01 8.09228624e-02 3.07237706e-03 1.30522155e+02] [-8.09223693e-02 9.96720367e-01 -2.84665589e-04 -7.80802808e+00] [-3.08533674e-03 3.51066116e-05 9.99995240e-01 -4.71043932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters Centerline goodness : 0.990330 with order 1 Centerline is valid? [True, True] Translation: X:130.58, Y:-7.82, Z:-0.48 [[ 9.96568046e-01 8.27205557e-02 3.07239417e-03 1.30579288e+02] [-8.27200717e-02 9.96572781e-01 -2.84480778e-04 -7.81701239e+00] [-3.08539681e-03 2.93557869e-05 9.99995240e-01 -4.75440989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters Centerline goodness : 0.990855 with order 1 Centerline is valid? [True, True] Translation: X:130.64, Y:-7.83, Z:-0.48 [[ 9.96521928e-01 8.32742857e-02 3.07241103e-03 1.30637548e+02] [-8.32738049e-02 9.96526664e-01 -2.84298644e-04 -7.82603109e+00] [-3.08541428e-03 2.74584768e-05 9.99995240e-01 -4.76260237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters Centerline goodness : 0.990894 with order 1 Centerline is valid? [True, True] Translation: X:130.69, Y:-7.83, Z:-0.47 [[ 9.96135073e-01 8.77808393e-02 3.07242452e-03 1.30694741e+02] [-8.77803804e-02 9.96139812e-01 -2.84152730e-04 -7.83396651e+00] [-3.08550755e-03 1.33559078e-05 9.99995240e-01 -4.74800440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters Centerline goodness : 0.990399 with order 1 Centerline is valid? [True, True] Translation: X:130.75, Y:-7.84, Z:-0.47 [[ 9.95557839e-01 9.41018007e-02 3.07244118e-03 1.30752940e+02] [-9.41013724e-02 9.95562580e-01 -2.83972503e-04 -7.83890866e+00] [-3.08552979e-03 -6.40987947e-06 9.99995240e-01 -4.73406921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters Centerline goodness : 0.990563 with order 1 Centerline is valid? [True, True] Translation: X:130.81, Y:-7.85, Z:-0.48 [[ 9.95330396e-01 9.64777826e-02 3.07245452e-03 1.30810112e+02] [-9.64773661e-02 9.95335138e-01 -2.83828070e-04 -7.84587123e+00] [-3.08550505e-03 -1.39196145e-05 9.99995240e-01 -4.75956780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters Centerline goodness : 0.990835 with order 1 Centerline is valid? [True, True] Translation: X:130.87, Y:-7.85, Z:-0.47 [[ 9.95259820e-01 9.72031385e-02 3.07247107e-03 1.30868466e+02] [-9.72027260e-02 9.95264563e-01 -2.83648854e-04 -7.85313120e+00] [-3.08549313e-03 -1.63482552e-05 9.99995240e-01 -4.73003002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:130.93, Y:-7.86, Z:-0.47 [[ 9.95206717e-01 9.77453372e-02 3.07248430e-03 1.30926148e+02] [-9.77449278e-02 9.95211459e-01 -2.83505400e-04 -7.86039768e+00] [-3.08548292e-03 -1.81732774e-05 9.99995240e-01 -4.70264091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters Centerline goodness : 0.989697 with order 1 Centerline is valid? [True, True] Translation: X:130.98, Y:-7.87, Z:-0.47 [[ 9.94803273e-01 1.01769390e-01 3.07250066e-03 1.30983551e+02] [-1.01769000e-01 9.94808017e-01 -2.83327983e-04 -7.86739031e+00] [-3.08538241e-03 -3.08297148e-05 9.99995240e-01 -4.69463419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters Centerline goodness : 0.989302 with order 1 Centerline is valid? [True, True] Translation: X:131.04, Y:-7.87, Z:-0.47 [[ 9.94243446e-01 1.07100560e-01 3.07251680e-03 1.31041531e+02] [-1.07100197e-01 9.94248192e-01 -2.83152883e-04 -7.87207230e+00] [-3.08517011e-03 -4.75442553e-05 9.99995240e-01 -4.69877420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters Centerline goodness : 0.990482 with order 1 Centerline is valid? [True, True] Translation: X:131.10, Y:-7.87, Z:-0.47 [[ 9.93685323e-01 1.12160771e-01 3.07253676e-03 1.31100663e+02] [-1.12160432e-01 9.93690071e-01 -2.82936086e-04 -7.87340242e+00] [-3.08488360e-03 -6.34676141e-05 9.99995240e-01 -4.74746986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters Centerline goodness : 0.990805 with order 1 Centerline is valid? [True, True] Translation: X:131.16, Y:-7.88, Z:-0.48 [[ 9.93687391e-01 1.12142451e-01 3.07255004e-03 1.31157364e+02] [-1.12142112e-01 9.93692139e-01 -2.82791826e-04 -7.87556617e+00] [-3.08488179e-03 -6.35555790e-05 9.99995240e-01 -4.75632924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters Centerline goodness : 0.990579 with order 1 Centerline is valid? [True, True] Translation: X:131.22, Y:-7.88, Z:-0.48 [[ 9.94272522e-01 1.06830296e-01 3.07257305e-03 1.31215889e+02] [-1.06829933e-01 9.94277268e-01 -2.82541596e-04 -7.88056336e+00] [-3.08517354e-03 -4.73194272e-05 9.99995240e-01 -4.76788867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters Centerline goodness : 0.990735 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:-7.89, Z:-0.48 [[ 9.94784676e-01 1.01951006e-01 3.07258657e-03 1.31274298e+02] [-1.01950620e-01 9.94789421e-01 -2.82394515e-04 -7.88501078e+00] [-3.08536702e-03 -3.23303713e-05 9.99995240e-01 -4.78196473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters Centerline goodness : 0.991232 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:-7.89, Z:-0.48 [[ 9.95027371e-01 9.95544585e-02 3.07260006e-03 1.31332646e+02] [-9.95540615e-02 9.95032115e-01 -2.82247660e-04 -7.88831371e+00] [-3.08543475e-03 -2.50456681e-05 9.99995240e-01 -4.79416235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters Centerline goodness : 0.991098 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:-7.89, Z:-0.48 [[ 9.95167018e-01 9.81486915e-02 3.07261356e-03 1.31390685e+02] [-9.81482883e-02 9.95171761e-01 -2.82100629e-04 -7.89256499e+00] [-3.08546605e-03 -2.08345198e-05 9.99995240e-01 -4.78875078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters Centerline goodness : 0.990632 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:-7.90, Z:-0.48 [[ 9.95201274e-01 9.78007359e-02 3.07263022e-03 1.31449280e+02] [-9.78003316e-02 9.95206017e-01 -2.81919039e-04 -7.89570325e+00] [-3.08547197e-03 -1.99380681e-05 9.99995240e-01 -4.76408607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters Centerline goodness : 0.990541 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:-7.90, Z:-0.48 [[ 9.95367462e-01 9.60946099e-02 3.07264345e-03 1.31506606e+02] [-9.60941979e-02 9.95372205e-01 -2.81774775e-04 -7.90010528e+00] [-3.08550092e-03 -1.47937649e-05 9.99995240e-01 -4.79664732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters Centerline goodness : 0.991583 with order 1 Centerline is valid? [True, True] Translation: X:131.56, Y:-7.91, Z:-0.48 [[ 9.95771172e-01 9.18168406e-02 3.07265976e-03 1.31564081e+02] [-9.18164088e-02 9.95775912e-01 -2.81596818e-04 -7.90511371e+00] [-3.08553590e-03 -1.71459126e-06 9.99995240e-01 -4.82342874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters Centerline goodness : 0.990930 with order 1 Centerline is valid? [True, True] Translation: X:131.62, Y:-7.91, Z:-0.48 [[ 9.96052011e-01 8.87183787e-02 3.07267586e-03 1.31622248e+02] [-8.87179327e-02 9.96056750e-01 -2.81421048e-04 -7.91125384e+00] [-3.08552675e-03 7.70855135e-06 9.99995240e-01 -4.79941939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters Centerline goodness : 0.991376 with order 1 Centerline is valid? [True, True] Translation: X:131.68, Y:-7.92, Z:-0.48 [[ 9.96091597e-01 8.82728082e-02 3.07268858e-03 1.31680328e+02] [-8.82723605e-02 9.96096336e-01 -2.81282047e-04 -7.91829350e+00] [-3.08552339e-03 8.94920983e-06 9.99995240e-01 -4.76697088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters Centerline goodness : 0.990354 with order 1 Centerline is valid? [True, True] Translation: X:131.74, Y:-7.92, Z:-0.48 [[ 9.95627885e-01 9.33577691e-02 3.07270116e-03 1.31738286e+02] [-9.33573460e-02 9.95632626e-01 -2.81144562e-04 -7.92337821e+00] [-3.08552856e-03 -6.94385967e-06 9.99995240e-01 -4.75344324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters Centerline goodness : 0.990713 with order 1 Centerline is valid? [True, True] Translation: X:131.80, Y:-7.93, Z:-0.48 [[ 9.95581663e-01 9.38494007e-02 3.07271676e-03 1.31796028e+02] [-9.38489805e-02 9.95586405e-01 -2.80973998e-04 -7.92737554e+00] [-3.08552427e-03 -8.63877522e-06 9.99995240e-01 -4.75217116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters Centerline goodness : 0.990367 with order 1 Centerline is valid? [True, True] Translation: X:131.85, Y:-7.93, Z:-0.48 [[ 9.95643784e-01 9.31880506e-02 3.07273298e-03 1.31854630e+02] [-9.31876278e-02 9.95648526e-01 -2.80796475e-04 -7.93146231e+00] [-3.08552894e-03 -6.76743164e-06 9.99995240e-01 -4.79913362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters Centerline goodness : 0.991086 with order 1 Centerline is valid? [True, True] Translation: X:131.91, Y:-7.94, Z:-0.48 [[ 9.96119568e-01 8.79566002e-02 3.07274519e-03 1.31912810e+02] [-8.79561529e-02 9.96124308e-01 -2.80662759e-04 -7.93765494e+00] [-3.08552232e-03 9.30682074e-06 9.99995240e-01 -4.80756730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters Centerline goodness : 0.991055 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:-7.95, Z:-0.48 [[ 9.96796158e-01 7.99248197e-02 3.07275723e-03 1.31970864e+02] [-7.99243346e-02 9.96800894e-01 -2.80530939e-04 -7.94780415e+00] [-3.08534854e-03 3.40440855e-05 9.99995240e-01 -4.78303001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters Centerline goodness : 0.990207 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-7.96, Z:-0.48 [[ 9.97157082e-01 7.52881920e-02 3.07276991e-03 1.32028220e+02] [-7.52876853e-02 9.97161815e-01 -2.80391934e-04 -7.95951233e+00] [-3.08515902e-03 4.82530689e-05 9.99995240e-01 -4.76714325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters Centerline goodness : 0.990611 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:-7.97, Z:-0.48 [[ 9.97098584e-01 7.60590009e-02 3.07278754e-03 1.32086490e+02] [-7.60584985e-02 9.97103318e-01 -2.80198639e-04 -7.97283994e+00] [-3.08519828e-03 4.56740605e-05 9.99995240e-01 -4.80000080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters Centerline goodness : 0.991399 with order 1 Centerline is valid? [True, True] Translation: X:132.14, Y:-7.98, Z:-0.48 [[ 9.96638030e-01 8.18730472e-02 3.07279917e-03 1.32144388e+02] [-8.18725728e-02 9.96642766e-01 -2.80070993e-04 -7.98374936e+00] [-3.08541333e-03 2.75514289e-05 9.99995240e-01 -4.82672653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:132.20, Y:-7.99, Z:-0.48 [[ 9.96166183e-01 8.74270735e-02 3.07281208e-03 1.32202276e+02] [-8.74266260e-02 9.96170922e-01 -2.79929302e-04 -7.99260114e+00] [-3.08551944e-03 1.02105124e-05 9.99995240e-01 -4.78917570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters Centerline goodness : 0.991935 with order 1 Centerline is valid? [True, True] Translation: X:132.26, Y:-8.01, Z:-0.49 [[ 9.95755922e-01 9.19820724e-02 3.07282503e-03 1.32258743e+02] [-9.19816470e-02 9.95760663e-01 -2.79787101e-04 -8.00583809e+00] [-3.08553368e-03 -4.04384467e-06 9.99995240e-01 -4.85487626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters Centerline goodness : 0.991097 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-8.01, Z:-0.48 [[ 9.95501159e-01 9.46995214e-02 3.07284106e-03 1.32316376e+02] [-9.46991094e-02 9.95505902e-01 -2.79610860e-04 -8.01354645e+00] [-3.08551043e-03 -1.26423771e-05 9.99995240e-01 -4.84769272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters Centerline goodness : 0.991350 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:-8.02, Z:-0.48 [[ 9.95564375e-01 9.40326162e-02 3.07285359e-03 1.32374128e+02] [-9.40322015e-02 9.95569117e-01 -2.79473160e-04 -8.02133247e+00] [-3.08551773e-03 -1.07136660e-05 9.99995240e-01 -4.82209852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters Centerline goodness : 0.991757 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:-8.03, Z:-0.48 [[ 9.95724864e-01 9.23176780e-02 3.07286909e-03 1.32432410e+02] [-9.23172556e-02 9.95729605e-01 -2.79302642e-04 -8.03069351e+00] [-3.08553129e-03 -5.57025557e-06 9.99995240e-01 -4.84784686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters Centerline goodness : 0.991203 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:-8.04, Z:-0.48 [[ 9.95854091e-01 9.09130754e-02 3.07288195e-03 1.32490319e+02] [-9.09126468e-02 9.95858832e-01 -2.79161034e-04 -8.03925601e+00] [-3.08553602e-03 -1.36017351e-06 9.99995240e-01 -4.83935845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters Centerline goodness : 0.991772 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:-8.05, Z:-0.49 [[ 9.95857929e-01 9.08710214e-02 3.07289151e-03 1.32549503e+02] [-9.08705929e-02 9.95862670e-01 -2.79055808e-04 -8.04861261e+00] [-3.08553603e-03 -1.33553375e-06 9.99995240e-01 -4.86567417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters Centerline goodness : 0.992579 with order 1 Centerline is valid? [True, True] Translation: X:132.61, Y:-8.05, Z:-0.48 [[ 9.95371904e-01 9.60485859e-02 3.07289785e-03 1.32608652e+02] [-9.60481823e-02 9.95376647e-01 -2.78985985e-04 -8.05154875e+00] [-3.08548696e-03 -1.74514420e-05 9.99995240e-01 -4.83588631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters Centerline goodness : 0.991659 with order 1 Centerline is valid? [True, True] Translation: X:132.67, Y:-8.06, Z:-0.48 [[ 9.94744581e-01 1.02341466e-01 3.07291089e-03 1.32666023e+02] [-1.02341093e-01 9.94749327e-01 -2.78842215e-04 -8.05548928e+00] [-3.08531316e-03 -3.71082763e-05 9.99995240e-01 -4.83246129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters Centerline goodness : 0.991449 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:-8.06, Z:-0.48 [[ 9.94382646e-01 1.05800334e-01 3.07292709e-03 1.32723546e+02] [-1.05799978e-01 9.94387393e-01 -2.78663610e-04 -8.05613788e+00] [-3.08516266e-03 -4.80173616e-05 9.99995240e-01 -4.82809915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters Centerline goodness : 0.992056 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:-8.06, Z:-0.49 [[ 9.94389948e-01 1.05731677e-01 3.07294297e-03 1.32782893e+02] [-1.05731321e-01 9.94394695e-01 -2.78488332e-04 -8.05605311e+00] [-3.08516323e-03 -4.79803213e-05 9.99995240e-01 -4.87833310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters Centerline goodness : 0.991942 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:-8.06, Z:-0.49 [[ 9.94474794e-01 1.04930651e-01 3.07295549e-03 1.32840702e+02] [-1.04930292e-01 9.94479540e-01 -2.78350200e-04 -8.05659137e+00] [-3.08519883e-03 -4.56338578e-05 9.99995240e-01 -4.86576112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters Centerline goodness : 0.992330 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:-8.06, Z:-0.49 [[ 9.94741593e-01 1.02370508e-01 3.07297101e-03 1.32899191e+02] [-1.02370137e-01 9.94746338e-01 -2.78178760e-04 -8.05801841e+00] [-3.08530396e-03 -3.78644810e-05 9.99995240e-01 -4.91333063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters Centerline goodness : 0.992274 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:-8.06, Z:-0.49 [[ 9.95181013e-01 9.80066727e-02 3.07298377e-03 1.32957964e+02] [-9.80062814e-02 9.95185757e-01 -2.78037720e-04 -8.06203225e+00] [-3.08543923e-03 -2.44738517e-05 9.99995240e-01 -4.90747805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:-8.07, Z:-0.49 [[ 9.95397427e-01 9.57837079e-02 3.07299681e-03 1.33016538e+02] [-9.57833065e-02 9.95402170e-01 -2.77893520e-04 -8.06633190e+00] [-3.08548536e-03 -1.77273002e-05 9.99995240e-01 -4.89313118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:133.07, Y:-8.08, Z:-0.50 [[ 9.95890788e-01 9.05101967e-02 3.07300971e-03 1.33073920e+02] [-9.05097705e-02 9.95895529e-01 -2.77750766e-04 -8.07682934e+00] [-3.08553591e-03 -1.52797461e-06 9.99995240e-01 -4.96191601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters Centerline goodness : 0.988464 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:-8.08, Z:-0.49 [[ 9.95988090e-01 8.94331109e-02 3.07302564e-03 1.33132554e+02] [-8.94326802e-02 9.95992831e-01 -2.77574360e-04 -8.08354273e+00] [-3.08553585e-03 1.63183696e-06 9.99995240e-01 -4.87548649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters Centerline goodness : 0.993096 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:-8.09, Z:-0.49 [[ 9.95722658e-01 9.23414605e-02 3.07303852e-03 1.33190608e+02] [-9.23410441e-02 9.95727400e-01 -2.77431740e-04 -8.09190337e+00] [-3.08552711e-03 -7.52251549e-06 9.99995240e-01 -4.93374814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters Centerline goodness : 0.992619 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:-8.10, Z:-0.49 [[ 9.95659851e-01 9.30162196e-02 3.07305150e-03 1.33249038e+02] [-9.30158068e-02 9.95664594e-01 -2.77287884e-04 -8.09749245e+00] [-3.08552084e-03 -9.75795079e-06 9.99995240e-01 -4.92468298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:-8.11, Z:-0.49 [[ 9.95819055e-01 9.12960367e-02 3.07306451e-03 1.33307458e+02] [-9.12956162e-02 9.95823796e-01 -2.77143641e-04 -8.10590472e+00] [-3.08553288e-03 -4.57239918e-06 9.99995240e-01 -4.92472344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:-8.11, Z:-0.49 [[ 9.95883462e-01 9.05907623e-02 3.07307751e-03 1.33365971e+02] [-9.05903389e-02 9.95888203e-01 -2.76999388e-04 -8.11210038e+00] [-3.08553523e-03 -2.53202404e-06 9.99995240e-01 -4.91246500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters Centerline goodness : 0.991825 with order 1 Centerline is valid? [True, True] Translation: X:133.42, Y:-8.12, Z:-0.49 [[ 9.96155820e-01 8.75450640e-02 3.07309053e-03 1.33423686e+02] [-8.75446265e-02 9.96160560e-01 -2.76854884e-04 -8.11968813e+00] [-3.08552886e-03 6.75804117e-06 9.99995240e-01 -4.89148570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters Centerline goodness : 0.993286 with order 1 Centerline is valid? [True, True] Translation: X:133.48, Y:-8.13, Z:-0.49 [[ 9.96523588e-01 8.32543908e-02 3.07310843e-03 1.33482718e+02] [-8.32539335e-02 9.96528327e-01 -2.76656062e-04 -8.12744724e+00] [-3.08547243e-03 1.98459269e-05 9.99995240e-01 -4.94880103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:133.54, Y:-8.14, Z:-0.50 [[ 9.96446633e-01 8.41704383e-02 3.07311482e-03 1.33540646e+02] [-8.41699856e-02 9.96451372e-01 -2.76585019e-04 -8.13676175e+00] [-3.08548976e-03 1.69381809e-05 9.99995240e-01 -4.97654666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:133.60, Y:-8.14, Z:-0.50 [[ 9.95896369e-01 9.04487566e-02 3.07312433e-03 1.33599295e+02] [-9.04483340e-02 9.95901111e-01 -2.76479324e-04 -8.14274425e+00] [-3.08553515e-03 -2.61422072e-06 9.99995240e-01 -4.96528409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters Centerline goodness : 0.993050 with order 1 Centerline is valid? [True, True] Translation: X:133.66, Y:-8.15, Z:-0.50 [[ 9.95531712e-01 9.43777833e-02 3.07313696e-03 1.33658214e+02] [-9.43773799e-02 9.95536455e-01 -2.76338893e-04 -8.14630657e+00] [-3.08550013e-03 -1.49304827e-05 9.99995240e-01 -5.00145098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters Centerline goodness : 0.992525 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:-8.15, Z:-0.50 [[ 9.95416634e-01 9.55838912e-02 3.07314954e-03 1.33716112e+02] [-9.55834940e-02 9.95421378e-01 -2.76198904e-04 -8.15043719e+00] [-3.08547892e-03 -1.88093874e-05 9.99995240e-01 -4.99334724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters Centerline goodness : 0.993371 with order 1 Centerline is valid? [True, True] Translation: X:133.77, Y:-8.16, Z:-0.50 [[ 9.95533297e-01 9.43610635e-02 3.07316719e-03 1.33774865e+02] [-9.43606611e-02 9.95538040e-01 -2.76002425e-04 -8.15525660e+00] [-3.08549872e-03 -1.52164835e-05 9.99995240e-01 -4.98996958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters Centerline goodness : 0.993161 with order 1 Centerline is valid? [True, True] Translation: X:133.83, Y:-8.16, Z:-0.50 [[ 9.95913729e-01 9.02574065e-02 3.07317990e-03 1.33834146e+02] [-9.02569850e-02 9.95918471e-01 -2.75860755e-04 -8.15907861e+00] [-3.08553511e-03 -2.64243894e-06 9.99995240e-01 -5.00331689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters Centerline goodness : 0.992445 with order 1 Centerline is valid? [True, True] Translation: X:133.89, Y:-8.16, Z:-0.50 [[ 9.96075223e-01 8.84573666e-02 3.07318622e-03 1.33892984e+02] [-8.84569368e-02 9.96079964e-01 -2.75790394e-04 -8.16447304e+00] [-3.08553491e-03 2.86333948e-06 9.99995240e-01 -4.98880400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:133.95, Y:-8.16, Z:-0.50 [[ 9.96047719e-01 8.87665290e-02 3.07319557e-03 1.33951866e+02] [-8.87661009e-02 9.96052460e-01 -2.75686095e-04 -8.16459705e+00] [-3.08553571e-03 1.80091807e-06 9.99995240e-01 -5.02064015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:134.01, Y:-8.17, Z:-0.50 [[ 9.96180096e-01 8.72683930e-02 3.07320809e-03 1.34009391e+02] [-8.72679582e-02 9.96184836e-01 -2.75546439e-04 -8.16784429e+00] [-3.08552980e-03 6.30128264e-06 9.99995240e-01 -4.98581136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:-8.18, Z:-0.50 [[ 9.96432772e-01 8.43343767e-02 3.07322356e-03 1.34068701e+02] [-8.43339285e-02 9.96437511e-01 -2.75373796e-04 -8.17508014e+00] [-3.08549872e-03 1.52144589e-05 9.99995240e-01 -4.98183095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters Centerline goodness : 0.991764 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:-8.19, Z:-0.50 [[ 9.96909029e-01 7.85044107e-02 3.07323052e-03 1.34127080e+02] [-7.85039350e-02 9.96913766e-01 -2.75296147e-04 -8.18704622e+00] [-3.08535777e-03 3.31845255e-05 9.99995240e-01 -4.98028661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters Centerline goodness : 0.991949 with order 1 Centerline is valid? [True, True] Translation: X:134.19, Y:-8.20, Z:-0.50 [[ 9.97144166e-01 7.54590506e-02 3.07323394e-03 1.34186126e+02] [-7.54585606e-02 9.97148901e-01 -2.75257913e-04 -8.20152452e+00] [-3.08524255e-03 4.25700120e-05 9.99995240e-01 -5.00083381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters Centerline goodness : 0.991455 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:-8.22, Z:-0.50 [[ 9.96886323e-01 7.87922208e-02 3.07323394e-03 1.34244312e+02] [-7.87917466e-02 9.96891060e-01 -2.75257913e-04 -8.21574853e+00] [-3.08536763e-03 3.22553786e-05 9.99995240e-01 -4.99068235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters Centerline goodness : 0.991521 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:-8.23, Z:-0.50 [[ 9.96629593e-01 8.19756671e-02 3.07324018e-03 1.34302748e+02] [-8.19752083e-02 9.96634331e-01 -2.75188263e-04 -8.22761668e+00] [-3.08545541e-03 2.23312623e-05 9.99995240e-01 -5.00826648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters Centerline goodness : 0.992499 with order 1 Centerline is valid? [True, True] Translation: X:134.36, Y:-8.25, Z:-0.50 [[ 9.95942182e-01 8.99428950e-02 3.07324638e-03 1.34361112e+02] [-8.99424743e-02 9.95946924e-01 -2.75118991e-04 -8.24627562e+00] [-3.08553528e-03 -2.41277557e-06 9.99995240e-01 -5.02499586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters Centerline goodness : 0.992582 with order 1 Centerline is valid? [True, True] Translation: X:134.42, Y:-8.26, Z:-0.51 [[ 9.95627443e-01 9.33624645e-02 3.07324946e-03 1.34420103e+02] [-9.33620601e-02 9.95632186e-01 -2.75084642e-04 -8.25584178e+00] [-3.08550866e-03 -1.30430820e-05 9.99995240e-01 -5.07920706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters Centerline goodness : 0.992870 with order 1 Centerline is valid? [True, True] Translation: X:134.48, Y:-8.26, Z:-0.51 [[ 9.95143796e-01 9.83838417e-02 3.07325252e-03 1.34478762e+02] [-9.83834614e-02 9.95148541e-01 -2.75050448e-04 -8.26455430e+00] [-3.08540328e-03 -2.86424737e-05 9.99995240e-01 -5.09848542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters Centerline goodness : 0.990349 with order 1 Centerline is valid? [True, True] Translation: X:134.54, Y:-8.27, Z:-0.50 [[ 9.94890405e-01 1.00914011e-01 3.07325862e-03 1.34537650e+02] [-1.00913643e-01 9.94895151e-01 -2.74982295e-04 -8.27278988e+00] [-3.08531966e-03 -3.65564756e-05 9.99995240e-01 -5.00414994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters Centerline goodness : 0.991173 with order 1 Centerline is valid? [True, True] Translation: X:134.60, Y:-8.27, Z:-0.50 [[ 9.94603102e-01 1.03707396e-01 3.07326464e-03 1.34597521e+02] [-1.03707041e-01 9.94607849e-01 -2.74914958e-04 -8.27380568e+00] [-3.08520385e-03 -4.52879119e-05 9.99995240e-01 -5.02296977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters Centerline goodness : 0.991216 with order 1 Centerline is valid? [True, True] Translation: X:134.66, Y:-8.27, Z:-0.51 [[ 9.94531168e-01 1.04394971e-01 3.07327061e-03 1.34656376e+02] [-1.04394620e-01 9.94535916e-01 -2.74848159e-04 -8.27441323e+00] [-3.08517077e-03 -4.74878577e-05 9.99995240e-01 -5.05940503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters Centerline goodness : 0.991768 with order 1 Centerline is valid? [True, True] Translation: X:134.72, Y:-8.27, Z:-0.51 [[ 9.95055799e-01 9.92698936e-02 3.07327693e-03 1.34716297e+02] [-9.92695184e-02 9.95060545e-01 -2.74777510e-04 -8.27396590e+00] [-3.08537375e-03 -3.16637660e-05 9.99995240e-01 -5.05144200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters Centerline goodness : 0.991102 with order 1 Centerline is valid? [True, True] Translation: X:134.78, Y:-8.28, Z:-0.50 [[ 9.95571616e-01 9.39559057e-02 3.07327419e-03 1.34777002e+02] [-9.39555051e-02 9.95576359e-01 -2.74808110e-04 -8.27818758e+00] [-3.08549898e-03 -1.51598746e-05 9.99995240e-01 -5.04057743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters Centerline goodness : 0.991819 with order 1 Centerline is valid? [True, True] Translation: X:134.84, Y:-8.28, Z:-0.51 [[ 9.96474269e-01 8.38426222e-02 3.07327419e-03 1.34838298e+02] [-8.38421734e-02 9.96479009e-01 -2.74808110e-04 -8.28390762e+00] [-3.08549385e-03 1.61692231e-05 9.99995240e-01 -5.08028527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters Centerline goodness : 0.991199 with order 1 Centerline is valid? [True, True] Translation: X:134.90, Y:-8.29, Z:-0.51 [[ 9.96615206e-01 8.21503910e-02 3.07326784e-03 1.34898398e+02] [-8.21499339e-02 9.96619944e-01 -2.74879160e-04 -8.29261549e+00] [-3.08546145e-03 2.14800003e-05 9.99995240e-01 -5.06624713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:-8.30, Z:-0.50 [[ 9.96437099e-01 8.42832282e-02 3.07326784e-03 1.34957916e+02] [-8.42827813e-02 9.96441838e-01 -2.74879160e-04 -8.30246574e+00] [-3.08550036e-03 1.48762313e-05 9.99995240e-01 -5.03708916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters Centerline goodness : 0.991140 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:-8.31, Z:-0.51 [[ 9.96258100e-01 8.63733314e-02 3.07326784e-03 1.35018292e+02] [-8.63728944e-02 9.96262841e-01 -2.74879160e-04 -8.31324240e+00] [-3.08552478e-03 8.40355084e-06 9.99995240e-01 -5.06124655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters Centerline goodness : 0.991590 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:-8.32, Z:-0.51 [[ 9.96156281e-01 8.75398151e-02 3.07326134e-03 1.35077988e+02] [-8.75393834e-02 9.96161022e-01 -2.74951788e-04 -8.32201528e+00] [-3.08553239e-03 4.86354750e-06 9.99995240e-01 -5.07130711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters Centerline goodness : 0.990896 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:-8.33, Z:-0.51 [[ 9.96033005e-01 8.89314831e-02 3.07324628e-03 1.35138855e+02] [-8.89310576e-02 9.96037746e-01 -2.75120004e-04 -8.33230348e+00] [-3.08553613e-03 7.21562670e-07 9.99995240e-01 -5.09754272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters Centerline goodness : 0.991061 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:-8.34, Z:-0.51 [[ 9.95905829e-01 9.03445386e-02 3.07323991e-03 1.35198913e+02] [-9.03441196e-02 9.95910570e-01 -2.75191159e-04 -8.34412307e+00] [-3.08553413e-03 -3.58467426e-06 9.99995240e-01 -5.08406641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters Centerline goodness : 0.990949 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:-8.35, Z:-0.51 [[ 9.95542521e-01 9.42636923e-02 3.07319883e-03 1.35259886e+02] [-9.42632905e-02 9.95547265e-01 -2.75649185e-04 -8.35435613e+00] [-3.08549840e-03 -1.52693489e-05 9.99995240e-01 -5.07074732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters Centerline goodness : 0.990749 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-8.37, Z:-0.51 [[ 9.95136704e-01 9.84555493e-02 3.07319243e-03 1.35320435e+02] [-9.84551673e-02 9.95141449e-01 -2.75720480e-04 -8.36602614e+00] [-3.08540738e-03 -2.81921049e-05 9.99995240e-01 -5.07809576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters Centerline goodness : 0.991370 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:-8.37, Z:-0.51 [[ 9.94577891e-01 1.03948906e-01 3.07315100e-03 1.35381500e+02] [-1.03948549e-01 9.94582638e-01 -2.76181450e-04 -8.37178874e+00] [-3.08521139e-03 -4.47656232e-05 9.99995240e-01 -5.08545479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters Centerline goodness : 0.991074 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:-8.38, Z:-0.51 [[ 9.94241349e-01 1.07120003e-01 3.07314445e-03 1.35442946e+02] [-1.07119660e-01 9.94246097e-01 -2.76254339e-04 -8.37610823e+00] [-3.08505424e-03 -5.45307033e-05 9.99995240e-01 -5.10451087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters Centerline goodness : 0.991543 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:-8.38, Z:-0.51 [[ 9.94092780e-01 1.08490092e-01 3.07313795e-03 1.35504517e+02] [-1.08489756e-01 9.94097529e-01 -2.76326683e-04 -8.38002626e+00] [-3.08497755e-03 -5.87096257e-05 9.99995240e-01 -5.12317253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters Centerline goodness : 0.990797 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:-8.38, Z:-0.51 [[ 9.94354487e-01 1.06064651e-01 3.07313143e-03 1.35564984e+02] [-1.06064303e-01 9.94359234e-01 -2.76399197e-04 -8.38461202e+00] [-3.08511280e-03 -5.11107616e-05 9.99995240e-01 -5.12712374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters Centerline goodness : 0.990738 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:-8.39, Z:-0.51 [[ 9.94648896e-01 1.03267270e-01 3.07312821e-03 1.35626496e+02] [-1.03266909e-01 9.94653643e-01 -2.76434999e-04 -8.38703544e+00] [-3.08524485e-03 -4.23966833e-05 9.99995240e-01 -5.10263188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters Centerline goodness : 0.990441 with order 1 Centerline is valid? [True, True] Translation: X:135.69, Y:-8.39, Z:-0.51 [[ 9.95265030e-01 9.71497636e-02 3.07312170e-03 1.35687390e+02] [-9.71493729e-02 9.95269774e-01 -2.76507342e-04 -8.39185755e+00] [-3.08544776e-03 -2.33537572e-05 9.99995240e-01 -5.14788666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters Centerline goodness : 0.990070 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:-8.40, Z:-0.51 [[ 9.95801430e-01 9.14880718e-02 3.07307966e-03 1.35748759e+02] [-9.14876527e-02 9.95806172e-01 -2.76973710e-04 -8.40150313e+00] [-3.08553149e-03 -5.33802803e-06 9.99995240e-01 -5.10761068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters Centerline goodness : 0.990021 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:-8.41, Z:-0.51 [[ 9.95949672e-01 8.98599311e-02 3.07303373e-03 1.35810426e+02] [-8.98595027e-02 9.95954413e-01 -2.77482357e-04 -8.41097869e+00] [-3.08553605e-03 2.17179299e-07 9.99995240e-01 -5.07053661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters Centerline goodness : 0.990411 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:-8.42, Z:-0.51 [[ 9.95406642e-01 9.56878940e-02 3.07298800e-03 1.35870041e+02] [-9.56874918e-02 9.95411386e-01 -2.77987875e-04 -8.41688842e+00] [-3.08548732e-03 -1.73355368e-05 9.99995240e-01 -5.09255788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters Centerline goodness : 0.990658 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:-8.43, Z:-0.51 [[ 9.94998194e-01 9.98456338e-02 3.07298478e-03 1.35930747e+02] [-9.98452512e-02 9.95002939e-01 -2.78023560e-04 -8.42537565e+00] [-3.08538832e-03 -3.01899964e-05 9.99995240e-01 -5.10824423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters Centerline goodness : 0.990467 with order 1 Centerline is valid? [True, True] Translation: X:135.99, Y:-8.43, Z:-0.51 [[ 9.95009289e-01 9.97350040e-02 3.07297854e-03 1.35991905e+02] [-9.97346208e-02 9.95014034e-01 -2.78092432e-04 -8.43440781e+00] [-3.08539233e-03 -2.97777962e-05 9.99995240e-01 -5.12726696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters Centerline goodness : 0.990694 with order 1 Centerline is valid? [True, True] Translation: X:136.05, Y:-8.44, Z:-0.51 [[ 9.94937600e-01 1.00447647e-01 3.07293357e-03 1.36053854e+02] [-1.00447265e-01 9.94942345e-01 -2.78588516e-04 -8.44393657e+00] [-3.08537529e-03 -3.14895841e-05 9.99995240e-01 -5.14527609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters Centerline goodness : 0.991018 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:-8.45, Z:-0.51 [[ 9.94034221e-01 1.09025342e-01 3.07288882e-03 1.36113853e+02] [-1.09025000e-01 9.94038969e-01 -2.79081192e-04 -8.44583288e+00] [-3.08499816e-03 -5.76054500e-05 9.99995240e-01 -5.09018519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters Centerline goodness : 0.990538 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:-8.45, Z:-0.51 [[ 9.93173498e-01 1.16606002e-01 3.07287419e-03 1.36174770e+02] [-1.16605696e-01 9.93178249e-01 -2.79242169e-04 -8.44532874e+00] [-3.08447312e-03 -8.09787118e-05 9.99995240e-01 -5.09085199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters Centerline goodness : 0.991017 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:-8.45, Z:-0.51 [[ 9.93105753e-01 1.17181569e-01 3.07287419e-03 1.36235694e+02] [-1.17181265e-01 9.93110504e-01 -2.79242169e-04 -8.44714259e+00] [-3.08442568e-03 -8.27662814e-05 9.99995240e-01 -5.11507163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters Centerline goodness : 0.991517 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:-8.45, Z:-0.51 [[ 9.93872794e-01 1.10487221e-01 3.07287419e-03 1.36296729e+02] [-1.10486885e-01 9.93877543e-01 -2.79242169e-04 -8.44900869e+00] [-3.08491335e-03 -6.19811038e-05 9.99995240e-01 -5.14542569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters Centerline goodness : 0.991835 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:-8.45, Z:-0.52 [[ 9.94465151e-01 1.05022004e-01 3.07286767e-03 1.36357261e+02] [-1.05021643e-01 9.94469897e-01 -2.79313946e-04 -8.45210362e+00] [-3.08520851e-03 -4.49496252e-05 9.99995240e-01 -5.16932943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters Centerline goodness : 0.992258 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:-8.46, Z:-0.52 [[ 9.94854407e-01 1.01268292e-01 3.07286442e-03 1.36418887e+02] [-1.01267912e-01 9.94859152e-01 -2.79349690e-04 -8.45642069e+00] [-3.08535656e-03 -3.32702937e-05 9.99995240e-01 -5.18887468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:-8.46, Z:-0.51 [[ 9.95070022e-01 9.91272320e-02 3.07285789e-03 1.36479778e+02] [-9.91268417e-02 9.95074767e-01 -2.79421511e-04 -8.46283098e+00] [-3.08542163e-03 -2.65587286e-05 9.99995240e-01 -5.14684301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:-8.47, Z:-0.52 [[ 9.95287983e-01 9.69143316e-02 3.07285126e-03 1.36540411e+02] [-9.69139306e-02 9.95292727e-01 -2.79494459e-04 -8.46945967e+00] [-3.08547352e-03 -1.96246170e-05 9.99995240e-01 -5.15530413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters Centerline goodness : 0.992129 with order 1 Centerline is valid? [True, True] Translation: X:136.60, Y:-8.48, Z:-0.52 [[ 9.95584743e-01 9.38167254e-02 3.07280843e-03 1.36601423e+02] [-9.38163081e-02 9.95589485e-01 -2.79964493e-04 -8.47693320e+00] [-3.08552111e-03 -9.55116451e-06 9.99995240e-01 -5.15927314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters Centerline goodness : 0.991344 with order 1 Centerline is valid? [True, True] Translation: X:136.66, Y:-8.49, Z:-0.52 [[ 9.95892107e-01 9.04956848e-02 3.07278284e-03 1.36662906e+02] [-9.04952509e-02 9.95896848e-01 -2.80245040e-04 -8.48615749e+00] [-3.08553571e-03 1.02156897e-06 9.99995240e-01 -5.16293672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters Centerline goodness : 0.991353 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:-8.50, Z:-0.52 [[ 9.96021859e-01 8.90562462e-02 3.07273536e-03 1.36724547e+02] [-8.90558038e-02 9.96026599e-01 -2.80764666e-04 -8.49689882e+00] [-3.08553000e-03 6.00282649e-06 9.99995240e-01 -5.15069992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters Centerline goodness : 0.992381 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:-8.51, Z:-0.52 [[ 9.96007194e-01 8.92201153e-02 3.07268484e-03 1.36786765e+02] [-8.92196720e-02 9.96011933e-01 -2.81316539e-04 -8.50735082e+00] [-3.08552986e-03 6.04936282e-06 9.99995240e-01 -5.17632019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters Centerline goodness : 0.991226 with order 1 Centerline is valid? [True, True] Translation: X:136.85, Y:-8.52, Z:-0.51 [[ 9.95775736e-01 9.17673243e-02 3.07262962e-03 1.36847876e+02] [-9.17668913e-02 9.95780477e-01 -2.81918343e-04 -8.51825984e+00] [-3.08553548e-03 -1.23822322e-06 9.99995240e-01 -5.14049936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters Centerline goodness : 0.991463 with order 1 Centerline is valid? [True, True] Translation: X:136.91, Y:-8.53, Z:-0.52 [[ 9.95548907e-01 9.41962485e-02 3.07257823e-03 1.36909359e+02] [-9.41958253e-02 9.95553648e-01 -2.82477356e-04 -8.52753423e+00] [-3.08552477e-03 -8.20401941e-06 9.99995240e-01 -5.16786682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters Centerline goodness : 0.992418 with order 1 Centerline is valid? [True, True] Translation: X:136.97, Y:-8.53, Z:-0.52 [[ 9.95456698e-01 9.51657651e-02 3.07252881e-03 1.36971960e+02] [-9.51653449e-02 9.95461439e-01 -2.83013899e-04 -8.53489212e+00] [-3.08551718e-03 -1.06701823e-05 9.99995240e-01 -5.16874071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters Centerline goodness : 0.991137 with order 1 Centerline is valid? [True, True] Translation: X:137.03, Y:-8.54, Z:-0.51 [[ 9.95495241e-01 9.47617310e-02 3.07247465e-03 1.37034650e+02] [-9.47613071e-02 9.95499982e-01 -2.83600655e-04 -8.54301041e+00] [-3.08552295e-03 -8.82861091e-06 9.99995240e-01 -5.13646595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters Centerline goodness : 0.990806 with order 1 Centerline is valid? [True, True] Translation: X:137.10, Y:-8.55, Z:-0.51 [[ 9.95478557e-01 9.49368390e-02 3.07242085e-03 1.37096618e+02] [-9.49364141e-02 9.95483298e-01 -2.84182292e-04 -8.55026427e+00] [-3.08552301e-03 -8.78724019e-06 9.99995240e-01 -5.10604601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters Centerline goodness : 0.991571 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:-8.56, Z:-0.51 [[ 9.95466063e-01 9.50677527e-02 3.07237081e-03 1.37158705e+02] [-9.50673268e-02 9.95470804e-01 -2.84722254e-04 -8.55881714e+00] [-3.08552335e-03 -8.65073877e-06 9.99995240e-01 -5.13364547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters Centerline goodness : 0.990371 with order 1 Centerline is valid? [True, True] Translation: X:137.22, Y:-8.57, Z:-0.52 [[ 9.95542976e-01 9.42589218e-02 3.07231738e-03 1.37220166e+02] [-9.42584902e-02 9.95547716e-01 -2.85297629e-04 -8.56678397e+00] [-3.08553040e-03 -5.56594677e-06 9.99995240e-01 -5.16415446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters Centerline goodness : 0.990988 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:-8.57, Z:-0.52 [[ 9.95729665e-01 9.22658908e-02 3.07228428e-03 1.37281332e+02] [-9.22654486e-02 9.95734405e-01 -2.85653596e-04 -8.57495729e+00] [-3.08553525e-03 9.68072227e-07 9.99995240e-01 -5.15260665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters Centerline goodness : 0.991653 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:-8.58, Z:-0.52 [[ 9.95877348e-01 9.06579785e-02 3.07223502e-03 1.37343538e+02] [-9.06575270e-02 9.95882087e-01 -2.86182480e-04 -8.58205208e+00] [-3.08552854e-03 6.48141989e-06 9.99995240e-01 -5.19457427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters Centerline goodness : 0.990907 with order 1 Centerline is valid? [True, True] Translation: X:137.41, Y:-8.59, Z:-0.52 [[ 9.95624623e-01 9.33925715e-02 3.07218324e-03 1.37406081e+02] [-9.33921313e-02 9.95629363e-01 -2.86737218e-04 -8.59141043e+00] [-3.08553497e-03 -1.43510568e-06 9.99995240e-01 -5.21167704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters Centerline goodness : 0.991930 with order 1 Centerline is valid? [True, True] Translation: X:137.47, Y:-8.60, Z:-0.52 [[ 9.95482153e-01 9.48991349e-02 3.07212785e-03 1.37468057e+02] [-9.48987000e-02 9.95486893e-01 -2.87329508e-04 -8.59593583e+00] [-3.08553033e-03 -5.50954215e-06 9.99995240e-01 -5.24216667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters Centerline goodness : 0.991019 with order 1 Centerline is valid? [True, True] Translation: X:137.53, Y:-8.60, Z:-0.52 [[ 9.95273251e-01 9.70655328e-02 3.07207644e-03 1.37530988e+02] [-9.70651066e-02 9.95277992e-01 -2.87878084e-04 -8.60067880e+00] [-3.08551311e-03 -1.16740701e-05 9.99995240e-01 -5.21439489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters Centerline goodness : 0.991193 with order 1 Centerline is valid? [True, True] Translation: X:137.59, Y:-8.60, Z:-0.52 [[ 9.94762634e-01 1.02165864e-01 3.07202126e-03 1.37594126e+02] [-1.02165461e-01 9.94767378e-01 -2.88465728e-04 -8.60358531e+00] [-3.08541788e-03 -2.68995396e-05 9.99995240e-01 -5.18619186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters Centerline goodness : 0.990921 with order 1 Centerline is valid? [True, True] Translation: X:137.66, Y:-8.60, Z:-0.52 [[ 9.94421990e-01 1.05429922e-01 3.07196556e-03 1.37656742e+02] [-1.05429532e-01 9.94426735e-01 -2.89057686e-04 -8.60492570e+00] [-3.08532001e-03 -3.64305711e-05 9.99995240e-01 -5.19977151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters Centerline goodness : 0.990343 with order 1 Centerline is valid? [True, True] Translation: X:137.72, Y:-8.60, Z:-0.51 [[ 9.94390337e-01 1.05728054e-01 3.07191391e-03 1.37719961e+02] [-1.05727663e-01 9.94395081e-01 -2.89605499e-04 -8.60060757e+00] [-3.08531551e-03 -3.68053709e-05 9.99995240e-01 -5.14674978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters Centerline goodness : 0.991087 with order 1 Centerline is valid? [True, True] Translation: X:137.78, Y:-8.60, Z:-0.52 [[ 9.94581136e-01 1.03917892e-01 3.07186703e-03 1.37781712e+02] [-1.03917492e-01 9.94585879e-01 -2.90101992e-04 -8.60206913e+00] [-3.08538235e-03 -3.06907467e-05 9.99995240e-01 -5.15673761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters Centerline goodness : 0.991614 with order 1 Centerline is valid? [True, True] Translation: X:137.84, Y:-8.60, Z:-0.52 [[ 9.95751009e-01 9.20352737e-02 3.07182382e-03 1.37844517e+02] [-9.20348153e-02 9.95755747e-01 -2.90558799e-04 -8.60222404e+00] [-3.08552788e-03 6.60947984e-06 9.99995240e-01 -5.19631649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:137.91, Y:-8.61, Z:-0.52 [[ 9.96078233e-01 8.84235178e-02 3.07176825e-03 1.37905325e+02] [-8.84230404e-02 9.96082969e-01 -2.91145082e-04 -8.60818837e+00] [-3.08548011e-03 1.83881908e-05 9.99995240e-01 -5.18649207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters Centerline goodness : 0.993058 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:-8.61, Z:-0.52 [[ 9.96255445e-01 8.64040108e-02 3.07174131e-03 1.37967285e+02] [-8.64035229e-02 9.96260180e-01 -2.91428997e-04 -8.61379066e+00] [-3.08543419e-03 2.49284548e-05 9.99995240e-01 -5.22351520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters Centerline goodness : 0.984414 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:-8.62, Z:-0.51 [[ 9.96064730e-01 8.85754903e-02 3.07169372e-03 1.38028969e+02] [-8.85750112e-02 9.96069467e-01 -2.91929807e-04 -8.61957598e+00] [-3.08547815e-03 1.87056793e-05 9.99995240e-01 -5.06251622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:-8.62, Z:-0.52 [[ 9.95740608e-01 9.21477481e-02 3.07164486e-03 1.38090164e+02] [-9.21472844e-02 9.95745345e-01 -2.92442936e-04 -8.62236375e+00] [-3.08552403e-03 8.15357376e-06 9.99995240e-01 -5.15534247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:138.15, Y:-8.62, Z:-0.52 [[ 9.95328925e-01 9.64929849e-02 3.07163774e-03 1.38150363e+02] [-9.64925417e-02 9.95333665e-01 -2.92517754e-04 -8.62146782e+00] [-3.08553036e-03 -5.23875039e-06 9.99995240e-01 -5.17582578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters Centerline goodness : 0.992444 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:-8.62, Z:-0.52 [[ 9.94757164e-01 1.02219129e-01 3.07163421e-03 1.38210779e+02] [-1.02218713e-01 9.94761906e-01 -2.92554768e-04 -8.61959077e+00] [-3.08544940e-03 -2.29575453e-05 9.99995240e-01 -5.17665112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters Centerline goodness : 0.992838 with order 1 Centerline is valid? [True, True] Translation: X:138.27, Y:-8.62, Z:-0.52 [[ 9.94533747e-01 1.04370455e-01 3.07163760e-03 1.38271925e+02] [-1.04370049e-01 9.94538490e-01 -2.92519223e-04 -8.62069634e+00] [-3.08539218e-03 -2.96667293e-05 9.99995240e-01 -5.20836600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters Centerline goodness : 0.992251 with order 1 Centerline is valid? [True, True] Translation: X:138.33, Y:-8.62, Z:-0.53 [[ 9.94611128e-01 1.03630447e-01 3.07163760e-03 1.38332165e+02] [-1.03630038e-01 9.94615870e-01 -2.92519223e-04 -8.62151647e+00] [-3.08541340e-03 -2.73710473e-05 9.99995240e-01 -5.25270783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters Centerline goodness : 0.992802 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:-8.62, Z:-0.52 [[ 9.94927476e-01 1.00547910e-01 3.07163760e-03 1.38392373e+02] [-1.00547486e-01 9.94932218e-01 -2.92519223e-04 -8.62123848e+00] [-3.08548340e-03 -1.78100268e-05 9.99995240e-01 -5.24054698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters Centerline goodness : 0.992292 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:-8.62, Z:-0.53 [[ 9.94953712e-01 1.00287970e-01 3.07163376e-03 1.38452241e+02] [-1.00287545e-01 9.94958453e-01 -2.92559471e-04 -8.62222678e+00] [-3.08548817e-03 -1.69634773e-05 9.99995240e-01 -5.25042496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters Centerline goodness : 0.992690 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:-8.62, Z:-0.53 [[ 9.94983930e-01 9.99877151e-02 3.07164032e-03 1.38511657e+02] [-9.99872886e-02 9.94988672e-01 -2.92490595e-04 -8.62380297e+00] [-3.08549279e-03 -1.61015450e-05 9.99995240e-01 -5.25757614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters Centerline goodness : 0.992062 with order 1 Centerline is valid? [True, True] Translation: X:138.57, Y:-8.63, Z:-0.52 [[ 9.95093951e-01 9.88867729e-02 3.07164697e-03 1.38571088e+02] [-9.88863414e-02 9.95098692e-01 -2.92420763e-04 -8.62604027e+00] [-3.08550843e-03 -1.27577988e-05 9.99995240e-01 -5.23021501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters Centerline goodness : 0.991708 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:-8.63, Z:-0.52 [[ 9.95127294e-01 9.85506613e-02 3.07165391e-03 1.38630982e+02] [-9.85502284e-02 9.95132035e-01 -2.92347806e-04 -8.62561817e+00] [-3.08551228e-03 -1.17889138e-05 9.99995240e-01 -5.21060600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters Centerline goodness : 0.992170 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:-8.63, Z:-0.52 [[ 9.95060292e-01 9.92248978e-02 3.07166084e-03 1.38689814e+02] [-9.92244684e-02 9.95065033e-01 -2.92275062e-04 -8.62530347e+00] [-3.08550325e-03 -1.39526049e-05 9.99995240e-01 -5.19073725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters Centerline goodness : 0.992019 with order 1 Centerline is valid? [True, True] Translation: X:138.75, Y:-8.63, Z:-0.52 [[ 9.94983257e-01 9.99944146e-02 3.07167111e-03 1.38748805e+02] [-9.99939891e-02 9.94987998e-01 -2.92167089e-04 -8.62628542e+00] [-3.08549096e-03 -1.64472851e-05 9.99995240e-01 -5.21011140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters Centerline goodness : 0.992139 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:-8.62, Z:-0.52 [[ 9.94813676e-01 1.01667668e-01 3.07168532e-03 1.38807872e+02] [-1.01667251e-01 9.94818418e-01 -2.92017548e-04 -8.61983905e+00] [-3.08545788e-03 -2.17867522e-05 9.99995240e-01 -5.23274840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters Centerline goodness : 0.992261 with order 1 Centerline is valid? [True, True] Translation: X:138.87, Y:-8.62, Z:-0.52 [[ 9.94649047e-01 1.03265862e-01 3.07170285e-03 1.38866010e+02] [-1.03265453e-01 9.94653790e-01 -2.91833013e-04 -8.61768703e+00] [-3.08541727e-03 -2.69293579e-05 9.99995240e-01 -5.22035869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters Centerline goodness : 0.992086 with order 1 Centerline is valid? [True, True] Translation: X:138.93, Y:-8.61, Z:-0.52 [[ 9.94532903e-01 1.04378491e-01 3.07171948e-03 1.38925855e+02] [-1.04378088e-01 9.94537646e-01 -2.91657958e-04 -8.61329279e+00] [-3.08538347e-03 -3.05567710e-05 9.99995240e-01 -5.22062670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters Centerline goodness : 0.992142 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:-8.61, Z:-0.52 [[ 9.94664840e-01 1.03113634e-01 3.07173262e-03 1.38983923e+02] [-1.03113225e-01 9.94669582e-01 -2.91519405e-04 -8.61293962e+00] [-3.08541863e-03 -2.67721565e-05 9.99995240e-01 -5.24498143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters Centerline goodness : 0.991569 with order 1 Centerline is valid? [True, True] Translation: X:139.04, Y:-8.61, Z:-0.52 [[ 9.94947751e-01 1.00347082e-01 3.07174891e-03 1.39043477e+02] [-1.00346661e-01 9.94952493e-01 -2.91347729e-04 -8.60950596e+00] [-3.08548013e-03 -1.83639785e-05 9.99995240e-01 -5.23685825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters Centerline goodness : 0.991542 with order 1 Centerline is valid? [True, True] Translation: X:139.10, Y:-8.61, Z:-0.52 [[ 9.95092148e-01 9.89049077e-02 3.07176178e-03 1.39102957e+02] [-9.89044800e-02 9.95096889e-01 -2.91211982e-04 -8.61058963e+00] [-3.08550288e-03 -1.40282449e-05 9.99995240e-01 -5.24658817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters Centerline goodness : 0.992390 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:-8.61, Z:-0.53 [[ 9.95329262e-01 9.64895084e-02 3.07177553e-03 1.39160790e+02] [-9.64890696e-02 9.95334002e-01 -2.91066878e-04 -8.61082443e+00] [-3.08552753e-03 -6.68538150e-06 9.99995240e-01 -5.28107994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:-8.61, Z:-0.53 [[ 9.95490297e-01 9.48136751e-02 3.07179252e-03 1.39219867e+02] [-9.48132289e-02 9.95495036e-01 -2.90887395e-04 -8.61156651e+00] [-3.08553431e-03 -1.67098894e-06 9.99995240e-01 -5.30050451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters Centerline goodness : 0.992732 with order 1 Centerline is valid? [True, True] Translation: X:139.28, Y:-8.61, Z:-0.53 [[ 9.96073605e-01 8.84756371e-02 3.07180545e-03 1.39279317e+02] [-8.84751612e-02 9.96078341e-01 -2.90750794e-04 -8.61079664e+00] [-3.08548324e-03 1.78307089e-05 9.99995240e-01 -5.29916882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters Centerline goodness : 0.991930 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:-8.61, Z:-0.53 [[ 9.96793395e-01 7.99593089e-02 3.07181881e-03 1.39337712e+02] [-7.99587929e-02 9.96798128e-01 -2.90609599e-04 -8.61325973e+00] [-3.08522018e-03 4.40588046e-05 9.99995240e-01 -5.26194447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters Centerline goodness : 0.991339 with order 1 Centerline is valid? [True, True] Translation: X:139.40, Y:-8.62, Z:-0.52 [[ 9.97580342e-01 6.94552079e-02 3.07183247e-03 1.39396314e+02] [-6.94546426e-02 9.97585068e-01 -2.90465114e-04 -8.61926851e+00] [-3.08458852e-03 7.64092612e-05 9.99995240e-01 -5.21882464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters Centerline goodness : 0.982433 with order 1 Centerline is valid? [True, True] Translation: X:139.45, Y:-8.63, Z:-0.51 [[ 9.98156598e-01 6.06132726e-02 3.07184602e-03 1.39454840e+02] [-6.06126658e-02 9.98161320e-01 -2.90321739e-04 -8.62553510e+00] [-3.08379523e-03 1.03593783e-04 9.99995240e-01 -5.10337150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters Centerline goodness : 0.991608 with order 1 Centerline is valid? [True, True] Translation: X:139.51, Y:-8.64, Z:-0.52 [[ 9.98601392e-01 5.27808957e-02 3.07185941e-03 1.39513597e+02] [-5.27802524e-02 9.98606109e-01 -2.90180044e-04 -8.63894339e+00] [-3.08289353e-03 1.27640681e-04 9.99995240e-01 -5.22849892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters Centerline goodness : 0.991967 with order 1 Centerline is valid? [True, True] Translation: X:139.57, Y:-8.65, Z:-0.52 [[ 9.98892738e-01 4.69452944e-02 3.07186623e-03 1.39571922e+02] [-4.69446237e-02 9.98897451e-01 -2.90107778e-04 -8.65427675e+00] [-3.08209855e-03 1.45578948e-04 9.99995240e-01 -5.22399100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters Centerline goodness : 0.992100 with order 1 Centerline is valid? [True, True] Translation: X:139.63, Y:-8.67, Z:-0.52 [[ 9.98967125e-01 4.53348245e-02 3.07187305e-03 1.39629550e+02] [-4.53341465e-02 9.98971837e-01 -2.90035597e-04 -8.67211648e+00] [-3.08186337e-03 1.50475284e-04 9.99995240e-01 -5.22192408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters Centerline goodness : 0.991397 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-8.68, Z:-0.52 [[ 9.98773159e-01 4.94240779e-02 3.07187642e-03 1.39688253e+02] [-4.94234193e-02 9.98777874e-01 -2.89999923e-04 -8.68376321e+00] [-3.08245517e-03 1.37821503e-04 9.99995240e-01 -5.21472903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters Centerline goodness : 0.992204 with order 1 Centerline is valid? [True, True] Translation: X:139.75, Y:-8.70, Z:-0.52 [[ 9.98240842e-01 5.92096763e-02 3.07188300e-03 1.39746930e+02] [-5.92090641e-02 9.98245562e-01 -2.89930187e-04 -8.69698681e+00] [-3.08366024e-03 1.07536837e-04 9.99995240e-01 -5.21904820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters Centerline goodness : 0.991093 with order 1 Centerline is valid? [True, True] Translation: X:139.81, Y:-8.71, Z:-0.53 [[ 9.97618946e-01 6.88984874e-02 3.07188956e-03 1.39805654e+02] [-6.88979213e-02 9.97623673e-01 -2.89860646e-04 -8.70914981e+00] [-3.08456070e-03 7.75236677e-05 9.99995240e-01 -5.25093063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters Centerline goodness : 0.991280 with order 1 Centerline is valid? [True, True] Translation: X:139.86, Y:-8.71, Z:-0.53 [[ 9.96959987e-01 7.78546526e-02 3.07189647e-03 1.39863818e+02] [-7.78541291e-02 9.96964719e-01 -2.89787413e-04 -8.71333487e+00] [-3.08513370e-03 4.97466313e-05 9.99995240e-01 -5.26610758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters Centerline goodness : 0.991648 with order 1 Centerline is valid? [True, True] Translation: X:139.92, Y:-8.72, Z:-0.53 [[ 9.96476750e-01 8.38131868e-02 3.07190680e-03 1.39922850e+02] [-8.38126921e-02 9.96481484e-01 -2.89677863e-04 -8.71801886e+00] [-3.08537707e-03 3.11924767e-05 9.99995240e-01 -5.29854070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters Centerline goodness : 0.991126 with order 1 Centerline is valid? [True, True] Translation: X:139.98, Y:-8.72, Z:-0.53 [[ 9.96168528e-01 8.74003852e-02 3.07191987e-03 1.39981483e+02] [-8.73999079e-02 9.96173264e-01 -2.89539136e-04 -8.72167749e+00] [-3.08547028e-03 1.99442611e-05 9.99995240e-01 -5.25951759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters Centerline goodness : 0.990586 with order 1 Centerline is valid? [True, True] Translation: X:140.04, Y:-8.72, Z:-0.52 [[ 9.95816742e-01 9.13213020e-02 3.07193285e-03 1.40039915e+02] [-9.13208437e-02 9.95821480e-01 -2.89401368e-04 -8.72200012e+00] [-3.08552523e-03 7.65922777e-06 9.99995240e-01 -5.21851282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:140.10, Y:-8.72, Z:-0.52 [[ 9.95638272e-01 9.32469525e-02 3.07194887e-03 1.40097439e+02] [-9.32465040e-02 9.95643011e-01 -2.89231190e-04 -8.72395314e+00] [-3.08553436e-03 1.52114961e-06 9.99995240e-01 -5.22841989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters Centerline goodness : 0.990284 with order 1 Centerline is valid? [True, True] Translation: X:140.16, Y:-8.73, Z:-0.52 [[ 9.96141258e-01 8.77106397e-02 3.07196474e-03 1.40156218e+02] [-8.77101653e-02 9.96145995e-01 -2.89062625e-04 -8.73160334e+00] [-3.08547924e-03 1.85046722e-05 9.99995240e-01 -5.21351142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters Centerline goodness : 0.989943 with order 1 Centerline is valid? [True, True] Translation: X:140.22, Y:-8.74, Z:-0.52 [[ 9.96877776e-01 7.89003378e-02 3.07197802e-03 1.40215306e+02] [-7.88998220e-02 9.96882508e-01 -2.88921346e-04 -8.74232985e+00] [-3.08519715e-03 4.56407492e-05 9.99995240e-01 -5.21719502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters Centerline goodness : 0.990441 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:-8.75, Z:-0.52 [[ 9.97009832e-01 7.72137212e-02 3.07198461e-03 1.40274589e+02] [-7.72131976e-02 9.97014563e-01 -2.88851323e-04 -8.75107706e+00] [-3.08511668e-03 5.07898544e-05 9.99995240e-01 -5.24238913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:140.33, Y:-8.76, Z:-0.52 [[ 9.96760240e-01 8.03715583e-02 3.07199109e-03 1.40333936e+02] [-8.03710499e-02 9.96764973e-01 -2.88782317e-04 -8.75720415e+00] [-3.08526300e-03 4.09475820e-05 9.99995240e-01 -5.21314989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters Centerline goodness : 0.990581 with order 1 Centerline is valid? [True, True] Translation: X:140.39, Y:-8.76, Z:-0.52 [[ 9.96608308e-01 8.22340777e-02 3.07199777e-03 1.40392057e+02] [-8.22335784e-02 9.96613042e-01 -2.88711305e-04 -8.76251951e+00] [-3.08533495e-03 3.51107155e-05 9.99995240e-01 -5.20849123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters Centerline goodness : 0.990756 with order 1 Centerline is valid? [True, True] Translation: X:140.45, Y:-8.77, Z:-0.53 [[ 9.96433865e-01 8.43215051e-02 3.07200769e-03 1.40450342e+02] [-8.43210160e-02 9.96438600e-01 -2.88605712e-04 -8.76583005e+00] [-3.08540271e-03 2.85416957e-05 9.99995240e-01 -5.25041322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters Centerline goodness : 0.990801 with order 1 Centerline is valid? [True, True] Translation: X:140.51, Y:-8.77, Z:-0.52 [[ 9.96482368e-01 8.37463623e-02 3.07202094e-03 1.40509498e+02] [-8.37458709e-02 9.96487103e-01 -2.88464555e-04 -8.76924516e+00] [-3.08538711e-03 3.01807733e-05 9.99995240e-01 -5.22490899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters Centerline goodness : 0.990959 with order 1 Centerline is valid? [True, True] Translation: X:140.57, Y:-8.77, Z:-0.53 [[ 9.96423895e-01 8.44392385e-02 3.07203455e-03 1.40567229e+02] [-8.44387508e-02 9.96428630e-01 -2.88319540e-04 -8.77316798e+00] [-3.08540866e-03 2.78897184e-05 9.99995240e-01 -5.25144819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters Centerline goodness : 0.990968 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:-8.78, Z:-0.52 [[ 9.96276037e-01 8.61662427e-02 3.07205143e-03 1.40624869e+02] [-8.61657638e-02 9.96280773e-01 -2.88139658e-04 -8.77621123e+00] [-3.08545368e-03 2.23609791e-05 9.99995240e-01 -5.22696728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters Centerline goodness : 0.990900 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:-8.78, Z:-0.52 [[ 9.96275237e-01 8.61754881e-02 3.07206761e-03 1.40683158e+02] [-8.61750098e-02 9.96279973e-01 -2.87966989e-04 -8.78400448e+00] [-3.08545513e-03 2.21589236e-05 9.99995240e-01 -5.22946568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters Centerline goodness : 0.991491 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:-8.79, Z:-0.52 [[ 9.96279814e-01 8.61225578e-02 3.07208035e-03 1.40741726e+02] [-8.61220797e-02 9.96284550e-01 -2.87830998e-04 -8.79111485e+00] [-3.08545493e-03 2.21862639e-05 9.99995240e-01 -5.23947399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters Centerline goodness : 0.991706 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:-8.80, Z:-0.52 [[ 9.96100255e-01 8.81750812e-02 3.07209324e-03 1.40799919e+02] [-8.81746133e-02 9.96104992e-01 -2.87693332e-04 -8.79961815e+00] [-3.08549480e-03 1.56907676e-05 9.99995240e-01 -5.20705247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters Centerline goodness : 0.991864 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:-8.80, Z:-0.52 [[ 9.96040602e-01 8.88463921e-02 3.07210603e-03 1.40858151e+02] [-8.88459278e-02 9.96045340e-01 -2.87556718e-04 -8.80467232e+00] [-3.08550527e-03 1.34740560e-05 9.99995240e-01 -5.21524587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters Centerline goodness : 0.992106 with order 1 Centerline is valid? [True, True] Translation: X:140.92, Y:-8.81, Z:-0.53 [[ 9.95844938e-01 9.10133020e-02 3.07211900e-03 1.40915539e+02] [-9.10128484e-02 9.95849677e-01 -2.87418102e-04 -8.80971540e+00] [-3.08552758e-03 6.62156118e-06 9.99995240e-01 -5.26414160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters Centerline goodness : 0.992219 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:-8.82, Z:-0.52 [[ 9.95849970e-01 9.09582246e-02 3.07213502e-03 1.40973699e+02] [-9.09577713e-02 9.95854709e-01 -2.87246799e-04 -8.81761643e+00] [-3.08552758e-03 6.62016151e-06 9.99995240e-01 -5.22419372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters Centerline goodness : 0.992861 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:-8.82, Z:-0.53 [[ 9.96082555e-01 8.83747964e-02 3.07214825e-03 1.41031482e+02] [-8.83743312e-02 9.96087293e-01 -2.87105224e-04 -8.82492077e+00] [-3.08550070e-03 1.44814587e-05 9.99995240e-01 -5.26833864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters Centerline goodness : 0.992280 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:-8.83, Z:-0.53 [[ 9.96145145e-01 8.76664870e-02 3.07215805e-03 1.41089389e+02] [-8.76660187e-02 9.96149882e-01 -2.87000333e-04 -8.83256606e+00] [-3.08549019e-03 1.65701232e-05 9.99995240e-01 -5.25632783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters Centerline goodness : 0.992886 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:-8.84, Z:-0.53 [[ 9.96039358e-01 8.88603369e-02 3.07217151e-03 1.41148416e+02] [-8.88598748e-02 9.96044096e-01 -2.86856122e-04 -8.84080244e+00] [-3.08550843e-03 1.27272114e-05 9.99995240e-01 -5.26323188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters Centerline goodness : 0.993116 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:-8.85, Z:-0.52 [[ 9.95971175e-01 8.96213144e-02 3.07217828e-03 1.41207613e+02] [-8.96208562e-02 9.95975913e-01 -2.86783653e-04 -8.84980062e+00] [-3.08551749e-03 1.02970047e-05 9.99995240e-01 -5.24321236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:-8.85, Z:-0.52 [[ 9.95535634e-01 9.43364398e-02 3.07218513e-03 1.41265923e+02] [-9.43360042e-02 9.95540374e-01 -2.86710233e-04 -8.85228222e+00] [-3.08553155e-03 -4.38741580e-06 9.99995240e-01 -5.21395142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters Centerline goodness : 0.993478 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:-8.85, Z:-0.52 [[ 9.94914121e-01 1.00679950e-01 3.07220337e-03 1.41324265e+02] [-1.00679546e-01 9.94918865e-01 -2.86514588e-04 -8.85358791e+00] [-3.08543937e-03 -2.42506305e-05 9.99995240e-01 -5.23193523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters Centerline goodness : 0.993496 with order 1 Centerline is valid? [True, True] Translation: X:141.38, Y:-8.85, Z:-0.52 [[ 9.94758746e-01 1.02203713e-01 3.07221999e-03 1.41383481e+02] [-1.02203316e-01 9.94763490e-01 -2.86336341e-04 -8.85436682e+00] [-3.08539691e-03 -2.91554909e-05 9.99995240e-01 -5.18797026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters Centerline goodness : 0.993850 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:-8.86, Z:-0.52 [[ 9.95007652e-01 9.97513603e-02 3.07223373e-03 1.41441295e+02] [-9.97509521e-02 9.95012395e-01 -2.86188830e-04 -8.85964084e+00] [-3.08545836e-03 -2.16981636e-05 9.99995240e-01 -5.23095619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:-8.86, Z:-0.52 [[ 9.95078582e-01 9.90412890e-02 3.07225067e-03 1.41500275e+02] [-9.90408780e-02 9.95083324e-01 -2.86006883e-04 -8.86161739e+00] [-3.08547190e-03 -1.96790800e-05 9.99995240e-01 -5.23420943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:-8.86, Z:-0.52 [[ 9.94650467e-01 1.03252162e-01 3.07226344e-03 1.41558721e+02] [-1.03251771e-01 9.94655212e-01 -2.85869607e-04 -8.86354761e+00] [-3.08535950e-03 -3.28763045e-05 9.99995240e-01 -5.20083217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters Centerline goodness : 0.995043 with order 1 Centerline is valid? [True, True] Translation: X:141.62, Y:-8.86, Z:-0.52 [[ 9.94517674e-01 1.04523478e-01 3.07227667e-03 1.41618015e+02] [-1.04523094e-01 9.94522419e-01 -2.85727392e-04 -8.86361096e+00] [-3.08531324e-03 -3.69629212e-05 9.99995240e-01 -5.21489053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters Centerline goodness : 0.994428 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:-8.87, Z:-0.52 [[ 9.94725311e-01 1.02528610e-01 3.07229013e-03 1.41675366e+02] [-1.02528217e-01 9.94730055e-01 -2.85582576e-04 -8.86628344e+00] [-3.08537971e-03 -3.09202132e-05 9.99995240e-01 -5.24000397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:-8.87, Z:-0.53 [[ 9.95482938e-01 9.48908858e-02 3.07230867e-03 1.41734038e+02] [-9.48904569e-02 9.95487679e-01 -2.85382913e-04 -8.86909468e+00] [-3.08552567e-03 -7.43895304e-06 9.99995240e-01 -5.28042148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:-8.87, Z:-0.53 [[ 9.95656510e-01 9.30520065e-02 3.07232199e-03 1.41792675e+02] [-9.30515694e-02 9.95661250e-01 -2.85239476e-04 -8.87431421e+00] [-3.08553406e-03 -1.88384181e-06 9.99995240e-01 -5.33379259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters Centerline goodness : 0.995165 with order 1 Centerline is valid? [True, True] Translation: X:141.85, Y:-8.88, Z:-0.53 [[ 9.95662987e-01 9.29826759e-02 3.07233576e-03 1.41850355e+02] [-9.29822388e-02 9.95667727e-01 -2.85091092e-04 -8.87927813e+00] [-3.08553409e-03 -1.81800920e-06 9.99995240e-01 -5.32488151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters Centerline goodness : 0.994571 with order 1 Centerline is valid? [True, True] Translation: X:141.91, Y:-8.88, Z:-0.53 [[ 9.95577072e-01 9.38981014e-02 3.07235278e-03 1.41909062e+02] [-9.38976692e-02 9.95581813e-01 -2.84907529e-04 -8.88498041e+00] [-3.08553083e-03 -4.83936171e-06 9.99995240e-01 -5.26027173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:-8.89, Z:-0.53 [[ 9.95430648e-01 9.54378608e-02 3.07236618e-03 1.41966541e+02] [-9.54374365e-02 9.95435389e-01 -2.84763010e-04 -8.88959477e+00] [-3.08551919e-03 -9.75692456e-06 9.99995240e-01 -5.29534998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters Centerline goodness : 0.994460 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:-8.89, Z:-0.53 [[ 9.95332869e-01 9.64522748e-02 3.07238273e-03 1.42025238e+02] [-9.64518559e-02 9.95337610e-01 -2.84584278e-04 -8.89406559e+00] [-3.08550689e-03 -1.30809312e-05 9.99995240e-01 -5.28595195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters Centerline goodness : 0.994552 with order 1 Centerline is valid? [True, True] Translation: X:142.08, Y:-8.89, Z:-0.53 [[ 9.95160808e-01 9.82116455e-02 3.07239597e-03 1.42084592e+02] [-9.82112354e-02 9.95165550e-01 -2.84441347e-04 -8.89486443e+00] [-3.08547807e-03 -1.86789227e-05 9.99995240e-01 -5.26303244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters Centerline goodness : 0.994701 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:-8.90, Z:-0.52 [[ 9.95018213e-01 9.96459563e-02 3.07240930e-03 1.42142551e+02] [-9.96455535e-02 9.95022956e-01 -2.84297224e-04 -8.89641750e+00] [-3.08544685e-03 -2.32710100e-05 9.99995240e-01 -5.24267810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:-8.90, Z:-0.53 [[ 9.94872886e-01 1.01086606e-01 3.07242579e-03 1.42201647e+02] [-1.01086210e-01 9.94877629e-01 -2.84118964e-04 -8.89828330e+00] [-3.08540830e-03 -2.79176257e-05 9.99995240e-01 -5.25965035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters Centerline goodness : 0.993771 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:-8.90, Z:-0.52 [[ 9.94717530e-01 1.02604075e-01 3.07243565e-03 1.42259580e+02] [-1.02603687e-01 9.94722274e-01 -2.84012248e-04 -8.89918083e+00] [-3.08536099e-03 -3.27312636e-05 9.99995240e-01 -5.24009173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters Centerline goodness : 0.994597 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:-8.90, Z:-0.53 [[ 9.94561520e-01 1.04105442e-01 3.07245641e-03 1.42318063e+02] [-1.04105062e-01 9.94566265e-01 -2.83787468e-04 -8.89887612e+00] [-3.08530532e-03 -3.76141713e-05 9.99995240e-01 -5.27771906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters Centerline goodness : 0.994210 with order 1 Centerline is valid? [True, True] Translation: X:142.38, Y:-8.90, Z:-0.53 [[ 9.94561909e-01 1.04101722e-01 3.07247335e-03 1.42376110e+02] [-1.04101342e-01 9.94566654e-01 -2.83604013e-04 -8.89700748e+00] [-3.08530320e-03 -3.77868511e-05 9.99995240e-01 -5.30709000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters Centerline goodness : 0.994870 with order 1 Centerline is valid? [True, True] Translation: X:142.44, Y:-8.90, Z:-0.53 [[ 9.95133098e-01 9.84920102e-02 3.07249147e-03 1.42435573e+02] [-9.84916046e-02 9.95137841e-01 -2.83407524e-04 -8.89772733e+00] [-3.08546591e-03 -2.05864073e-05 9.99995240e-01 -5.26872273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters Centerline goodness : 0.994808 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:-8.90, Z:-0.53 [[ 9.95675851e-01 9.28448160e-02 3.07250423e-03 1.42494150e+02] [-9.28443839e-02 9.95680591e-01 -2.83269129e-04 -8.90033011e+00] [-3.08553290e-03 -3.22053067e-06 9.99995240e-01 -5.29815109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:142.55, Y:-8.91, Z:-0.53 [[ 9.95967269e-01 8.96647053e-02 3.07251808e-03 1.42551765e+02] [-8.96642585e-02 9.95972008e-01 -2.83118849e-04 -8.90664215e+00] [-3.08552777e-03 6.48205156e-06 9.99995240e-01 -5.30512399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters Centerline goodness : 0.995319 with order 1 Centerline is valid? [True, True] Translation: X:142.61, Y:-8.91, Z:-0.53 [[ 9.96034427e-01 8.89155810e-02 3.07253664e-03 1.42609908e+02] [-8.89151313e-02 9.96039166e-01 -2.82917223e-04 -8.91326359e+00] [-3.08552258e-03 8.60029514e-06 9.99995240e-01 -5.33561000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters Centerline goodness : 0.995267 with order 1 Centerline is valid? [True, True] Translation: X:142.67, Y:-8.92, Z:-0.54 [[ 9.96316092e-01 8.57018310e-02 3.07255024e-03 1.42667476e+02] [-8.57013665e-02 9.96320830e-01 -2.82769426e-04 -8.92342311e+00] [-3.08547967e-03 1.84059753e-05 9.99995240e-01 -5.36540654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters Centerline goodness : 0.995558 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:-8.93, Z:-0.54 [[ 9.96587658e-01 8.24839338e-02 3.07256703e-03 1.42724902e+02] [-8.24834545e-02 9.96592394e-01 -2.82586953e-04 -8.93498634e+00] [-3.08540581e-03 2.81867270e-05 9.99995240e-01 -5.35685658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters Centerline goodness : 0.995593 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:-8.95, Z:-0.53 [[ 9.96669363e-01 8.14907364e-02 3.07258318e-03 1.42782962e+02] [-8.14902530e-02 9.96674099e-01 -2.82411189e-04 -8.94772444e+00] [-3.08537797e-03 3.10849992e-05 9.99995240e-01 -5.33982867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:-8.96, Z:-0.54 [[ 9.96301350e-01 8.58730436e-02 3.07259610e-03 1.42840511e+02] [-8.58725815e-02 9.96306088e-01 -2.82270575e-04 -8.95723699e+00] [-3.08548563e-03 1.73747962e-05 9.99995240e-01 -5.36131453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:142.90, Y:-8.97, Z:-0.53 [[ 9.95759702e-01 9.19411519e-02 3.07261204e-03 1.42898796e+02] [-9.19407191e-02 9.95764442e-01 -2.82096935e-04 -8.96563483e+00] [-3.08553413e-03 -1.59740124e-06 9.99995240e-01 -5.31982406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters Centerline goodness : 0.996044 with order 1 Centerline is valid? [True, True] Translation: X:142.96, Y:-8.98, Z:-0.54 [[ 9.95908061e-01 9.03199476e-02 3.07262552e-03 1.42955471e+02] [-9.03195076e-02 9.95912801e-01 -2.81950069e-04 -8.97546954e+00] [-3.08553280e-03 3.27832229e-06 9.99995240e-01 -5.35107426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters Centerline goodness : 0.995540 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:-8.99, Z:-0.53 [[ 9.96219465e-01 8.68178312e-02 3.07264235e-03 1.43013624e+02] [-8.68173751e-02 9.96224204e-01 -2.81766481e-04 -8.98521012e+00] [-3.08550304e-03 1.39425090e-05 9.99995240e-01 -5.34244373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters Centerline goodness : 0.996596 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:-9.00, Z:-0.53 [[ 9.96556682e-01 8.28573371e-02 3.07265563e-03 1.43071738e+02] [-8.28568626e-02 9.96561419e-01 -2.81621647e-04 -8.99503485e+00] [-3.08542447e-03 2.60613292e-05 9.99995240e-01 -5.34790796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters Centerline goodness : 0.996500 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:-9.00, Z:-0.53 [[ 9.96611599e-01 8.21941511e-02 3.07266880e-03 1.43128569e+02] [-8.21936739e-02 9.96616336e-01 -2.81477889e-04 -9.00449304e+00] [-3.08540775e-03 2.79701917e-05 9.99995240e-01 -5.34667953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters Centerline goodness : 0.996593 with order 1 Centerline is valid? [True, True] Translation: X:143.19, Y:-9.01, Z:-0.54 [[ 9.96473173e-01 8.38556742e-02 3.07268509e-03 1.43186744e+02] [-8.38552054e-02 9.96477910e-01 -2.81299881e-04 -9.01120590e+00] [-3.08545141e-03 2.26471454e-05 9.99995240e-01 -5.36521208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters Centerline goodness : 0.996476 with order 1 Centerline is valid? [True, True] Translation: X:143.24, Y:-9.02, Z:-0.54 [[ 9.96312452e-01 8.57441314e-02 3.07269802e-03 1.43244636e+02] [-8.57436720e-02 9.96317190e-01 -2.81158655e-04 -9.01733475e+00] [-3.08548956e-03 1.66574577e-05 9.99995240e-01 -5.37838781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:-9.02, Z:-0.54 [[ 9.96284702e-01 8.60659667e-02 3.07271482e-03 1.43303484e+02] [-8.60655095e-02 9.96289440e-01 -2.80974875e-04 -9.02286202e+00] [-3.08549570e-03 1.54762030e-05 9.99995240e-01 -5.39116408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:-9.03, Z:-0.54 [[ 9.96580247e-01 8.25734234e-02 3.07272757e-03 1.43362080e+02] [-8.25729500e-02 9.96584983e-01 -2.80835390e-04 -9.03006872e+00] [-3.08542369e-03 2.61508224e-05 9.99995240e-01 -5.40196718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters Centerline goodness : 0.997134 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:-9.04, Z:-0.55 [[ 9.96682692e-01 8.13275473e-02 3.07274036e-03 1.43421040e+02] [-8.13270684e-02 9.96687428e-01 -2.80695344e-04 -9.04135696e+00] [-3.08538995e-03 2.98672253e-05 9.99995240e-01 -5.45694071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters Centerline goodness : 0.997170 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:-9.05, Z:-0.54 [[ 9.96471609e-01 8.38742550e-02 3.07274672e-03 1.43479692e+02] [-8.38737884e-02 9.96476346e-01 -2.80625747e-04 -9.05305891e+00] [-3.08545670e-03 2.19126812e-05 9.99995240e-01 -5.41078398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters Centerline goodness : 0.997507 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:-9.06, Z:-0.54 [[ 9.95809126e-01 9.14042796e-02 3.07275320e-03 1.43537520e+02] [-9.14038490e-02 9.95813867e-01 -2.80554760e-04 -9.06062716e+00] [-3.08553415e-03 -1.48247918e-06 9.99995240e-01 -5.39889601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:-9.07, Z:-0.54 [[ 9.94718052e-01 1.02599004e-01 3.07275989e-03 1.43595855e+02] [-1.02598627e-01 9.94722797e-01 -2.80481513e-04 -9.06613582e+00] [-3.08532143e-03 -3.62609210e-05 9.99995240e-01 -5.35577205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters Centerline goodness : 0.997448 with order 1 Centerline is valid? [True, True] Translation: X:143.65, Y:-9.07, Z:-0.54 [[ 9.93754650e-01 1.11544855e-01 3.07277298e-03 1.43654504e+02] [-1.11544521e-01 9.93759398e-01 -2.80338015e-04 -9.06754382e+00] [-3.08486729e-03 -6.41637837e-05 9.99995240e-01 -5.38887196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:-9.07, Z:-0.54 [[ 9.93832965e-01 1.10844918e-01 3.07278621e-03 1.43712348e+02] [-1.10844581e-01 9.93837713e-01 -2.80192914e-04 -9.06976518e+00] [-3.08490878e-03 -6.21367447e-05 9.99995240e-01 -5.39896791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters Centerline goodness : 0.997406 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:-9.08, Z:-0.54 [[ 9.94535546e-01 1.04353272e-01 3.07280389e-03 1.43769408e+02] [-1.04352905e-01 9.94540292e-01 -2.79998917e-04 -9.07549845e+00] [-3.08524608e-03 -4.21871378e-05 9.99995240e-01 -5.42956189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:143.83, Y:-9.08, Z:-0.54 [[ 9.94808574e-01 1.01717542e-01 3.07282090e-03 1.43827477e+02] [-1.01717163e-01 9.94813319e-01 -2.79812093e-04 -9.08130542e+00] [-3.08534496e-03 -3.41991562e-05 9.99995240e-01 -5.42274175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters Centerline goodness : 0.997500 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:-9.08, Z:-0.54 [[ 9.94668123e-01 1.03081918e-01 3.07283370e-03 1.43885821e+02] [-1.03081546e-01 9.94672869e-01 -2.79671430e-04 -9.08409515e+00] [-3.08529338e-03 -3.85721912e-05 9.99995240e-01 -5.39604149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters Centerline goodness : 0.997263 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:-9.09, Z:-0.55 [[ 9.94491654e-01 1.04770738e-01 3.07284951e-03 1.43944489e+02] [-1.04770374e-01 9.94496401e-01 -2.79497626e-04 -9.08787604e+00] [-3.08522095e-03 -4.39855362e-05 9.99995240e-01 -5.45906188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:-9.09, Z:-0.55 [[ 9.94413159e-01 1.05513161e-01 3.07286242e-03 1.44003410e+02] [-1.05512802e-01 9.94417905e-01 -2.79355635e-04 -9.09041364e+00] [-3.08518511e-03 -4.64314036e-05 9.99995240e-01 -5.48541926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:-9.09, Z:-0.54 [[ 9.94093552e-01 1.08483027e-01 3.07287564e-03 1.44061957e+02] [-1.08482682e-01 9.94098300e-01 -2.79210136e-04 -9.09458552e+00] [-3.08503001e-03 -5.57927952e-05 9.99995240e-01 -5.42248065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters Centerline goodness : 0.997773 with order 1 Centerline is valid? [True, True] Translation: X:144.12, Y:-9.10, Z:-0.54 [[ 9.93831131e-01 1.10861358e-01 3.07288884e-03 1.44120894e+02] [-1.10861025e-01 9.93835879e-01 -2.79064818e-04 -9.09516533e+00] [-3.08488468e-03 -6.33203012e-05 9.99995240e-01 -5.42626324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:-9.10, Z:-0.55 [[ 9.93637717e-01 1.12581726e-01 3.07290198e-03 1.44179165e+02] [-1.12581401e-01 9.93642466e-01 -2.78920023e-04 -9.09547843e+00] [-3.08476720e-03 -6.88061554e-05 9.99995240e-01 -5.47975393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:144.24, Y:-9.09, Z:-0.55 [[ 9.93716564e-01 1.11883631e-01 3.07291822e-03 1.44238696e+02] [-1.11883304e-01 9.93721313e-01 -2.78740941e-04 -9.09381060e+00] [-3.08481088e-03 -6.68187530e-05 9.99995240e-01 -5.45043530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters Centerline goodness : 0.997660 with order 1 Centerline is valid? [True, True] Translation: X:144.30, Y:-9.09, Z:-0.54 [[ 9.94125054e-01 1.08193962e-01 3.07293152e-03 1.44297932e+02] [-1.08193618e-01 9.94129802e-01 -2.78594329e-04 -9.09414425e+00] [-3.08503502e-03 -5.55139762e-05 9.99995240e-01 -5.44121172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:-9.09, Z:-0.54 [[ 9.94516515e-01 1.04534481e-01 3.07294476e-03 1.44356633e+02] [-1.04534119e-01 9.94521262e-01 -2.78448207e-04 -9.09406092e+00] [-3.08521633e-03 -4.43062328e-05 9.99995240e-01 -5.44085879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters Centerline goodness : 0.997894 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:-9.10, Z:-0.55 [[ 9.94721528e-01 1.02565287e-01 3.07295805e-03 1.44414414e+02] [-1.02564917e-01 9.94726274e-01 -2.78301459e-04 -9.09522324e+00] [-3.08529618e-03 -3.83452332e-05 9.99995240e-01 -5.45464315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:144.47, Y:-9.10, Z:-0.54 [[ 9.94812535e-01 1.01678797e-01 3.07297443e-03 1.44473025e+02] [-1.01678423e-01 9.94817280e-01 -2.78120440e-04 -9.09886008e+00] [-3.08532702e-03 -3.57774946e-05 9.99995240e-01 -5.43022492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:-9.10, Z:-0.54 [[ 9.94741090e-01 1.02375389e-01 3.07298746e-03 1.44531686e+02] [-1.02375018e-01 9.94745836e-01 -2.77976329e-04 -9.10383549e+00] [-3.08529942e-03 -3.80826711e-05 9.99995240e-01 -5.42451810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters Centerline goodness : 0.997590 with order 1 Centerline is valid? [True, True] Translation: X:144.59, Y:-9.11, Z:-0.54 [[ 9.94689425e-01 1.02876165e-01 3.07300079e-03 1.44589915e+02] [-1.02875797e-01 9.94694171e-01 -2.77828907e-04 -9.10713156e+00] [-3.08527795e-03 -3.97839310e-05 9.99995240e-01 -5.41594386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters Centerline goodness : 0.998151 with order 1 Centerline is valid? [True, True] Translation: X:144.65, Y:-9.11, Z:-0.55 [[ 9.94913866e-01 1.00682448e-01 3.07301726e-03 1.44648654e+02] [-1.00682070e-01 9.94918612e-01 -2.77646686e-04 -9.11204914e+00] [-3.08535621e-03 -3.31632008e-05 9.99995240e-01 -5.46270444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters Centerline goodness : 0.997877 with order 1 Centerline is valid? [True, True] Translation: X:144.71, Y:-9.12, Z:-0.55 [[ 9.95125634e-01 9.85673832e-02 3.07303020e-03 1.44706430e+02] [-9.85669961e-02 9.95130379e-01 -2.77503335e-04 -9.11532051e+00] [-3.08541849e-03 -2.67486741e-05 9.99995240e-01 -5.46792579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:-9.11, Z:-0.55 [[ 9.94865279e-01 1.01161423e-01 3.07304621e-03 1.44765392e+02] [-1.01161049e-01 9.94870024e-01 -2.77325994e-04 -9.11477883e+00] [-3.08533625e-03 -3.49705740e-05 9.99995240e-01 -5.45444735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters Centerline goodness : 0.998186 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:-9.11, Z:-0.54 [[ 9.94372674e-01 1.05894007e-01 3.07305881e-03 1.44824636e+02] [-1.05893656e-01 9.94377422e-01 -2.77186252e-04 -9.11149396e+00] [-3.08513266e-03 -4.97909976e-05 9.99995240e-01 -5.42840467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters Centerline goodness : 0.997553 with order 1 Centerline is valid? [True, True] Translation: X:144.88, Y:-9.11, Z:-0.54 [[ 9.94714989e-01 1.02628682e-01 3.07307149e-03 1.44883976e+02] [-1.02628316e-01 9.94719735e-01 -2.77045578e-04 -9.11347338e+00] [-3.08527768e-03 -3.98027618e-05 9.99995240e-01 -5.38500684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:-9.12, Z:-0.54 [[ 9.95656337e-01 9.30538235e-02 3.07308455e-03 1.44942120e+02] [-9.30534121e-02 9.95661080e-01 -2.76900635e-04 -9.12099698e+00] [-3.08551735e-03 -1.02631316e-05 9.99995240e-01 -5.39743296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:-9.13, Z:-0.55 [[ 9.96065032e-01 8.85720553e-02 3.07309749e-03 1.44999719e+02] [-8.85716230e-02 9.96069772e-01 -2.76756945e-04 -9.12959171e+00] [-3.08553245e-03 3.47868235e-06 9.99995240e-01 -5.45595126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:145.06, Y:-9.14, Z:-0.54 [[ 9.95818988e-01 9.12967654e-02 3.07311342e-03 1.45058189e+02] [-9.12963466e-02 9.95823730e-01 -2.76579961e-04 -9.13794514e+00] [-3.08553013e-03 -5.14045161e-06 9.99995240e-01 -5.41668189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:-9.15, Z:-0.54 [[ 9.95560396e-01 9.40747258e-02 3.07312604e-03 1.45114734e+02] [-9.40743207e-02 9.95565139e-01 -2.76439653e-04 -9.14943899e+00] [-3.08550314e-03 -1.38898749e-05 9.99995240e-01 -5.43740227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:145.17, Y:-9.16, Z:-0.55 [[ 9.95259006e-01 9.72114541e-02 3.07314164e-03 1.45172817e+02] [-9.72110645e-02 9.95263750e-01 -2.76266132e-04 -9.15880847e+00] [-3.08544271e-03 -2.37870145e-05 9.99995240e-01 -5.46669048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:145.23, Y:-9.16, Z:-0.55 [[ 9.94772228e-01 1.02072372e-01 3.07315483e-03 1.45230604e+02] [-1.02072006e-01 9.94776975e-01 -2.76119343e-04 -9.16471235e+00] [-3.08528782e-03 -3.90072240e-05 9.99995240e-01 -5.49723137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters Centerline goodness : 0.998340 with order 1 Centerline is valid? [True, True] Translation: X:145.29, Y:-9.17, Z:-0.55 [[ 9.94057622e-01 1.08811763e-01 3.07317122e-03 1.45289472e+02] [-1.08811429e-01 9.94062371e-01 -2.75936846e-04 -9.16886938e+00] [-3.08494904e-03 -6.00990276e-05 9.99995240e-01 -5.46571059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:145.35, Y:-9.17, Z:-0.55 [[ 9.94031700e-01 1.09048318e-01 3.07318396e-03 1.45347838e+02] [-1.09047987e-01 9.94036448e-01 -2.75794849e-04 -9.17030921e+00] [-3.08493183e-03 -6.09757007e-05 9.99995240e-01 -5.50914057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters Centerline goodness : 0.998276 with order 1 Centerline is valid? [True, True] Translation: X:145.41, Y:-9.18, Z:-0.55 [[ 9.94880120e-01 1.01015353e-01 3.07320143e-03 1.45406789e+02] [-1.01014984e-01 9.94884866e-01 -2.75600010e-04 -9.17698641e+00] [-3.08532143e-03 -3.62504215e-05 9.99995240e-01 -5.49243362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters Centerline goodness : 0.998348 with order 1 Centerline is valid? [True, True] Translation: X:145.46, Y:-9.18, Z:-0.55 [[ 9.95824109e-01 9.12408812e-02 3.07321422e-03 1.45464126e+02] [-9.12404656e-02 9.95828852e-01 -2.75457334e-04 -9.18336940e+00] [-3.08552836e-03 -6.09444246e-06 9.99995240e-01 -5.47803428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters Centerline goodness : 0.998207 with order 1 Centerline is valid? [True, True] Translation: X:145.52, Y:-9.19, Z:-0.55 [[ 9.96266585e-01 8.62754160e-02 3.07323005e-03 1.45522169e+02] [-8.62749773e-02 9.96271325e-01 -2.75280606e-04 -9.19314375e+00] [-3.08552092e-03 9.11001630e-06 9.99995240e-01 -5.46570407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:145.58, Y:-9.20, Z:-0.55 [[ 9.96292429e-01 8.59764548e-02 3.07324257e-03 1.45579025e+02] [-8.59760151e-02 9.96297169e-01 -2.75140827e-04 -9.20337208e+00] [-3.08551850e-03 9.89557346e-06 9.99995240e-01 -5.49450174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:145.64, Y:-9.21, Z:-0.54 [[ 9.96247314e-01 8.64976566e-02 3.07325800e-03 1.45637125e+02] [-8.64972199e-02 9.96252054e-01 -2.74968341e-04 -9.21218835e+00] [-3.08552371e-03 8.10819847e-06 9.99995240e-01 -5.43536153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters Centerline goodness : 0.997895 with order 1 Centerline is valid? [True, True] Translation: X:145.70, Y:-9.22, Z:-0.54 [[ 9.96440136e-01 8.42473168e-02 3.07327028e-03 1.45695606e+02] [-8.42468698e-02 9.96444875e-01 -2.74831020e-04 -9.22013583e+00] [-3.08549820e-03 1.49392582e-05 9.99995240e-01 -5.43683131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:145.75, Y:-9.23, Z:-0.55 [[ 9.96702718e-01 8.10817291e-02 3.07328329e-03 1.45754372e+02] [-8.10812676e-02 9.96707456e-01 -2.74685452e-04 -9.22850274e+00] [-3.08543634e-03 2.45940319e-05 9.99995240e-01 -5.45403343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters Centerline goodness : 0.995427 with order 1 Centerline is valid? [True, True] Translation: X:145.81, Y:-9.23, Z:-0.54 [[ 9.96720404e-01 8.08640260e-02 3.07329635e-03 1.45812566e+02] [-8.08635639e-02 9.96725142e-01 -2.74539231e-04 -9.23417773e+00] [-3.08543209e-03 2.51211580e-05 9.99995240e-01 -5.40520762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:145.87, Y:-9.24, Z:-0.55 [[ 9.96722528e-01 8.08378427e-02 3.07330932e-03 1.45869960e+02] [-8.08373808e-02 9.96727266e-01 -2.74394015e-04 -9.24287931e+00] [-3.08543261e-03 2.50564211e-05 9.99995240e-01 -5.46819623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:145.93, Y:-9.26, Z:-0.55 [[ 9.96677257e-01 8.13941081e-02 3.07332539e-03 1.45928020e+02] [-8.13936495e-02 9.96681995e-01 -2.74213898e-04 -9.25568497e+00] [-3.08544747e-03 2.31535862e-05 9.99995240e-01 -5.46138823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters Centerline goodness : 0.997652 with order 1 Centerline is valid? [True, True] Translation: X:145.99, Y:-9.27, Z:-0.55 [[ 9.96598472e-01 8.23531403e-02 3.07333802e-03 1.45987173e+02] [-8.23526867e-02 9.96603211e-01 -2.74072269e-04 -9.26649773e+00] [-3.08546925e-03 2.00423618e-05 9.99995240e-01 -5.46400191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters Centerline goodness : 0.998026 with order 1 Centerline is valid? [True, True] Translation: X:146.05, Y:-9.28, Z:-0.55 [[ 9.96313998e-01 8.57261451e-02 3.07334437e-03 1.46045701e+02] [-8.57257078e-02 9.96318738e-01 -2.74001032e-04 -9.27522812e+00] [-3.08551963e-03 9.52644254e-06 9.99995240e-01 -5.50976448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:-9.28, Z:-0.55 [[ 9.95873142e-01 9.07041319e-02 3.07335378e-03 1.46102621e+02] [-9.07037185e-02 9.95877884e-01 -2.73895450e-04 -9.28274255e+00] [-3.08552851e-03 -5.99949307e-06 9.99995240e-01 -5.47027254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters Centerline goodness : 0.998203 with order 1 Centerline is valid? [True, True] Translation: X:146.16, Y:-9.29, Z:-0.55 [[ 9.95372133e-01 9.60461920e-02 3.07337036e-03 1.46160266e+02] [-9.60458047e-02 9.95376878e-01 -2.73709226e-04 -9.28809035e+00] [-3.08545052e-03 -2.27417931e-05 9.99995240e-01 -5.48765214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:146.22, Y:-9.29, Z:-0.55 [[ 9.94978997e-01 1.00036747e-01 3.07338507e-03 1.46219334e+02] [-1.00036379e-01 9.94983743e-01 -2.73543952e-04 -9.29164959e+00] [-3.08533263e-03 -3.52798271e-05 9.99995240e-01 -5.48396965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:146.28, Y:-9.29, Z:-0.55 [[ 9.95079242e-01 9.90346253e-02 3.07339712e-03 1.46278508e+02] [-9.90342532e-02 9.95083987e-01 -2.73408546e-04 -9.29171070e+00] [-3.08536517e-03 -3.23084202e-05 9.99995240e-01 -5.47135068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters Centerline goodness : 0.997650 with order 1 Centerline is valid? [True, True] Translation: X:146.34, Y:-9.29, Z:-0.55 [[ 9.95585653e-01 9.38070462e-02 3.07341006e-03 1.46336475e+02] [-9.38066496e-02 9.95590397e-01 -2.73262981e-04 -9.29409956e+00] [-3.08549153e-03 -1.62495975e-05 9.99995240e-01 -5.45636869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters Centerline goodness : 0.997515 with order 1 Centerline is valid? [True, True] Translation: X:146.40, Y:-9.30, Z:-0.55 [[ 9.95681822e-01 9.27807223e-02 3.07342775e-03 1.46395332e+02] [-9.27803214e-02 9.95686566e-01 -2.73063855e-04 -9.29823295e+00] [-3.08550579e-03 -1.32688978e-05 9.99995240e-01 -5.45789705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:146.45, Y:-9.30, Z:-0.55 [[ 9.95720339e-01 9.23664505e-02 3.07344056e-03 1.46453724e+02] [-9.23660481e-02 9.95725082e-01 -2.72919634e-04 -9.30064680e+00] [-3.08551047e-03 -1.21299283e-05 9.99995240e-01 -5.50437749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters Centerline goodness : 0.997535 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:-9.30, Z:-0.55 [[ 9.95519032e-01 9.45114314e-02 3.07345326e-03 1.46511426e+02] [-9.45110396e-02 9.95523776e-01 -2.72776478e-04 -9.30272894e+00] [-3.08547630e-03 -1.89210878e-05 9.99995240e-01 -5.47902621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:-9.31, Z:-0.55 [[ 9.95597120e-01 9.36852574e-02 3.07346896e-03 1.46569708e+02] [-9.36848623e-02 9.95601864e-01 -2.72599474e-04 -9.30740804e+00] [-3.08548998e-03 -1.65382656e-05 9.99995240e-01 -5.47069537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters Centerline goodness : 0.996859 with order 1 Centerline is valid? [True, True] Translation: X:146.63, Y:-9.31, Z:-0.55 [[ 9.95599574e-01 9.36591784e-02 3.07348140e-03 1.46628231e+02] [-9.36587836e-02 9.95604318e-01 -2.72459225e-04 -9.31245165e+00] [-3.08548966e-03 -1.65982407e-05 9.99995240e-01 -5.47745798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:146.69, Y:-9.31, Z:-0.55 [[ 9.95478468e-01 9.49377313e-02 3.07349373e-03 1.46687325e+02] [-9.49373430e-02 9.95483213e-01 -2.72320067e-04 -9.31473594e+00] [-3.08546486e-03 -2.07005647e-05 9.99995240e-01 -5.48798176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:146.75, Y:-9.31, Z:-0.55 [[ 9.95343699e-01 9.63404075e-02 3.07350644e-03 1.46745254e+02] [-9.63400263e-02 9.95348444e-01 -2.72176526e-04 -9.31453921e+00] [-3.08543145e-03 -2.51925008e-05 9.99995240e-01 -5.50291225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters Centerline goodness : 0.994926 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:-9.32, Z:-0.54 [[ 9.95466468e-01 9.50634745e-02 3.07352213e-03 1.46803817e+02] [-9.50630878e-02 9.95471213e-01 -2.71999206e-04 -9.31757580e+00] [-3.08545999e-03 -2.14124147e-05 9.99995240e-01 -5.42537721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters Centerline goodness : 0.995036 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:-9.32, Z:-0.54 [[ 9.95822422e-01 9.12592804e-02 3.07353512e-03 1.46861343e+02] [-9.12588761e-02 9.95827166e-01 -2.71852297e-04 -9.31855710e+00] [-3.08551882e-03 -9.77074797e-06 9.99995240e-01 -5.44174006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters Centerline goodness : 0.995676 with order 1 Centerline is valid? [True, True] Translation: X:146.92, Y:-9.32, Z:-0.55 [[ 9.96342258e-01 8.53970590e-02 3.07355120e-03 1.46920545e+02] [-8.53966273e-02 9.96346999e-01 -2.71670374e-04 -9.32215996e+00] [-3.08552337e-03 8.20576775e-06 9.99995240e-01 -5.47210899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:146.98, Y:-9.33, Z:-0.55 [[ 9.96706823e-01 8.10312433e-02 3.07356341e-03 1.46978380e+02] [-8.10307913e-02 9.96711562e-01 -2.71532260e-04 -9.32696677e+00] [-3.08545878e-03 2.15847818e-05 9.99995240e-01 -5.51531832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:147.04, Y:-9.33, Z:-0.55 [[ 9.96960747e-01 7.78448637e-02 3.07358009e-03 1.47036704e+02] [-7.78443970e-02 9.96965484e-01 -2.71343254e-04 -9.33377097e+00] [-3.08537594e-03 3.12575837e-05 9.99995240e-01 -5.48758410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters Centerline goodness : 0.994870 with order 1 Centerline is valid? [True, True] Translation: X:147.09, Y:-9.34, Z:-0.55 [[ 9.97196337e-01 7.47664218e-02 3.07359292e-03 1.47094999e+02] [-7.47659410e-02 9.97201073e-01 -2.71197812e-04 -9.34214543e+00] [-3.08526665e-03 4.06373975e-05 9.99995240e-01 -5.50619164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:147.15, Y:-9.35, Z:-0.55 [[ 9.97168674e-01 7.51344643e-02 3.07360566e-03 1.47153136e+02] [-7.51339856e-02 9.97173411e-01 -2.71053374e-04 -9.35283289e+00] [-3.08528329e-03 3.93536895e-05 9.99995240e-01 -5.50934164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters Centerline goodness : 0.995021 with order 1 Centerline is valid? [True, True] Translation: X:147.21, Y:-9.36, Z:-0.55 [[ 9.96776153e-01 8.01738965e-02 3.07361505e-03 1.47211677e+02] [-8.01734422e-02 9.96780892e-01 -2.70946858e-04 -9.36164354e+00] [-3.08544362e-03 2.36510681e-05 9.99995240e-01 -5.49547131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters Centerline goodness : 0.994782 with order 1 Centerline is valid? [True, True] Translation: X:147.27, Y:-9.37, Z:-0.55 [[ 9.96601684e-01 8.23142489e-02 3.07362731e-03 1.47269981e+02] [-8.23138052e-02 9.96606424e-01 -2.70807694e-04 -9.37074545e+00] [-3.08548806e-03 1.68854443e-05 9.99995240e-01 -5.49310938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters Centerline goodness : 0.995147 with order 1 Centerline is valid? [True, True] Translation: X:147.33, Y:-9.38, Z:-0.55 [[ 9.96595654e-01 8.23872284e-02 3.07363982e-03 1.47327907e+02] [-8.23867854e-02 9.96600394e-01 -2.70665628e-04 -9.38265818e+00] [-3.08549005e-03 1.65168841e-05 9.99995240e-01 -5.52416828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:147.39, Y:-9.39, Z:-0.55 [[ 9.96573045e-01 8.26602548e-02 3.07364914e-03 1.47387067e+02] [-8.26598135e-02 9.96577785e-01 -2.70559794e-04 -9.39115644e+00] [-3.08549499e-03 1.55653333e-05 9.99995240e-01 -5.50759541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters Centerline goodness : 0.994246 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:-9.40, Z:-0.55 [[ 9.96443634e-01 8.42059149e-02 3.07365535e-03 1.47446262e+02] [-8.42054811e-02 9.96448375e-01 -2.70489242e-04 -9.40179432e+00] [-3.08551567e-03 1.07086558e-05 9.99995240e-01 -5.50762999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters Centerline goodness : 0.989006 with order 1 Centerline is valid? [True, True] Translation: X:147.51, Y:-9.41, Z:-0.54 [[ 9.96075003e-01 8.84598264e-02 3.07366151e-03 1.47506059e+02] [-8.84594131e-02 9.96079745e-01 -2.70419176e-04 -9.40692323e+00] [-3.08553321e-03 -2.53651174e-06 9.99995240e-01 -5.39361481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters Centerline goodness : 0.993810 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:-9.41, Z:-0.55 [[ 9.95390015e-01 9.58606804e-02 3.07366796e-03 1.47563793e+02] [-9.58603026e-02 9.95394761e-01 -2.70345839e-04 -9.41422826e+00] [-3.08542852e-03 -2.55431926e-05 9.99995240e-01 -5.48058920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters Centerline goodness : 0.993420 with order 1 Centerline is valid? [True, True] Translation: X:147.62, Y:-9.42, Z:-0.55 [[ 9.94427220e-01 1.05380528e-01 3.07368395e-03 1.47622345e+02] [-1.05380196e-01 9.94431969e-01 -2.70163908e-04 -9.41819557e+00] [-3.08503960e-03 -5.52470729e-05 9.99995240e-01 -5.46937758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:147.68, Y:-9.42, Z:-0.55 [[ 9.93744764e-01 1.11632862e-01 3.07369735e-03 1.47679896e+02] [-1.11632561e-01 9.93749515e-01 -2.70011433e-04 -9.41987299e+00] [-3.08462740e-03 -7.48022569e-05 9.99995240e-01 -5.48746995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters Centerline goodness : 0.992994 with order 1 Centerline is valid? [True, True] Translation: X:147.74, Y:-9.42, Z:-0.55 [[ 9.92823157e-01 1.19552212e-01 3.07371390e-03 1.47739032e+02] [-1.19551949e-01 9.92827910e-01 -2.69822917e-04 -9.41634669e+00] [-3.08392687e-03 -9.95820459e-05 9.99995240e-01 -5.46695451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters Centerline goodness : 0.993412 with order 1 Centerline is valid? [True, True] Translation: X:147.80, Y:-9.41, Z:-0.55 [[ 9.92158661e-01 1.24946962e-01 3.07372650e-03 1.47799054e+02] [-1.24946725e-01 9.92163416e-01 -2.69679247e-04 -9.40969265e+00] [-3.08333459e-03 -1.16487460e-04 9.99995240e-01 -5.51259631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters Centerline goodness : 0.993085 with order 1 Centerline is valid? [True, True] Translation: X:147.86, Y:-9.40, Z:-0.55 [[ 9.92529535e-01 1.21965875e-01 3.07373910e-03 1.47857253e+02] [-1.21965625e-01 9.92534288e-01 -2.69535576e-04 -9.40438113e+00] [-3.08366559e-03 -1.07368490e-04 9.99995240e-01 -5.50588382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters Centerline goodness : 0.993037 with order 1 Centerline is valid? [True, True] Translation: X:147.92, Y:-9.40, Z:-0.55 [[ 9.93448331e-01 1.14240822e-01 3.07375469e-03 1.47916468e+02] [-1.14240535e-01 9.93453083e-01 -2.69357724e-04 -9.40014593e+00] [-3.08440272e-03 -8.35543980e-05 9.99995240e-01 -5.47123302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:147.98, Y:-9.40, Z:-0.55 [[ 9.94097818e-01 1.08443902e-01 3.07376703e-03 1.47975896e+02] [-1.08443588e-01 9.94102568e-01 -2.69216849e-04 -9.40038131e+00] [-3.08483462e-03 -6.57024438e-05 9.99995240e-01 -5.48368376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters Centerline goodness : 0.992564 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:-9.40, Z:-0.55 [[ 9.95008728e-01 9.97405798e-02 3.07377934e-03 1.48035081e+02] [-9.97402244e-02 9.95013475e-01 -2.69076190e-04 -9.39804275e+00] [-3.08528968e-03 -3.88462838e-05 9.99995240e-01 -5.53448335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters Centerline goodness : 0.992952 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:-9.40, Z:-0.55 [[ 9.95141288e-01 9.84091911e-02 3.07379159e-03 1.48093673e+02] [-9.84088298e-02 9.95146034e-01 -2.68936142e-04 -9.39774674e+00] [-3.08533730e-03 -3.48587746e-05 9.99995240e-01 -5.53643875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters Centerline goodness : 0.993152 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:-9.40, Z:-0.55 [[ 9.95289230e-01 9.69015006e-02 3.07380413e-03 1.48151988e+02] [-9.69011325e-02 9.95293976e-01 -2.68792803e-04 -9.39663217e+00] [-3.08538516e-03 -3.03285188e-05 9.99995240e-01 -5.50564255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:-9.40, Z:-0.55 [[ 9.95600277e-01 9.36516980e-02 3.07381955e-03 1.48210800e+02] [-9.36513150e-02 9.95605022e-01 -2.68616352e-04 -9.39673790e+00] [-3.08546655e-03 -2.04327284e-05 9.99995240e-01 -5.52943224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters Centerline goodness : 0.992065 with order 1 Centerline is valid? [True, True] Translation: X:148.27, Y:-9.40, Z:-0.55 [[ 9.95828577e-01 9.11920828e-02 3.07383208e-03 1.48269942e+02] [-9.11916885e-02 9.95833321e-01 -2.68472805e-04 -9.40096353e+00] [-3.08550701e-03 -1.29550468e-05 9.99995240e-01 -5.51071457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters Centerline goodness : 0.992277 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:-9.41, Z:-0.55 [[ 9.96626192e-01 8.20169751e-02 3.07384478e-03 1.48328825e+02] [-8.20165376e-02 9.96630932e-01 -2.68327341e-04 -9.40684972e+00] [-3.08549619e-03 1.53159503e-05 9.99995240e-01 -5.45565565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters Centerline goodness : 0.991935 with order 1 Centerline is valid? [True, True] Translation: X:148.39, Y:-9.42, Z:-0.55 [[ 9.97091392e-01 7.61531855e-02 3.07385781e-03 1.48386167e+02] [-7.61527205e-02 9.97096129e-01 -2.68178058e-04 -9.41508188e+00] [-3.08535433e-03 3.33153983e-05 9.99995240e-01 -5.50515681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters Centerline goodness : 0.991913 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:-9.43, Z:-0.55 [[ 9.97091826e-01 7.61474995e-02 3.07387380e-03 1.48443978e+02] [-7.61470351e-02 9.97096564e-01 -2.67994623e-04 -9.42510731e+00] [-3.08535612e-03 3.31488718e-05 9.99995240e-01 -5.52051719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters Centerline goodness : 0.992093 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:-9.44, Z:-0.55 [[ 9.96936581e-01 7.81537232e-02 3.07388616e-03 1.48502297e+02] [-7.81532688e-02 9.96941320e-01 -2.67852748e-04 -9.43581858e+00] [-3.08541782e-03 2.67979517e-05 9.99995240e-01 -5.50773152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters Centerline goodness : 0.992357 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:-9.44, Z:-0.55 [[ 9.96858708e-01 7.91408121e-02 3.07389859e-03 1.48559291e+02] [-7.91403628e-02 9.96863447e-01 -2.67710001e-04 -9.44420824e+00] [-3.08544393e-03 2.35995960e-05 9.99995240e-01 -5.47749305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters Centerline goodness : 0.992019 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:-9.46, Z:-0.55 [[ 9.96995816e-01 7.73944059e-02 3.07391403e-03 1.48617162e+02] [-7.73939489e-02 9.97000554e-01 -2.67532659e-04 -9.45816609e+00] [-3.08539952e-03 2.88265966e-05 9.99995240e-01 -5.48478738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters Centerline goodness : 0.991255 with order 1 Centerline is valid? [True, True] Translation: X:148.67, Y:-9.47, Z:-0.55 [[ 9.97345400e-01 7.27509777e-02 3.07392632e-03 1.48674667e+02] [-7.27504991e-02 9.97350136e-01 -2.67391328e-04 -9.47195284e+00] [-3.08523381e-03 4.30518374e-05 9.99995240e-01 -5.53929683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:148.73, Y:-9.49, Z:-0.56 [[ 9.97550979e-01 6.98755670e-02 3.07393880e-03 1.48732998e+02] [-6.98750751e-02 9.97555714e-01 -2.67247816e-04 -9.49090580e+00] [-3.08509931e-03 5.18016162e-05 9.99995240e-01 -5.55876817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters Centerline goodness : 0.991839 with order 1 Centerline is valid? [True, True] Translation: X:148.79, Y:-9.51, Z:-0.56 [[ 9.97355083e-01 7.26181096e-02 3.07394496e-03 1.48790877e+02] [-7.26176310e-02 9.97359819e-01 -2.67176927e-04 -9.50583511e+00] [-3.08523107e-03 4.32476654e-05 9.99995240e-01 -5.56577095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters Centerline goodness : 0.989761 with order 1 Centerline is valid? [True, True] Translation: X:148.85, Y:-9.52, Z:-0.55 [[ 9.96946618e-01 7.80255818e-02 3.07395411e-03 1.48848861e+02] [-7.80251292e-02 9.96951357e-01 -2.67071608e-04 -9.52316786e+00] [-3.08542114e-03 2.64104697e-05 9.99995240e-01 -5.54560273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters Centerline goodness : 0.991954 with order 1 Centerline is valid? [True, True] Translation: X:148.91, Y:-9.53, Z:-0.56 [[ 9.96653532e-01 8.16840740e-02 3.07396080e-03 1.48906408e+02] [-8.16836390e-02 9.96658272e-01 -2.66994637e-04 -9.53448024e+00] [-3.08549767e-03 1.50088440e-05 9.99995240e-01 -5.59907988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters Centerline goodness : 0.990676 with order 1 Centerline is valid? [True, True] Translation: X:148.97, Y:-9.54, Z:-0.55 [[ 9.96440557e-01 8.42423130e-02 3.07397080e-03 1.48965947e+02] [-8.42418905e-02 9.96445298e-01 -2.66879428e-04 -9.54431905e+00] [-3.08552629e-03 6.97237418e-06 9.99995240e-01 -5.53693170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters Centerline goodness : 0.991290 with order 1 Centerline is valid? [True, True] Translation: X:149.02, Y:-9.55, Z:-0.55 [[ 9.96139698e-01 8.77282914e-02 3.07397413e-03 1.49024569e+02] [-8.77278856e-02 9.96144441e-01 -2.66840997e-04 -9.55077549e+00] [-3.08553175e-03 -3.86234081e-06 9.99995240e-01 -5.51166281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters Centerline goodness : 0.990886 with order 1 Centerline is valid? [True, True] Translation: X:149.08, Y:-9.56, Z:-0.55 [[ 9.96176951e-01 8.73042588e-02 3.07398407e-03 1.49083221e+02] [-8.73038514e-02 9.96181693e-01 -2.66726485e-04 -9.56043218e+00] [-3.08553301e-03 -2.66387198e-06 9.99995240e-01 -5.53259094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters Centerline goodness : 0.991208 with order 1 Centerline is valid? [True, True] Translation: X:149.14, Y:-9.57, Z:-0.55 [[ 9.96035025e-01 8.89088216e-02 3.07399020e-03 1.49142647e+02] [-8.89084221e-02 9.96039769e-01 -2.66655777e-04 -9.56700374e+00] [-3.08552454e-03 -7.70512452e-06 9.99995240e-01 -5.53128925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters Centerline goodness : 0.991098 with order 1 Centerline is valid? [True, True] Translation: X:149.20, Y:-9.58, Z:-0.56 [[ 9.96063552e-01 8.85886570e-02 3.07399632e-03 1.49202657e+02] [-8.85882561e-02 9.96068296e-01 -2.66585260e-04 -9.57837295e+00] [-3.08552671e-03 -6.78411216e-06 9.99995240e-01 -5.55163376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters Centerline goodness : 0.990616 with order 1 Centerline is valid? [True, True] Translation: X:149.26, Y:-9.59, Z:-0.55 [[ 9.96197113e-01 8.70738970e-02 3.07399632e-03 1.49262869e+02] [-8.70734889e-02 9.96201855e-01 -2.66585260e-04 -9.58843580e+00] [-3.08553345e-03 -2.09211825e-06 9.99995240e-01 -5.46669215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters Centerline goodness : 0.991612 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:-9.60, Z:-0.55 [[ 9.95807826e-01 9.14184010e-02 3.07399632e-03 1.49321503e+02] [-9.14180136e-02 9.95812571e-01 -2.66585260e-04 -9.59885138e+00] [-3.08549497e-03 -1.55509491e-05 9.99995240e-01 -5.46006361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters Centerline goodness : 0.991736 with order 1 Centerline is valid? [True, True] Translation: X:149.38, Y:-9.60, Z:-0.55 [[ 9.95354163e-01 9.62322224e-02 3.07399950e-03 1.49381181e+02] [-9.62318581e-02 9.95358909e-01 -2.66548606e-04 -9.60494098e+00] [-3.08538335e-03 -3.05064192e-05 9.99995240e-01 -5.52678165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters Centerline goodness : 0.991629 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:-9.61, Z:-0.55 [[ 9.94776974e-01 1.02026086e-01 3.07400262e-03 1.49440465e+02] [-1.02025749e-01 9.94781723e-01 -2.66512571e-04 -9.61236100e+00] [-3.08515286e-03 -4.85068514e-05 9.99995240e-01 -5.47444210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters Centerline goodness : 0.990751 with order 1 Centerline is valid? [True, True] Translation: X:149.50, Y:-9.61, Z:-0.55 [[ 9.94185333e-01 1.07638627e-01 3.07400898e-03 1.49499155e+02] [-1.07638318e-01 9.94190083e-01 -2.66439179e-04 -9.61319890e+00] [-3.08482839e-03 -6.59912317e-05 9.99995240e-01 -5.53717709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters Centerline goodness : 0.990909 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:-9.61, Z:-0.55 [[ 9.93584713e-01 1.13048524e-01 3.07401827e-03 1.49557975e+02] [-1.13048241e-01 9.93589465e-01 -2.66331980e-04 -9.61156155e+00] [-3.08442061e-03 -8.28889734e-05 9.99995240e-01 -5.50088221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters Centerline goodness : 0.989358 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-9.61, Z:-0.55 [[ 9.93728961e-01 1.11773443e-01 3.07402744e-03 1.49616790e+02] [-1.11773154e-01 9.93733712e-01 -2.66226133e-04 -9.61064793e+00] [-3.08452171e-03 -7.90371225e-05 9.99995240e-01 -5.46737845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters Centerline goodness : 0.990594 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:-9.61, Z:-0.55 [[ 9.94410856e-01 1.05534826e-01 3.07403692e-03 1.49675340e+02] [-1.05534507e-01 9.94415606e-01 -2.66116612e-04 -9.61179394e+00] [-3.08495485e-03 -5.97877228e-05 9.99995240e-01 -5.49308803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:-9.61, Z:-0.55 [[ 9.94968816e-01 1.00137929e-01 3.07404640e-03 1.49735187e+02] [-1.00137585e-01 9.94973564e-01 -2.66007047e-04 -9.61121760e+00] [-3.08523230e-03 -4.31588674e-05 9.99995240e-01 -5.53997238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters Centerline goodness : 0.989414 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:-9.61, Z:-0.55 [[ 9.95047641e-01 9.93516068e-02 3.07405278e-03 1.49794459e+02] [-9.93512593e-02 9.95052389e-01 -2.65933292e-04 -9.61130574e+00] [-3.08526446e-03 -4.07947202e-05 9.99995240e-01 -5.51098857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters Centerline goodness : 0.990394 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:-9.61, Z:-0.56 [[ 9.95181325e-01 9.80034724e-02 3.07406229e-03 1.49853751e+02] [-9.80031188e-02 9.95186072e-01 -2.65823327e-04 -9.61215055e+00] [-3.08531558e-03 -3.67252812e-05 9.99995240e-01 -5.56042636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters Centerline goodness : 0.990297 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:-9.62, Z:-0.56 [[ 9.95541905e-01 9.42701747e-02 3.07407479e-03 1.49913148e+02] [-9.42698037e-02 9.95546651e-01 -2.65678727e-04 -9.61634399e+00] [-3.08543044e-03 -2.52981207e-05 9.99995240e-01 -5.55677557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters Centerline goodness : 0.990831 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:-9.62, Z:-0.56 [[ 9.95469357e-01 9.50332024e-02 3.07408116e-03 1.49971335e+02] [-9.50328352e-02 9.95474103e-01 -2.65604930e-04 -9.61886781e+00] [-3.08540947e-03 -2.77370802e-05 9.99995240e-01 -5.55720423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters Centerline goodness : 0.990438 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:-9.62, Z:-0.55 [[ 9.95096610e-01 9.88599315e-02 3.07409688e-03 1.50030464e+02] [-9.88595832e-02 9.95101358e-01 -2.65422873e-04 -9.61798461e+00] [-3.08527767e-03 -3.97825352e-05 9.99995240e-01 -5.52858145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters Centerline goodness : 0.990567 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:-9.62, Z:-0.55 [[ 9.95145519e-01 9.83663858e-02 3.07410938e-03 1.50087849e+02] [-9.83660356e-02 9.95150266e-01 -2.65278021e-04 -9.62151632e+00] [-3.08529521e-03 -3.83977190e-05 9.99995240e-01 -5.51010315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters Centerline goodness : 0.990293 with order 1 Centerline is valid? [True, True] Translation: X:150.15, Y:-9.62, Z:-0.55 [[ 9.95342706e-01 9.63506436e-02 3.07412480e-03 1.50146517e+02] [-9.63502844e-02 9.95347453e-01 -2.65099248e-04 -9.62359446e+00] [-3.08536477e-03 -3.23281953e-05 9.99995240e-01 -5.50644223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters Centerline goodness : 0.989683 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:-9.63, Z:-0.55 [[ 9.95777707e-01 9.17458852e-02 3.07413717e-03 1.50205099e+02] [-9.17455044e-02 9.95782452e-01 -2.64955727e-04 -9.62807095e+00] [-3.08548045e-03 -1.82012591e-05 9.99995240e-01 -5.51124611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters Centerline goodness : 0.989802 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:-9.63, Z:-0.55 [[ 9.96430134e-01 8.43654974e-02 3.07414967e-03 1.50264329e+02] [-8.43650819e-02 9.96434876e-01 -2.64810561e-04 -9.63105725e+00] [-3.08553082e-03 4.51433433e-06 9.99995240e-01 -5.50449689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters Centerline goodness : 0.990702 with order 1 Centerline is valid? [True, True] Translation: X:150.32, Y:-9.64, Z:-0.56 [[ 9.96638642e-01 8.18655382e-02 3.07415596e-03 1.50323661e+02] [-8.18651111e-02 9.96643383e-01 -2.64737520e-04 -9.63787671e+00] [-3.08551008e-03 1.21815226e-05 9.99995240e-01 -5.57981768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters Centerline goodness : 0.989743 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:-9.64, Z:-0.55 [[ 9.96661138e-01 8.15912113e-02 3.07416220e-03 1.50382009e+02] [-8.15907831e-02 9.96665879e-01 -2.64665044e-04 -9.64442768e+00] [-3.08550691e-03 1.29580629e-05 9.99995240e-01 -5.52535978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters Centerline goodness : 0.989893 with order 1 Centerline is valid? [True, True] Translation: X:150.44, Y:-9.65, Z:-0.55 [[ 9.96629557e-01 8.19760679e-02 3.07417159e-03 1.50441583e+02] [-8.19756418e-02 9.96634298e-01 -2.64555914e-04 -9.65205914e+00] [-3.08551210e-03 1.16570543e-05 9.99995240e-01 -5.54077960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters Centerline goodness : 0.990319 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:-9.66, Z:-0.55 [[ 9.96577751e-01 8.26034815e-02 3.07417787e-03 1.50500884e+02] [-8.26030587e-02 9.96582493e-01 -2.64482938e-04 -9.66171277e+00] [-3.08551906e-03 9.64131662e-06 9.99995240e-01 -5.52787931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters Centerline goodness : 0.990396 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:-9.67, Z:-0.56 [[ 9.96525150e-01 8.32356637e-02 3.07418405e-03 1.50558681e+02] [-8.32352440e-02 9.96529891e-01 -2.64411114e-04 -9.67239546e+00] [-3.08552473e-03 7.61186554e-06 9.99995240e-01 -5.55619441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters Centerline goodness : 0.990710 with order 1 Centerline is valid? [True, True] Translation: X:150.62, Y:-9.68, Z:-0.56 [[ 9.96205538e-01 8.69774448e-02 3.07419324e-03 1.50617305e+02] [-8.69770433e-02 9.96210281e-01 -2.64304201e-04 -9.68011115e+00] [-3.08553142e-03 -4.08292990e-06 9.99995240e-01 -5.58571592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters Centerline goodness : 0.990342 with order 1 Centerline is valid? [True, True] Translation: X:150.68, Y:-9.69, Z:-0.55 [[ 9.95928400e-01 9.00953413e-02 3.07420218e-03 1.50676204e+02] [-9.00949550e-02 9.95933145e-01 -2.64200200e-04 -9.68753147e+00] [-3.08550305e-03 -1.38456245e-05 9.99995240e-01 -5.54580274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters Centerline goodness : 0.990606 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:-9.69, Z:-0.56 [[ 9.95616956e-01 9.34741992e-02 3.07421392e-03 1.50734225e+02] [-9.34738294e-02 9.95621702e-01 -2.64063492e-04 -9.69380888e+00] [-3.08543722e-03 -2.44524573e-05 9.99995240e-01 -5.58424476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters Centerline goodness : 0.990542 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:-9.70, Z:-0.56 [[ 9.95232953e-01 9.74777844e-02 3.07422558e-03 1.50791915e+02] [-9.74774341e-02 9.95237700e-01 -2.63927751e-04 -9.69517366e+00] [-3.08531229e-03 -3.69980262e-05 9.99995240e-01 -5.56384879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters Centerline goodness : 0.990181 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:-9.70, Z:-0.55 [[ 9.95054076e-01 9.92871350e-02 3.07424002e-03 1.50850497e+02] [-9.92867938e-02 9.95058824e-01 -2.63759397e-04 -9.69849498e+00] [-3.08523757e-03 -4.27765722e-05 9.99995240e-01 -5.53365187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters Centerline goodness : 0.990428 with order 1 Centerline is valid? [True, True] Translation: X:150.91, Y:-9.70, Z:-0.56 [[ 9.94723912e-01 1.02542127e-01 3.07425255e-03 1.50909320e+02] [-1.02541802e-01 9.94728661e-01 -2.63613254e-04 -9.70010826e+00] [-3.08507859e-03 -5.30169890e-05 9.99995240e-01 -5.55910274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters Centerline goodness : 0.990351 with order 1 Centerline is valid? [True, True] Translation: X:150.97, Y:-9.70, Z:-0.55 [[ 9.94667793e-01 1.03085069e-01 3.07426504e-03 1.50967628e+02] [-1.03084747e-01 9.94672542e-01 -2.63467507e-04 -9.69999833e+00] [-3.08504659e-03 -5.48471895e-05 9.99995240e-01 -5.53618498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters Centerline goodness : 0.990671 with order 1 Centerline is valid? [True, True] Translation: X:151.03, Y:-9.70, Z:-0.55 [[ 9.95109338e-01 9.87317323e-02 3.07428051e-03 1.51026312e+02] [-9.87313900e-02 9.95114086e-01 -2.63286898e-04 -9.70277112e+00] [-3.08525461e-03 -4.15287368e-05 9.99995240e-01 -5.54070899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters Centerline goodness : 0.990310 with order 1 Centerline is valid? [True, True] Translation: X:151.08, Y:-9.71, Z:-0.56 [[ 9.95763290e-01 9.19022306e-02 3.07429266e-03 1.51084762e+02] [-9.19018562e-02 9.95768035e-01 -2.63144966e-04 -9.70863043e+00] [-3.08546597e-03 -2.05031045e-05 9.99995240e-01 -5.60765505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters Centerline goodness : 0.990904 with order 1 Centerline is valid? [True, True] Translation: X:151.14, Y:-9.71, Z:-0.56 [[ 9.96229251e-01 8.67054050e-02 3.07430479e-03 1.51144574e+02] [-8.67050063e-02 9.96233995e-01 -2.63003159e-04 -9.71377732e+00] [-3.08553074e-03 -4.54617613e-06 9.99995240e-01 -5.57271309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters Centerline goodness : 0.991017 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:-9.72, Z:-0.56 [[ 9.96650161e-01 8.17251814e-02 3.07431091e-03 1.51202368e+02] [-8.17247592e-02 9.96654902e-01 -2.62931627e-04 -9.72134350e+00] [-3.08551517e-03 1.08035294e-05 9.99995240e-01 -5.57145985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters Centerline goodness : 0.991632 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:-9.73, Z:-0.55 [[ 9.96837780e-01 7.94039558e-02 3.07431993e-03 1.51262020e+02] [-7.94035228e-02 9.96842521e-01 -2.62826104e-04 -9.72887719e+00] [-3.08548226e-03 1.78831575e-05 9.99995240e-01 -5.54914810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters Centerline goodness : 0.991077 with order 1 Centerline is valid? [True, True] Translation: X:151.32, Y:-9.74, Z:-0.56 [[ 9.96904859e-01 7.85573029e-02 3.07432586e-03 1.51321378e+02] [-7.85568661e-02 9.96909600e-01 -2.62756753e-04 -9.73782452e+00] [-3.08546642e-03 2.04340787e-05 9.99995240e-01 -5.56877922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters Centerline goodness : 0.991412 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:-9.75, Z:-0.56 [[ 9.97021529e-01 7.70624375e-02 3.07433175e-03 1.51381530e+02] [-7.70619938e-02 9.97026269e-01 -2.62687812e-04 -9.74806749e+00] [-3.08543287e-03 2.49912702e-05 9.99995240e-01 -5.57810733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:151.44, Y:-9.76, Z:-0.56 [[ 9.97010770e-01 7.72015122e-02 3.07433175e-03 1.51440028e+02] [-7.72010692e-02 9.97015509e-01 -2.62687812e-04 -9.75900293e+00] [-3.08543633e-03 2.45608800e-05 9.99995240e-01 -5.55070632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters Centerline goodness : 0.991378 with order 1 Centerline is valid? [True, True] Translation: X:151.50, Y:-9.77, Z:-0.55 [[ 9.96525177e-01 8.32353257e-02 3.07432851e-03 1.51498937e+02] [-8.32349112e-02 9.96529920e-01 -2.62725655e-04 -9.76602372e+00] [-3.08552840e-03 5.92126886e-06 9.99995240e-01 -5.53181521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:151.56, Y:-9.77, Z:-0.56 [[ 9.95879964e-01 9.06291651e-02 3.07433451e-03 1.51558698e+02] [-9.06287861e-02 9.95884709e-01 -2.62655513e-04 -9.76627506e+00] [-3.08548698e-03 -1.70498415e-05 9.99995240e-01 -5.55118898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters Centerline goodness : 0.991561 with order 1 Centerline is valid? [True, True] Translation: X:151.62, Y:-9.77, Z:-0.55 [[ 9.95261390e-01 9.71870102e-02 3.07434047e-03 1.51617905e+02] [-9.71866627e-02 9.95266137e-01 -2.62585675e-04 -9.76833277e+00] [-3.08530688e-03 -3.74435065e-05 9.99995240e-01 -5.52847885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters Centerline goodness : 0.991721 with order 1 Centerline is valid? [True, True] Translation: X:151.68, Y:-9.77, Z:-0.56 [[ 9.95074600e-01 9.90812228e-02 3.07435302e-03 1.51675841e+02] [-9.90808848e-02 9.95079348e-01 -2.62438727e-04 -9.77155897e+00] [-3.08522794e-03 -4.34635058e-05 9.99995240e-01 -5.59983096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters Centerline goodness : 0.991291 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:-9.77, Z:-0.55 [[ 9.95322604e-01 9.65580719e-02 3.07437025e-03 1.51734382e+02] [-9.65577224e-02 9.95327352e-01 -2.62236613e-04 -9.77422944e+00] [-3.08532587e-03 -3.58441610e-05 9.99995240e-01 -5.51761560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters Centerline goodness : 0.993123 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:-9.77, Z:-0.56 [[ 9.95399706e-01 9.57599768e-02 3.07437945e-03 1.51793098e+02] [-9.57596239e-02 9.95404453e-01 -2.62128798e-04 -9.77496886e+00] [-3.08535244e-03 -3.34784915e-05 9.99995240e-01 -5.58320019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters Centerline goodness : 0.992555 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:-9.78, Z:-0.56 [[ 9.95579786e-01 9.38692582e-02 3.07438851e-03 1.51851304e+02] [-9.38688966e-02 9.95584533e-01 -2.62022436e-04 -9.77917611e+00] [-3.08540950e-03 -2.77252166e-05 9.99995240e-01 -5.60387000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters Centerline goodness : 0.992312 with order 1 Centerline is valid? [True, True] Translation: X:151.91, Y:-9.78, Z:-0.56 [[ 9.95804912e-01 9.14501283e-02 3.07440048e-03 1.51910149e+02] [-9.14497556e-02 9.95809657e-01 -2.61881947e-04 -9.77973654e+00] [-3.08546683e-03 -2.03698431e-05 9.99995240e-01 -5.59739903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:151.97, Y:-9.78, Z:-0.56 [[ 9.95944709e-01 8.99148718e-02 3.07441253e-03 1.51968913e+02] [-8.99144922e-02 9.95949454e-01 -2.61740384e-04 -9.78397392e+00] [-3.08549384e-03 -1.57552909e-05 9.99995240e-01 -5.58149464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters Centerline goodness : 0.991470 with order 1 Centerline is valid? [True, True] Translation: X:152.03, Y:-9.79, Z:-0.56 [[ 9.96214493e-01 8.68748007e-02 3.07442144e-03 1.52028745e+02] [-8.68744069e-02 9.96219237e-01 -2.61635682e-04 -9.79035459e+00] [-3.08552733e-03 -6.44328125e-06 9.99995240e-01 -5.57191872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters Centerline goodness : 0.991286 with order 1 Centerline is valid? [True, True] Translation: X:152.09, Y:-9.80, Z:-0.56 [[ 9.96236489e-01 8.66222012e-02 3.07442766e-03 1.52087286e+02] [-8.66218065e-02 9.96241233e-01 -2.61562542e-04 -9.79750019e+00] [-3.08552873e-03 -5.73432985e-06 9.99995240e-01 -5.59969300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:152.15, Y:-9.81, Z:-0.55 [[ 9.96186738e-01 8.71924959e-02 3.07443686e-03 1.52146893e+02] [-8.71921043e-02 9.96191482e-01 -2.61454435e-04 -9.80588114e+00] [-3.08552467e-03 -7.60917871e-06 9.99995240e-01 -5.53524415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters Centerline goodness : 0.991324 with order 1 Centerline is valid? [True, True] Translation: X:152.21, Y:-9.81, Z:-0.55 [[ 9.95988369e-01 8.94299546e-02 3.07444285e-03 1.52205822e+02] [-8.94295738e-02 9.95993114e-01 -2.61383969e-04 -9.81441547e+00] [-3.08549946e-03 -1.46107210e-05 9.99995240e-01 -5.48464370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters Centerline goodness : 0.991224 with order 1 Centerline is valid? [True, True] Translation: X:152.26, Y:-9.82, Z:-0.55 [[ 9.95545443e-01 9.42327863e-02 3.07444899e-03 1.52263833e+02] [-9.42324287e-02 9.95550190e-01 -2.61311772e-04 -9.82148957e+00] [-3.08539241e-03 -2.95650509e-05 9.99995240e-01 -5.52286076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:152.32, Y:-9.83, Z:-0.55 [[ 9.95127923e-01 9.85442215e-02 3.07445808e-03 1.52321060e+02] [-9.85438847e-02 9.95132672e-01 -2.61204689e-04 -9.82829826e+00] [-3.08523390e-03 -4.30369628e-05 9.99995240e-01 -5.53146675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters Centerline goodness : 0.991594 with order 1 Centerline is valid? [True, True] Translation: X:152.38, Y:-9.83, Z:-0.56 [[ 9.95049921e-01 9.93287629e-02 3.07447272e-03 1.52380913e+02] [-9.93284304e-02 9.95054669e-01 -2.61032329e-04 -9.83409140e+00] [-3.08519645e-03 -4.56423513e-05 9.99995240e-01 -5.56044102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters Centerline goodness : 0.991045 with order 1 Centerline is valid? [True, True] Translation: X:152.44, Y:-9.84, Z:-0.55 [[ 9.94897751e-01 1.00841526e-01 3.07447880e-03 1.52439505e+02] [-1.00841200e-01 9.94902500e-01 -2.60960626e-04 -9.83968838e+00] [-3.08512231e-03 -5.04049936e-05 9.99995240e-01 -5.52307622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters Centerline goodness : 0.991758 with order 1 Centerline is valid? [True, True] Translation: X:152.50, Y:-9.84, Z:-0.56 [[ 9.94866820e-01 1.01146221e-01 3.07448787e-03 1.52499445e+02] [-1.01145898e-01 9.94871569e-01 -2.60853761e-04 -9.84433265e+00] [-3.08510494e-03 -5.14570851e-05 9.99995240e-01 -5.56216742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters Centerline goodness : 0.991766 with order 1 Centerline is valid? [True, True] Translation: X:152.56, Y:-9.85, Z:-0.56 [[ 9.94792732e-01 1.01872315e-01 3.07449404e-03 1.52557878e+02] [-1.01871995e-01 9.94797481e-01 -2.60780975e-04 -9.85095497e+00] [-3.08506529e-03 -5.37818234e-05 9.99995240e-01 -5.56808397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters Centerline goodness : 0.991406 with order 1 Centerline is valid? [True, True] Translation: X:152.62, Y:-9.85, Z:-0.55 [[ 9.94449132e-01 1.05173534e-01 3.07450320e-03 1.52616900e+02] [-1.05173230e-01 9.94453882e-01 -2.60672992e-04 -9.85125833e+00] [-3.08486754e-03 -6.41294016e-05 9.99995240e-01 -5.50961387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters Centerline goodness : 0.992167 with order 1 Centerline is valid? [True, True] Translation: X:152.68, Y:-9.85, Z:-0.56 [[ 9.93787003e-01 1.11256192e-01 3.07451527e-03 1.52675551e+02] [-1.11255918e-01 9.93791755e-01 -2.60530548e-04 -9.85146169e+00] [-3.08441356e-03 -8.31461468e-05 9.99995240e-01 -5.59018364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters Centerline goodness : 0.992036 with order 1 Centerline is valid? [True, True] Translation: X:152.73, Y:-9.85, Z:-0.56 [[ 9.93839550e-01 1.10785808e-01 3.07452719e-03 1.52734523e+02] [-1.10785532e-01 9.93844303e-01 -2.60389855e-04 -9.84973756e+00] [-3.08444883e-03 -8.18273934e-05 9.99995240e-01 -5.55471864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters Centerline goodness : 0.992556 with order 1 Centerline is valid? [True, True] Translation: X:152.79, Y:-9.85, Z:-0.56 [[ 9.94343301e-01 1.06169424e-01 3.07453898e-03 1.52793099e+02] [-1.06169127e-01 9.94348052e-01 -2.60250529e-04 -9.85065900e+00] [-3.08479249e-03 -6.76427487e-05 9.99995240e-01 -5.58911567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters Centerline goodness : 0.992299 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-9.85, Z:-0.56 [[ 9.94619697e-01 1.03548082e-01 3.07455071e-03 1.52851892e+02] [-1.03547773e-01 9.94624447e-01 -2.60111812e-04 -9.85459552e+00] [-3.08495738e-03 -5.96505465e-05 9.99995240e-01 -5.61899066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters Centerline goodness : 0.991813 with order 1 Centerline is valid? [True, True] Translation: X:152.91, Y:-9.86, Z:-0.56 [[ 9.95121385e-01 9.86102261e-02 3.07456241e-03 1.52910917e+02] [-9.86098935e-02 9.95126133e-01 -2.59973444e-04 -9.85856545e+00] [-3.08521345e-03 -4.44771390e-05 9.99995240e-01 -5.59503793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters Centerline goodness : 0.992184 with order 1 Centerline is valid? [True, True] Translation: X:152.97, Y:-9.86, Z:-0.56 [[ 9.95227985e-01 9.75284830e-02 3.07457484e-03 1.52968128e+02] [-9.75281456e-02 9.95232733e-01 -2.59826360e-04 -9.86392998e+00] [-3.08525800e-03 -4.12711182e-05 9.99995240e-01 -5.61771633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters Centerline goodness : 0.992228 with order 1 Centerline is valid? [True, True] Translation: X:153.03, Y:-9.86, Z:-0.56 [[ 9.95014023e-01 9.96877193e-02 3.07459027e-03 1.53027049e+02] [-9.96873928e-02 9.95018772e-01 -2.59643715e-04 -9.86480360e+00] [-3.08515832e-03 -4.81487500e-05 9.99995240e-01 -5.63682252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters Centerline goodness : 0.992704 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:-9.86, Z:-0.56 [[ 9.94526586e-01 1.04438582e-01 3.07460229e-03 1.53084885e+02] [-1.04438279e-01 9.94531336e-01 -2.59501266e-04 -9.86434801e+00] [-3.08489027e-03 -6.30252630e-05 9.99995240e-01 -5.62996294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters Centerline goodness : 0.992725 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:-9.86, Z:-0.56 [[ 9.94412233e-01 1.05521832e-01 3.07461713e-03 1.53143508e+02] [-1.05521534e-01 9.94416984e-01 -2.59325280e-04 -9.86371419e+00] [-3.08481598e-03 -6.65620860e-05 9.99995240e-01 -5.63137865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters Centerline goodness : 0.992569 with order 1 Centerline is valid? [True, True] Translation: X:153.20, Y:-9.86, Z:-0.56 [[ 9.95024506e-01 9.95830247e-02 3.07462871e-03 1.53201968e+02] [-9.95826991e-02 9.95029255e-01 -2.59187979e-04 -9.86490080e+00] [-3.08515624e-03 -4.82814345e-05 9.99995240e-01 -5.62148066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters Centerline goodness : 0.992684 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:-9.87, Z:-0.56 [[ 9.95883048e-01 9.05952577e-02 3.07464078e-03 1.53260929e+02] [-9.05948897e-02 9.95887794e-01 -2.59044690e-04 -9.86783232e+00] [-3.08546545e-03 -2.05685274e-05 9.99995240e-01 -5.64308068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters Centerline goodness : 0.992059 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:-9.88, Z:-0.56 [[ 9.96504173e-01 8.34864057e-02 3.07465279e-03 1.53318825e+02] [-8.34860043e-02 9.96508916e-01 -2.58902034e-04 -9.87561112e+00] [-3.08553372e-03 1.30648108e-06 9.99995240e-01 -5.57931053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters Centerline goodness : 0.991374 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:-9.89, Z:-0.56 [[ 9.96768302e-01 8.02714017e-02 3.07466168e-03 1.53377274e+02] [-8.02709853e-02 9.96773044e-01 -2.58796408e-04 -9.88554924e+00] [-3.08551384e-03 1.11539330e-05 9.99995240e-01 -5.59455088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters Centerline goodness : 0.992033 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:-9.89, Z:-0.56 [[ 9.96645124e-01 8.17865654e-02 3.07467366e-03 1.53435793e+02] [-8.17861566e-02 9.96649867e-01 -2.58653994e-04 -9.89372128e+00] [-3.08552752e-03 6.32050066e-06 9.99995240e-01 -5.57816173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters Centerline goodness : 0.991299 with order 1 Centerline is valid? [True, True] Translation: X:153.49, Y:-9.90, Z:-0.55 [[ 9.96317311e-01 8.56875805e-02 3.07468577e-03 1.53494264e+02] [-8.56871908e-02 9.96322056e-01 -2.58510053e-04 -9.90459724e+00] [-3.08552834e-03 -5.90314541e-06 9.99995240e-01 -5.51185513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters Centerline goodness : 0.991615 with order 1 Centerline is valid? [True, True] Translation: X:153.55, Y:-9.91, Z:-0.56 [[ 9.96216427e-01 8.68526207e-02 3.07469480e-03 1.53552705e+02] [-8.68522368e-02 9.96221171e-01 -2.58402551e-04 -9.91117488e+00] [-3.08551900e-03 -9.61925526e-06 9.99995240e-01 -5.58168853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters Centerline goodness : 0.992135 with order 1 Centerline is valid? [True, True] Translation: X:153.61, Y:-9.92, Z:-0.56 [[ 9.96312955e-01 8.57382193e-02 3.07470677e-03 1.53611346e+02] [-8.57378306e-02 9.96317699e-01 -2.58260019e-04 -9.92187627e+00] [-3.08552753e-03 -6.31088555e-06 9.99995240e-01 -5.61020256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters Centerline goodness : 0.992549 with order 1 Centerline is valid? [True, True] Translation: X:153.67, Y:-9.93, Z:-0.57 [[ 9.96206418e-01 8.69673475e-02 3.07471567e-03 1.53669904e+02] [-8.69669649e-02 9.96211163e-01 -2.58154061e-04 -9.92933390e+00] [-3.08551705e-03 -1.02239580e-05 9.99995240e-01 -5.65219604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters Centerline goodness : 0.992624 with order 1 Centerline is valid? [True, True] Translation: X:153.73, Y:-9.94, Z:-0.56 [[ 9.95962755e-01 8.97147547e-02 3.07472747e-03 1.53728019e+02] [-8.97143857e-02 9.95967501e-01 -2.58013396e-04 -9.93847882e+00] [-3.08547625e-03 -1.88755537e-05 9.99995240e-01 -5.61203132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters Centerline goodness : 0.992024 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:-9.95, Z:-0.56 [[ 9.95996942e-01 8.93344136e-02 3.07473930e-03 1.53787108e+02] [-8.93340432e-02 9.96001688e-01 -2.57872400e-04 -9.94661824e+00] [-3.08548241e-03 -1.78387718e-05 9.99995240e-01 -5.61035261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters Centerline goodness : 0.991849 with order 1 Centerline is valid? [True, True] Translation: X:153.85, Y:-9.96, Z:-0.56 [[ 9.96162437e-01 8.74696845e-02 3.07474523e-03 1.53846029e+02] [-8.74693054e-02 9.96167182e-01 -2.57801679e-04 -9.95500733e+00] [-3.08551012e-03 -1.21334806e-05 9.99995240e-01 -5.62810985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters Centerline goodness : 0.992715 with order 1 Centerline is valid? [True, True] Translation: X:153.91, Y:-9.96, Z:-0.57 [[ 9.96681848e-01 8.13378146e-02 3.07475108e-03 1.53905532e+02] [-8.13374065e-02 9.96686591e-01 -2.57731813e-04 -9.96266669e+00] [-3.08552652e-03 6.78434113e-06 9.99995240e-01 -5.66427564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters Centerline goodness : 0.991862 with order 1 Centerline is valid? [True, True] Translation: X:153.97, Y:-9.97, Z:-0.56 [[ 9.97228200e-01 7.43401811e-02 3.07474735e-03 1.53966149e+02] [-7.43397396e-02 9.97232940e-01 -2.57776389e-04 -9.97460034e+00] [-3.08540248e-03 2.84859674e-05 9.99995240e-01 -5.57912307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters Centerline goodness : 0.992335 with order 1 Centerline is valid? [True, True] Translation: X:154.03, Y:-9.98, Z:-0.56 [[ 9.97415341e-01 7.17856750e-02 3.07474158e-03 1.54025255e+02] [-7.17852212e-02 9.97420080e-01 -2.57845183e-04 -9.98110839e+00] [-3.08531858e-03 3.64577366e-05 9.99995240e-01 -5.60658523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters Centerline goodness : 0.992270 with order 1 Centerline is valid? [True, True] Translation: X:154.09, Y:-9.99, Z:-0.56 [[ 9.97618450e-01 6.89055413e-02 3.07473809e-03 1.54085855e+02] [-6.89050737e-02 9.97623188e-01 -2.57886795e-04 -9.98818043e+00] [-3.08519984e-03 4.54075707e-05 9.99995240e-01 -5.62361605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters Centerline goodness : 0.991622 with order 1 Centerline is valid? [True, True] Translation: X:154.15, Y:-10.00, Z:-0.56 [[ 9.97752547e-01 6.69357907e-02 3.07473809e-03 1.54145962e+02] [-6.69353137e-02 9.97757284e-01 -2.57886795e-04 -9.99884772e+00] [-3.08510418e-03 5.14986486e-05 9.99995240e-01 -5.56158256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters Centerline goodness : 0.990744 with order 1 Centerline is valid? [True, True] Translation: X:154.21, Y:-10.01, Z:-0.56 [[ 9.97906202e-01 6.46046315e-02 3.07473533e-03 1.54206451e+02] [-6.46041434e-02 9.97910937e-01 -2.57919661e-04 -1.00097809e+01] [-3.08497482e-03 5.87389875e-05 9.99995240e-01 -5.56582356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters Centerline goodness : 0.992777 with order 1 Centerline is valid? [True, True] Translation: X:154.27, Y:-10.02, Z:-0.56 [[ 9.97869065e-01 6.51757193e-02 3.07472989e-03 1.54267740e+02] [-6.51752337e-02 9.97873801e-01 -2.57984487e-04 -1.00183749e+01] [-3.08500673e-03 5.70384995e-05 9.99995240e-01 -5.59892324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters Centerline goodness : 0.991181 with order 1 Centerline is valid? [True, True] Translation: X:154.33, Y:-10.03, Z:-0.56 [[ 9.97605283e-01 6.90959100e-02 3.07472448e-03 1.54328711e+02] [-6.90954427e-02 9.97610021e-01 -2.58049000e-04 -1.00276443e+01] [-3.08520608e-03 4.49815970e-05 9.99995240e-01 -5.64171145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters Centerline goodness : 0.990647 with order 1 Centerline is valid? [True, True] Translation: X:154.39, Y:-10.04, Z:-0.56 [[ 9.97424647e-01 7.16562624e-02 3.07471837e-03 1.54389577e+02] [-7.16558071e-02 9.97429385e-01 -2.58121729e-04 -1.00445196e+01] [-3.08531049e-03 3.71355475e-05 9.99995240e-01 -5.60999697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters Centerline goodness : 0.991807 with order 1 Centerline is valid? [True, True] Translation: X:154.45, Y:-10.06, Z:-0.56 [[ 9.97267783e-01 7.38072845e-02 3.07467503e-03 1.54450171e+02] [-7.38068379e-02 9.97272522e-01 -2.58637006e-04 -1.00591982e+01] [-3.08537822e-03 3.09983125e-05 9.99995240e-01 -5.63762383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters Centerline goodness : 0.991694 with order 1 Centerline is valid? [True, True] Translation: X:154.51, Y:-10.07, Z:-0.56 [[ 9.96950751e-01 7.79727344e-02 3.07462862e-03 1.54510845e+02] [-7.79723058e-02 9.96955492e-01 -2.59187541e-04 -1.00670618e+01] [-3.08547745e-03 1.86613305e-05 9.99995240e-01 -5.64676320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters Centerline goodness : 0.992156 with order 1 Centerline is valid? [True, True] Translation: X:154.57, Y:-10.08, Z:-0.57 [[ 9.96114597e-01 8.80128143e-02 3.07462320e-03 1.54571560e+02] [-8.80124333e-02 9.96119342e-01 -2.59251740e-04 -1.00786328e+01] [-3.08550912e-03 -1.23606274e-05 9.99995240e-01 -5.70788670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters Centerline goodness : 0.991689 with order 1 Centerline is valid? [True, True] Translation: X:154.63, Y:-10.08, Z:-0.57 [[ 9.96181060e-01 8.72573369e-02 3.07461779e-03 1.54633870e+02] [-8.72569521e-02 9.96185804e-01 -2.59315923e-04 -1.00843360e+01] [-3.08551782e-03 -9.95616667e-06 9.99995240e-01 -5.71383221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters Centerline goodness : 0.991626 with order 1 Centerline is valid? [True, True] Translation: X:154.69, Y:-10.09, Z:-0.57 [[ 9.96595047e-01 8.23945381e-02 3.07457586e-03 1.54693944e+02] [-8.23941287e-02 9.96599789e-01 -2.59812124e-04 -1.00938937e+01] [-3.08552876e-03 5.60047688e-06 9.99995240e-01 -5.69739088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters Centerline goodness : 0.991114 with order 1 Centerline is valid? [True, True] Translation: X:154.76, Y:-10.11, Z:-0.57 [[ 9.96935421e-01 7.81684976e-02 3.07454320e-03 1.54755303e+02] [-7.81680668e-02 9.96940162e-01 -2.60198018e-04 -1.01056134e+01] [-3.08547489e-03 1.90695216e-05 9.99995240e-01 -5.67166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters Centerline goodness : 0.989552 with order 1 Centerline is valid? [True, True] Translation: X:154.82, Y:-10.12, Z:-0.56 [[ 9.97173142e-01 7.50751112e-02 3.07450244e-03 1.54816914e+02] [-7.50746643e-02 9.97177881e-01 -2.60678754e-04 -1.01195789e+01] [-3.08539632e-03 2.91246138e-05 9.99995240e-01 -5.62975211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters Centerline goodness : 0.988762 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:-10.13, Z:-0.56 [[ 9.97163105e-01 7.52083026e-02 3.07446215e-03 1.54878745e+02] [-7.52078548e-02 9.97167845e-01 -2.61153143e-04 -1.01315998e+01] [-3.08539568e-03 2.91885758e-05 9.99995240e-01 -5.59310553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters Centerline goodness : 0.987871 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:-10.14, Z:-0.56 [[ 9.96870703e-01 7.89895591e-02 3.07441311e-03 1.54940127e+02] [-7.89891276e-02 9.96875443e-01 -2.61729143e-04 -1.01405845e+01] [-3.08548080e-03 1.80649047e-05 9.99995240e-01 -5.56096740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters Centerline goodness : 0.988778 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:-10.15, Z:-0.56 [[ 9.96549226e-01 8.29468997e-02 3.07436739e-03 1.55001687e+02] [-8.29464853e-02 9.96553968e-01 -2.62265054e-04 -1.01477445e+01] [-3.08552710e-03 6.35206637e-06 9.99995240e-01 -5.62764390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters Centerline goodness : 0.989206 with order 1 Centerline is valid? [True, True] Translation: X:155.06, Y:-10.15, Z:-0.56 [[ 9.96101818e-01 8.81573381e-02 3.07432481e-03 1.55061996e+02] [-8.81569470e-02 9.96106562e-01 -2.62763263e-04 -1.01549156e+01] [-3.08551963e-03 -9.28412554e-06 9.99995240e-01 -5.60147162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters Centerline goodness : 0.989768 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:-10.16, Z:-0.57 [[ 9.95399512e-01 9.57620008e-02 3.07430373e-03 1.55124776e+02] [-9.57616451e-02 9.95404259e-01 -2.63009693e-04 -1.01557829e+01] [-3.08536136e-03 -3.26006626e-05 9.99995240e-01 -5.66298097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters Centerline goodness : 0.989266 with order 1 Centerline is valid? [True, True] Translation: X:155.19, Y:-10.16, Z:-0.56 [[ 9.94587176e-01 1.03859992e-01 3.07428124e-03 1.55187537e+02] [-1.03859674e-01 9.94591926e-01 -2.63272310e-04 -1.01566535e+01] [-3.08499876e-03 -5.74465842e-05 9.99995240e-01 -5.63516052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters Centerline goodness : 0.989856 with order 1 Centerline is valid? [True, True] Translation: X:155.25, Y:-10.15, Z:-0.57 [[ 9.93906953e-01 1.10179484e-01 3.07423011e-03 1.55248694e+02] [-1.10179194e-01 9.93911704e-01 -2.63867993e-04 -1.01539902e+01] [-3.08458613e-03 -7.64559632e-05 9.99995240e-01 -5.67609338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters Centerline goodness : 0.989444 with order 1 Centerline is valid? [True, True] Translation: X:155.31, Y:-10.15, Z:-0.56 [[ 9.93570488e-01 1.13173470e-01 3.07418931e-03 1.55309941e+02] [-1.13173194e-01 9.93575240e-01 -2.64342438e-04 -1.01540081e+01] [-3.08435494e-03 -8.52729770e-05 9.99995240e-01 -5.60064947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters Centerline goodness : 0.989717 with order 1 Centerline is valid? [True, True] Translation: X:155.37, Y:-10.15, Z:-0.56 [[ 9.93357828e-01 1.15025105e-01 3.07418320e-03 1.55371349e+02] [-1.15024837e-01 9.93362581e-01 -2.64413547e-04 -1.01504738e+01] [-3.08419275e-03 -9.09501542e-05 9.99995240e-01 -5.61715561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters Centerline goodness : 0.990434 with order 1 Centerline is valid? [True, True] Translation: X:155.43, Y:-10.15, Z:-0.56 [[ 9.93108582e-01 1.17157558e-01 3.07417704e-03 1.55432470e+02] [-1.17157301e-01 9.93113335e-01 -2.64485099e-04 -1.01461963e+01] [-3.08399264e-03 -9.74998618e-05 9.99995240e-01 -5.63222086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters Centerline goodness : 0.990515 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:-10.14, Z:-0.56 [[ 9.93020393e-01 1.17902705e-01 3.07417704e-03 1.55492838e+02] [-1.17902451e-01 9.93025147e-01 -2.64485099e-04 -1.01410532e+01] [-3.08391862e-03 -9.98139105e-05 9.99995240e-01 -5.62797462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters Centerline goodness : 0.990783 with order 1 Centerline is valid? [True, True] Translation: X:155.55, Y:-10.14, Z:-0.56 [[ 9.93572129e-01 1.13159061e-01 3.07418305e-03 1.55554221e+02] [-1.13158784e-01 9.93576882e-01 -2.64415209e-04 -1.01387418e+01] [-3.08435819e-03 -8.51552334e-05 9.99995240e-01 -5.59639709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters Centerline goodness : 0.990404 with order 1 Centerline is valid? [True, True] Translation: X:155.62, Y:-10.14, Z:-0.56 [[ 9.94042031e-01 1.08954071e-01 3.07418305e-03 1.55615003e+02] [-1.08953774e-01 9.94046782e-01 -2.64415209e-04 -1.01383350e+01] [-3.08469089e-03 -7.21040147e-05 9.99995240e-01 -5.57450208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters Centerline goodness : 0.991432 with order 1 Centerline is valid? [True, True] Translation: X:155.68, Y:-10.14, Z:-0.56 [[ 9.94532074e-01 1.04386317e-01 3.07418305e-03 1.55675638e+02] [-1.04385998e-01 9.94536824e-01 -2.64415209e-04 -1.01390968e+01] [-3.08498958e-03 -5.79322614e-05 9.99995240e-01 -5.61336040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters Centerline goodness : 0.991888 with order 1 Centerline is valid? [True, True] Translation: X:155.73, Y:-10.14, Z:-0.57 [[ 9.95047262e-01 9.93553977e-02 3.07418305e-03 1.55734903e+02] [-9.93550548e-02 9.95052010e-01 -2.64415209e-04 -1.01441002e+01] [-3.08524311e-03 -4.23299963e-05 9.99995240e-01 -5.65488952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters Centerline goodness : 0.991298 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:-10.15, Z:-0.56 [[ 9.95383167e-01 9.59317442e-02 3.07418610e-03 1.55795524e+02] [-9.59313852e-02 9.95387914e-01 -2.64379831e-04 -1.01506816e+01] [-3.08537010e-03 -3.17516965e-05 9.99995240e-01 -5.64670556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters Centerline goodness : 0.991441 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:-10.16, Z:-0.57 [[ 9.95945405e-01 8.99071740e-02 3.07418610e-03 1.55855453e+02] [-8.99067862e-02 9.95950149e-01 -2.64379831e-04 -1.01558761e+01] [-3.08550575e-03 -1.30823140e-05 9.99995240e-01 -5.65449259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:-10.16, Z:-0.57 [[ 9.96450729e-01 8.41218999e-02 3.07417095e-03 1.55916720e+02] [-8.41214840e-02 9.96455471e-01 -2.64555825e-04 -1.01637070e+01] [-3.08552940e-03 5.01302178e-06 9.99995240e-01 -5.68523977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters Centerline goodness : 0.991588 with order 1 Centerline is valid? [True, True] Translation: X:155.98, Y:-10.17, Z:-0.56 [[ 9.96813991e-01 7.97020561e-02 3.07416466e-03 1.55977510e+02] [-7.97016190e-02 9.96818731e-01 -2.64628941e-04 -1.01728361e+01] [-3.08547638e-03 1.87699305e-05 9.99995240e-01 -5.64993711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters Centerline goodness : 0.992488 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:-10.18, Z:-0.57 [[ 9.96995126e-01 7.74032807e-02 3.07415830e-03 1.56037554e+02] [-7.74028324e-02 9.96999865e-01 -2.64702795e-04 -1.01834750e+01] [-3.08542427e-03 2.59588374e-05 9.99995240e-01 -5.66481714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters Centerline goodness : 0.992076 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:-10.19, Z:-0.56 [[ 9.96909321e-01 7.85006659e-02 3.07413304e-03 1.56098206e+02] [-7.85002220e-02 9.96914061e-01 -2.64995748e-04 -1.01911439e+01] [-3.08544880e-03 2.28566050e-05 9.99995240e-01 -5.62439643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:-10.20, Z:-0.56 [[ 9.96554861e-01 8.28791805e-02 3.07412682e-03 1.56157604e+02] [-8.28787572e-02 9.96559603e-01 -2.65067901e-04 -1.02017464e+01] [-3.08551922e-03 9.37489425e-06 9.99995240e-01 -5.63218226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters Centerline goodness : 0.992267 with order 1 Centerline is valid? [True, True] Translation: X:156.22, Y:-10.21, Z:-0.56 [[ 9.96246274e-01 8.65096003e-02 3.07411242e-03 1.56218565e+02] [-8.65091937e-02 9.96251017e-01 -2.65234881e-04 -1.02119433e+01] [-3.08553298e-03 -1.69972452e-06 9.99995240e-01 -5.62503377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters Centerline goodness : 0.990919 with order 1 Centerline is valid? [True, True] Translation: X:156.28, Y:-10.22, Z:-0.56 [[ 9.95929036e-01 9.00883217e-02 3.07410635e-03 1.56279107e+02] [-9.00879319e-02 9.95933780e-01 -2.65305124e-04 -1.02201864e+01] [-3.08550725e-03 -1.27148074e-05 9.99995240e-01 -5.62759634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters Centerline goodness : 0.992642 with order 1 Centerline is valid? [True, True] Translation: X:156.34, Y:-10.22, Z:-0.57 [[ 9.95226398e-01 9.75446893e-02 3.07410012e-03 1.56339404e+02] [-9.75443348e-02 9.95231145e-01 -2.65377321e-04 -1.02242689e+01] [-3.08532633e-03 -3.57505365e-05 9.99995240e-01 -5.69446721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:-10.23, Z:-0.56 [[ 9.94859095e-01 1.01222185e-01 3.07409704e-03 1.56400213e+02] [-1.01221848e-01 9.94863843e-01 -2.65413017e-04 -1.02300509e+01] [-3.08517368e-03 -4.71172303e-05 9.99995240e-01 -5.62009650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters Centerline goodness : 0.992889 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:-10.23, Z:-0.57 [[ 9.94229235e-01 1.07232354e-01 3.07409080e-03 1.56459338e+02] [-1.07232045e-01 9.94233986e-01 -2.65485208e-04 -1.02322563e+01] [-3.08483416e-03 -6.56878881e-05 9.99995240e-01 -5.65248323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters Centerline goodness : 0.993254 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:-10.24, Z:-0.56 [[ 9.93958008e-01 1.09717948e-01 3.07409389e-03 1.56521104e+02] [-1.09717651e-01 9.93962759e-01 -2.65449496e-04 -1.02354997e+01] [-3.08465942e-03 -7.34367093e-05 9.99995240e-01 -5.62844959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters Centerline goodness : 0.993077 with order 1 Centerline is valid? [True, True] Translation: X:156.58, Y:-10.24, Z:-0.56 [[ 9.93994826e-01 1.09383896e-01 3.07408756e-03 1.56581344e+02] [-1.09383597e-01 9.93999577e-01 -2.65522811e-04 -1.02413952e+01] [-3.08468565e-03 -7.23264555e-05 9.99995240e-01 -5.62578676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters Centerline goodness : 0.991955 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:-10.25, Z:-0.57 [[ 9.94138526e-01 1.08070071e-01 3.07408443e-03 1.56642408e+02] [-1.08069767e-01 9.94143277e-01 -2.65559010e-04 -1.02507473e+01] [-3.08477935e-03 -6.82131442e-05 9.99995240e-01 -5.67163667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters Centerline goodness : 0.992383 with order 1 Centerline is valid? [True, True] Translation: X:156.70, Y:-10.26, Z:-0.56 [[ 9.94618294e-01 1.03561570e-01 3.07407826e-03 1.56703824e+02] [-1.03561244e-01 9.94623043e-01 -2.65630432e-04 -1.02599995e+01] [-3.08505818e-03 -5.41544808e-05 9.99995240e-01 -5.64273461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters Centerline goodness : 0.991810 with order 1 Centerline is valid? [True, True] Translation: X:156.76, Y:-10.27, Z:-0.57 [[ 9.94771644e-01 1.02078038e-01 3.07403519e-03 1.56764585e+02] [-1.02077703e-01 9.94776393e-01 -2.66127861e-04 -1.02686790e+01] [-3.08514345e-03 -4.90540008e-05 9.99995240e-01 -5.65573283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:156.83, Y:-10.28, Z:-0.57 [[ 9.94547604e-01 1.04238254e-01 3.07399552e-03 1.56825026e+02] [-1.04237928e-01 9.94552353e-01 -2.66585328e-04 -1.02767547e+01] [-3.08503787e-03 -5.52951247e-05 9.99995240e-01 -5.68528943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters Centerline goodness : 0.991620 with order 1 Centerline is valid? [True, True] Translation: X:156.89, Y:-10.28, Z:-0.57 [[ 9.94323504e-01 1.06354686e-01 3.07398941e-03 1.56885104e+02] [-1.06354370e-01 9.94328254e-01 -2.66655749e-04 -1.02812384e+01] [-3.08491461e-03 -6.17901287e-05 9.99995240e-01 -5.68635441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters Centerline goodness : 0.991241 with order 1 Centerline is valid? [True, True] Translation: X:156.95, Y:-10.28, Z:-0.57 [[ 9.94012992e-01 1.09218693e-01 3.07397460e-03 1.56946987e+02] [-1.09218390e-01 9.94017742e-01 -2.66826343e-04 -1.02816325e+01] [-3.08472772e-03 -7.05057056e-05 9.99995240e-01 -5.65163032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters Centerline goodness : 0.991492 with order 1 Centerline is valid? [True, True] Translation: X:157.01, Y:-10.28, Z:-0.56 [[ 9.93972998e-01 1.09582066e-01 3.07396862e-03 1.57008872e+02] [-1.09581765e-01 9.93977749e-01 -2.66895318e-04 -1.02812505e+01] [-3.08470335e-03 -7.15641659e-05 9.99995240e-01 -5.61472182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters Centerline goodness : 0.991007 with order 1 Centerline is valid? [True, True] Translation: X:157.07, Y:-10.28, Z:-0.56 [[ 9.94207590e-01 1.07432857e-01 3.07396236e-03 1.57068989e+02] [-1.07432545e-01 9.94212340e-01 -2.66967313e-04 -1.02848205e+01] [-3.08485238e-03 -6.48226695e-05 9.99995240e-01 -5.64569721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters Centerline goodness : 0.991932 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:-10.29, Z:-0.56 [[ 9.94709893e-01 1.02678038e-01 3.07395926e-03 1.57129375e+02] [-1.02677703e-01 9.94714642e-01 -2.67003007e-04 -1.02886231e+01] [-3.08512763e-03 -5.00365420e-05 9.99995240e-01 -5.64413536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters Centerline goodness : 0.992190 with order 1 Centerline is valid? [True, True] Translation: X:157.19, Y:-10.29, Z:-0.57 [[ 9.94982496e-01 1.00001916e-01 3.07395629e-03 1.57189317e+02] [-1.00001568e-01 9.94987244e-01 -2.67037264e-04 -1.02948387e+01] [-3.08525153e-03 -4.17030446e-05 9.99995240e-01 -5.66296075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters Centerline goodness : 0.991262 with order 1 Centerline is valid? [True, True] Translation: X:157.25, Y:-10.30, Z:-0.56 [[ 9.94720986e-01 1.02570513e-01 3.07395335e-03 1.57249662e+02] [-1.02570177e-01 9.94725735e-01 -2.67071040e-04 -1.02982268e+01] [-3.08513412e-03 -4.96347713e-05 9.99995240e-01 -5.62807696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters Centerline goodness : 0.992602 with order 1 Centerline is valid? [True, True] Translation: X:157.31, Y:-10.30, Z:-0.57 [[ 9.94053258e-01 1.08851600e-01 3.07395335e-03 1.57309269e+02] [-1.08851294e-01 9.94058009e-01 -2.67071040e-04 -1.02968177e+01] [-3.08475906e-03 -6.91209622e-05 9.99995240e-01 -5.66384809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters Centerline goodness : 0.991468 with order 1 Centerline is valid? [True, True] Translation: X:157.37, Y:-10.30, Z:-0.56 [[ 9.94070298e-01 1.08695877e-01 3.07395931e-03 1.57369069e+02] [-1.08695570e-01 9.94075048e-01 -2.67002461e-04 -1.02975609e+01] [-3.08476831e-03 -6.87065450e-05 9.99995240e-01 -5.62578139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters Centerline goodness : 0.992140 with order 1 Centerline is valid? [True, True] Translation: X:157.43, Y:-10.30, Z:-0.57 [[ 9.94916066e-01 1.00660680e-01 3.07396561e-03 1.57429157e+02] [-1.00660336e-01 9.94920814e-01 -2.66929839e-04 -1.02963261e+01] [-3.08522171e-03 -4.38536262e-05 9.99995240e-01 -5.65547904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters Centerline goodness : 0.992537 with order 1 Centerline is valid? [True, True] Translation: X:157.49, Y:-10.30, Z:-0.57 [[ 9.95320818e-01 9.65765031e-02 3.07396193e-03 1.57489245e+02] [-9.65761392e-02 9.95325564e-01 -2.66972295e-04 -1.02979725e+01] [-3.08537614e-03 -3.11482917e-05 9.99995240e-01 -5.69936965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters Centerline goodness : 0.992308 with order 1 Centerline is valid? [True, True] Translation: X:157.55, Y:-10.30, Z:-0.56 [[ 9.95606408e-01 9.35864938e-02 3.07396193e-03 1.57550261e+02] [-9.35861155e-02 9.95611153e-01 -2.66972295e-04 -1.02992557e+01] [-3.08545578e-03 -2.18808283e-05 9.99995240e-01 -5.63726669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters Centerline goodness : 0.990506 with order 1 Centerline is valid? [True, True] Translation: X:157.61, Y:-10.31, Z:-0.57 [[ 9.96172772e-01 8.73519272e-02 3.07396193e-03 1.57609618e+02] [-8.73515192e-02 9.96177515e-01 -2.66972295e-04 -1.03065412e+01] [-3.08553230e-03 -2.56471308e-06 9.99995240e-01 -5.65368799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters Centerline goodness : 0.992978 with order 1 Centerline is valid? [True, True] Translation: X:157.67, Y:-10.31, Z:-0.57 [[ 9.96275882e-01 8.61679602e-02 3.07396193e-03 1.57670074e+02] [-8.61675467e-02 9.96280624e-01 -2.66972295e-04 -1.03125708e+01] [-3.08553317e-03 1.10230111e-06 9.99995240e-01 -5.66217469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters Centerline goodness : 0.991974 with order 1 Centerline is valid? [True, True] Translation: X:157.73, Y:-10.32, Z:-0.56 [[ 9.96377414e-01 8.49858781e-02 3.07396193e-03 1.57730305e+02] [-8.49854589e-02 9.96382156e-01 -2.66972295e-04 -1.03189545e+01] [-3.08552969e-03 4.76310019e-06 9.99995240e-01 -5.62117473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters Centerline goodness : 0.991980 with order 1 Centerline is valid? [True, True] Translation: X:157.79, Y:-10.32, Z:-0.56 [[ 9.96140706e-01 8.77168425e-02 3.07396193e-03 1.57790670e+02] [-8.77164363e-02 9.96145449e-01 -2.66972295e-04 -1.03239706e+01] [-3.08553115e-03 -3.69501505e-06 9.99995240e-01 -5.62166650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters Centerline goodness : 0.992445 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:-10.33, Z:-0.56 [[ 9.95971807e-01 8.96142292e-02 3.07396193e-03 1.57850337e+02] [-8.96138321e-02 9.95976551e-01 -2.66972295e-04 -1.03300067e+01] [-3.08551851e-03 -9.57262859e-06 9.99995240e-01 -5.63779123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters Centerline goodness : 0.992429 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:-10.33, Z:-0.56 [[ 9.95868499e-01 9.07550738e-02 3.07395824e-03 1.57910528e+02] [-9.07546820e-02 9.95873243e-01 -2.67014760e-04 -1.03336462e+01] [-3.08550570e-03 -1.30645140e-05 9.99995240e-01 -5.64159863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:-10.34, Z:-0.57 [[ 9.96084083e-01 8.83575197e-02 3.07395824e-03 1.57970135e+02] [-8.83571164e-02 9.96088826e-01 -2.67014760e-04 -1.03380912e+01] [-3.08552821e-03 -5.63693366e-06 9.99995240e-01 -5.65207696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:-10.34, Z:-0.56 [[ 9.96389570e-01 8.48432433e-02 3.07396143e-03 1.58030669e+02] [-8.48428234e-02 9.96394312e-01 -2.66977995e-04 -1.03409306e+01] [-3.08552896e-03 5.21052320e-06 9.99995240e-01 -5.64234455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters Centerline goodness : 0.993446 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:-10.34, Z:-0.57 [[ 9.96490755e-01 8.36464293e-02 3.07395839e-03 1.58090649e+02] [-8.36460036e-02 9.96495497e-01 -2.67013048e-04 -1.03442333e+01] [-3.08552038e-03 8.95170004e-06 9.99995240e-01 -5.65000742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters Centerline goodness : 0.993237 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:-10.35, Z:-0.56 [[ 9.96694016e-01 8.11886088e-02 3.07395839e-03 1.58151067e+02] [-8.11881714e-02 9.96698756e-01 -2.67013048e-04 -1.03507337e+01] [-3.08548892e-03 1.65612470e-05 9.99995240e-01 -5.64984980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters Centerline goodness : 0.993843 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:-10.36, Z:-0.57 [[ 9.96904109e-01 7.85668385e-02 3.07395839e-03 1.58212078e+02] [-7.85663887e-02 9.96908848e-01 -2.67013048e-04 -1.03616440e+01] [-3.08543469e-03 2.46765958e-05 9.99995240e-01 -5.70154906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters Centerline goodness : 0.993091 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:-10.37, Z:-0.57 [[ 9.96946000e-01 7.80334735e-02 3.07395213e-03 1.58272371e+02] [-7.80330209e-02 9.96950739e-01 -2.67085068e-04 -1.03737517e+01] [-3.08542042e-03 2.63996193e-05 9.99995240e-01 -5.68453509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters Centerline goodness : 0.993771 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:-10.38, Z:-0.57 [[ 9.96915164e-01 7.84264389e-02 3.07394589e-03 1.58332100e+02] [-7.84259880e-02 9.96919903e-01 -2.67156914e-04 -1.03842691e+01] [-3.08543000e-03 2.52555354e-05 9.99995240e-01 -5.72297128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters Centerline goodness : 0.993748 with order 1 Centerline is valid? [True, True] Translation: X:158.39, Y:-10.40, Z:-0.57 [[ 9.96554865e-01 8.28791380e-02 3.07394279e-03 1.58392377e+02] [-8.28787081e-02 9.96559606e-01 -2.67192576e-04 -1.03956396e+01] [-3.08551190e-03 1.15076548e-05 9.99995240e-01 -5.65093835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:158.45, Y:-10.41, Z:-0.57 [[ 9.96559701e-01 8.28209673e-02 3.07393647e-03 1.58452760e+02] [-8.28205369e-02 9.96564442e-01 -2.67265180e-04 -1.04056100e+01] [-3.08551095e-03 1.17606386e-05 9.99995240e-01 -5.66998391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters Centerline goodness : 0.993640 with order 1 Centerline is valid? [True, True] Translation: X:158.51, Y:-10.42, Z:-0.57 [[ 9.96803033e-01 7.98389967e-02 3.07389560e-03 1.58514348e+02] [-7.98385507e-02 9.96807772e-01 -2.67734471e-04 -1.04181793e+01] [-3.08545867e-03 2.14631634e-05 9.99995240e-01 -5.67824596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters Centerline goodness : 0.992683 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:-10.43, Z:-0.57 [[ 9.96856735e-01 7.91656615e-02 3.07384940e-03 1.58575590e+02] [-7.91652107e-02 9.96861474e-01 -2.68263876e-04 -1.04299806e+01] [-3.08543933e-03 2.40787170e-05 9.99995240e-01 -5.65713538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters Centerline goodness : 0.992797 with order 1 Centerline is valid? [True, True] Translation: X:158.64, Y:-10.44, Z:-0.57 [[ 9.96952266e-01 7.79533963e-02 3.07380642e-03 1.58636771e+02] [-7.79529382e-02 9.96957004e-01 -2.68755409e-04 -1.04419543e+01] [-3.08540323e-03 2.83240725e-05 9.99995240e-01 -5.70548835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters Centerline goodness : 0.993126 with order 1 Centerline is valid? [True, True] Translation: X:158.70, Y:-10.46, Z:-0.57 [[ 9.96886920e-01 7.87846497e-02 3.07376372e-03 1.58699140e+02] [-7.87841940e-02 9.96891658e-01 -2.69242893e-04 -1.04559497e+01] [-3.08542162e-03 2.62407213e-05 9.99995240e-01 -5.70876979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters Centerline goodness : 0.992370 with order 1 Centerline is valid? [True, True] Translation: X:158.76, Y:-10.47, Z:-0.57 [[ 9.96511161e-01 8.34029828e-02 3.07371520e-03 1.58759813e+02] [-8.34025474e-02 9.96515902e-01 -2.69795700e-04 -1.04674772e+01] [-3.08550784e-03 1.24987493e-05 9.99995240e-01 -5.65221675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters Centerline goodness : 0.993860 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:-10.48, Z:-0.57 [[ 9.95977606e-01 8.95497627e-02 3.07367607e-03 1.58820398e+02] [-8.95493551e-02 9.95982349e-01 -2.70240726e-04 -1.04800103e+01] [-3.08552710e-03 -6.09199870e-06 9.99995240e-01 -5.70210213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters Centerline goodness : 0.994432 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:-10.49, Z:-0.57 [[ 9.95110954e-01 9.87154611e-02 3.07365248e-03 1.58881237e+02] [-9.87150964e-02 9.95115700e-01 -2.70508771e-04 -1.04906188e+01] [-3.08534324e-03 -3.42296591e-05 9.99995240e-01 -5.70311990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:158.94, Y:-10.50, Z:-0.57 [[ 9.94139988e-01 1.08056635e-01 3.07360817e-03 1.58943456e+02] [-1.08056313e-01 9.94144738e-01 -2.71011248e-04 -1.04960838e+01] [-3.08489595e-03 -6.26996478e-05 9.99995240e-01 -5.68324129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:-10.50, Z:-0.57 [[ 9.93369352e-01 1.14925561e-01 3.07356701e-03 1.59006389e+02] [-1.14925270e-01 9.93374103e-01 -2.71477321e-04 -1.04956536e+01] [-3.08440155e-03 -8.35532683e-05 9.99995240e-01 -5.68176505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:159.07, Y:-10.49, Z:-0.57 [[ 9.92543896e-01 1.21848958e-01 3.07352232e-03 1.59068652e+02] [-1.21848699e-01 9.92548649e-01 -2.71982247e-04 -1.04901327e+01] [-3.08376118e-03 -1.04550379e-04 9.99995240e-01 -5.70287145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters Centerline goodness : 0.994976 with order 1 Centerline is valid? [True, True] Translation: X:159.13, Y:-10.48, Z:-0.58 [[ 9.92347276e-01 1.23440016e-01 3.07348121e-03 1.59129722e+02] [-1.23439763e-01 9.92352030e-01 -2.72446065e-04 -1.04841574e+01] [-3.08360606e-03 -1.09028682e-04 9.99995240e-01 -5.75179784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters Centerline goodness : 0.994749 with order 1 Centerline is valid? [True, True] Translation: X:159.19, Y:-10.48, Z:-0.57 [[ 9.92721035e-01 1.20397258e-01 3.07348121e-03 1.59190134e+02] [-1.20396991e-01 9.92725788e-01 -2.72446065e-04 -1.04808387e+01] [-3.08392582e-03 -9.95749492e-05 9.99995240e-01 -5.67655700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters Centerline goodness : 0.993931 with order 1 Centerline is valid? [True, True] Translation: X:159.25, Y:-10.48, Z:-0.57 [[ 9.93216827e-01 1.16236344e-01 3.07348417e-03 1.59251700e+02] [-1.16236058e-01 9.93221579e-01 -2.72412608e-04 -1.04820431e+01] [-3.08431505e-03 -8.66848973e-05 9.99995240e-01 -5.69444370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters Centerline goodness : 0.995023 with order 1 Centerline is valid? [True, True] Translation: X:159.31, Y:-10.48, Z:-0.57 [[ 9.93775370e-01 1.11360079e-01 3.07347787e-03 1.59311732e+02] [-1.11359769e-01 9.93780120e-01 -2.72483720e-04 -1.04828895e+01] [-3.08470502e-03 -7.14741749e-05 9.99995240e-01 -5.74276548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters Centerline goodness : 0.994615 with order 1 Centerline is valid? [True, True] Translation: X:159.37, Y:-10.49, Z:-0.58 [[ 9.94166426e-01 1.07813132e-01 3.07347474e-03 1.59372012e+02] [-1.07812804e-01 9.94171175e-01 -2.72519004e-04 -1.04860171e+01] [-3.08494112e-03 -6.04306867e-05 9.99995240e-01 -5.75644255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:-10.49, Z:-0.57 [[ 9.94186510e-01 1.07627768e-01 3.07347474e-03 1.59432274e+02] [-1.07627440e-01 9.94191259e-01 -2.72519004e-04 -1.04884599e+01] [-3.08495234e-03 -5.98554990e-05 9.99995240e-01 -5.74900349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters Centerline goodness : 0.995311 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:-10.49, Z:-0.57 [[ 9.94084546e-01 1.08565510e-01 3.07347474e-03 1.59492465e+02] [-1.08565186e-01 9.94089295e-01 -2.72519004e-04 -1.04868171e+01] [-3.08489450e-03 -6.27654264e-05 9.99995240e-01 -5.72473663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters Centerline goodness : 0.995042 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:-10.48, Z:-0.57 [[ 9.94397431e-01 1.05661268e-01 3.07348116e-03 1.59552974e+02] [-1.05660931e-01 9.94402179e-01 -2.72446550e-04 -1.04842485e+01] [-3.08506341e-03 -5.38267305e-05 9.99995240e-01 -5.71569376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters Centerline goodness : 0.994627 with order 1 Centerline is valid? [True, True] Translation: X:159.61, Y:-10.48, Z:-0.57 [[ 9.94759639e-01 1.02194985e-01 3.07348754e-03 1.59613349e+02] [-1.02194631e-01 9.94764386e-01 -2.72374634e-04 -1.04839594e+01] [-3.08523126e-03 -4.31466314e-05 9.99995240e-01 -5.69002071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters Centerline goodness : 0.994876 with order 1 Centerline is valid? [True, True] Translation: X:159.67, Y:-10.48, Z:-0.56 [[ 9.95539177e-01 9.42989989e-02 3.07349395e-03 1.59673805e+02] [-9.42986076e-02 9.95543921e-01 -2.72302310e-04 -1.04809383e+01] [-3.08547605e-03 -1.87385824e-05 9.99995240e-01 -5.62652991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters Centerline goodness : 0.995312 with order 1 Centerline is valid? [True, True] Translation: X:159.73, Y:-10.48, Z:-0.56 [[ 9.96197757e-01 8.70665379e-02 3.07349712e-03 1.59733631e+02] [-8.70661123e-02 9.96202498e-01 -2.72266467e-04 -1.04776261e+01] [-3.08553081e-03 3.63379882e-06 9.99995240e-01 -5.64131849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters Centerline goodness : 0.995087 with order 1 Centerline is valid? [True, True] Translation: X:159.79, Y:-10.48, Z:-0.57 [[ 9.96775770e-01 8.01786603e-02 3.07350354e-03 1.59793013e+02] [-8.01782021e-02 9.96780508e-01 -2.72193943e-04 -1.04800474e+01] [-3.08543257e-03 2.48883383e-05 9.99995240e-01 -5.70598861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:159.85, Y:-10.48, Z:-0.57 [[ 9.96842962e-01 7.93389095e-02 3.07350671e-03 1.59853332e+02] [-7.93384475e-02 9.96847700e-01 -2.72158132e-04 -1.04843653e+01] [-3.08541083e-03 2.74516676e-05 9.99995240e-01 -5.72098434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters Centerline goodness : 0.995874 with order 1 Centerline is valid? [True, True] Translation: X:159.91, Y:-10.49, Z:-0.57 [[ 9.96738046e-01 8.06462780e-02 3.07350671e-03 1.59912713e+02] [-8.06458222e-02 9.96742784e-01 -2.72158132e-04 -1.04895626e+01] [-3.08544418e-03 2.34048888e-05 9.99995240e-01 -5.73186003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters Centerline goodness : 0.995845 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:-10.50, Z:-0.58 [[ 9.96393911e-01 8.47922641e-02 3.07350318e-03 1.59972137e+02] [-8.47918279e-02 9.96398651e-01 -2.72198075e-04 -1.04972349e+01] [-3.08551471e-03 1.06085520e-05 9.99995240e-01 -5.76383360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:160.03, Y:-10.50, Z:-0.57 [[ 9.96110955e-01 8.80540710e-02 3.07350954e-03 1.60031637e+02] [-8.80536505e-02 9.96115696e-01 -2.72126247e-04 -1.05031736e+01] [-3.08553292e-03 4.34200996e-07 9.99995240e-01 -5.71166495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:160.09, Y:-10.51, Z:-0.57 [[ 9.96035124e-01 8.89077338e-02 3.07351599e-03 1.60089732e+02] [-8.89073176e-02 9.96039866e-01 -2.72053373e-04 -1.05081631e+01] [-3.08553210e-03 -2.28334700e-06 9.99995240e-01 -5.68540287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:160.15, Y:-10.52, Z:-0.56 [[ 9.96073825e-01 8.84730966e-02 3.07352556e-03 1.60149012e+02] [-8.84726787e-02 9.96078567e-01 -2.71945201e-04 -1.05155425e+01] [-3.08553277e-03 -1.04554255e-06 9.99995240e-01 -5.63337516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:160.21, Y:-10.52, Z:-0.56 [[ 9.96420086e-01 8.44841191e-02 3.07353182e-03 1.60208314e+02] [-8.44836824e-02 9.96424826e-01 -2.71874422e-04 -1.05245994e+01] [-3.08551248e-03 1.12378491e-05 9.99995240e-01 -5.64715988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters Centerline goodness : 0.996710 with order 1 Centerline is valid? [True, True] Translation: X:160.27, Y:-10.53, Z:-0.56 [[ 9.96828850e-01 7.95160176e-02 3.07353493e-03 1.60268198e+02] [-7.95155574e-02 9.96833588e-01 -2.71839226e-04 -1.05299370e+01] [-3.08541843e-03 2.65833402e-05 9.99995240e-01 -5.62896838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters Centerline goodness : 0.996475 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:-10.54, Z:-0.57 [[ 9.97080890e-01 7.62905784e-02 3.07353493e-03 1.60327422e+02] [-7.62901029e-02 9.97085626e-01 -2.71839226e-04 -1.05385461e+01] [-3.08531627e-03 3.65654016e-05 9.99995240e-01 -5.67810379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters Centerline goodness : 0.996489 with order 1 Centerline is valid? [True, True] Translation: X:160.39, Y:-10.55, Z:-0.57 [[ 9.97485068e-01 7.08102524e-02 3.07353795e-03 1.60387776e+02] [-7.08097509e-02 9.97489802e-01 -2.71805076e-04 -1.05474973e+01] [-3.08506935e-03 5.34850481e-05 9.99995240e-01 -5.71498127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters Centerline goodness : 0.996846 with order 1 Centerline is valid? [True, True] Translation: X:160.45, Y:-10.56, Z:-0.57 [[ 9.97774904e-01 6.66017600e-02 3.07353174e-03 1.60447708e+02] [-6.66012383e-02 9.97779636e-01 -2.71875320e-04 -1.05607364e+01] [-3.08481475e-03 6.65693519e-05 9.99995240e-01 -5.70678479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters Centerline goodness : 0.996889 with order 1 Centerline is valid? [True, True] Translation: X:160.51, Y:-10.57, Z:-0.57 [[ 9.97709924e-01 6.75681997e-02 3.07352552e-03 1.60508949e+02] [-6.75676825e-02 9.97714656e-01 -2.71945569e-04 -1.05694660e+01] [-3.08487633e-03 6.36517966e-05 9.99995240e-01 -5.71204718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:160.57, Y:-10.58, Z:-0.56 [[ 9.97294500e-01 7.34454440e-02 3.07351906e-03 1.60569299e+02] [-7.34449544e-02 9.97299235e-01 -2.72018599e-04 -1.05817702e+01] [-3.08519673e-03 4.55481858e-05 9.99995240e-01 -5.64412812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters Centerline goodness : 0.997097 with order 1 Centerline is valid? [True, True] Translation: X:160.63, Y:-10.59, Z:-0.57 [[ 9.96343746e-01 8.53797023e-02 3.07347746e-03 1.60629534e+02] [-8.53792680e-02 9.96348486e-01 -2.72487827e-04 -1.05900552e+01] [-3.08551954e-03 9.08028675e-06 9.99995240e-01 -5.69566180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters Centerline goodness : 0.997510 with order 1 Centerline is valid? [True, True] Translation: X:160.69, Y:-10.59, Z:-0.57 [[ 9.95851051e-01 9.09463432e-02 3.07347746e-03 1.60690137e+02] [-9.09459354e-02 9.95855794e-01 -2.72487827e-04 -1.05933587e+01] [-3.08552211e-03 -8.16299330e-06 9.99995240e-01 -5.69076470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters Centerline goodness : 0.997191 with order 1 Centerline is valid? [True, True] Translation: X:160.75, Y:-10.61, Z:-0.57 [[ 9.95808668e-01 9.14092501e-02 3.07347746e-03 1.60750399e+02] [-9.14088445e-02 9.95813411e-01 -2.72487827e-04 -1.06050865e+01] [-3.08551798e-03 -9.59728315e-06 9.99995240e-01 -5.69965166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters Centerline goodness : 0.997138 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:-10.61, Z:-0.57 [[ 9.95991409e-01 8.93961264e-02 3.07347093e-03 1.60811580e+02] [-8.93957110e-02 9.95996151e-01 -2.72561436e-04 -1.06085871e+01] [-3.08553115e-03 -3.28627013e-06 9.99995240e-01 -5.69189311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:160.87, Y:-10.62, Z:-0.57 [[ 9.96272156e-01 8.62110545e-02 3.07342891e-03 1.60873037e+02] [-8.62106225e-02 9.96276896e-01 -2.73034410e-04 -1.06211333e+01] [-3.08552480e-03 7.05436085e-06 9.99995240e-01 -5.68024898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters Centerline goodness : 0.997361 with order 1 Centerline is valid? [True, True] Translation: X:160.93, Y:-10.63, Z:-0.57 [[ 9.96464558e-01 8.39579640e-02 3.07338218e-03 1.60933998e+02] [-8.39575196e-02 9.96469297e-01 -2.73559476e-04 -1.06291266e+01] [-3.08549847e-03 1.45587777e-05 9.99995240e-01 -5.72798301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:160.99, Y:-10.64, Z:-0.57 [[ 9.96276103e-01 8.61654322e-02 3.07333918e-03 1.60994754e+02] [-8.61649968e-02 9.96280843e-01 -2.74041730e-04 -1.06434364e+01] [-3.08552187e-03 8.20696687e-06 9.99995240e-01 -5.70992581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters Centerline goodness : 0.997697 with order 1 Centerline is valid? [True, True] Translation: X:161.06, Y:-10.64, Z:-0.57 [[ 9.95943347e-01 8.99299974e-02 3.07329413e-03 1.61056585e+02] [-8.99295783e-02 9.95948089e-01 -2.74546016e-04 -1.06439698e+01] [-3.08553133e-03 -2.94776678e-06 9.99995240e-01 -5.70831333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters Centerline goodness : 0.997469 with order 1 Centerline is valid? [True, True] Translation: X:161.12, Y:-10.66, Z:-0.57 [[ 9.95753219e-01 9.20113124e-02 3.07328765e-03 1.61116535e+02] [-9.20109031e-02 9.95757962e-01 -2.74618519e-04 -1.06555248e+01] [-3.08551865e-03 -9.32369775e-06 9.99995240e-01 -5.71655224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:-10.66, Z:-0.57 [[ 9.95683418e-01 9.27636088e-02 3.07324573e-03 1.61178068e+02] [-9.27632016e-02 9.95688160e-01 -2.75086806e-04 -1.06621968e+01] [-3.08551243e-03 -1.11847424e-05 9.99995240e-01 -5.69223552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters Centerline goodness : 0.997359 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:-10.67, Z:-0.57 [[ 9.95329378e-01 9.64882605e-02 3.07320118e-03 1.61239256e+02] [-9.64878695e-02 9.95334122e-01 -2.75583661e-04 -1.06674875e+01] [-3.08545258e-03 -2.22301205e-05 9.99995240e-01 -5.68618699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters Centerline goodness : 0.997550 with order 1 Centerline is valid? [True, True] Translation: X:161.30, Y:-10.67, Z:-0.57 [[ 9.95101344e-01 9.88122999e-02 3.07319465e-03 1.61301200e+02] [-9.88119198e-02 9.95106089e-01 -2.75656419e-04 -1.06720368e+01] [-3.08539295e-03 -2.93621906e-05 9.99995240e-01 -5.70534355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters Centerline goodness : 0.997368 with order 1 Centerline is valid? [True, True] Translation: X:161.36, Y:-10.68, Z:-0.57 [[ 9.95204792e-01 9.77649055e-02 3.07314904e-03 1.61362130e+02] [-9.77645188e-02 9.95209537e-01 -2.76163937e-04 -1.06751659e+01] [-3.08542638e-03 -2.56052637e-05 9.99995240e-01 -5.68650728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:161.42, Y:-10.68, Z:-0.57 [[ 9.95242205e-01 9.73833109e-02 3.07310697e-03 1.61424102e+02] [-9.73829209e-02 9.95246949e-01 -2.76631366e-04 -1.06800100e+01] [-3.08543961e-03 -2.39529220e-05 9.99995240e-01 -5.70272013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:-10.68, Z:-0.57 [[ 9.95013084e-01 9.96971327e-02 3.07306145e-03 1.61485583e+02] [-9.96967522e-02 9.95017829e-01 -2.77136066e-04 -1.06806705e+01] [-3.08538061e-03 -3.06202346e-05 9.99995240e-01 -5.73672985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:-10.68, Z:-0.57 [[ 9.94999931e-01 9.98283183e-02 3.07305491e-03 1.61546630e+02] [-9.98279382e-02 9.95004676e-01 -2.77208583e-04 -1.06844984e+01] [-3.08537727e-03 -3.09542149e-05 9.99995240e-01 -5.72588932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:-10.69, Z:-0.57 [[ 9.95030048e-01 9.95276826e-02 3.07304844e-03 1.61608315e+02] [-9.95273009e-02 9.95034793e-01 -2.77280304e-04 -1.06852021e+01] [-3.08538718e-03 -2.99499820e-05 9.99995240e-01 -5.67946428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-10.68, Z:-0.57 [[ 9.95105897e-01 9.87664399e-02 3.07304199e-03 1.61670400e+02] [-9.87660543e-02 9.95110642e-01 -2.77351766e-04 -1.06834966e+01] [-3.08540983e-03 -2.75178540e-05 9.99995240e-01 -5.69493306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters Centerline goodness : 0.997727 with order 1 Centerline is valid? [True, True] Translation: X:161.73, Y:-10.69, Z:-0.57 [[ 9.95309475e-01 9.66933574e-02 3.07303555e-03 1.61731833e+02] [-9.66929617e-02 9.95314219e-01 -2.77423101e-04 -1.06853991e+01] [-3.08546095e-03 -2.10190677e-05 9.99995240e-01 -5.71085217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters Centerline goodness : 0.998022 with order 1 Centerline is valid? [True, True] Translation: X:161.79, Y:-10.69, Z:-0.57 [[ 9.95772459e-01 9.18028640e-02 3.07302908e-03 1.61791781e+02] [-9.18024448e-02 9.95777201e-01 -2.77494758e-04 -1.06899246e+01] [-3.08552711e-03 -5.78994460e-06 9.99995240e-01 -5.74024960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:161.85, Y:-10.70, Z:-0.57 [[ 9.96083547e-01 8.83635895e-02 3.07302586e-03 1.61852193e+02] [-8.83631538e-02 9.96088287e-01 -2.77530410e-04 -1.06958341e+01] [-3.08552865e-03 4.90121842e-06 9.99995240e-01 -5.70740138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters Centerline goodness : 0.997998 with order 1 Centerline is valid? [True, True] Translation: X:161.91, Y:-10.70, Z:-0.58 [[ 9.96237920e-01 8.66057888e-02 3.07302269e-03 1.61912588e+02] [-8.66053446e-02 9.96242660e-01 -2.77565513e-04 -1.07042881e+01] [-3.08551508e-03 1.03811008e-05 9.99995240e-01 -5.77579856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [True, True] Translation: X:161.97, Y:-10.71, Z:-0.58 [[ 9.96303786e-01 8.58447640e-02 3.07301645e-03 1.61972558e+02] [-8.58443160e-02 9.96308525e-01 -2.77634545e-04 -1.07133127e+01] [-3.08550596e-03 1.28073527e-05 9.99995240e-01 -5.78146792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:162.03, Y:-10.72, Z:-0.58 [[ 9.95351279e-01 9.62620804e-02 3.07301337e-03 1.62032449e+02] [-9.62616819e-02 9.95356022e-01 -2.77668686e-04 -1.07189276e+01] [-3.08547133e-03 -1.94355536e-05 9.99995240e-01 -5.77394292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters Centerline goodness : 0.997870 with order 1 Centerline is valid? [True, True] Translation: X:162.09, Y:-10.72, Z:-0.57 [[ 9.94865760e-01 1.01156694e-01 3.07301337e-03 1.62093071e+02] [-1.01156318e-01 9.94870505e-01 -2.77668686e-04 -1.07216415e+01] [-3.08533841e-03 -3.46116506e-05 9.99995240e-01 -5.72197962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters Centerline goodness : 0.997685 with order 1 Centerline is valid? [True, True] Translation: X:162.15, Y:-10.72, Z:-0.57 [[ 9.94685996e-01 1.02909313e-01 3.07301337e-03 1.62152559e+02] [-1.02908946e-01 9.94690742e-01 -2.77668686e-04 -1.07209031e+01] [-3.08527264e-03 -4.00474130e-05 9.99995240e-01 -5.70737047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters Centerline goodness : 0.998010 with order 1 Centerline is valid? [True, True] Translation: X:162.21, Y:-10.72, Z:-0.57 [[ 9.94947467e-01 1.00349857e-01 3.07301668e-03 1.62212440e+02] [-1.00349478e-01 9.94952213e-01 -2.77632056e-04 -1.07182146e+01] [-3.08536508e-03 -3.21463076e-05 9.99995240e-01 -5.68077792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:162.27, Y:-10.72, Z:-0.57 [[ 9.95536031e-01 9.43322169e-02 3.07302308e-03 1.62272811e+02] [-9.43318095e-02 9.95540774e-01 -2.77561164e-04 -1.07173142e+01] [-3.08550273e-03 -1.35616877e-05 9.99995240e-01 -5.69592076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters Centerline goodness : 0.998093 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-10.72, Z:-0.57 [[ 9.95947354e-01 8.98856140e-02 3.07302951e-03 1.62333161e+02] [-8.98851856e-02 9.95952095e-01 -2.77489920e-04 -1.07170806e+01] [-3.08553253e-03 1.45523453e-07 9.99995240e-01 -5.74539174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:162.39, Y:-10.72, Z:-0.58 [[ 9.96204619e-01 8.69880052e-02 3.07303599e-03 1.62392095e+02] [-8.69875633e-02 9.96209359e-01 -2.77418118e-04 -1.07167291e+01] [-3.08551927e-03 9.04929755e-06 9.99995240e-01 -5.79191523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:162.45, Y:-10.72, Z:-0.58 [[ 9.96211197e-01 8.69126462e-02 3.07304561e-03 1.62451711e+02] [-8.69122043e-02 9.96215936e-01 -2.77311615e-04 -1.07182174e+01] [-3.08551889e-03 9.17576874e-06 9.99995240e-01 -5.81308702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters Centerline goodness : 0.998443 with order 1 Centerline is valid? [True, True] Translation: X:162.51, Y:-10.72, Z:-0.58 [[ 9.96158851e-01 8.75105731e-02 3.07305194e-03 1.62510628e+02] [-8.75101342e-02 9.96163591e-01 -2.77241423e-04 -1.07167340e+01] [-3.08552401e-03 7.25330929e-06 9.99995240e-01 -5.75730159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters Centerline goodness : 0.998001 with order 1 Centerline is valid? [True, True] Translation: X:162.57, Y:-10.72, Z:-0.58 [[ 9.96285046e-01 8.60619729e-02 3.07306136e-03 1.62570084e+02] [-8.60615275e-02 9.96289785e-01 -2.77136920e-04 -1.07206502e+01] [-3.08551060e-03 1.16350141e-05 9.99995240e-01 -5.75680152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:162.63, Y:-10.73, Z:-0.58 [[ 9.96600556e-01 8.23279287e-02 3.07306757e-03 1.62629497e+02] [-8.23274657e-02 9.96605294e-01 -2.77068108e-04 -1.07252226e+01] [-3.08544585e-03 2.31283655e-05 9.99995240e-01 -5.80542307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:162.69, Y:-10.74, Z:-0.57 [[ 9.97144893e-01 7.54494413e-02 3.07307370e-03 1.62689697e+02] [-7.54489459e-02 9.97149628e-01 -2.77000070e-04 -1.07369856e+01] [-3.08521380e-03 4.43490339e-05 9.99995240e-01 -5.74220073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:162.75, Y:-10.75, Z:-0.58 [[ 9.97498359e-01 7.06227981e-02 3.07307370e-03 1.62748736e+02] [-7.06222798e-02 9.97503091e-01 -2.77000070e-04 -1.07530537e+01] [-3.08496303e-03 5.92796448e-05 9.99995240e-01 -5.77255964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters Centerline goodness : 0.998156 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:-10.77, Z:-0.57 [[ 9.97450154e-01 7.13004011e-02 3.07307370e-03 1.62807970e+02] [-7.12998860e-02 9.97454886e-01 -2.77000070e-04 -1.07683583e+01] [-3.08500259e-03 5.71839580e-05 9.99995240e-01 -5.70734209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters Centerline goodness : 0.998599 with order 1 Centerline is valid? [True, True] Translation: X:162.87, Y:-10.78, Z:-0.58 [[ 9.97304529e-01 7.33091608e-02 3.07307370e-03 1.62868358e+02] [-7.33086551e-02 9.97309262e-01 -2.77000070e-04 -1.07814480e+01] [-3.08511151e-03 5.09705242e-05 9.99995240e-01 -5.77084484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters Centerline goodness : 0.998342 with order 1 Centerline is valid? [True, True] Translation: X:162.93, Y:-10.80, Z:-0.58 [[ 9.97143976e-01 7.54615658e-02 3.07306724e-03 1.62928625e+02] [-7.54610702e-02 9.97148710e-01 -2.77071664e-04 -1.07969591e+01] [-3.08521330e-03 4.43833977e-05 9.99995240e-01 -5.77346272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:162.99, Y:-10.81, Z:-0.58 [[ 9.96852852e-01 7.92145719e-02 3.07306078e-03 1.62988564e+02] [-7.92140939e-02 9.96857588e-01 -2.77143337e-04 -1.08103652e+01] [-3.08535775e-03 3.28414005e-05 9.99995240e-01 -5.80718610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-10.82, Z:-0.58 [[ 9.96440438e-01 8.42437475e-02 3.07305435e-03 1.63048962e+02] [-8.42432932e-02 9.96445177e-01 -2.77214672e-04 -1.08230551e+01] [-3.08548378e-03 1.73436914e-05 9.99995240e-01 -5.82102817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:-10.83, Z:-0.58 [[ 9.96033947e-01 8.89209307e-02 3.07304792e-03 1.63109443e+02] [-8.89204984e-02 9.96038688e-01 -2.77285886e-04 -1.08316560e+01] [-3.08553114e-03 2.92920297e-06 9.99995240e-01 -5.80106951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:-10.84, Z:-0.58 [[ 9.95419425e-01 9.55548261e-02 3.07300616e-03 1.63170993e+02] [-9.55544240e-02 9.95424168e-01 -2.77747930e-04 -1.08355717e+01] [-3.08548475e-03 -1.71636485e-05 9.99995240e-01 -5.79530168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:-10.83, Z:-0.58 [[ 9.94190116e-01 1.07594469e-01 3.07299987e-03 1.63231228e+02] [-1.07594124e-01 9.94194864e-01 -2.77817540e-04 -1.08324049e+01] [-3.08505231e-03 -5.44332752e-05 9.99995240e-01 -5.77564610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters Centerline goodness : 0.998318 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:-10.83, Z:-0.58 [[ 9.93897100e-01 1.10268359e-01 3.07299645e-03 1.63291567e+02] [-1.10268027e-01 9.93901849e-01 -2.77855348e-04 -1.08284795e+01] [-3.08489550e-03 -6.26936300e-05 9.99995240e-01 -5.78155268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:-10.82, Z:-0.57 [[ 9.93857842e-01 1.10621633e-01 3.07300281e-03 1.63351869e+02] [-1.10621303e-01 9.93862591e-01 -2.77784953e-04 -1.08238209e+01] [-3.08487156e-03 -6.38608195e-05 9.99995240e-01 -5.73252854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters Centerline goodness : 0.996568 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-10.82, Z:-0.57 [[ 9.93929754e-01 1.09973636e-01 3.07300914e-03 1.63410926e+02] [-1.09973303e-01 9.93934503e-01 -2.77714888e-04 -1.08222809e+01] [-3.08491113e-03 -6.19198746e-05 9.99995240e-01 -5.66819440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:-10.82, Z:-0.57 [[ 9.94515477e-01 1.04544354e-01 3.07301540e-03 1.63470684e+02] [-1.04543995e-01 9.94520224e-01 -2.77645585e-04 -1.08222579e+01] [-3.08520225e-03 -4.51424756e-05 9.99995240e-01 -5.70986943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:-10.82, Z:-0.58 [[ 9.94968369e-01 1.00142403e-01 3.07302168e-03 1.63530030e+02] [-1.00142023e-01 9.94973114e-01 -2.77576079e-04 -1.08238775e+01] [-3.08537109e-03 -3.15591907e-05 9.99995240e-01 -5.77299580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:163.59, Y:-10.83, Z:-0.58 [[ 9.95588600e-01 9.37757704e-02 3.07302820e-03 1.63588959e+02] [-9.37753605e-02 9.95593343e-01 -2.77503895e-04 -1.08265215e+01] [-3.08550956e-03 -1.18946128e-05 9.99995240e-01 -5.81222355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:163.65, Y:-10.83, Z:-0.58 [[ 9.95829117e-01 9.11862176e-02 3.07303509e-03 1.63648765e+02] [-9.11857956e-02 9.95833858e-01 -2.77427573e-04 -1.08288607e+01] [-3.08552996e-03 -3.94669480e-06 9.99995240e-01 -5.76086888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:163.71, Y:-10.83, Z:-0.58 [[ 9.95939097e-01 8.99770570e-02 3.07304156e-03 1.63707338e+02] [-8.99766295e-02 9.95943838e-01 -2.77355884e-04 -1.08320476e+01] [-3.08553247e-03 -2.72353512e-07 9.99995240e-01 -5.80023253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-10.84, Z:-0.58 [[ 9.95969506e-01 8.96398309e-02 3.07304821e-03 1.63766575e+02] [-8.96394020e-02 9.95974247e-01 -2.77282153e-04 -1.08364468e+01] [-3.08553241e-03 6.98364466e-07 9.99995240e-01 -5.84411231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:163.83, Y:-10.84, Z:-0.59 [[ 9.96308027e-01 8.57955264e-02 3.07305510e-03 1.63825736e+02] [-8.57950795e-02 9.96312766e-01 -2.77205834e-04 -1.08441995e+01] [-3.08550704e-03 1.25293905e-05 9.99995240e-01 -5.87690023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:163.89, Y:-10.85, Z:-0.59 [[ 9.96490167e-01 8.36534692e-02 3.07305146e-03 1.63885642e+02] [-8.36530120e-02 9.96494906e-01 -2.77246191e-04 -1.08521219e+01] [-3.08547273e-03 1.92030929e-05 9.99995240e-01 -5.87431806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:-10.86, Z:-0.59 [[ 9.95920614e-01 9.01814086e-02 3.07305146e-03 1.63943516e+02] [-9.01809824e-02 9.95925355e-01 -2.77246191e-04 -1.08592776e+01] [-3.08553232e-03 -1.01560256e-06 9.99995240e-01 -5.85238004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters Centerline goodness : 0.998287 with order 1 Centerline is valid? [True, True] Translation: X:164.00, Y:-10.86, Z:-0.58 [[ 9.95328951e-01 9.64926762e-02 3.07306101e-03 1.64002637e+02] [-9.64922804e-02 9.95333694e-01 -2.77140220e-04 -1.08648799e+01] [-3.08546317e-03 -2.06809807e-05 9.99995240e-01 -5.81246066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:164.06, Y:-10.87, Z:-0.58 [[ 9.95363465e-01 9.61359861e-02 3.07306734e-03 1.64061897e+02] [-9.61355888e-02 9.95368209e-01 -2.77070027e-04 -1.08704806e+01] [-3.08546994e-03 -1.96457563e-05 9.99995240e-01 -5.82222083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:164.12, Y:-10.87, Z:-0.59 [[ 9.95697426e-01 9.26131302e-02 3.07307375e-03 1.64120020e+02] [-9.26127164e-02 9.95702168e-01 -2.76998990e-04 -1.08749970e+01] [-3.08551994e-03 -8.79852620e-06 9.99995240e-01 -5.89564936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters Centerline goodness : 0.998582 with order 1 Centerline is valid? [True, True] Translation: X:164.18, Y:-10.88, Z:-0.58 [[ 9.95674730e-01 9.28568183e-02 3.07308326e-03 1.64179338e+02] [-9.28564060e-02 9.95679472e-01 -2.76893389e-04 -1.08792693e+01] [-3.08551736e-03 -9.65971680e-06 9.99995240e-01 -5.81114457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-10.88, Z:-0.59 [[ 9.95515003e-01 9.45538753e-02 3.07308944e-03 1.64238898e+02] [-9.45534713e-02 9.95519746e-01 -2.76824775e-04 -1.08822569e+01] [-3.08549607e-03 -1.49880579e-05 9.99995240e-01 -5.87890181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:164.30, Y:-10.88, Z:-0.59 [[ 9.95416285e-01 9.55875281e-02 3.07309590e-03 1.64297940e+02] [-9.55871292e-02 9.95421029e-01 -2.76753080e-04 -1.08838463e+01] [-3.08547842e-03 -1.82638922e-05 9.99995240e-01 -5.88779521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:164.36, Y:-10.88, Z:-0.59 [[ 9.95119801e-01 9.86262554e-02 3.07310551e-03 1.64356580e+02] [-9.86258713e-02 9.95124545e-01 -2.76646328e-04 -1.08836449e+01] [-3.08540731e-03 -2.77914694e-05 9.99995240e-01 -5.90809149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:164.42, Y:-10.88, Z:-0.59 [[ 9.94984520e-01 9.99818043e-02 3.07311761e-03 1.64415569e+02] [-9.99814271e-02 9.94989265e-01 -2.76511805e-04 -1.08817811e+01] [-3.08536518e-03 -3.21297193e-05 9.99995240e-01 -5.93401967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:164.48, Y:-10.88, Z:-0.59 [[ 9.95568950e-01 9.39841572e-02 3.07313016e-03 1.64475105e+02] [-9.39837518e-02 9.95573693e-01 -2.76372264e-04 -1.08815091e+01] [-3.08550216e-03 -1.36766575e-05 9.99995240e-01 -5.85987918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:164.53, Y:-10.88, Z:-0.59 [[ 9.95936751e-01 9.00030213e-02 3.07314294e-03 1.64534137e+02] [-9.00025975e-02 9.95941492e-01 -2.76230057e-04 -1.08806701e+01] [-3.08553211e-03 -1.48318181e-06 9.99995240e-01 -5.91091154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:164.59, Y:-10.88, Z:-0.59 [[ 9.96446716e-01 8.41694592e-02 3.07315572e-03 1.64594343e+02] [-8.41690080e-02 9.96451455e-01 -2.76087810e-04 -1.08817477e+01] [-3.08548865e-03 1.64423233e-05 9.99995240e-01 -5.91348024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:164.65, Y:-10.89, Z:-0.59 [[ 9.96930037e-01 7.82371902e-02 3.07316214e-03 1.64653950e+02] [-7.82367110e-02 9.96934773e-01 -2.76016349e-04 -1.08851392e+01] [-3.08533694e-03 3.47348904e-05 9.99995240e-01 -5.93037536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:-10.89, Z:-0.59 [[ 9.96922479e-01 7.83334261e-02 3.07316852e-03 1.64713829e+02] [-7.83329476e-02 9.96927216e-01 -2.75945329e-04 -1.08909524e+01] [-3.08534108e-03 3.43657527e-05 9.99995240e-01 -5.92223181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:-10.89, Z:-0.59 [[ 9.96335605e-01 8.54746600e-02 3.07317497e-03 1.64771964e+02] [-8.54742157e-02 9.96340345e-01 -2.75873484e-04 -1.08921747e+01] [-3.08550840e-03 1.21853546e-05 9.99995240e-01 -5.85817243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:164.83, Y:-10.89, Z:-0.59 [[ 9.95561439e-01 9.40636840e-02 3.07319101e-03 1.64831107e+02] [-9.40632811e-02 9.95566182e-01 -2.75694656e-04 -1.08909798e+01] [-3.08549790e-03 -1.46034619e-05 9.99995240e-01 -5.87032896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:164.89, Y:-10.89, Z:-0.59 [[ 9.95249448e-01 9.73092541e-02 3.07320382e-03 1.64890706e+02] [-9.73088672e-02 9.95254193e-01 -2.75551814e-04 -1.08887394e+01] [-3.08543273e-03 -2.48071909e-05 9.99995240e-01 -5.89791219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:164.95, Y:-10.89, Z:-0.59 [[ 9.95921443e-01 9.01722531e-02 3.07321690e-03 1.64949761e+02] [-9.01718326e-02 9.95926184e-01 -2.75405812e-04 -1.08923957e+01] [-3.08553115e-03 -2.83504628e-06 9.99995240e-01 -5.85350992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:165.01, Y:-10.90, Z:-0.58 [[ 9.96479412e-01 8.37814811e-02 3.07322983e-03 1.65007748e+02] [-8.37810306e-02 9.96484151e-01 -2.75261422e-04 -1.08958904e+01] [-3.08548663e-03 1.68139769e-05 9.99995240e-01 -5.75634342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:165.07, Y:-10.90, Z:-0.58 [[ 9.96774374e-01 8.01960224e-02 3.07324579e-03 1.65066526e+02] [-8.01955554e-02 9.96779112e-01 -2.75083115e-04 -1.09018752e+01] [-3.08540778e-03 2.77351465e-05 9.99995240e-01 -5.78242766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:-10.91, Z:-0.59 [[ 9.96916450e-01 7.84101187e-02 3.07325830e-03 1.65124229e+02] [-7.84096436e-02 9.96921187e-01 -2.74943326e-04 -1.09131039e+01] [-3.08535465e-03 3.31224365e-05 9.99995240e-01 -5.87435797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:-10.92, Z:-0.59 [[ 9.96863090e-01 7.90856121e-02 3.07327110e-03 1.65182246e+02] [-7.90851407e-02 9.96867827e-01 -2.74800228e-04 -1.09238759e+01] [-3.08537782e-03 3.08881271e-05 9.99995240e-01 -5.89121850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:165.24, Y:-10.93, Z:-0.59 [[ 9.96590939e-01 8.24442507e-02 3.07328402e-03 1.65239721e+02] [-8.24437957e-02 9.96595678e-01 -2.74655625e-04 -1.09322389e+01] [-3.08546535e-03 2.03461075e-05 9.99995240e-01 -5.89452470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:165.30, Y:-10.94, Z:-0.59 [[ 9.96407156e-01 8.46364810e-02 3.07330000e-03 1.65297772e+02] [-8.46360370e-02 9.96411896e-01 -2.74476692e-04 -1.09376237e+01] [-3.08550342e-03 1.33786078e-05 9.99995240e-01 -5.90589679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:165.36, Y:-10.95, Z:-0.59 [[ 9.96057361e-01 8.86582699e-02 3.07331584e-03 1.65356526e+02] [-8.86578456e-02 9.96062102e-01 -2.74299228e-04 -1.09457894e+01] [-3.08553233e-03 7.44204041e-07 9.99995240e-01 -5.90154620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:165.42, Y:-10.95, Z:-0.59 [[ 9.95940510e-01 8.99614130e-02 3.07332843e-03 1.65415144e+02] [-8.99609953e-02 9.95945252e-01 -2.74158096e-04 -1.09527359e+01] [-3.08553050e-03 -3.43453010e-06 9.99995240e-01 -5.93624168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:165.47, Y:-10.96, Z:-0.59 [[ 9.96046324e-01 8.87821799e-02 3.07334105e-03 1.65473044e+02] [-8.87817571e-02 9.96051065e-01 -2.74016496e-04 -1.09621281e+01] [-3.08553241e-03 7.65051134e-08 9.99995240e-01 -5.90102256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:165.53, Y:-10.97, Z:-0.59 [[ 9.95872079e-01 9.07158032e-02 3.07335398e-03 1.65532049e+02] [-9.07153900e-02 9.95876821e-01 -2.73871409e-04 -1.09662083e+01] [-3.08552646e-03 -6.05961556e-06 9.99995240e-01 -5.88795077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:165.59, Y:-10.97, Z:-0.59 [[ 9.95707667e-01 9.25029506e-02 3.07336696e-03 1.65589640e+02] [-9.25025463e-02 9.95712410e-01 -2.73725664e-04 -1.09743188e+01] [-3.08551006e-03 -1.17435272e-05 9.99995240e-01 -5.90321474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:165.65, Y:-10.98, Z:-0.59 [[ 9.95792647e-01 9.15836194e-02 3.07338370e-03 1.65647737e+02] [-9.15832113e-02 9.95797389e-01 -2.73537564e-04 -1.09756404e+01] [-3.08551903e-03 -9.08365464e-06 9.99995240e-01 -5.91139048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:165.71, Y:-10.98, Z:-0.59 [[ 9.95862863e-01 9.08169198e-02 3.07339962e-03 1.65706350e+02] [-9.08165087e-02 9.95867605e-01 -2.73358625e-04 -1.09848859e+01] [-3.08552471e-03 -6.88772021e-06 9.99995240e-01 -5.88568787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters Centerline goodness : 0.998347 with order 1 Centerline is valid? [True, True] Translation: X:165.76, Y:-10.99, Z:-0.58 [[ 9.96171539e-01 8.73660078e-02 3.07341222e-03 1.65764731e+02] [-8.73655807e-02 9.96176280e-01 -2.73216906e-04 -1.09901004e+01] [-3.08553022e-03 3.66046309e-06 9.99995240e-01 -5.84170846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:165.82, Y:-11.00, Z:-0.59 [[ 9.96409204e-01 8.46123664e-02 3.07342485e-03 1.65823226e+02] [-8.46119266e-02 9.96413944e-01 -2.73074677e-04 -1.10008815e+01] [-3.08550887e-03 1.20457233e-05 9.99995240e-01 -5.89091164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:165.88, Y:-11.01, Z:-0.59 [[ 9.96384406e-01 8.49038877e-02 3.07343113e-03 1.65882282e+02] [-8.49034495e-02 9.96389146e-01 -2.73003987e-04 -1.10091581e+01] [-3.08551252e-03 1.10720097e-05 9.99995240e-01 -5.92159147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:165.94, Y:-11.02, Z:-0.59 [[ 9.96537357e-01 8.30894109e-02 3.07343736e-03 1.65940522e+02] [-8.30889643e-02 9.96542096e-01 -2.72933865e-04 -1.10219786e+01] [-3.08548762e-03 1.66200654e-05 9.99995240e-01 -5.92051711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:166.00, Y:-11.03, Z:-0.59 [[ 9.96717386e-01 8.09012091e-02 3.07344661e-03 1.65999436e+02] [-8.09007524e-02 9.96722125e-01 -2.72829655e-04 -1.10343761e+01] [-3.08544449e-03 2.32899170e-05 9.99995240e-01 -5.93077101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:166.06, Y:-11.05, Z:-0.59 [[ 9.96814593e-01 7.96945443e-02 3.07344962e-03 1.66058836e+02] [-7.96940820e-02 9.96819331e-01 -2.72795766e-04 -1.10455069e+01] [-3.08541433e-03 2.69910547e-05 9.99995240e-01 -5.94855436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:166.12, Y:-11.06, Z:-0.60 [[ 9.96686555e-01 8.12801681e-02 3.07344962e-03 1.66119131e+02] [-8.12797134e-02 9.96691293e-01 -2.72795766e-04 -1.10553537e+01] [-3.08545336e-03 2.20827683e-05 9.99995240e-01 -5.95085028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:166.18, Y:-11.07, Z:-0.59 [[ 9.96739830e-01 8.06242189e-02 3.07344962e-03 1.66178586e+02] [-8.06237610e-02 9.96744568e-01 -2.72795766e-04 -1.10669880e+01] [-3.08543816e-03 2.41133382e-05 9.99995240e-01 -5.93661193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:166.24, Y:-11.07, Z:-0.60 [[ 9.96469361e-01 8.39009336e-02 3.07344962e-03 1.66237308e+02] [-8.39004913e-02 9.96474101e-01 -2.72795766e-04 -1.10748195e+01] [-3.08550076e-03 1.39686898e-05 9.99995240e-01 -5.96256970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters Centerline goodness : 0.997286 with order 1 Centerline is valid? [True, True] Translation: X:166.30, Y:-11.08, Z:-0.59 [[ 9.96088207e-01 8.83110283e-02 3.07345294e-03 1.66297660e+02] [-8.83106071e-02 9.96092949e-01 -2.72758382e-04 -1.10788857e+01] [-3.08553237e-03 2.72913305e-07 9.99995240e-01 -5.89668055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:-11.08, Z:-0.59 [[ 9.96088009e-01 8.83132617e-02 3.07345294e-03 1.66356587e+02] [-8.83128405e-02 9.96092751e-01 -2.72758382e-04 -1.10830644e+01] [-3.08553237e-03 2.65994855e-07 9.99995240e-01 -5.94423713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:-11.09, Z:-0.59 [[ 9.96177505e-01 8.72979544e-02 3.07345621e-03 1.66416867e+02] [-8.72975285e-02 9.96182246e-01 -2.72721442e-04 -1.10880372e+01] [-3.08553054e-03 3.37383402e-06 9.99995240e-01 -5.94588728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:-11.09, Z:-0.60 [[ 9.96380290e-01 8.49521677e-02 3.07345621e-03 1.66477363e+02] [-8.49517306e-02 9.96385031e-01 -2.72721442e-04 -1.10919559e+01] [-3.08551404e-03 1.06388451e-05 9.99995240e-01 -5.96713002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters Centerline goodness : 0.998127 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:-11.10, Z:-0.60 [[ 9.96501462e-01 8.35188007e-02 3.07345621e-03 1.66537226e+02] [-8.35183568e-02 9.96506202e-01 -2.72721442e-04 -1.10961252e+01] [-3.08549555e-03 1.50773028e-05 9.99995240e-01 -5.95131287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:-11.11, Z:-0.60 [[ 9.96551344e-01 8.29214856e-02 3.07345945e-03 1.66596451e+02] [-8.29210389e-02 9.96556083e-01 -2.72684973e-04 -1.11072851e+01] [-3.08548615e-03 1.68901255e-05 9.99995240e-01 -5.96097712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:-11.12, Z:-0.60 [[ 9.96822261e-01 7.95985774e-02 3.07345629e-03 1.66656845e+02] [-7.95981149e-02 9.96826999e-01 -2.72720642e-04 -1.11174867e+01] [-3.08541238e-03 2.72126801e-05 9.99995240e-01 -5.95040863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters Centerline goodness : 0.998306 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:-11.13, Z:-0.59 [[ 9.96788018e-01 8.00262519e-02 3.07344996e-03 1.66717476e+02] [-8.00257912e-02 9.96792756e-01 -2.72791879e-04 -1.11252665e+01] [-3.08542317e-03 2.59604117e-05 9.99995240e-01 -5.94899023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:-11.14, Z:-0.60 [[ 9.96548474e-01 8.29559643e-02 3.07344365e-03 1.66777211e+02] [-8.29555173e-02 9.96553214e-01 -2.72862991e-04 -1.11358506e+01] [-3.08548576e-03 1.69620896e-05 9.99995240e-01 -5.99115604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters Centerline goodness : 0.998432 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-11.15, Z:-0.60 [[ 9.96530845e-01 8.31674732e-02 3.07344365e-03 1.66837713e+02] [-8.31670272e-02 9.96535584e-01 -2.72862991e-04 -1.11467883e+01] [-3.08548929e-03 1.63072155e-05 9.99995240e-01 -6.00553141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters Centerline goodness : 0.998310 with order 1 Centerline is valid? [True, True] Translation: X:166.90, Y:-11.15, Z:-0.60 [[ 9.96380384e-01 8.49510646e-02 3.07343725e-03 1.66898760e+02] [-8.49506268e-02 9.96385125e-01 -2.72935038e-04 -1.11536255e+01] [-3.08551328e-03 1.08566970e-05 9.99995240e-01 -6.00486127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:-11.16, Z:-0.60 [[ 9.96087197e-01 8.83224178e-02 3.07343091e-03 1.66959409e+02] [-8.83219959e-02 9.96091939e-01 -2.73006401e-04 -1.11619899e+01] [-3.08553234e-03 4.86628979e-07 9.99995240e-01 -5.97753341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters Centerline goodness : 0.998296 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:-11.16, Z:-0.60 [[ 9.95155645e-01 9.82639106e-02 3.07342461e-03 1.67018745e+02] [-9.82635358e-02 9.95160391e-01 -2.73077348e-04 -1.11634632e+01] [-3.08538408e-03 -3.02511043e-05 9.99995240e-01 -6.00748844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:-11.16, Z:-0.60 [[ 9.94676123e-01 1.03004677e-01 3.07342773e-03 1.67078772e+02] [-1.03004325e-01 9.94680871e-01 -2.73042227e-04 -1.11648065e+01] [-3.08520440e-03 -4.49877648e-05 9.99995240e-01 -6.00181653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:-11.16, Z:-0.60 [[ 9.94362236e-01 1.05991968e-01 3.07342434e-03 1.67138468e+02] [-1.05991630e-01 9.94366984e-01 -2.73080373e-04 -1.11629988e+01] [-3.08505602e-03 -5.42164462e-05 9.99995240e-01 -6.01328944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters Centerline goodness : 0.997905 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:-11.16, Z:-0.60 [[ 9.94435237e-01 1.05304860e-01 3.07343077e-03 1.67198016e+02] [-1.05304519e-01 9.94439985e-01 -2.73008005e-04 -1.11647797e+01] [-3.08509152e-03 -5.21573679e-05 9.99995240e-01 -6.00370254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:167.26, Y:-11.16, Z:-0.59 [[ 9.94480370e-01 1.04877775e-01 3.07343719e-03 1.67256924e+02] [-1.04877432e-01 9.94485118e-01 -2.72935727e-04 -1.11634564e+01] [-3.08511243e-03 -5.09049760e-05 9.99995240e-01 -5.91132770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters Centerline goodness : 0.997003 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:-11.17, Z:-0.60 [[ 9.94746112e-01 1.02326573e-01 3.07344669e-03 1.67316832e+02] [-1.02326218e-01 9.94750859e-01 -2.72828651e-04 -1.11652125e+01] [-3.08523136e-03 -4.30989375e-05 9.99995240e-01 -6.01522645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters Centerline goodness : 0.996244 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:-11.17, Z:-0.60 [[ 9.95096212e-01 9.88639581e-02 3.07345296e-03 1.67375642e+02] [-9.88635871e-02 9.95100958e-01 -2.72757979e-04 -1.11686561e+01] [-3.08536192e-03 -3.24321531e-05 9.99995240e-01 -6.00759401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters Centerline goodness : 0.996339 with order 1 Centerline is valid? [True, True] Translation: X:167.44, Y:-11.17, Z:-0.60 [[ 9.95145000e-01 9.83716600e-02 3.07346230e-03 1.67435277e+02] [-9.83712870e-02 9.95149745e-01 -2.72652733e-04 -1.11686136e+01] [-3.08537653e-03 -3.10114377e-05 9.99995240e-01 -6.02009696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:-11.17, Z:-0.60 [[ 9.95160773e-01 9.82119619e-02 3.07346846e-03 1.67494495e+02] [-9.82115884e-02 9.95165519e-01 -2.72583300e-04 -1.11712817e+01] [-3.08538077e-03 -3.05860116e-05 9.99995240e-01 -6.03215783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:-11.18, Z:-0.60 [[ 9.95813766e-01 9.13536947e-02 3.07347484e-03 1.67553695e+02] [-9.13532888e-02 9.95818509e-01 -2.72511359e-04 -1.11758979e+01] [-3.08551805e-03 -9.40147113e-06 9.99995240e-01 -6.01255797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters Centerline goodness : 0.994871 with order 1 Centerline is valid? [True, True] Translation: X:167.61, Y:-11.18, Z:-0.61 [[ 9.96427570e-01 8.43958012e-02 3.07348134e-03 1.67612324e+02] [-8.43953623e-02 9.96432310e-01 -2.72437934e-04 -1.11840679e+01] [-3.08550873e-03 1.20770968e-05 9.99995240e-01 -6.05593462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters Centerline goodness : 0.995887 with order 1 Centerline is valid? [True, True] Translation: X:167.67, Y:-11.19, Z:-0.61 [[ 9.96639841e-01 8.18509630e-02 3.07348134e-03 1.67672679e+02] [-8.18505121e-02 9.96644580e-01 -2.72437934e-04 -1.11905816e+01] [-3.08546783e-03 1.99564772e-05 9.99995240e-01 -6.06983281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters Centerline goodness : 0.996062 with order 1 Centerline is valid? [True, True] Translation: X:167.73, Y:-11.20, Z:-0.61 [[ 9.96677230e-01 8.13944242e-02 3.07348134e-03 1.67731292e+02] [-8.13939711e-02 9.96681969e-01 -2.72437934e-04 -1.11980576e+01] [-3.08545837e-03 2.13698336e-05 9.99995240e-01 -6.08760846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:167.79, Y:-11.21, Z:-0.61 [[ 9.96926470e-01 7.82826144e-02 3.07348452e-03 1.67790945e+02] [-7.82821466e-02 9.96931207e-01 -2.72402112e-04 -1.12115295e+01] [-3.08537698e-03 3.09659096e-05 9.99995240e-01 -6.07323452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters Centerline goodness : 0.995179 with order 1 Centerline is valid? [True, True] Translation: X:167.85, Y:-11.22, Z:-0.61 [[ 9.97220198e-01 7.44474953e-02 3.07348452e-03 1.67851765e+02] [-7.44470093e-02 9.97224934e-01 -2.72402112e-04 -1.12245826e+01] [-3.08523505e-03 4.28331572e-05 9.99995240e-01 -6.13252622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters Centerline goodness : 0.991460 with order 1 Centerline is valid? [True, True] Translation: X:167.91, Y:-11.24, Z:-0.60 [[ 9.97327332e-01 7.29982575e-02 3.07347811e-03 1.67912374e+02] [-7.29977643e-02 9.97332067e-01 -2.72474439e-04 -1.12361011e+01] [-3.08516843e-03 4.73891744e-05 9.99995240e-01 -6.04093712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters Centerline goodness : 0.995008 with order 1 Centerline is valid? [True, True] Translation: X:167.97, Y:-11.25, Z:-0.61 [[ 9.97010722e-01 7.72021639e-02 3.07347176e-03 1.67972725e+02] [-7.72016905e-02 9.97015459e-01 -2.72545993e-04 -1.12497642e+01] [-3.08534000e-03 3.44540619e-05 9.99995240e-01 -6.06946201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters Centerline goodness : 0.994734 with order 1 Centerline is valid? [True, True] Translation: X:168.03, Y:-11.26, Z:-0.61 [[ 9.96623090e-01 8.20546840e-02 3.07343075e-03 1.68033653e+02] [-8.20542322e-02 9.96627828e-01 -2.73007694e-04 -1.12595147e+01] [-3.08546817e-03 1.98977706e-05 9.99995240e-01 -6.09157633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters Centerline goodness : 0.993823 with order 1 Centerline is valid? [True, True] Translation: X:168.09, Y:-11.27, Z:-0.61 [[ 9.96680599e-01 8.13531711e-02 3.07342426e-03 1.68094255e+02] [-8.13527158e-02 9.96685337e-01 -2.73080747e-04 -1.12711403e+01] [-3.08545288e-03 2.21428716e-05 9.99995240e-01 -6.05690337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:-11.28, Z:-0.61 [[ 9.96961274e-01 7.78381161e-02 3.07337858e-03 1.68155800e+02] [-7.78376425e-02 9.96966011e-01 -2.73593930e-04 -1.12840724e+01] [-3.08535001e-03 3.35380098e-05 9.99995240e-01 -6.10020494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters Centerline goodness : 0.994844 with order 1 Centerline is valid? [True, True] Translation: X:168.22, Y:-11.30, Z:-0.61 [[ 9.96685785e-01 8.12896090e-02 3.07333319e-03 1.68217255e+02] [-8.12891503e-02 9.96690523e-01 -2.74102854e-04 -1.12962415e+01] [-3.08544377e-03 2.33657755e-05 9.99995240e-01 -6.14251606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters Centerline goodness : 0.994462 with order 1 Centerline is valid? [True, True] Translation: X:168.28, Y:-11.30, Z:-0.61 [[ 9.96024475e-01 8.90269664e-02 3.07328908e-03 1.68278838e+02] [-8.90265429e-02 9.96029216e-01 -2.74596530e-04 -1.13047463e+01] [-3.08553221e-03 -9.94370972e-08 9.99995240e-01 -6.08433255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters Centerline goodness : 0.994278 with order 1 Centerline is valid? [True, True] Translation: X:168.34, Y:-11.31, Z:-0.61 [[ 9.95552611e-01 9.41570738e-02 3.07324420e-03 1.68340929e+02] [-9.41566732e-02 9.95557354e-01 -2.75097815e-04 -1.13129547e+01] [-3.08549327e-03 -1.54921029e-05 9.99995240e-01 -6.13529376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters Centerline goodness : 0.994351 with order 1 Centerline is valid? [True, True] Translation: X:168.40, Y:-11.32, Z:-0.61 [[ 9.95046261e-01 9.93654584e-02 3.07319942e-03 1.68402431e+02] [-9.93650811e-02 9.95051006e-01 -2.75597166e-04 -1.13165904e+01] [-3.08537502e-03 -3.11367803e-05 9.99995240e-01 -6.08167472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:-11.32, Z:-0.60 [[ 9.94804113e-01 1.01761153e-01 3.07319302e-03 1.68464934e+02] [-1.01760787e-01 9.94808859e-01 -2.75668588e-04 -1.13158190e+01] [-3.08529199e-03 -3.84942950e-05 9.99995240e-01 -6.03941574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters Centerline goodness : 0.994898 with order 1 Centerline is valid? [True, True] Translation: X:168.53, Y:-11.32, Z:-0.61 [[ 9.94870765e-01 1.01107447e-01 3.07314615e-03 1.68526137e+02] [-1.01107076e-01 9.94875511e-01 -2.76190128e-04 -1.13174323e+01] [-3.08532272e-03 -3.59433371e-05 9.99995240e-01 -6.11433064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters Centerline goodness : 0.995192 with order 1 Centerline is valid? [True, True] Translation: X:168.59, Y:-11.32, Z:-0.61 [[ 9.94916021e-01 1.00661146e-01 3.07310302e-03 1.68587458e+02] [-1.00660771e-01 9.94920767e-01 -2.76669185e-04 -1.13153564e+01] [-3.08534385e-03 -3.40783149e-05 9.99995240e-01 -6.07975813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:168.65, Y:-11.31, Z:-0.61 [[ 9.94884740e-01 1.00969853e-01 3.07309671e-03 1.68648813e+02] [-1.00969479e-01 9.94889485e-01 -2.76739241e-04 -1.13137276e+01] [-3.08533392e-03 -3.49653272e-05 9.99995240e-01 -6.13316963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters Centerline goodness : 0.995372 with order 1 Centerline is valid? [True, True] Translation: X:168.71, Y:-11.31, Z:-0.61 [[ 9.95353703e-01 9.62370142e-02 3.07309342e-03 1.68709819e+02] [-9.62366183e-02 9.95358446e-01 -2.76775705e-04 -1.13093973e+01] [-3.08546556e-03 -2.02543960e-05 9.99995240e-01 -6.11149353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters Centerline goodness : 0.995050 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:-11.32, Z:-0.61 [[ 9.96357761e-01 8.52160134e-02 3.07309017e-03 1.68770829e+02] [-8.52155650e-02 9.96362500e-01 -2.76811870e-04 -1.13160758e+01] [-3.08550060e-03 1.39285405e-05 9.99995240e-01 -6.08645200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters Centerline goodness : 0.995395 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:-11.32, Z:-0.61 [[ 9.97248636e-01 7.40656032e-02 3.07308367e-03 1.68832070e+02] [-7.40651016e-02 9.97253370e-01 -2.76883978e-04 -1.13230120e+01] [-3.08515062e-03 4.85139157e-05 9.99995240e-01 -6.08468875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters Centerline goodness : 0.995092 with order 1 Centerline is valid? [True, True] Translation: X:168.89, Y:-11.34, Z:-0.61 [[ 9.97408386e-01 7.18823205e-02 3.07303552e-03 1.68892902e+02] [-7.18818068e-02 9.97413118e-01 -2.77417372e-04 -1.13353810e+01] [-3.08502734e-03 5.58030683e-05 9.99995240e-01 -6.12693427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:-11.35, Z:-0.62 [[ 9.96891598e-01 7.87254589e-02 3.07299314e-03 1.68953816e+02] [-7.87249763e-02 9.96896334e-01 -2.77885945e-04 -1.13451523e+01] [-3.08533230e-03 3.51008511e-05 9.99995240e-01 -6.15579606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters Centerline goodness : 0.994678 with order 1 Centerline is valid? [True, True] Translation: X:169.02, Y:-11.36, Z:-0.61 [[ 9.96282189e-01 8.60950418e-02 3.07298664e-03 1.69015498e+02] [-8.60945940e-02 9.96286928e-01 -2.77957813e-04 -1.13587454e+01] [-3.08550721e-03 1.23568807e-05 9.99995240e-01 -6.11238726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters Centerline goodness : 0.995024 with order 1 Centerline is valid? [True, True] Translation: X:169.08, Y:-11.37, Z:-0.61 [[ 9.95916935e-01 9.02220334e-02 3.07296912e-03 1.69075705e+02] [-9.02216046e-02 9.95921676e-01 -2.78151393e-04 -1.13659154e+01] [-3.08553194e-03 -2.32522449e-07 9.99995240e-01 -6.08308629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters Centerline goodness : 0.996124 with order 1 Centerline is valid? [True, True] Translation: X:169.14, Y:-11.37, Z:-0.60 [[ 9.95674811e-01 9.28559497e-02 3.07296215e-03 1.69136677e+02] [-9.28555332e-02 9.95679553e-01 -2.78228402e-04 -1.13739300e+01] [-3.08552074e-03 -8.31652727e-06 9.99995240e-01 -6.03669871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters Centerline goodness : 0.996128 with order 1 Centerline is valid? [True, True] Translation: X:169.20, Y:-11.38, Z:-0.61 [[ 9.95304887e-01 9.67405760e-02 3.07295556e-03 1.69197893e+02] [-9.67401778e-02 9.95309630e-01 -2.78301109e-04 -1.13803775e+01] [-3.08546528e-03 -2.02838141e-05 9.99995240e-01 -6.11356697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters Centerline goodness : 0.996428 with order 1 Centerline is valid? [True, True] Translation: X:169.26, Y:-11.39, Z:-0.61 [[ 9.94833643e-01 1.01472066e-01 3.07294895e-03 1.69258092e+02] [-1.01471690e-01 9.94838388e-01 -2.78374125e-04 -1.13894577e+01] [-3.08533478e-03 -3.48813775e-05 9.99995240e-01 -6.14999968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:169.32, Y:-11.39, Z:-0.61 [[ 9.94109625e-01 1.08335642e-01 3.07290646e-03 1.69319018e+02] [-1.08335297e-01 9.94114372e-01 -2.78842426e-04 -1.13912321e+01] [-3.08502905e-03 -5.57042956e-05 9.99995240e-01 -6.13395978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters Centerline goodness : 0.996409 with order 1 Centerline is valid? [True, True] Translation: X:169.38, Y:-11.39, Z:-0.61 [[ 9.93196780e-01 1.16407530e-01 3.07290321e-03 1.69379116e+02] [-1.16407224e-01 9.93201531e-01 -2.78878139e-04 -1.13939475e+01] [-3.08447569e-03 -8.07272640e-05 9.99995240e-01 -6.12520942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters Centerline goodness : 0.996486 with order 1 Centerline is valid? [True, True] Translation: X:169.44, Y:-11.39, Z:-0.61 [[ 9.92461905e-01 1.22514997e-01 3.07290321e-03 1.69438742e+02] [-1.22514720e-01 9.92466657e-01 -2.78878139e-04 -1.13899757e+01] [-3.08392074e-03 -9.96999491e-05 9.99995240e-01 -6.10988346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters Centerline goodness : 0.996558 with order 1 Centerline is valid? [True, True] Translation: X:169.50, Y:-11.39, Z:-0.61 [[ 9.91974095e-01 1.26403928e-01 3.07291294e-03 1.69499040e+02] [-1.26403670e-01 9.91978848e-01 -2.78770949e-04 -1.13878335e+01] [-3.08350238e-03 -1.11893912e-04 9.99995240e-01 -6.14995721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:-11.38, Z:-0.61 [[ 9.92082206e-01 1.25552595e-01 3.07291959e-03 1.69559535e+02] [-1.25552334e-01 9.92086959e-01 -2.78697563e-04 -1.13847069e+01] [-3.08359466e-03 -1.09321334e-04 9.99995240e-01 -6.06970197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters Centerline goodness : 0.996981 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:-11.38, Z:-0.61 [[ 9.92534092e-01 1.21928807e-01 3.07292618e-03 1.69619053e+02] [-1.21928528e-01 9.92538844e-01 -2.78624880e-04 -1.13819723e+01] [-3.08397100e-03 -9.81326736e-05 9.99995240e-01 -6.08940202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:-11.38, Z:-0.61 [[ 9.92518693e-01 1.22054087e-01 3.07293595e-03 1.69678843e+02] [-1.22053809e-01 9.92523446e-01 -2.78517145e-04 -1.13771333e+01] [-3.08395513e-03 -9.86300649e-05 9.99995240e-01 -6.13882218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:-11.37, Z:-0.60 [[ 9.92414167e-01 1.22901087e-01 3.07294862e-03 1.69738166e+02] [-1.22900814e-01 9.92418920e-01 -2.78377286e-04 -1.13704685e+01] [-3.08386522e-03 -1.01402323e-04 9.99995240e-01 -6.02605901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:-11.37, Z:-0.62 [[ 9.92545437e-01 1.21836414e-01 3.07296143e-03 1.69797431e+02] [-1.21836136e-01 9.92550189e-01 -2.78235837e-04 -1.13656982e+01] [-3.08396770e-03 -9.82360356e-05 9.99995240e-01 -6.18440207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-11.36, Z:-0.61 [[ 9.93646506e-01 1.12504125e-01 3.07297418e-03 1.69856335e+02] [-1.12503803e-01 9.93651255e-01 -2.78094922e-04 -1.13641520e+01] [-3.08475148e-03 -6.93932338e-05 9.99995240e-01 -6.12487851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:-11.37, Z:-0.61 [[ 9.94744615e-01 1.02341136e-01 3.07298754e-03 1.69914369e+02] [-1.02340766e-01 9.94749361e-01 -2.77947240e-04 -1.13660037e+01] [-3.08529782e-03 -3.80053776e-05 9.99995240e-01 -6.12443308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters Centerline goodness : 0.997481 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:-11.37, Z:-0.62 [[ 9.95820883e-01 9.12760973e-02 3.07300546e-03 1.69973227e+02] [-9.12756748e-02 9.95825624e-01 -2.77748910e-04 -1.13683610e+01] [-3.08552942e-03 -3.90248261e-06 9.99995240e-01 -6.16503242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters Centerline goodness : 0.997364 with order 1 Centerline is valid? [True, True] Translation: X:170.03, Y:-11.38, Z:-0.62 [[ 9.96568668e-01 8.27130346e-02 3.07301856e-03 1.70031985e+02] [-8.27125718e-02 9.96573406e-01 -2.77603888e-04 -1.13755606e+01] [-3.08545004e-03 2.24740690e-05 9.99995240e-01 -6.23369898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters Centerline goodness : 0.997172 with order 1 Centerline is valid? [True, True] Translation: X:170.09, Y:-11.38, Z:-0.62 [[ 9.96679662e-01 8.13646648e-02 3.07302500e-03 1.70091088e+02] [-8.13641958e-02 9.96684399e-01 -2.77532664e-04 -1.13800437e+01] [-3.08541742e-03 2.65769538e-05 9.99995240e-01 -6.15348187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters Centerline goodness : 0.997846 with order 1 Centerline is valid? [True, True] Translation: X:170.15, Y:-11.39, Z:-0.62 [[ 9.96824608e-01 7.95691926e-02 3.07303170e-03 1.70149604e+02] [-7.95687153e-02 9.96829345e-01 -2.77458436e-04 -1.13881719e+01] [-3.08536532e-03 3.20602126e-05 9.99995240e-01 -6.15091433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:170.21, Y:-11.39, Z:-0.62 [[ 9.96787444e-01 8.00334121e-02 3.07303833e-03 1.70208615e+02] [-8.00329372e-02 9.96792181e-01 -2.77384975e-04 -1.13949980e+01] [-3.08538064e-03 3.05495771e-05 9.99995240e-01 -6.22358040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:170.27, Y:-11.41, Z:-0.63 [[ 9.96780973e-01 8.01139710e-02 3.07304463e-03 1.70267615e+02] [-8.01134967e-02 9.96785710e-01 -2.77315106e-04 -1.14071747e+01] [-3.08538379e-03 3.02300703e-05 9.99995240e-01 -6.25899228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters Centerline goodness : 0.998223 with order 1 Centerline is valid? [True, True] Translation: X:170.33, Y:-11.42, Z:-0.62 [[ 9.97071066e-01 7.64188881e-02 3.07305092e-03 1.70327709e+02] [-7.64183965e-02 9.97075800e-01 -2.77245419e-04 -1.14178452e+01] [-3.08525149e-03 4.15957616e-05 9.99995240e-01 -6.18977879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:-11.43, Z:-0.61 [[ 9.96956361e-01 7.79010330e-02 3.07305092e-03 1.70386324e+02] [-7.79005485e-02 9.96961096e-01 -2.77245419e-04 -1.14275018e+01] [-3.08530992e-03 3.70092316e-05 9.99995240e-01 -6.11080770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:170.45, Y:-11.44, Z:-0.62 [[ 9.96358391e-01 8.52086387e-02 3.07305400e-03 1.70445305e+02] [-8.52081890e-02 9.96363130e-01 -2.77211303e-04 -1.14376533e+01] [-3.08549850e-03 1.43524419e-05 9.99995240e-01 -6.20885556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:170.50, Y:-11.45, Z:-0.62 [[ 9.96118273e-01 8.79712581e-02 3.07306009e-03 1.70503425e+02] [-8.79708217e-02 9.96123013e-01 -2.77143801e-04 -1.14469649e+01] [-3.08552656e-03 5.72838363e-06 9.99995240e-01 -6.23328794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:170.56, Y:-11.46, Z:-0.62 [[ 9.96050180e-01 8.87389134e-02 3.07306920e-03 1.70561844e+02] [-8.87384810e-02 9.96054921e-01 -2.77042712e-04 -1.14608538e+01] [-3.08553017e-03 3.24895084e-06 9.99995240e-01 -6.16856595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:170.62, Y:-11.47, Z:-0.62 [[ 9.96117969e-01 8.79746991e-02 3.07307242e-03 1.70622052e+02] [-8.79742631e-02 9.96122709e-01 -2.77007030e-04 -1.14689157e+01] [-3.08552683e-03 5.58039914e-06 9.99995240e-01 -6.21232305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters Centerline goodness : 0.998212 with order 1 Centerline is valid? [True, True] Translation: X:170.68, Y:-11.48, Z:-0.63 [[ 9.96055330e-01 8.86810884e-02 3.07307242e-03 1.70681290e+02] [-8.86806558e-02 9.96060071e-01 -2.77007030e-04 -1.14759107e+01] [-3.08553001e-03 3.39225182e-06 9.99995240e-01 -6.26076192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:170.74, Y:-11.48, Z:-0.63 [[ 9.95775645e-01 9.17682976e-02 3.07307578e-03 1.70740782e+02] [-9.17678798e-02 9.95780387e-01 -2.76969662e-04 -1.14817667e+01] [-3.08552563e-03 -6.21000564e-06 9.99995240e-01 -6.31202716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:170.80, Y:-11.48, Z:-0.63 [[ 9.95598834e-01 9.36670611e-02 3.07307899e-03 1.70800864e+02] [-9.36666525e-02 9.95603576e-01 -2.76934066e-04 -1.14825363e+01] [-3.08550803e-03 -1.21297888e-05 9.99995240e-01 -6.27771482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:-11.49, Z:-0.62 [[ 9.95657555e-01 9.30407940e-02 3.07308479e-03 1.70861148e+02] [-9.30403826e-02 9.95662297e-01 -2.76869732e-04 -1.14866738e+01] [-3.08551484e-03 -1.02535440e-05 9.99995240e-01 -6.19535678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:-11.49, Z:-0.62 [[ 9.95996125e-01 8.93435786e-02 3.07308479e-03 1.70921140e+02] [-8.93431496e-02 9.96000866e-01 -2.76869732e-04 -1.14866500e+01] [-3.08553164e-03 1.20210624e-06 9.99995240e-01 -6.20513994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters Centerline goodness : 0.998596 with order 1 Centerline is valid? [True, True] Translation: X:170.98, Y:-11.49, Z:-0.62 [[ 9.95989890e-01 8.94130595e-02 3.07308802e-03 1.70981053e+02] [-8.94126309e-02 9.95994631e-01 -2.76833872e-04 -1.14898433e+01] [-3.08553173e-03 9.50853397e-07 9.99995240e-01 -6.23357541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:-11.49, Z:-0.62 [[ 9.95920404e-01 9.01837258e-02 3.07308421e-03 1.71040337e+02] [-9.01833008e-02 9.95925146e-01 -2.76876175e-04 -1.14934093e+01] [-3.08553156e-03 -1.39424519e-06 9.99995240e-01 -6.22028488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:171.10, Y:-11.49, Z:-0.63 [[ 9.95311825e-01 9.66691672e-02 3.07309088e-03 1.71099529e+02] [-9.66687733e-02 9.95316569e-01 -2.76802104e-04 -1.14932728e+01] [-3.08545650e-03 -2.15675186e-05 9.99995240e-01 -6.25511994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:-11.50, Z:-0.63 [[ 9.95055700e-01 9.92708912e-02 3.07310078e-03 1.71158220e+02] [-9.92705101e-02 9.95060445e-01 -2.76692104e-04 -1.14983593e+01] [-3.08538850e-03 -2.97442271e-05 9.99995240e-01 -6.26131480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:171.22, Y:-11.50, Z:-0.62 [[ 9.94725486e-01 1.02526895e-01 3.07310793e-03 1.71217116e+02] [-1.02526529e-01 9.94730232e-01 -2.76612669e-04 -1.15026692e+01] [-3.08527360e-03 -3.99214190e-05 9.99995240e-01 -6.17757748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:171.28, Y:-11.50, Z:-0.63 [[ 9.93906370e-01 1.10184773e-01 3.07312072e-03 1.71275295e+02] [-1.10184445e-01 9.93911119e-01 -2.76470502e-04 -1.14991939e+01] [-3.08487169e-03 -6.38243075e-05 9.99995240e-01 -6.25663628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:-11.50, Z:-0.62 [[ 9.93827801e-01 1.10891197e-01 3.07313653e-03 1.71334614e+02] [-1.10890872e-01 9.93832550e-01 -2.76294706e-04 -1.15004838e+01] [-3.08482176e-03 -6.61934293e-05 9.99995240e-01 -6.24250426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:-11.50, Z:-0.62 [[ 9.94012397e-01 1.09224132e-01 3.07314923e-03 1.71393428e+02] [-1.09223800e-01 9.94017145e-01 -2.76153326e-04 -1.15010615e+01] [-3.08492563e-03 -6.11612085e-05 9.99995240e-01 -6.22046117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:-11.50, Z:-0.62 [[ 9.93984897e-01 1.09474103e-01 3.07316188e-03 1.71452215e+02] [-1.09473773e-01 9.93989646e-01 -2.76012478e-04 -1.15014491e+01] [-3.08490731e-03 -6.20783908e-05 9.99995240e-01 -6.21439923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:-11.50, Z:-0.63 [[ 9.93910669e-01 1.10145980e-01 3.07317465e-03 1.71511810e+02] [-1.10145653e-01 9.93915418e-01 -2.75870221e-04 -1.15012112e+01] [-3.08486167e-03 -6.43064728e-05 9.99995240e-01 -6.25950293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:-11.50, Z:-0.63 [[ 9.93718689e-01 1.11864753e-01 3.07318422e-03 1.71570710e+02] [-1.11864435e-01 9.93723438e-01 -2.75763566e-04 -1.15010715e+01] [-3.08474342e-03 -6.97486076e-05 9.99995240e-01 -6.26267785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:-11.50, Z:-0.62 [[ 9.93523418e-01 1.13585973e-01 3.07319731e-03 1.71630280e+02] [-1.13585663e-01 9.93528168e-01 -2.75617615e-04 -1.14995864e+01] [-3.08461439e-03 -7.52386002e-05 9.99995240e-01 -6.24122953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:-11.49, Z:-0.62 [[ 9.93669996e-01 1.12296453e-01 3.07321036e-03 1.71690169e+02] [-1.12296138e-01 9.93674746e-01 -2.75472051e-04 -1.14898415e+01] [-3.08470606e-03 -7.13813438e-05 9.99995240e-01 -6.22759443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters Centerline goodness : 0.998443 with order 1 Centerline is valid? [True, True] Translation: X:171.75, Y:-11.48, Z:-0.62 [[ 9.94705583e-01 1.02719802e-01 3.07322323e-03 1.71748539e+02] [-1.02719441e-01 9.94710330e-01 -2.75328394e-04 -1.14845049e+01] [-3.08524857e-03 -4.18090812e-05 9.99995240e-01 -6.19438877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:171.81, Y:-11.49, Z:-0.62 [[ 9.96115465e-01 8.80030482e-02 3.07323919e-03 1.71807842e+02] [-8.80026182e-02 9.96120205e-01 -2.75150100e-04 -1.14850115e+01] [-3.08552970e-03 3.62817405e-06 9.99995240e-01 -6.24488457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:171.87, Y:-11.49, Z:-0.63 [[ 9.97242334e-01 7.41504036e-02 3.07325186e-03 1.71866810e+02] [-7.41499081e-02 9.97247068e-01 -2.75008551e-04 -1.14891884e+01] [-3.08518340e-03 4.63688267e-05 9.99995240e-01 -6.25361554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:171.93, Y:-11.49, Z:-0.62 [[ 9.97545260e-01 6.99571954e-02 3.07326435e-03 1.71925385e+02] [-6.99566804e-02 9.97549992e-01 -2.74868893e-04 -1.14934809e+01] [-3.08496389e-03 5.91987889e-05 9.99995240e-01 -6.20434822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:171.98, Y:-11.50, Z:-0.63 [[ 9.97788147e-01 6.64030751e-02 3.07327715e-03 1.71983037e+02] [-6.64025437e-02 9.97792878e-01 -2.74725745e-04 -1.15014063e+01] [-3.08473668e-03 7.00446721e-05 9.99995240e-01 -6.25845218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:-11.51, Z:-0.62 [[ 9.98193346e-01 6.00049856e-02 3.07329290e-03 1.72041074e+02] [-6.00044244e-02 9.98198073e-01 -2.74549372e-04 -1.15109867e+01] [-3.08422938e-03 8.96421843e-05 9.99995240e-01 -6.23394128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:172.10, Y:-11.52, Z:-0.62 [[ 9.98782808e-01 4.92286139e-02 3.07330222e-03 1.72100566e+02] [-4.92280021e-02 9.98787529e-01 -2.74445076e-04 -1.15240600e+01] [-3.08308648e-03 1.22818496e-04 9.99995240e-01 -6.20433096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:172.16, Y:-11.54, Z:-0.62 [[ 9.98975549e-01 4.51487180e-02 3.07330222e-03 1.72160089e+02] [-4.51480869e-02 9.98980268e-01 -2.74445076e-04 -1.15383822e+01] [-3.08255911e-03 1.35410205e-04 9.99995240e-01 -6.17426103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:172.22, Y:-11.56, Z:-0.62 [[ 9.98930380e-01 4.61373065e-02 3.07330222e-03 1.72218483e+02] [-4.61366801e-02 9.98935099e-01 -2.74445076e-04 -1.15595277e+01] [-3.08269161e-03 1.32359563e-04 9.99995240e-01 -6.24437335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:172.28, Y:-11.58, Z:-0.62 [[ 9.98753889e-01 4.98118807e-02 3.07330222e-03 1.72277905e+02] [-4.98112717e-02 9.98758610e-01 -2.74445076e-04 -1.15764678e+01] [-3.08315768e-03 1.21017995e-04 9.99995240e-01 -6.20111756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:172.34, Y:-11.59, Z:-0.62 [[ 9.98444185e-01 5.56755179e-02 3.07329915e-03 1.72337538e+02] [-5.56749365e-02 9.98448910e-01 -2.74479413e-04 -1.15940382e+01] [-3.08381397e-03 1.02946639e-04 9.99995240e-01 -6.19285887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:172.40, Y:-11.61, Z:-0.62 [[ 9.98170069e-01 6.03909672e-02 3.07329915e-03 1.72397270e+02] [-6.03904081e-02 9.98174796e-01 -2.74479413e-04 -1.16105553e+01] [-3.08426583e-03 8.83793443e-05 9.99995240e-01 -6.23851117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:172.46, Y:-11.63, Z:-0.62 [[ 9.97512650e-01 7.04206529e-02 3.07329612e-03 1.72457071e+02] [-7.04201413e-02 9.97517382e-01 -2.74513356e-04 -1.16254805e+01] [-3.08499771e-03 5.74085986e-05 9.99995240e-01 -6.17818601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:172.52, Y:-11.64, Z:-0.62 [[ 9.96571437e-01 8.26796592e-02 3.07329612e-03 1.72515785e+02] [-8.26792058e-02 9.96576176e-01 -2.74513356e-04 -1.16375834e+01] [-3.08547036e-03 1.94744878e-05 9.99995240e-01 -6.17743351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters Centerline goodness : 0.999532 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:-11.65, Z:-0.62 [[ 9.96043776e-01 8.88107620e-02 3.07330248e-03 1.72574793e+02] [-8.88103380e-02 9.96048517e-01 -2.74442125e-04 -1.16486725e+01] [-3.08553179e-03 4.15338581e-07 9.99995240e-01 -6.20216606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:172.64, Y:-11.66, Z:-0.62 [[ 9.95805814e-01 9.14403394e-02 3.07330564e-03 1.72635121e+02] [-9.14399280e-02 9.95810556e-01 -2.74406674e-04 -1.16573178e+01] [-3.08552204e-03 -7.76708553e-06 9.99995240e-01 -6.24835141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:-11.67, Z:-0.62 [[ 9.95499528e-01 9.47166529e-02 3.07330564e-03 1.72694588e+02] [-9.47162571e-02 9.95504272e-01 -2.74406674e-04 -1.16700278e+01] [-3.08547978e-03 -1.79202930e-05 9.99995240e-01 -6.22463539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:172.76, Y:-11.68, Z:-0.62 [[ 9.95157004e-01 9.82501484e-02 3.07330564e-03 1.72755047e+02] [-9.82497694e-02 9.95161749e-01 -2.74406674e-04 -1.16772452e+01] [-3.08539672e-03 -2.88738473e-05 9.99995240e-01 -6.22389420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:172.81, Y:-11.68, Z:-0.62 [[ 9.94433099e-01 1.05325056e-01 3.07330564e-03 1.72813723e+02] [-1.05324711e-01 9.94437846e-01 -2.74406674e-04 -1.16837066e+01] [-3.08511334e-03 -5.08159483e-05 9.99995240e-01 -6.23181653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-11.69, Z:-0.62 [[ 9.94234659e-01 1.07182076e-01 3.07330872e-03 1.72872923e+02] [-1.07181740e-01 9.94239407e-01 -2.74372156e-04 -1.16881931e+01] [-3.08501242e-03 -5.66122685e-05 9.99995240e-01 -6.23001669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:172.93, Y:-11.69, Z:-0.62 [[ 9.94148279e-01 1.07980341e-01 3.07331481e-03 1.72931748e+02] [-1.07980009e-01 9.94153028e-01 -2.74303962e-04 -1.16885292e+01] [-3.08496466e-03 -5.91577498e-05 9.99995240e-01 -6.23272393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:172.99, Y:-11.69, Z:-0.62 [[ 9.94565780e-01 1.04064708e-01 3.07332163e-03 1.72991905e+02] [-1.04064357e-01 9.94570528e-01 -2.74227492e-04 -1.16909751e+01] [-3.08517252e-03 -4.70859619e-05 9.99995240e-01 -6.18409062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:-11.69, Z:-0.62 [[ 9.95210044e-01 9.77114227e-02 3.07332796e-03 1.73051959e+02] [-9.77110420e-02 9.95214789e-01 -2.74156632e-04 -1.16934318e+01] [-3.08540967e-03 -2.74546433e-05 9.99995240e-01 -6.18770031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:-11.70, Z:-0.62 [[ 9.95490823e-01 9.48081049e-02 3.07332796e-03 1.73112404e+02] [-9.48077103e-02 9.95495566e-01 -2.74156632e-04 -1.16986475e+01] [-3.08547662e-03 -1.84547757e-05 9.99995240e-01 -6.22668203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:173.17, Y:-11.71, Z:-0.62 [[ 9.95625881e-01 9.33791230e-02 3.07332477e-03 1.73173146e+02] [-9.33787215e-02 9.95630624e-01 -2.74192340e-04 -1.17087322e+01] [-3.08550010e-03 -1.39901474e-05 9.99995240e-01 -6.23150163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters Centerline goodness : 0.997913 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:-11.72, Z:-0.62 [[ 9.95235756e-01 9.74491877e-02 3.07331834e-03 1.73232652e+02] [-9.74488053e-02 9.95240501e-01 -2.74264409e-04 -1.17161755e+01] [-3.08541773e-03 -2.65334538e-05 9.99995240e-01 -6.22707546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters Centerline goodness : 0.997654 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:-11.72, Z:-0.63 [[ 9.94275949e-01 1.06798372e-01 3.07332152e-03 1.73292443e+02] [-1.06798034e-01 9.94280697e-01 -2.74228801e-04 -1.17218362e+01] [-3.08503145e-03 -5.55655956e-05 9.99995240e-01 -6.27580001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters Centerline goodness : 0.997086 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:-11.73, Z:-0.62 [[ 9.93646837e-01 1.12501193e-01 3.07332790e-03 1.73350992e+02] [-1.12500882e-01 9.93651587e-01 -2.74157233e-04 -1.17257210e+01] [-3.08466016e-03 -7.33366335e-05 9.99995240e-01 -6.21764809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:-11.73, Z:-0.62 [[ 9.93417736e-01 1.14506580e-01 3.07333733e-03 1.73410208e+02] [-1.14506280e-01 9.93422487e-01 -2.74051502e-04 -1.17284901e+01] [-3.08450311e-03 -7.96688021e-05 9.99995240e-01 -6.17866723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters Centerline goodness : 0.997205 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:-11.73, Z:-0.62 [[ 9.93549432e-01 1.13358200e-01 3.07334352e-03 1.73469664e+02] [-1.13357894e-01 9.93554182e-01 -2.73982012e-04 -1.17305062e+01] [-3.08459142e-03 -7.61730781e-05 9.99995240e-01 -6.19358779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters Centerline goodness : 0.996830 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:-11.73, Z:-0.62 [[ 9.93944308e-01 1.09842007e-01 3.07333998e-03 1.73529526e+02] [-1.09841684e-01 9.93949058e-01 -2.74021694e-04 -1.17307357e+01] [-3.08484247e-03 -6.52185378e-05 9.99995240e-01 -6.19154794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters Centerline goodness : 0.996386 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:-11.73, Z:-0.62 [[ 9.94313539e-01 1.06447831e-01 3.07334611e-03 1.73589661e+02] [-1.06447493e-01 9.94318287e-01 -2.73952952e-04 -1.17305777e+01] [-3.08504594e-03 -5.47548589e-05 9.99995240e-01 -6.15227089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-11.73, Z:-0.62 [[ 9.94341268e-01 1.06188499e-01 3.07335271e-03 1.73648459e+02] [-1.06188160e-01 9.94346016e-01 -2.73878922e-04 -1.17283018e+01] [-3.08505881e-03 -5.40245551e-05 9.99995240e-01 -6.16406487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters Centerline goodness : 0.996333 with order 1 Centerline is valid? [True, True] Translation: X:173.71, Y:-11.73, Z:-0.61 [[ 9.94532769e-01 1.04379720e-01 3.07336249e-03 1.73707138e+02] [-1.04379372e-01 9.94537517e-01 -2.73769113e-04 -1.17269430e+01] [-3.08515024e-03 -4.85232931e-05 9.99995240e-01 -6.14888221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters Centerline goodness : 0.996204 with order 1 Centerline is valid? [True, True] Translation: X:173.77, Y:-11.73, Z:-0.62 [[ 9.94637805e-01 1.03374038e-01 3.07337215e-03 1.73766008e+02] [-1.03373686e-01 9.94642552e-01 -2.73660692e-04 -1.17275451e+01] [-3.08519612e-03 -4.55125368e-05 9.99995240e-01 -6.18140624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters Centerline goodness : 0.996319 with order 1 Centerline is valid? [True, True] Translation: X:173.83, Y:-11.72, Z:-0.62 [[ 9.94783012e-01 1.01967221e-01 3.07338481e-03 1.73825765e+02] [-1.01966862e-01 9.94787758e-01 -2.73518347e-04 -1.17233953e+01] [-3.08525549e-03 -4.12920000e-05 9.99995240e-01 -6.17776561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters Centerline goodness : 0.995660 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:-11.72, Z:-0.62 [[ 9.94919434e-01 1.00627400e-01 3.07339802e-03 1.73884047e+02] [-1.00627035e-01 9.94924181e-01 -2.73369922e-04 -1.17187504e+01] [-3.08530651e-03 -3.72858819e-05 9.99995240e-01 -6.17184754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters Centerline goodness : 0.995482 with order 1 Centerline is valid? [True, True] Translation: X:173.94, Y:-11.72, Z:-0.62 [[ 9.95050722e-01 9.93207648e-02 3.07341435e-03 1.73943286e+02] [-9.93203947e-02 9.95055468e-01 -2.73186180e-04 -1.17196423e+01] [-3.08535081e-03 -3.34186206e-05 9.99995240e-01 -6.17387514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters Centerline goodness : 0.995959 with order 1 Centerline is valid? [True, True] Translation: X:174.00, Y:-11.72, Z:-0.62 [[ 9.95654424e-01 9.30742851e-02 3.07342718e-03 1.74001886e+02] [-9.30738857e-02 9.95659167e-01 -2.73041700e-04 -1.17227358e+01] [-3.08549911e-03 -1.42006336e-05 9.99995240e-01 -6.19928131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters Centerline goodness : 0.995995 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:-11.73, Z:-0.62 [[ 9.96157218e-01 8.75291468e-02 3.07343995e-03 1.74060985e+02] [-8.75287215e-02 9.96161959e-01 -2.72897945e-04 -1.17258122e+01] [-3.08553048e-03 2.83498883e-06 9.99995240e-01 -6.21734107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters Centerline goodness : 0.995538 with order 1 Centerline is valid? [True, True] Translation: X:174.12, Y:-11.73, Z:-0.62 [[ 9.96200532e-01 8.70347896e-02 3.07345257e-03 1.74118483e+02] [-8.70343623e-02 9.96205273e-01 -2.72755676e-04 -1.17321169e+01] [-3.08552889e-03 4.22336446e-06 9.99995240e-01 -6.23175477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters Centerline goodness : 0.996441 with order 1 Centerline is valid? [True, True] Translation: X:174.18, Y:-11.74, Z:-0.62 [[ 9.96383714e-01 8.49120029e-02 3.07346816e-03 1.74177124e+02] [-8.49115660e-02 9.96388454e-01 -2.72579956e-04 -1.17383901e+01] [-3.08551350e-03 1.06212346e-05 9.99995240e-01 -6.19896679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:174.24, Y:-11.75, Z:-0.62 [[ 9.96670333e-01 8.14788425e-02 3.07347740e-03 1.74235982e+02] [-8.14783896e-02 9.96675071e-01 -2.72475654e-04 -1.17458694e+01] [-3.08545931e-03 2.11464116e-05 9.99995240e-01 -6.18181216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters Centerline goodness : 0.996403 with order 1 Centerline is valid? [True, True] Translation: X:174.29, Y:-11.75, Z:-0.62 [[ 9.96707184e-01 8.10268009e-02 3.07348399e-03 1.74294937e+02] [-8.10263462e-02 9.96711923e-01 -2.72401394e-04 -1.17507633e+01] [-3.08544995e-03 2.24712496e-05 9.99995240e-01 -6.21463082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters Centerline goodness : 0.996544 with order 1 Centerline is valid? [True, True] Translation: X:174.35, Y:-11.76, Z:-0.62 [[ 9.96470897e-01 8.38826819e-02 3.07349047e-03 1.74354123e+02] [-8.38822409e-02 9.96475637e-01 -2.72328195e-04 -1.17575297e+01] [-3.08550200e-03 1.35558522e-05 9.99995240e-01 -6.23309076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters Centerline goodness : 0.996538 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:-11.76, Z:-0.63 [[ 9.96353781e-01 8.52625207e-02 3.07349697e-03 1.74412875e+02] [-8.52620865e-02 9.96358521e-01 -2.72254789e-04 -1.17635136e+01] [-3.08551803e-03 9.20932374e-06 9.99995240e-01 -6.26189362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters Centerline goodness : 0.996421 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:-11.77, Z:-0.62 [[ 9.96116838e-01 8.79874872e-02 3.07350664e-03 1.74471196e+02] [-8.79870664e-02 9.96121580e-01 -2.72145609e-04 -1.17700379e+01] [-3.08553170e-03 6.59990987e-07 9.99995240e-01 -6.18894079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters Centerline goodness : 0.996720 with order 1 Centerline is valid? [True, True] Translation: X:174.53, Y:-11.78, Z:-0.62 [[ 9.95976109e-01 8.95664208e-02 3.07351548e-03 1.74529835e+02] [-8.95660078e-02 9.95980851e-01 -2.72045786e-04 -1.17759399e+01] [-3.08552873e-03 -4.33140770e-06 9.99995240e-01 -6.16255054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters Centerline goodness : 0.996257 with order 1 Centerline is valid? [True, True] Translation: X:174.59, Y:-11.78, Z:-0.62 [[ 9.95786172e-01 9.16539835e-02 3.07352821e-03 1.74587219e+02] [-9.16535809e-02 9.95790915e-01 -2.71901908e-04 -1.17819799e+01] [-3.08551236e-03 -1.09437060e-05 9.99995240e-01 -6.16265291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:-11.78, Z:-0.62 [[ 9.95265066e-01 9.71493789e-02 3.07354393e-03 1.74646413e+02] [-9.71490029e-02 9.95269811e-01 -2.71724057e-04 -1.17836442e+01] [-3.08540331e-03 -2.81542671e-05 9.99995240e-01 -6.22931876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:-11.78, Z:-0.62 [[ 9.94986303e-01 9.99640397e-02 3.07355670e-03 1.74704148e+02] [-9.99636776e-02 9.94991050e-01 -2.71579531e-04 -1.17837463e+01] [-3.08530959e-03 -3.70261175e-05 9.99995240e-01 -6.17381102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters Centerline goodness : 0.996408 with order 1 Centerline is valid? [True, True] Translation: X:174.76, Y:-11.79, Z:-0.62 [[ 9.94937202e-01 1.00451565e-01 3.07357257e-03 1.74762637e+02] [-1.00451206e-01 9.94941949e-01 -2.71399832e-04 -1.17869339e+01] [-3.08528882e-03 -3.87182819e-05 9.99995240e-01 -6.15800438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters Centerline goodness : 0.996146 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:-11.78, Z:-0.62 [[ 9.95147629e-01 9.83450565e-02 3.07358500e-03 1.74821690e+02] [-9.83446877e-02 9.95152375e-01 -2.71258936e-04 -1.17848945e+01] [-3.08536239e-03 -3.23280704e-05 9.99995240e-01 -6.16283693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:-11.79, Z:-0.62 [[ 9.95655476e-01 9.30630175e-02 3.07359774e-03 1.74879804e+02] [-9.30626239e-02 9.95660220e-01 -2.71114528e-04 -1.17857924e+01] [-3.08548974e-03 -1.61004056e-05 9.99995240e-01 -6.17634714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters Centerline goodness : 0.996469 with order 1 Centerline is valid? [True, True] Translation: X:174.94, Y:-11.79, Z:-0.62 [[ 9.96138455e-01 8.77424122e-02 3.07361347e-03 1.74937664e+02] [-8.77419939e-02 9.96143197e-01 -2.70936102e-04 -1.17873052e+01] [-3.08553173e-03 2.04896472e-07 9.99995240e-01 -6.20063085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters Centerline goodness : 0.996306 with order 1 Centerline is valid? [True, True] Translation: X:175.00, Y:-11.79, Z:-0.62 [[ 9.96370749e-01 8.50640003e-02 3.07362892e-03 1.74995837e+02] [-8.50635698e-02 9.96375489e-01 -2.70760739e-04 -1.17922613e+01] [-3.08552051e-03 8.32423196e-06 9.99995240e-01 -6.23586714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:175.05, Y:-11.80, Z:-0.63 [[ 9.96579274e-01 8.25851271e-02 3.07364163e-03 1.75054453e+02] [-8.25846853e-02 9.96584014e-01 -2.70616289e-04 -1.17957025e+01] [-3.08549100e-03 1.58548579e-05 9.99995240e-01 -6.25006731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters Centerline goodness : 0.996541 with order 1 Centerline is valid? [True, True] Translation: X:175.11, Y:-11.80, Z:-0.62 [[ 9.96854046e-01 7.91995126e-02 3.07365467e-03 1.75112237e+02] [-7.91990551e-02 9.96858785e-01 -2.70468115e-04 -1.18036998e+01] [-3.08542060e-03 2.61866889e-05 9.99995240e-01 -6.24643150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters Centerline goodness : 0.996446 with order 1 Centerline is valid? [True, True] Translation: X:175.17, Y:-11.81, Z:-0.62 [[ 9.97123228e-01 7.57351987e-02 3.07367173e-03 1.75171262e+02] [-7.57347254e-02 9.97127965e-01 -2.70274072e-04 -1.18127486e+01] [-3.08531330e-03 3.67128700e-05 9.99995240e-01 -6.20883092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters Centerline goodness : 0.996489 with order 1 Centerline is valid? [True, True] Translation: X:175.23, Y:-11.82, Z:-0.62 [[ 9.97091818e-01 7.61476089e-02 3.07367813e-03 1.75228902e+02] [-7.61471377e-02 9.97096555e-01 -2.70201265e-04 -1.18238597e+01] [-3.08532906e-03 3.53636780e-05 9.99995240e-01 -6.17228871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters Centerline goodness : 0.996456 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:-11.83, Z:-0.62 [[ 9.96575470e-01 8.26310202e-02 3.07368478e-03 1.75287893e+02] [-8.26305800e-02 9.96580210e-01 -2.70125616e-04 -1.18268848e+01] [-3.08549418e-03 1.52202066e-05 9.99995240e-01 -6.23441544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:175.35, Y:-11.83, Z:-0.62 [[ 9.95939130e-01 8.99766778e-02 3.07369747e-03 1.75346329e+02] [-8.99762731e-02 9.95943873e-01 -2.69981164e-04 -1.18328492e+01] [-3.08552217e-03 -7.67503738e-06 9.99995240e-01 -6.19593209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:175.40, Y:-11.84, Z:-0.61 [[ 9.96068765e-01 8.85300393e-02 3.07371042e-03 1.75403925e+02] [-8.85296281e-02 9.96073507e-01 -2.69833625e-04 -1.18371078e+01] [-3.08552990e-03 -3.34159559e-06 9.99995240e-01 -6.13690684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters Centerline goodness : 0.996886 with order 1 Centerline is valid? [True, True] Translation: X:175.46, Y:-11.84, Z:-0.62 [[ 9.96660002e-01 8.16050963e-02 3.07372650e-03 1.75463047e+02] [-8.16046528e-02 9.96664742e-01 -2.69650314e-04 -1.18448136e+01] [-3.08547967e-03 1.79192985e-05 9.99995240e-01 -6.16736669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters Centerline goodness : 0.996759 with order 1 Centerline is valid? [True, True] Translation: X:175.52, Y:-11.86, Z:-0.62 [[ 9.97321609e-01 7.30764029e-02 3.07373267e-03 1.75520651e+02] [-7.30759190e-02 9.97326344e-01 -2.69580068e-04 -1.18555043e+01] [-3.08521450e-03 4.42421877e-05 9.99995240e-01 -6.19825510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:-11.87, Z:-0.63 [[ 9.97766088e-01 6.67336943e-02 3.07374179e-03 1.75580666e+02] [-6.67331807e-02 9.97770820e-01 -2.69476020e-04 -1.18680918e+01] [-3.08487300e-03 6.37534686e-05 9.99995240e-01 -6.27657830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters Centerline goodness : 0.997362 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:-11.88, Z:-0.63 [[ 9.98003262e-01 6.30875726e-02 3.07374179e-03 1.75639056e+02] [-6.30870416e-02 9.98007992e-01 -2.69476020e-04 -1.18825026e+01] [-3.08461946e-03 7.50246712e-05 9.99995240e-01 -6.25564887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters Centerline goodness : 0.997175 with order 1 Centerline is valid? [True, True] Translation: X:175.70, Y:-11.89, Z:-0.62 [[ 9.97979606e-01 6.34606876e-02 3.07374487e-03 1.75698923e+02] [-6.34601585e-02 9.97984336e-01 -2.69440883e-04 -1.18940686e+01] [-3.08464814e-03 7.38361701e-05 9.99995240e-01 -6.24675889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters Centerline goodness : 0.997182 with order 1 Centerline is valid? [True, True] Translation: X:175.76, Y:-11.91, Z:-0.62 [[ 9.97860400e-01 6.53082941e-02 3.07374487e-03 1.75758425e+02] [-6.53077738e-02 9.97865132e-01 -2.69440883e-04 -1.19092077e+01] [-3.08477955e-03 6.81249533e-05 9.99995240e-01 -6.24300988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:-11.92, Z:-0.62 [[ 9.97740959e-01 6.71083459e-02 3.07374487e-03 1.75817585e+02] [-6.71078342e-02 9.97745692e-01 -2.69440884e-04 -1.19227997e+01] [-3.08489743e-03 6.25598447e-05 9.99995240e-01 -6.21591681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters Centerline goodness : 0.997303 with order 1 Centerline is valid? [True, True] Translation: X:175.88, Y:-11.93, Z:-0.62 [[ 9.97659124e-01 6.83141625e-02 3.07374181e-03 1.75877840e+02] [-6.83136563e-02 9.97663857e-01 -2.69475773e-04 -1.19327521e+01] [-3.08497012e-03 5.88664217e-05 9.99995240e-01 -6.24708392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:-11.94, Z:-0.63 [[ 9.97686279e-01 6.79164208e-02 3.07373552e-03 1.75938054e+02] [-6.79159125e-02 9.97691012e-01 -2.69547510e-04 -1.19426701e+01] [-3.08494500e-03 6.01683000e-05 9.99995240e-01 -6.31451498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters Centerline goodness : 0.997677 with order 1 Centerline is valid? [True, True] Translation: X:176.00, Y:-11.95, Z:-0.63 [[ 9.97906006e-01 6.46077018e-02 3.07372930e-03 1.75998722e+02] [-6.46071776e-02 9.97910737e-01 -2.69618440e-04 -1.19505749e+01] [-3.08472690e-03 7.04688864e-05 9.99995240e-01 -6.28747949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters Centerline goodness : 0.997158 with order 1 Centerline is valid? [True, True] Translation: X:176.06, Y:-11.96, Z:-0.62 [[ 9.97945952e-01 6.39877305e-02 3.07368907e-03 1.76059267e+02] [-6.39872020e-02 9.97950683e-01 -2.70076200e-04 -1.19579180e+01] [-3.08467167e-03 7.28446874e-05 9.99995240e-01 -6.22538282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters Centerline goodness : 0.997274 with order 1 Centerline is valid? [True, True] Translation: X:176.12, Y:-11.97, Z:-0.62 [[ 9.97960930e-01 6.37537076e-02 3.07368290e-03 1.76119390e+02] [-6.37531778e-02 9.97965660e-01 -2.70146495e-04 -1.19690226e+01] [-3.08465282e-03 7.36385956e-05 9.99995240e-01 -6.21010535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters Centerline goodness : 0.997077 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:-11.98, Z:-0.62 [[ 9.97969362e-01 6.36215836e-02 3.07364316e-03 1.76181268e+02] [-6.36210518e-02 9.97974092e-01 -2.70597867e-04 -1.19785479e+01] [-3.08463210e-03 7.44999697e-05 9.99995240e-01 -6.22596784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters Centerline goodness : 0.997258 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:-11.99, Z:-0.62 [[ 9.98132753e-01 6.10045853e-02 3.07360062e-03 1.76243266e+02] [-6.10040396e-02 9.98137482e-01 -2.71080177e-04 -1.19911335e+01] [-3.08441312e-03 8.30719494e-05 9.99995240e-01 -6.21877275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters Centerline goodness : 0.997132 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:-12.01, Z:-0.62 [[ 9.98185087e-01 6.01422095e-02 3.07355235e-03 1.76305319e+02] [-6.01416580e-02 9.98189815e-01 -2.71626388e-04 -1.20050337e+01] [-3.08432486e-03 8.62848754e-05 9.99995240e-01 -6.20043678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters Centerline goodness : 0.998024 with order 1 Centerline is valid? [True, True] Translation: X:176.37, Y:-12.02, Z:-0.62 [[ 9.97878335e-01 6.50337029e-02 3.07350186e-03 1.76365448e+02] [-6.50331728e-02 9.97883065e-01 -2.72196513e-04 -1.20190343e+01] [-3.08469740e-03 7.17394259e-05 9.99995240e-01 -6.24399151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters Centerline goodness : 0.997018 with order 1 Centerline is valid? [True, True] Translation: X:176.43, Y:-12.03, Z:-0.62 [[ 9.97585865e-01 6.93757646e-02 3.07345694e-03 1.76427533e+02] [-6.93752536e-02 9.97590597e-01 -2.72702714e-04 -1.20333375e+01] [-3.08497071e-03 5.88225178e-05 9.99995240e-01 -6.21478799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:176.49, Y:-12.04, Z:-0.62 [[ 9.97079661e-01 7.63066395e-02 3.07340512e-03 1.76488081e+02] [-7.63061596e-02 9.97084397e-01 -2.73285494e-04 -1.20418894e+01] [-3.08529779e-03 3.79676659e-05 9.99995240e-01 -6.24635180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [True, True] Translation: X:176.55, Y:-12.05, Z:-0.62 [[ 9.96294918e-01 8.59476048e-02 3.07336484e-03 1.76551155e+02] [-8.59471693e-02 9.96299658e-01 -2.73737786e-04 -1.20490122e+01] [-3.08551944e-03 8.57655751e-06 9.99995240e-01 -6.21875220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters Centerline goodness : 0.997201 with order 1 Centerline is valid? [True, True] Translation: X:176.61, Y:-12.05, Z:-0.63 [[ 9.95739557e-01 9.21590455e-02 3.07331364e-03 1.76613264e+02] [-9.21586378e-02 9.95744300e-01 -2.74311433e-04 -1.20543639e+01] [-3.08551481e-03 -1.00896530e-05 9.99995240e-01 -6.25996229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters Centerline goodness : 0.997468 with order 1 Centerline is valid? [True, True] Translation: X:176.67, Y:-12.06, Z:-0.63 [[ 9.95573294e-01 9.39381301e-02 3.07326791e-03 1.76674779e+02] [-9.39377293e-02 9.95578037e-01 -2.74822734e-04 -1.20588949e+01] [-3.08549437e-03 -1.50896345e-05 9.99995240e-01 -6.27951988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters Centerline goodness : 0.997679 with order 1 Centerline is valid? [True, True] Translation: X:176.74, Y:-12.06, Z:-0.62 [[ 9.94962679e-01 1.00198919e-01 3.07321952e-03 1.76736085e+02] [-1.00198546e-01 9.94967424e-01 -2.75362845e-04 -1.20591111e+01] [-3.08534437e-03 -3.39563743e-05 9.99995240e-01 -6.20844734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters Centerline goodness : 0.997470 with order 1 Centerline is valid? [True, True] Translation: X:176.80, Y:-12.06, Z:-0.62 [[ 9.94536127e-01 1.04347723e-01 3.07317870e-03 1.76797741e+02] [-1.04347369e-01 9.94540874e-01 -2.75817681e-04 -1.20584427e+01] [-3.08518278e-03 -4.63674617e-05 9.99995240e-01 -6.16826986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters Centerline goodness : 0.997165 with order 1 Centerline is valid? [True, True] Translation: X:176.86, Y:-12.06, Z:-0.61 [[ 9.94450059e-01 1.05164808e-01 3.07317280e-03 1.76859472e+02] [-1.05164457e-01 9.94454806e-01 -2.75883406e-04 -1.20584184e+01] [-3.08514468e-03 -4.88362792e-05 9.99995240e-01 -6.12962688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters Centerline goodness : 0.997975 with order 1 Centerline is valid? [True, True] Translation: X:176.92, Y:-12.06, Z:-0.62 [[ 9.94584063e-01 1.03889835e-01 3.07316624e-03 1.76920579e+02] [-1.03889478e-01 9.94588810e-01 -2.75956453e-04 -1.20553947e+01] [-3.08520582e-03 -4.48077476e-05 9.99995240e-01 -6.16985138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:176.98, Y:-12.05, Z:-0.62 [[ 9.94541104e-01 1.04300280e-01 3.07316300e-03 1.76981856e+02] [-1.04299925e-01 9.94545851e-01 -2.75992492e-04 -1.20531785e+01] [-3.08518761e-03 -4.60447928e-05 9.99995240e-01 -6.20295270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:177.04, Y:-12.05, Z:-0.62 [[ 9.94413101e-01 1.05513696e-01 3.07316300e-03 1.77041881e+02] [-1.05513347e-01 9.94417848e-01 -2.75992492e-04 -1.20463199e+01] [-3.08512913e-03 -4.98091647e-05 9.99995240e-01 -6.20697806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:-12.05, Z:-0.62 [[ 9.94632139e-01 1.03428542e-01 3.07316940e-03 1.77101603e+02] [-1.03428184e-01 9.94636886e-01 -2.75921244e-04 -1.20483052e+01] [-3.08522577e-03 -4.34121911e-05 9.99995240e-01 -6.15221420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters Centerline goodness : 0.997705 with order 1 Centerline is valid? [True, True] Translation: X:177.16, Y:-12.05, Z:-0.61 [[ 9.94940560e-01 1.00418317e-01 3.07317581e-03 1.77161878e+02] [-1.00417944e-01 9.94945305e-01 -2.75849782e-04 -1.20468586e+01] [-3.08534222e-03 -3.41478610e-05 9.99995240e-01 -6.14663134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters Centerline goodness : 0.997828 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:-12.04, Z:-0.62 [[ 9.94819299e-01 1.01612585e-01 3.07318225e-03 1.77221775e+02] [-1.01612218e-01 9.94824045e-01 -2.75778002e-04 -1.20437963e+01] [-3.08529812e-03 -3.79235859e-05 9.99995240e-01 -6.20044298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters Centerline goodness : 0.997699 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:-12.04, Z:-0.62 [[ 9.94529844e-01 1.04407593e-01 3.07318893e-03 1.77280312e+02] [-1.04407239e-01 9.94534591e-01 -2.75703543e-04 -1.20383161e+01] [-3.08517824e-03 -4.66677705e-05 9.99995240e-01 -6.18256462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters Centerline goodness : 0.997622 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:-12.04, Z:-0.62 [[ 9.94994066e-01 9.98867570e-02 3.07320542e-03 1.77339247e+02] [-9.98863824e-02 9.94998811e-01 -2.75519697e-04 -1.20383239e+01] [-3.08535651e-03 -3.28309082e-05 9.99995240e-01 -6.20666091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters Centerline goodness : 0.997148 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:-12.04, Z:-0.62 [[ 9.95729200e-01 9.22708864e-02 3.07321509e-03 1.77398660e+02] [-9.22704759e-02 9.95733942e-01 -2.75411796e-04 -1.20401799e+01] [-3.08551706e-03 -9.33145140e-06 9.99995240e-01 -6.24545540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters Centerline goodness : 0.997747 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:-12.04, Z:-0.62 [[ 9.96686092e-01 8.12858519e-02 3.07322157e-03 1.77458169e+02] [-8.12853893e-02 9.96690830e-01 -2.75339458e-04 -1.20431042e+01] [-3.08543296e-03 2.46189968e-05 9.99995240e-01 -6.24254397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters Centerline goodness : 0.997504 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:-12.05, Z:-0.62 [[ 9.97340175e-01 7.28225917e-02 3.07322799e-03 1.77517823e+02] [-7.28220891e-02 9.97344909e-01 -2.75267700e-04 -1.20498470e+01] [-3.08511400e-03 5.07366539e-05 9.99995240e-01 -6.24887155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters Centerline goodness : 0.997444 with order 1 Centerline is valid? [True, True] Translation: X:177.58, Y:-12.06, Z:-0.62 [[ 9.97801622e-01 6.62002855e-02 3.07322799e-03 1.77577356e+02] [-6.61997515e-02 9.97806353e-01 -2.75267700e-04 -1.20598759e+01] [-3.08470922e-03 7.12156285e-05 9.99995240e-01 -6.22299790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters Centerline goodness : 0.997575 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:-12.07, Z:-0.62 [[ 9.98140002e-01 6.08858904e-02 3.07322799e-03 1.77637227e+02] [-6.08853313e-02 9.98144729e-01 -2.75267700e-04 -1.20723162e+01] [-3.08428624e-03 8.76411986e-05 9.99995240e-01 -6.21855727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters Centerline goodness : 0.997608 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:-12.08, Z:-0.62 [[ 9.98265979e-01 5.87842742e-02 3.07322474e-03 1.77698005e+02] [-5.87837050e-02 9.98270705e-01 -2.75304076e-04 -1.20849583e+01] [-3.08409377e-03 9.41711568e-05 9.99995240e-01 -6.18514290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters Centerline goodness : 0.996814 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:-12.10, Z:-0.61 [[ 9.98394145e-01 5.65657698e-02 3.07321827e-03 1.77757804e+02] [-5.65651898e-02 9.98398870e-01 -2.75376202e-04 -1.21017502e+01] [-3.08387452e-03 1.01096813e-04 9.99995240e-01 -6.11493003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:-12.12, Z:-0.62 [[ 9.98409906e-01 5.62869048e-02 3.07317645e-03 1.77818525e+02] [-5.62863221e-02 9.98414630e-01 -2.75842105e-04 -1.21163229e+01] [-3.08383063e-03 1.02425690e-04 9.99995240e-01 -6.20233891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:177.88, Y:-12.13, Z:-0.62 [[ 9.98512728e-01 5.44324181e-02 3.07316695e-03 1.77879376e+02] [-5.44318263e-02 9.98517451e-01 -2.75947938e-04 -1.21317835e+01] [-3.08363134e-03 1.08259439e-04 9.99995240e-01 -6.21643621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters Centerline goodness : 0.997348 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:-12.15, Z:-0.62 [[ 9.98460912e-01 5.53747560e-02 3.07312098e-03 1.77939662e+02] [-5.53741670e-02 9.98465635e-01 -2.76458907e-04 -1.21469893e+01] [-3.08371454e-03 1.05861898e-04 9.99995240e-01 -6.16629586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:178.00, Y:-12.16, Z:-0.62 [[ 9.98276094e-01 5.86122598e-02 3.07309608e-03 1.78000525e+02] [-5.86116854e-02 9.98280819e-01 -2.76735453e-04 -1.21639060e+01] [-3.08403296e-03 9.61390466e-05 9.99995240e-01 -6.20290884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters Centerline goodness : 0.997000 with order 1 Centerline is valid? [True, True] Translation: X:178.06, Y:-12.18, Z:-0.62 [[ 9.98080009e-01 6.18615594e-02 3.07305083e-03 1.78061431e+02] [-6.18609988e-02 9.98084736e-01 -2.77237079e-04 -1.21778620e+01] [-3.08431544e-03 8.66027925e-05 9.99995240e-01 -6.22784880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters Centerline goodness : 0.997183 with order 1 Centerline is valid? [True, True] Translation: X:178.12, Y:-12.19, Z:-0.62 [[ 9.97859873e-01 6.53163835e-02 3.07300535e-03 1.78122252e+02] [-6.53158377e-02 9.97864602e-01 -2.77740266e-04 -1.21894603e+01] [-3.08458425e-03 7.64299483e-05 9.99995240e-01 -6.19468227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters Centerline goodness : 0.997043 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:-12.20, Z:-0.62 [[ 9.97581296e-01 6.94414493e-02 3.07296343e-03 1.78183912e+02] [-6.94409217e-02 9.97586027e-01 -2.78203313e-04 -1.22045165e+01] [-3.08486422e-03 6.41410085e-05 9.99995240e-01 -6.20859984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:178.24, Y:-12.22, Z:-0.62 [[ 9.97046908e-01 7.67334412e-02 3.07291092e-03 1.78244617e+02] [-7.67329463e-02 9.97051642e-01 -2.78782043e-04 -1.22196765e+01] [-3.08524279e-03 4.21652645e-05 9.99995240e-01 -6.20804953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters Centerline goodness : 0.996676 with order 1 Centerline is valid? [True, True] Translation: X:178.31, Y:-12.23, Z:-0.62 [[ 9.96540552e-01 8.30511083e-02 3.07287826e-03 1.78307213e+02] [-8.30506423e-02 9.96545289e-01 -2.79141579e-04 -1.22291701e+01] [-3.08544537e-03 2.29713896e-05 9.99995240e-01 -6.20291961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters Centerline goodness : 0.995711 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:-12.24, Z:-0.62 [[ 9.95733019e-01 9.22296745e-02 3.07282551e-03 1.78368329e+02] [-9.22292505e-02 9.95737760e-01 -2.79721101e-04 -1.22374439e+01] [-3.08552698e-03 -4.87685730e-06 9.99995240e-01 -6.15643185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters Centerline goodness : 0.995026 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:-12.24, Z:-0.62 [[ 9.95214633e-01 9.76646900e-02 3.07278288e-03 1.78431010e+02] [-9.76642904e-02 9.95219377e-01 -2.80188610e-04 -1.22442924e+01] [-3.08545760e-03 -2.12533549e-05 9.99995240e-01 -6.16305734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters Centerline goodness : 0.995553 with order 1 Centerline is valid? [True, True] Translation: X:178.49, Y:-12.25, Z:-0.62 [[ 9.95119843e-01 9.86258409e-02 3.07274659e-03 1.78491675e+02] [-9.86254446e-02 9.95124587e-01 -2.80586074e-04 -1.22513773e+01] [-3.08543871e-03 -2.38342287e-05 9.99995240e-01 -6.19421021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters Centerline goodness : 0.994542 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:-12.26, Z:-0.62 [[ 9.94982702e-01 9.99999103e-02 3.07272057e-03 1.78553848e+02] [-9.99995197e-02 9.94987446e-01 -2.80870642e-04 -1.22585664e+01] [-3.08540543e-03 -2.78091511e-05 9.99995240e-01 -6.17255510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters Centerline goodness : 0.995047 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:-12.26, Z:-0.62 [[ 9.94958001e-01 1.00245375e-01 3.07267032e-03 1.78616997e+02] [-1.00244984e-01 9.94962745e-01 -2.81419319e-04 -1.22642185e+01] [-3.08540348e-03 -2.80193841e-05 9.99995240e-01 -6.19109141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters Centerline goodness : 0.995368 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-12.27, Z:-0.62 [[ 9.94800281e-01 1.01798622e-01 3.07262034e-03 1.78678025e+02] [-1.01798237e-01 9.94805026e-01 -2.81963978e-04 -1.22705415e+01] [-3.08536170e-03 -3.22894886e-05 9.99995240e-01 -6.21659887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:-12.28, Z:-0.62 [[ 9.94802222e-01 1.01779655e-01 3.07257995e-03 1.78740001e+02] [-1.01779268e-01 9.94806967e-01 -2.82403436e-04 -1.22757010e+01] [-3.08536686e-03 -3.17893729e-05 9.99995240e-01 -6.15836365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-12.29, Z:-0.62 [[ 9.95097763e-01 9.88483790e-02 3.07253439e-03 1.78801316e+02] [-9.88479766e-02 9.95102506e-01 -2.82898219e-04 -1.22853315e+01] [-3.08545070e-03 -2.22024227e-05 9.99995240e-01 -6.22034598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:178.86, Y:-12.29, Z:-0.62 [[ 9.95264534e-01 9.71548635e-02 3.07248850e-03 1.78862262e+02] [-9.71544515e-02 9.95269276e-01 -2.83395764e-04 -1.22925968e+01] [-3.08548668e-03 -1.64521821e-05 9.99995240e-01 -6.20445316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters Centerline goodness : 0.993735 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:-12.30, Z:-0.62 [[ 9.95190326e-01 9.79120772e-02 3.07244622e-03 1.78925113e+02] [-9.79116675e-02 9.95195069e-01 -2.83853401e-04 -1.23001241e+01] [-3.08547600e-03 -1.83401739e-05 9.99995240e-01 -6.15785354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters Centerline goodness : 0.994344 with order 1 Centerline is valid? [True, True] Translation: X:178.99, Y:-12.31, Z:-0.62 [[ 9.94900009e-01 1.00819309e-01 3.07239318e-03 1.78987038e+02] [-1.00818911e-01 9.94904752e-01 -2.84426366e-04 -1.23061881e+01] [-3.08541424e-03 -2.67795412e-05 9.99995240e-01 -6.20339861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters Centerline goodness : 0.993490 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:-12.31, Z:-0.61 [[ 9.94801849e-01 1.01783306e-01 3.07234383e-03 1.79048720e+02] [-1.01782911e-01 9.94806593e-01 -2.84958390e-04 -1.23135838e+01] [-3.08539191e-03 -2.92349648e-05 9.99995240e-01 -6.13743417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters Centerline goodness : 0.993267 with order 1 Centerline is valid? [True, True] Translation: X:179.11, Y:-12.32, Z:-0.61 [[ 9.94605762e-01 1.03681917e-01 3.07229733e-03 1.79110928e+02] [-1.03681529e-01 9.94610506e-01 -2.85458853e-04 -1.23217859e+01] [-3.08533613e-03 -3.46214662e-05 9.99995240e-01 -6.14819171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:179.17, Y:-12.33, Z:-0.62 [[ 9.94149532e-01 1.07968834e-01 3.07224449e-03 1.79172773e+02] [-1.07968466e-01 9.94154278e-01 -2.86026416e-04 -1.23261903e+01] [-3.08516695e-03 -4.73524962e-05 9.99995240e-01 -6.17290771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters Centerline goodness : 0.993322 with order 1 Centerline is valid? [True, True] Translation: X:179.24, Y:-12.32, Z:-0.62 [[ 9.92878163e-01 1.19094563e-01 3.07219844e-03 1.79236481e+02] [-1.19094246e-01 9.92882913e-01 -2.86520278e-04 -1.23241863e+01] [-3.08445634e-03 -8.14014296e-05 9.99995240e-01 -6.18981733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters Centerline goodness : 0.993051 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:-12.32, Z:-0.62 [[ 9.91788724e-01 1.27850256e-01 3.07214414e-03 1.79297792e+02] [-1.27849980e-01 9.91793477e-01 -2.87101241e-04 -1.23221157e+01] [-3.08363849e-03 -1.08029793e-04 9.99995240e-01 -6.15291274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters Centerline goodness : 0.993578 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:-12.32, Z:-0.62 [[ 9.91523141e-01 1.29893888e-01 3.07210082e-03 1.79359661e+02] [-1.29893619e-01 9.91527894e-01 -2.87564093e-04 -1.23181389e+01] [-3.08342647e-03 -1.13919841e-04 9.99995240e-01 -6.18399325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:179.42, Y:-12.31, Z:-0.62 [[ 9.91495332e-01 1.30105992e-01 3.07205837e-03 1.79421545e+02] [-1.30105724e-01 9.91500085e-01 -2.88016795e-04 -1.23138091e+01] [-3.08341885e-03 -1.14125070e-04 9.99995240e-01 -6.19540217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters Centerline goodness : 0.992659 with order 1 Centerline is valid? [True, True] Translation: X:179.48, Y:-12.31, Z:-0.61 [[ 9.91392149e-01 1.30889912e-01 3.07205180e-03 1.79483678e+02] [-1.30889646e-01 9.91396902e-01 -2.88086906e-04 -1.23112692e+01] [-3.08333031e-03 -1.16492677e-04 9.99995240e-01 -6.14125784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters Centerline goodness : 0.993718 with order 1 Centerline is valid? [True, True] Translation: X:179.54, Y:-12.31, Z:-0.62 [[ 9.91391710e-01 1.30893241e-01 3.07204501e-03 1.79544130e+02] [-1.30892975e-01 9.91396463e-01 -2.88159290e-04 -1.23114343e+01] [-3.08333266e-03 -1.16430380e-04 9.99995240e-01 -6.18781908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:-12.31, Z:-0.62 [[ 9.91319480e-01 1.31439157e-01 3.07204165e-03 1.79604645e+02] [-1.31438894e-01 9.91324233e-01 -2.88195110e-04 -1.23080704e+01] [-3.08326945e-03 -1.18092331e-04 9.99995240e-01 -6.18341141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:-12.31, Z:-0.61 [[ 9.91555483e-01 1.29646778e-01 3.07204486e-03 1.79664799e+02] [-1.29646507e-01 9.91560235e-01 -2.88160939e-04 -1.23101498e+01] [-3.08347666e-03 -1.12552326e-04 9.99995240e-01 -6.10876377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters Centerline goodness : 0.993505 with order 1 Centerline is valid? [True, True] Translation: X:179.72, Y:-12.31, Z:-0.62 [[ 9.91568549e-01 1.29546808e-01 3.07204486e-03 1.79724545e+02] [-1.29546536e-01 9.91573301e-01 -2.88160939e-04 -1.23092974e+01] [-3.08348799e-03 -1.12241445e-04 9.99995240e-01 -6.18236245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters Centerline goodness : 0.992493 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:-12.31, Z:-0.61 [[ 9.91427960e-01 1.30618388e-01 3.07205153e-03 1.79783291e+02] [-1.30618122e-01 9.91432712e-01 -2.88089732e-04 -1.23111630e+01] [-3.08336220e-03 -1.15645386e-04 9.99995240e-01 -6.13593471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:179.84, Y:-12.31, Z:-0.62 [[ 9.91402885e-01 1.30808569e-01 3.07206142e-03 1.79841713e+02] [-1.30808304e-01 9.91407638e-01 -2.87984258e-04 -1.23116084e+01] [-3.08333597e-03 -1.16342718e-04 9.99995240e-01 -6.19081691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:179.90, Y:-12.31, Z:-0.62 [[ 9.91032495e-01 1.33585766e-01 3.07207764e-03 1.79900325e+02] [-1.33585515e-01 9.91037248e-01 -2.87811096e-04 -1.23128167e+01] [-3.08299084e-03 -1.25154925e-04 9.99995240e-01 -6.22630060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters Centerline goodness : 0.993315 with order 1 Centerline is valid? [True, True] Translation: X:179.96, Y:-12.31, Z:-0.62 [[ 9.90614183e-01 1.36653222e-01 3.07209057e-03 1.79959847e+02] [-1.36652985e-01 9.90618937e-01 -2.87673040e-04 -1.23078789e+01] [-3.08258254e-03 -1.34837355e-04 9.99995240e-01 -6.22625153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters Centerline goodness : 0.993993 with order 1 Centerline is valid? [True, True] Translation: X:180.02, Y:-12.30, Z:-0.62 [[ 9.90730100e-01 1.35810277e-01 3.07210423e-03 1.80017969e+02] [-1.35810037e-01 9.90734854e-01 -2.87527100e-04 -1.23041943e+01] [-3.08268987e-03 -1.32360836e-04 9.99995240e-01 -6.23967808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters Centerline goodness : 0.992883 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-12.30, Z:-0.62 [[ 9.90324209e-01 1.38739047e-01 3.07212107e-03 1.80078236e+02] [-1.38738821e-01 9.90328964e-01 -2.87347054e-04 -1.22965642e+01] [-3.08227673e-03 -1.41655713e-04 9.99995240e-01 -6.16812087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters Centerline goodness : 0.992740 with order 1 Centerline is valid? [True, True] Translation: X:180.14, Y:-12.29, Z:-0.61 [[ 9.89988480e-01 1.41114742e-01 3.07213463e-03 1.80136878e+02] [-1.41114529e-01 9.89993236e-01 -2.87202034e-04 -1.22914574e+01] [-3.08192094e-03 -1.49196126e-04 9.99995240e-01 -6.14777043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters Centerline goodness : 0.993421 with order 1 Centerline is valid? [True, True] Translation: X:180.20, Y:-12.28, Z:-0.62 [[ 9.89772529e-01 1.42621534e-01 3.07215137e-03 1.80195744e+02] [-1.42621328e-01 9.89777285e-01 -2.87022849e-04 -1.22797808e+01] [-3.08168128e-03 -1.54066978e-04 9.99995240e-01 -6.16639136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:180.25, Y:-12.27, Z:-0.62 [[ 9.90134684e-01 1.40085219e-01 3.07217121e-03 1.80254508e+02] [-1.40085002e-01 9.90139440e-01 -2.86810279e-04 -1.22729473e+01] [-3.08205576e-03 -1.46384305e-04 9.99995240e-01 -6.16875627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:180.31, Y:-12.27, Z:-0.62 [[ 9.90854129e-01 1.34902397e-01 3.07219106e-03 1.80311863e+02] [-1.34902156e-01 9.90858883e-01 -2.86597579e-04 -1.22676618e+01] [-3.08277050e-03 -1.30468803e-04 9.99995240e-01 -6.16723064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:180.37, Y:-12.27, Z:-0.62 [[ 9.91102634e-01 1.33064387e-01 3.07221395e-03 1.80369971e+02] [-1.33064137e-01 9.91107387e-01 -2.86351962e-04 -1.22655385e+01] [-3.08299719e-03 -1.24997315e-04 9.99995240e-01 -6.18911625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters Centerline goodness : 0.992669 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:-12.27, Z:-0.62 [[ 9.91302589e-01 1.31566479e-01 3.07223366e-03 1.80427830e+02] [-1.31566223e-01 9.91307342e-01 -2.86140320e-04 -1.22654650e+01] [-3.08317426e-03 -1.20550539e-04 9.99995240e-01 -6.19778342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters Centerline goodness : 0.992231 with order 1 Centerline is valid? [True, True] Translation: X:180.48, Y:-12.27, Z:-0.62 [[ 9.91711377e-01 1.28448846e-01 3.07225364e-03 1.80484463e+02] [-1.28448575e-01 9.91716130e-01 -2.85925606e-04 -1.22670605e+01] [-3.08353031e-03 -1.11070928e-04 9.99995240e-01 -6.18675554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters Centerline goodness : 0.992133 with order 1 Centerline is valid? [True, True] Translation: X:180.54, Y:-12.27, Z:-0.62 [[ 9.92855766e-01 1.19281136e-01 3.07227670e-03 1.80543033e+02] [-1.19280823e-01 9.92860516e-01 -2.85677671e-04 -1.22665346e+01] [-3.08441818e-03 -8.28269691e-05 9.99995240e-01 -6.19835460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters Centerline goodness : 0.993029 with order 1 Centerline is valid? [True, True] Translation: X:180.60, Y:-12.27, Z:-0.62 [[ 9.93691682e-01 1.12104428e-01 3.07229677e-03 1.80600387e+02] [-1.12104081e-01 9.93696429e-01 -2.85461667e-04 -1.22712863e+01] [-3.08493184e-03 -6.07561200e-05 9.99995240e-01 -6.23990285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters Centerline goodness : 0.992727 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:-12.28, Z:-0.62 [[ 9.94885778e-01 1.00959643e-01 3.07231339e-03 1.80659350e+02] [-1.00959244e-01 9.94890521e-01 -2.85282621e-04 -1.22761783e+01] [-3.08541751e-03 -2.63548140e-05 9.99995240e-01 -6.21331170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters Centerline goodness : 0.992859 with order 1 Centerline is valid? [True, True] Translation: X:180.72, Y:-12.28, Z:-0.62 [[ 9.95263464e-01 9.71658310e-02 3.07232667e-03 1.80717201e+02] [-9.71654137e-02 9.95268206e-01 -2.85139606e-04 -1.22842767e+01] [-3.08549488e-03 -1.47348601e-05 9.99995240e-01 -6.23494443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters Centerline goodness : 0.992324 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:-12.29, Z:-0.62 [[ 9.95825145e-01 9.12296044e-02 3.07233971e-03 1.80775054e+02] [-9.12291593e-02 9.95829885e-01 -2.84999013e-04 -1.22948793e+01] [-3.08552804e-03 3.52221433e-06 9.99995240e-01 -6.21639963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters Centerline goodness : 0.992651 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-12.31, Z:-0.62 [[ 9.96069293e-01 8.85241471e-02 3.07235302e-03 1.80831556e+02] [-8.85236895e-02 9.96074031e-01 -2.84855437e-04 -1.23090158e+01] [-3.08550764e-03 1.17597285e-05 9.99995240e-01 -6.21193376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters Centerline goodness : 0.992591 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:-12.32, Z:-0.63 [[ 9.96168610e-01 8.73994334e-02 3.07236944e-03 1.80890073e+02] [-8.73989710e-02 9.96173348e-01 -2.84678232e-04 -1.23191869e+01] [-3.08549327e-03 1.50655907e-05 9.99995240e-01 -6.26383446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters Centerline goodness : 0.993124 with order 1 Centerline is valid? [True, True] Translation: X:180.95, Y:-12.33, Z:-0.62 [[ 9.95894771e-01 9.04663833e-02 3.07238284e-03 1.80946648e+02] [-9.04659360e-02 9.95899510e-01 -2.84533542e-04 -1.23319517e+01] [-3.08552528e-03 5.41947662e-06 9.99995240e-01 -6.20107576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:181.01, Y:-12.34, Z:-0.62 [[ 9.95445847e-01 9.52792025e-02 3.07240121e-03 1.81005020e+02] [-9.52787787e-02 9.95450588e-01 -2.84335041e-04 -1.23365676e+01] [-3.08551481e-03 -9.69449923e-06 9.99995240e-01 -6.21311170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:-12.34, Z:-0.62 [[ 9.95085444e-01 9.89723128e-02 3.07241403e-03 1.81063750e+02] [-9.89719070e-02 9.95090187e-01 -2.84196421e-04 -1.23395268e+01] [-3.08545663e-03 -2.12829544e-05 9.99995240e-01 -6.23453176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters Centerline goodness : 0.993754 with order 1 Centerline is valid? [True, True] Translation: X:181.12, Y:-12.34, Z:-0.62 [[ 9.95469679e-01 9.50298840e-02 3.07242681e-03 1.81122874e+02] [-9.50294599e-02 9.95474420e-01 -2.84058239e-04 -1.23425551e+01] [-3.08551632e-03 -9.19969627e-06 9.99995240e-01 -6.21408623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:-12.35, Z:-0.62 [[ 9.96248047e-01 8.64892392e-02 3.07243999e-03 1.81181518e+02] [-8.64887749e-02 9.96252785e-01 -2.83915560e-04 -1.23492517e+01] [-3.08548254e-03 1.71187512e-05 9.99995240e-01 -6.23679473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters Centerline goodness : 0.984848 with order 1 Centerline is valid? [True, True] Translation: X:181.24, Y:-12.36, Z:-0.61 [[ 9.96655379e-01 8.16615966e-02 3.07245328e-03 1.81239451e+02] [-8.16611098e-02 9.96660114e-01 -2.83771683e-04 -1.23576335e+01] [-3.08536488e-03 3.19226292e-05 9.99995240e-01 -6.12512138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:-12.36, Z:-0.63 [[ 9.96762624e-01 8.03419619e-02 3.07246650e-03 1.81297509e+02] [-8.03414693e-02 9.96767359e-01 -2.83628455e-04 -1.23645876e+01] [-3.08532159e-03 3.58637701e-05 9.99995240e-01 -6.27342236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:-12.37, Z:-0.62 [[ 9.96560869e-01 8.28069745e-02 3.07247960e-03 1.81354808e+02] [-8.28064940e-02 9.96565605e-01 -2.83486529e-04 -1.23718186e+01] [-3.08540215e-03 2.80903187e-05 9.99995240e-01 -6.21774120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters Centerline goodness : 0.993740 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:-12.38, Z:-0.63 [[ 9.96039518e-01 8.88585285e-02 3.07249583e-03 1.81413919e+02] [-8.88580773e-02 9.96044257e-01 -2.83310451e-04 -1.23766499e+01] [-3.08551638e-03 9.17233324e-06 9.99995240e-01 -6.27534039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters Centerline goodness : 0.993389 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:-12.38, Z:-0.63 [[ 9.95745415e-01 9.20957583e-02 3.07251732e-03 1.81473148e+02] [-9.20953233e-02 9.95750155e-01 -2.83077239e-04 -1.23762806e+01] [-3.08552981e-03 -1.09161315e-06 9.99995240e-01 -6.28544053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters Centerline goodness : 0.992481 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:-12.38, Z:-0.63 [[ 9.95703934e-01 9.25431575e-02 3.07253034e-03 1.81531964e+02] [-9.25427250e-02 9.95708674e-01 -2.82935887e-04 -1.23782088e+01] [-3.08552889e-03 -2.61995460e-06 9.99995240e-01 -6.27342428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters Centerline goodness : 0.991320 with order 1 Centerline is valid? [True, True] Translation: X:181.59, Y:-12.38, Z:-0.62 [[ 9.95713559e-01 9.24395371e-02 3.07254357e-03 1.81589651e+02] [-9.24391045e-02 9.95718300e-01 -2.82792045e-04 -1.23795644e+01] [-3.08552903e-03 -2.44330301e-06 9.99995240e-01 -6.23126375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters Centerline goodness : 0.989863 with order 1 Centerline is valid? [True, True] Translation: X:181.65, Y:-12.38, Z:-0.62 [[ 9.95809366e-01 9.14016788e-02 3.07255991e-03 1.81649026e+02] [-9.14012418e-02 9.95814106e-01 -2.82614468e-04 -1.23779574e+01] [-3.08552993e-03 5.94342668e-07 9.99995240e-01 -6.17798282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters Centerline goodness : 0.991814 with order 1 Centerline is valid? [True, True] Translation: X:181.71, Y:-12.38, Z:-0.62 [[ 9.96279772e-01 8.61230241e-02 3.07257295e-03 1.81706999e+02] [-8.61225625e-02 9.96284510e-01 -2.82472654e-04 -1.23799228e+01] [-3.08548423e-03 1.68039356e-05 9.99995240e-01 -6.24880244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:-12.38, Z:-0.63 [[ 9.96593307e-01 8.24156508e-02 3.07258905e-03 1.81765850e+02] [-8.24151721e-02 9.96598043e-01 -2.82297338e-04 -1.23844966e+01] [-3.08540196e-03 2.81076820e-05 9.99995240e-01 -6.26100689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters Centerline goodness : 0.991402 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:-12.39, Z:-0.62 [[ 9.96918872e-01 7.83793432e-02 3.07260189e-03 1.81824068e+02] [-7.83788458e-02 9.96923606e-01 -2.82157541e-04 -1.23938311e+01] [-3.08526468e-03 4.04611882e-05 9.99995240e-01 -6.20590446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters Centerline goodness : 0.991130 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:-12.40, Z:-0.62 [[ 9.97071968e-01 7.64071349e-02 3.07261494e-03 1.81881517e+02] [-7.64066286e-02 9.97076701e-01 -2.82015320e-04 -1.24027186e+01] [-3.08518075e-03 4.64214211e-05 9.99995240e-01 -6.19673334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters Centerline goodness : 0.991093 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:-12.42, Z:-0.62 [[ 9.97121762e-01 7.57545429e-02 3.07263100e-03 1.81939163e+02] [-7.57540339e-02 9.97126495e-01 -2.81840307e-04 -1.24161813e+01] [-3.08515246e-03 4.82649105e-05 9.99995240e-01 -6.19149288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters Centerline goodness : 0.990939 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:-12.43, Z:-0.62 [[ 9.96748425e-01 8.05179212e-02 3.07264338e-03 1.81997218e+02] [-8.05174353e-02 9.96753161e-01 -2.81705205e-04 -1.24250305e+01] [-3.08534932e-03 3.33878541e-05 9.99995240e-01 -6.21444289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters Centerline goodness : 0.991016 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:-12.43, Z:-0.62 [[ 9.96201699e-01 8.70214545e-02 3.07265625e-03 1.82055462e+02] [-8.70210000e-02 9.96206438e-01 -2.81564749e-04 -1.24335007e+01] [-3.08550212e-03 1.31096612e-05 9.99995240e-01 -6.21141686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters Centerline goodness : 0.990502 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:-12.44, Z:-0.62 [[ 9.95619341e-01 9.34488392e-02 3.07266918e-03 1.82114234e+02] [-9.34484157e-02 9.95624083e-01 -2.81423676e-04 -1.24363044e+01] [-3.08552215e-03 -6.94521094e-06 9.99995240e-01 -6.21158214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters Centerline goodness : 0.991480 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-12.44, Z:-0.62 [[ 9.95480707e-01 9.49142754e-02 3.07268224e-03 1.82173360e+02] [-9.49138594e-02 9.95485450e-01 -2.81280977e-04 -1.24381403e+01] [-3.08550804e-03 -1.16303442e-05 9.99995240e-01 -6.20325837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters Centerline goodness : 0.991523 with order 1 Centerline is valid? [True, True] Translation: X:182.23, Y:-12.44, Z:-0.61 [[ 9.95714258e-01 9.24320010e-02 3.07269528e-03 1.82232473e+02] [-9.24315736e-02 9.95718999e-01 -2.81138403e-04 -1.24384729e+01] [-3.08552726e-03 -4.08054400e-06 9.99995240e-01 -6.13961919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters Centerline goodness : 0.990855 with order 1 Centerline is valid? [True, True] Translation: X:182.29, Y:-12.44, Z:-0.62 [[ 9.96244036e-01 8.65354161e-02 3.07270827e-03 1.82290444e+02] [-8.65349610e-02 9.96248775e-01 -2.80996341e-04 -1.24419218e+01] [-3.08549799e-03 1.40442384e-05 9.99995240e-01 -6.17242844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters Centerline goodness : 0.991637 with order 1 Centerline is valid? [True, True] Translation: X:182.35, Y:-12.45, Z:-0.62 [[ 9.96576359e-01 8.26203345e-02 3.07272611e-03 1.82348468e+02] [-8.26198614e-02 9.96581095e-01 -2.80801216e-04 -1.24455900e+01] [-3.08542064e-03 2.59716486e-05 9.99995240e-01 -6.20375707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters Centerline goodness : 0.992029 with order 1 Centerline is valid? [True, True] Translation: X:182.41, Y:-12.45, Z:-0.62 [[ 9.96878025e-01 7.88971531e-02 3.07274394e-03 1.82406785e+02] [-7.88966629e-02 9.96882760e-01 -2.80605933e-04 -1.24504619e+01] [-3.08530447e-03 3.73006453e-05 9.99995240e-01 -6.23078900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters Centerline goodness : 0.992940 with order 1 Centerline is valid? [True, True] Translation: X:182.46, Y:-12.45, Z:-0.62 [[ 9.97243143e-01 7.41395459e-02 3.07275741e-03 1.82464700e+02] [-7.41390336e-02 9.97247875e-01 -2.80458355e-04 -1.24543724e+01] [-3.08509385e-03 5.18739067e-05 9.99995240e-01 -6.24021256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters Centerline goodness : 0.991800 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:-12.46, Z:-0.62 [[ 9.96993069e-01 7.74298242e-02 3.07277403e-03 1.82522767e+02] [-7.74293281e-02 9.96997804e-01 -2.80276098e-04 -1.24619727e+01] [-3.08525069e-03 4.15104985e-05 9.99995240e-01 -6.19663106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:182.58, Y:-12.46, Z:-0.62 [[ 9.96930763e-01 7.82279413e-02 3.07278367e-03 1.82581556e+02] [-7.82274492e-02 9.96935498e-01 -2.80170427e-04 -1.24646130e+01] [-3.08528427e-03 3.89344892e-05 9.99995240e-01 -6.20623562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters Centerline goodness : 0.991591 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:-12.47, Z:-0.62 [[ 9.96880580e-01 7.88648708e-02 3.07279389e-03 1.82639189e+02] [-7.88643821e-02 9.96885315e-01 -2.80058305e-04 -1.24688054e+01] [-3.08530986e-03 3.68506940e-05 9.99995240e-01 -6.21424545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters Centerline goodness : 0.992864 with order 1 Centerline is valid? [True, True] Translation: X:182.70, Y:-12.47, Z:-0.62 [[ 9.96838271e-01 7.93978549e-02 3.07281092e-03 1.82696510e+02] [-7.93973694e-02 9.96843006e-01 -2.79871354e-04 -1.24739137e+01] [-3.08533126e-03 3.50133730e-05 9.99995240e-01 -6.23388500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters Centerline goodness : 0.992684 with order 1 Centerline is valid? [True, True] Translation: X:182.75, Y:-12.48, Z:-0.62 [[ 9.97035489e-01 7.68816681e-02 3.07282724e-03 1.82754671e+02] [-7.68811712e-02 9.97040224e-01 -2.79691958e-04 -1.24821746e+01] [-3.08523555e-03 4.26202507e-05 9.99995240e-01 -6.22956555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters Centerline goodness : 0.992598 with order 1 Centerline is valid? [True, True] Translation: X:182.81, Y:-12.49, Z:-0.62 [[ 9.97392628e-01 7.21006418e-02 3.07284001e-03 1.82811571e+02] [-7.21001226e-02 9.97397360e-01 -2.79551587e-04 -1.24905183e+01] [-3.08499837e-03 5.72705505e-05 9.99995240e-01 -6.17272993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters Centerline goodness : 0.993286 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-12.50, Z:-0.62 [[ 9.97780781e-01 6.65136844e-02 3.07285581e-03 1.82869864e+02] [-6.65131393e-02 9.97785510e-01 -2.79377875e-04 -1.25043755e+01] [-3.08463345e-03 7.43725884e-05 9.99995240e-01 -6.23419436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters Centerline goodness : 0.993081 with order 1 Centerline is valid? [True, True] Translation: X:182.93, Y:-12.52, Z:-0.62 [[ 9.97977372e-01 6.34958444e-02 3.07286224e-03 1.82928775e+02] [-6.34952852e-02 9.97982099e-01 -2.79307131e-04 -1.25204358e+01] [-3.08439635e-03 8.36299329e-05 9.99995240e-01 -6.19860278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters Centerline goodness : 0.992829 with order 1 Centerline is valid? [True, True] Translation: X:182.99, Y:-12.53, Z:-0.62 [[ 9.97939271e-01 6.40918806e-02 3.07286878e-03 1.82986449e+02] [-6.40913244e-02 9.97943999e-01 -2.79235121e-04 -1.25318345e+01] [-3.08444766e-03 8.17154628e-05 9.99995240e-01 -6.18508248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters Centerline goodness : 0.993935 with order 1 Centerline is valid? [True, True] Translation: X:183.05, Y:-12.54, Z:-0.62 [[ 9.97740862e-01 6.71098323e-02 3.07287557e-03 1.83045533e+02] [-6.71092907e-02 9.97745591e-01 -2.79160378e-04 -1.25444478e+01] [-3.08468246e-03 7.23112164e-05 9.99995240e-01 -6.22234833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters Centerline goodness : 0.993904 with order 1 Centerline is valid? [True, True] Translation: X:183.10, Y:-12.56, Z:-0.62 [[ 9.97552228e-01 6.98577831e-02 3.07288205e-03 1.83104516e+02] [-6.98572547e-02 9.97556959e-01 -2.79089069e-04 -1.25578213e+01] [-3.08487141e-03 6.37428190e-05 9.99995240e-01 -6.18862341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters Centerline goodness : 0.994124 with order 1 Centerline is valid? [True, True] Translation: X:183.16, Y:-12.57, Z:-0.63 [[ 9.97139979e-01 7.55143700e-02 3.07288848e-03 1.83163853e+02] [-7.55138686e-02 9.97144713e-01 -2.79018267e-04 -1.25691598e+01] [-3.08518439e-03 4.61745722e-05 9.99995240e-01 -6.25691469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters Centerline goodness : 0.994220 with order 1 Centerline is valid? [True, True] Translation: X:183.22, Y:-12.58, Z:-0.62 [[ 9.96873789e-01 7.89506573e-02 3.07289492e-03 1.83221664e+02] [-7.89501725e-02 9.96878524e-01 -2.78947340e-04 -1.25797099e+01] [-3.08532602e-03 3.54697081e-05 9.99995240e-01 -6.19775485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters Centerline goodness : 0.994417 with order 1 Centerline is valid? [True, True] Translation: X:183.28, Y:-12.59, Z:-0.62 [[ 9.96537433e-01 8.30885234e-02 3.07290452e-03 1.83280425e+02] [-8.30880586e-02 9.96542170e-01 -2.78841467e-04 -1.25896649e+01] [-3.08544747e-03 2.25542889e-05 9.99995240e-01 -6.24175138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters Centerline goodness : 0.994808 with order 1 Centerline is valid? [True, True] Translation: X:183.34, Y:-12.60, Z:-0.63 [[ 9.96023448e-01 8.90384669e-02 3.07291096e-03 1.83337958e+02] [-8.90380306e-02 9.96028188e-01 -2.78770477e-04 -1.26014681e+01] [-3.08552723e-03 4.05599142e-06 9.99995240e-01 -6.27366361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters Centerline goodness : 0.994720 with order 1 Centerline is valid? [True, True] Translation: X:183.40, Y:-12.61, Z:-0.62 [[ 9.95688679e-01 9.27071262e-02 3.07292052e-03 1.83396710e+02] [-9.27067077e-02 9.95693421e-01 -2.78665102e-04 -1.26090055e+01] [-3.08552098e-03 -7.41665736e-06 9.99995240e-01 -6.24888547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters Centerline goodness : 0.995029 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:-12.61, Z:-0.63 [[ 9.94960639e-01 1.00219177e-01 3.07292712e-03 1.83454836e+02] [-1.00218794e-01 9.94965384e-01 -2.78592262e-04 -1.26141336e+01] [-3.08537640e-03 -3.07767155e-05 9.99995240e-01 -6.30328748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:-12.62, Z:-0.63 [[ 9.94639395e-01 1.03358749e-01 3.07293695e-03 1.83513138e+02] [-1.03358382e-01 9.94644141e-01 -2.78483849e-04 -1.26207672e+01] [-3.08526247e-03 -4.06227840e-05 9.99995240e-01 -6.29802933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-12.62, Z:-0.63 [[ 9.94450157e-01 1.05163885e-01 3.07294999e-03 1.83572662e+02] [-1.05163527e-01 9.94454904e-01 -2.78339869e-04 -1.26211789e+01] [-3.08518149e-03 -4.63671324e-05 9.99995240e-01 -6.27442246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters Centerline goodness : 0.994733 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:-12.63, Z:-0.62 [[ 9.94478879e-01 1.04891922e-01 3.07295652e-03 1.83632291e+02] [-1.04891562e-01 9.94483626e-01 -2.78267747e-04 -1.26269225e+01] [-3.08519298e-03 -4.55958131e-05 9.99995240e-01 -6.23112214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:-12.63, Z:-0.63 [[ 9.94724423e-01 1.02537214e-01 3.07296314e-03 1.83691331e+02] [-1.02536843e-01 9.94729168e-01 -2.78194642e-04 -1.26302919e+01] [-3.08529137e-03 -3.83649350e-05 9.99995240e-01 -6.31037986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:-12.64, Z:-0.63 [[ 9.95040280e-01 9.94253369e-02 3.07297295e-03 1.83750551e+02] [-9.94249522e-02 9.95045025e-01 -2.78086265e-04 -1.26375462e+01] [-3.08539526e-03 -2.88231526e-05 9.99995240e-01 -6.27524311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:-12.64, Z:-0.62 [[ 9.95227375e-01 9.75347550e-02 3.07297956e-03 1.83808897e+02] [-9.75343615e-02 9.95232119e-01 -2.78013144e-04 -1.26400146e+01] [-3.08544390e-03 -2.30348076e-05 9.99995240e-01 -6.24444434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-12.65, Z:-0.63 [[ 9.95153537e-01 9.82852706e-02 3.07298939e-03 1.83867792e+02] [-9.82848810e-02 9.95158281e-01 -2.77904504e-04 -1.26472933e+01] [-3.08542475e-03 -2.54707455e-05 9.99995240e-01 -6.32945728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:-12.65, Z:-0.63 [[ 9.95377807e-01 9.59873880e-02 3.07299918e-03 1.83926424e+02] [-9.59869878e-02 9.95382550e-01 -2.77796132e-04 -1.26506071e+01] [-3.08547469e-03 -1.84558304e-05 9.99995240e-01 -6.29978476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters Centerline goodness : 0.994756 with order 1 Centerline is valid? [True, True] Translation: X:183.99, Y:-12.66, Z:-0.62 [[ 9.95318674e-01 9.65986218e-02 3.07300889e-03 1.83986247e+02] [-9.65982248e-02 9.95323418e-01 -2.77688689e-04 -1.26562803e+01] [-3.08546206e-03 -2.04584658e-05 9.99995240e-01 -6.24696597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters Centerline goodness : 0.995827 with order 1 Centerline is valid? [True, True] Translation: X:184.05, Y:-12.66, Z:-0.63 [[ 9.94823044e-01 1.01575921e-01 3.07301516e-03 1.84045695e+02] [-1.01575548e-01 9.94827790e-01 -2.77619247e-04 -1.26552981e+01] [-3.08532031e-03 -3.59611758e-05 9.99995240e-01 -6.32916206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:184.11, Y:-12.66, Z:-0.63 [[ 9.94802177e-01 1.01780081e-01 3.07302779e-03 1.84105332e+02] [-1.01779710e-01 9.94806923e-01 -2.77479469e-04 -1.26622345e+01] [-3.08531120e-03 -3.67346955e-05 9.99995240e-01 -6.30401547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters Centerline goodness : 0.995803 with order 1 Centerline is valid? [True, True] Translation: X:184.16, Y:-12.67, Z:-0.63 [[ 9.95036893e-01 9.94592330e-02 3.07303434e-03 1.84164003e+02] [-9.94588505e-02 9.95041637e-01 -2.77406870e-04 -1.26666279e+01] [-3.08538780e-03 -2.96103935e-05 9.99995240e-01 -6.31303834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:184.22, Y:-12.68, Z:-0.63 [[ 9.95484407e-01 9.48754492e-02 3.07304406e-03 1.84223096e+02] [-9.48750452e-02 9.95489151e-01 -2.77299167e-04 -1.26770300e+01] [-3.08549090e-03 -1.55081964e-05 9.99995240e-01 -6.31825766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:184.28, Y:-12.69, Z:-0.63 [[ 9.96172747e-01 8.73522472e-02 3.07305047e-03 1.84282472e+02] [-8.73518076e-02 9.96177487e-01 -2.77228126e-04 -1.26858761e+01] [-3.08552019e-03 7.73059070e-06 9.99995240e-01 -6.26188941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:184.34, Y:-12.70, Z:-0.63 [[ 9.96460589e-01 8.40050595e-02 3.07305691e-03 1.84342216e+02] [-8.40046042e-02 9.96465328e-01 -2.77156730e-04 -1.26978522e+01] [-3.08547722e-03 1.80248300e-05 9.99995240e-01 -6.30101350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters Centerline goodness : 0.995423 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:-12.70, Z:-0.63 [[ 9.96532304e-01 8.31500044e-02 3.07305691e-03 1.84401189e+02] [-8.31495451e-02 9.96537042e-01 -2.77156730e-04 -1.27037063e+01] [-3.08546062e-03 2.06723515e-05 9.99995240e-01 -6.31033826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters Centerline goodness : 0.995444 with order 1 Centerline is valid? [True, True] Translation: X:184.46, Y:-12.72, Z:-0.63 [[ 9.96598943e-01 8.23474509e-02 3.07306025e-03 1.84460422e+02] [-8.23469879e-02 9.96603681e-01 -2.77119627e-04 -1.27151016e+01] [-3.08544325e-03 2.31198722e-05 9.99995240e-01 -6.30730352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:184.52, Y:-12.72, Z:-0.63 [[ 9.96407672e-01 8.46304186e-02 3.07305701e-03 1.84520594e+02] [-8.46299663e-02 9.96412411e-01 -2.77155566e-04 -1.27224227e+01] [-3.08548794e-03 1.60872208e-05 9.99995240e-01 -6.26811973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters Centerline goodness : 0.994941 with order 1 Centerline is valid? [True, True] Translation: X:184.58, Y:-12.73, Z:-0.63 [[ 9.96297249e-01 8.59205874e-02 3.07305701e-03 1.84580573e+02] [-8.59201413e-02 9.96301989e-01 -2.77155566e-04 -1.27291428e+01] [-3.08550618e-03 1.20918353e-05 9.99995240e-01 -6.26923031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:-12.73, Z:-0.63 [[ 9.96215866e-01 8.68591086e-02 3.07305701e-03 1.84640762e+02] [-8.68586669e-02 9.96220606e-01 -2.77155566e-04 -1.27328236e+01] [-3.08551620e-03 9.18513685e-06 9.99995240e-01 -6.26699153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters Centerline goodness : 0.995380 with order 1 Centerline is valid? [True, True] Translation: X:184.70, Y:-12.74, Z:-0.63 [[ 9.96375155e-01 8.50123898e-02 3.07305701e-03 1.84701068e+02] [-8.50119393e-02 9.96379894e-01 -2.77155566e-04 -1.27401449e+01] [-3.08549388e-03 1.49043839e-05 9.99995240e-01 -6.30317213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters Centerline goodness : 0.995619 with order 1 Centerline is valid? [True, True] Translation: X:184.76, Y:-12.75, Z:-0.63 [[ 9.96693392e-01 8.11962993e-02 3.07305701e-03 1.84760671e+02] [-8.11958306e-02 9.96698129e-01 -2.77155566e-04 -1.27458891e+01] [-3.08541418e-03 2.67197044e-05 9.99995240e-01 -6.30453917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters Centerline goodness : 0.995653 with order 1 Centerline is valid? [True, True] Translation: X:184.82, Y:-12.75, Z:-0.63 [[ 9.96778770e-01 8.01413724e-02 3.07305371e-03 1.84821603e+02] [-8.01408986e-02 9.96783507e-01 -2.77192105e-04 -1.27531107e+01] [-3.08538381e-03 3.00219189e-05 9.99995240e-01 -6.31326618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters Centerline goodness : 0.996001 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:-12.76, Z:-0.63 [[ 9.96600209e-01 8.23321323e-02 3.07304715e-03 1.84881110e+02] [-8.23316687e-02 9.96604947e-01 -2.77264905e-04 -1.27643578e+01] [-3.08544180e-03 2.33131622e-05 9.99995240e-01 -6.34072784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters Centerline goodness : 0.995857 with order 1 Centerline is valid? [True, True] Translation: X:184.94, Y:-12.77, Z:-0.64 [[ 9.96226967e-01 8.67316986e-02 3.07304063e-03 1.84941763e+02] [-8.67312558e-02 9.96231706e-01 -2.77337076e-04 -1.27729973e+01] [-3.08551443e-03 9.76200109e-06 9.99995240e-01 -6.36852044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters Centerline goodness : 0.995587 with order 1 Centerline is valid? [True, True] Translation: X:185.00, Y:-12.78, Z:-0.63 [[ 9.95862547e-01 9.08203957e-02 3.07303412e-03 1.85001518e+02] [-9.08199720e-02 9.95867288e-01 -2.77409268e-04 -1.27812491e+01] [-3.08552857e-03 -2.83137253e-06 9.99995240e-01 -6.32343310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters Centerline goodness : 0.995471 with order 1 Centerline is valid? [True, True] Translation: X:185.06, Y:-12.79, Z:-0.63 [[ 9.95342493e-01 9.63528882e-02 3.07303412e-03 1.85061471e+02] [-9.63524909e-02 9.95347236e-01 -2.77409268e-04 -1.27853567e+01] [-3.08546520e-03 -1.99772597e-05 9.99995240e-01 -6.31302285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters Centerline goodness : 0.995844 with order 1 Centerline is valid? [True, True] Translation: X:185.12, Y:-12.79, Z:-0.63 [[ 9.94633940e-01 1.03411230e-01 3.07301844e-03 1.85121214e+02] [-1.03410866e-01 9.94638686e-01 -2.77582786e-04 -1.27857535e+01] [-3.08524820e-03 -4.16902382e-05 9.99995240e-01 -6.34451496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters Centerline goodness : 0.996125 with order 1 Centerline is valid? [True, True] Translation: X:185.18, Y:-12.79, Z:-0.63 [[ 9.94529073e-01 1.04414938e-01 3.07302490e-03 1.85180604e+02] [-1.04414579e-01 9.94533820e-01 -2.77511308e-04 -1.27855271e+01] [-3.08520352e-03 -4.48755375e-05 9.99995240e-01 -6.33789891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters Centerline goodness : 0.996083 with order 1 Centerline is valid? [True, True] Translation: X:185.24, Y:-12.78, Z:-0.63 [[ 9.94664440e-01 1.03117449e-01 3.07303444e-03 1.85240577e+02] [-1.03117084e-01 9.94669186e-01 -2.77405616e-04 -1.27842655e+01] [-3.08525802e-03 -4.09568469e-05 9.99995240e-01 -6.33083653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters Centerline goodness : 0.995942 with order 1 Centerline is valid? [True, True] Translation: X:185.30, Y:-12.78, Z:-0.64 [[ 9.94911302e-01 1.00707786e-01 3.07304097e-03 1.85301152e+02] [-1.00707410e-01 9.94916047e-01 -2.77333217e-04 -1.27786045e+01] [-3.08534739e-03 -3.35560434e-05 9.99995240e-01 -6.35171933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:185.36, Y:-12.78, Z:-0.63 [[ 9.95219781e-01 9.76122161e-02 3.07304755e-03 1.85360753e+02] [-9.76118253e-02 9.95224525e-01 -2.77260314e-04 -1.27769829e+01] [-3.08543628e-03 -2.40308320e-05 9.99995240e-01 -6.33684867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters Centerline goodness : 0.996265 with order 1 Centerline is valid? [True, True] Translation: X:185.42, Y:-12.78, Z:-0.63 [[ 9.95927490e-01 9.01054393e-02 3.07305414e-03 1.85420524e+02] [-9.01050130e-02 9.95932232e-01 -2.77187191e-04 -1.27754990e+01] [-3.08552975e-03 -8.39240376e-07 9.99995240e-01 -6.32734787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:185.48, Y:-12.78, Z:-0.63 [[ 9.96761588e-01 8.03547993e-02 3.07306072e-03 1.85479178e+02] [-8.03543268e-02 9.96766324e-01 -2.77114287e-04 -1.27774814e+01] [-3.08539090e-03 2.92831513e-05 9.99995240e-01 -6.33578154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters Centerline goodness : 0.996415 with order 1 Centerline is valid? [True, True] Translation: X:185.54, Y:-12.78, Z:-0.63 [[ 9.97344265e-01 7.27665701e-02 3.07307046e-03 1.85539326e+02] [-7.27660619e-02 9.97348998e-01 -2.77006228e-04 -1.27833796e+01] [-3.08508054e-03 5.26553373e-05 9.99995240e-01 -6.34977219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:-12.79, Z:-0.64 [[ 9.97616478e-01 6.89341610e-02 3.07307046e-03 1.85598728e+02] [-6.89336346e-02 9.97621209e-01 -2.77006228e-04 -1.27910512e+01] [-3.08485546e-03 6.45080613e-05 9.99995240e-01 -6.35014700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters Centerline goodness : 0.995929 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:-12.80, Z:-0.63 [[ 9.97737088e-01 6.71659087e-02 3.07307363e-03 1.85659084e+02] [-6.71653740e-02 9.97741818e-01 -2.76971006e-04 -1.27970653e+01] [-3.08473708e-03 6.99401053e-05 9.99995240e-01 -6.30528982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters Centerline goodness : 0.995712 with order 1 Centerline is valid? [True, True] Translation: X:185.72, Y:-12.81, Z:-0.63 [[ 9.97811183e-01 6.60560382e-02 3.07307363e-03 1.85718560e+02] [-6.60554982e-02 9.97815912e-01 -2.76971006e-04 -1.28072143e+01] [-3.08465738e-03 7.33713572e-05 9.99995240e-01 -6.27120311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:-12.82, Z:-0.64 [[ 9.97821010e-01 6.59074262e-02 3.07307363e-03 1.85777815e+02] [-6.59068856e-02 9.97825739e-01 -2.76971006e-04 -1.28151770e+01] [-3.08464642e-03 7.38307766e-05 9.99995240e-01 -6.35010772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters Centerline goodness : 0.996354 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:-12.82, Z:-0.64 [[ 9.97727717e-01 6.73049662e-02 3.07307022e-03 1.85838031e+02] [-6.73044321e-02 9.97732447e-01 -2.77008854e-04 -1.28236195e+01] [-3.08474595e-03 6.95481652e-05 9.99995240e-01 -6.38073387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters Centerline goodness : 0.996285 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:-12.83, Z:-0.64 [[ 9.97260780e-01 7.39019178e-02 3.07307022e-03 1.85897905e+02] [-7.39014150e-02 9.97265513e-01 -2.77008854e-04 -1.28314294e+01] [-3.08513844e-03 4.91458277e-05 9.99995240e-01 -6.35725630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters Centerline goodness : 0.996456 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:-12.84, Z:-0.63 [[ 9.96790804e-01 7.99915618e-02 3.07307022e-03 1.85957270e+02] [-7.99910879e-02 9.96795540e-01 -2.77008854e-04 -1.28361395e+01] [-3.08538106e-03 3.03016478e-05 9.99995240e-01 -6.30166161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters Centerline goodness : 0.996815 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:-12.84, Z:-0.63 [[ 9.96477132e-01 8.38085952e-02 3.07307667e-03 1.86017296e+02] [-8.38081397e-02 9.96481871e-01 -2.76937311e-04 -1.28397122e+01] [-3.08547492e-03 1.84128589e-05 9.99995240e-01 -6.33802632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters Centerline goodness : 0.996646 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:-12.85, Z:-0.64 [[ 9.96377264e-01 8.49876725e-02 3.07308308e-03 1.86076772e+02] [-8.49872228e-02 9.96382003e-01 -2.76866104e-04 -1.28453473e+01] [-3.08549488e-03 1.46902946e-05 9.99995240e-01 -6.38217378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:186.14, Y:-12.85, Z:-0.64 [[ 9.96382724e-01 8.49236365e-02 3.07308954e-03 1.86136990e+02] [-8.49231867e-02 9.96387463e-01 -2.76794390e-04 -1.28525642e+01] [-3.08549428e-03 1.48165908e-05 9.99995240e-01 -6.35107386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters Centerline goodness : 0.996912 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:-12.86, Z:-0.63 [[ 9.96088648e-01 8.83060712e-02 3.07308954e-03 1.86197049e+02] [-8.83056375e-02 9.96093388e-01 -2.76794390e-04 -1.28561205e+01] [-3.08552680e-03 4.34061804e-06 9.99995240e-01 -6.30577616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters Centerline goodness : 0.997067 with order 1 Centerline is valid? [True, True] Translation: X:186.26, Y:-12.86, Z:-0.63 [[ 9.95368434e-01 9.60845293e-02 3.07309603e-03 1.86256768e+02] [-9.60841329e-02 9.95373178e-01 -2.76722374e-04 -1.28614186e+01] [-3.08546610e-03 -1.98350515e-05 9.99995240e-01 -6.32179091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters Centerline goodness : 0.997196 with order 1 Centerline is valid? [True, True] Translation: X:186.32, Y:-12.87, Z:-0.63 [[ 9.94755243e-01 1.02237776e-01 3.07310287e-03 1.86315489e+02] [-1.02237409e-01 9.94759989e-01 -2.76646347e-04 -1.28658392e+01] [-3.08528349e-03 -3.89906717e-05 9.99995240e-01 -6.34114869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:186.38, Y:-12.87, Z:-0.63 [[ 9.94635539e-01 1.03395848e-01 3.07310959e-03 1.86375072e+02] [-1.03395487e-01 9.94640285e-01 -2.76571748e-04 -1.28703437e+01] [-3.08523497e-03 -4.26575720e-05 9.99995240e-01 -6.34355213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters Centerline goodness : 0.997268 with order 1 Centerline is valid? [True, True] Translation: X:186.43, Y:-12.87, Z:-0.64 [[ 9.94706196e-01 1.02713868e-01 3.07311616e-03 1.86433945e+02] [-1.02713504e-01 9.94710943e-01 -2.76498639e-04 -1.28693671e+01] [-3.08526252e-03 -4.06156194e-05 9.99995240e-01 -6.37890901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters Centerline goodness : 0.997241 with order 1 Centerline is valid? [True, True] Translation: X:186.49, Y:-12.87, Z:-0.63 [[ 9.94833426e-01 1.01474188e-01 3.07312593e-03 1.86492845e+02] [-1.01473818e-01 9.94838172e-01 -2.76390062e-04 -1.28682951e+01] [-3.08530944e-03 -3.68797491e-05 9.99995240e-01 -6.34849963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters Centerline goodness : 0.997140 with order 1 Centerline is valid? [True, True] Translation: X:186.55, Y:-12.87, Z:-0.63 [[ 9.95074522e-01 9.90820454e-02 3.07313904e-03 1.86550994e+02] [-9.90816647e-02 9.95079267e-01 -2.76244195e-04 -1.28724455e+01] [-3.08538778e-03 -2.96081716e-05 9.99995240e-01 -6.33751166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters Centerline goodness : 0.997065 with order 1 Centerline is valid? [True, True] Translation: X:186.61, Y:-12.88, Z:-0.64 [[ 9.95553335e-01 9.41494188e-02 3.07315530e-03 1.86610441e+02] [-9.41490151e-02 9.95558078e-01 -2.76063177e-04 -1.28778287e+01] [-3.08549577e-03 -1.44989282e-05 9.99995240e-01 -6.38375529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:186.67, Y:-12.89, Z:-0.64 [[ 9.95861454e-01 9.08323712e-02 3.07316171e-03 1.86668862e+02] [-9.08319520e-02 9.95866196e-01 -2.75991823e-04 -1.28863520e+01] [-3.08552685e-03 -4.29165881e-06 9.99995240e-01 -6.38541233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters Centerline goodness : 0.996976 with order 1 Centerline is valid? [True, True] Translation: X:186.73, Y:-12.90, Z:-0.63 [[ 9.96327232e-01 8.55722107e-02 3.07317121e-03 1.86727030e+02] [-8.55717668e-02 9.96331971e-01 -2.75885977e-04 -1.29004120e+01] [-3.08550691e-03 1.18960209e-05 9.99995240e-01 -6.34245964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters Centerline goodness : 0.996445 with order 1 Centerline is valid? [True, True] Translation: X:186.79, Y:-12.92, Z:-0.63 [[ 9.96749186e-01 8.05084834e-02 3.07317750e-03 1.86785793e+02] [-8.05080156e-02 9.96753923e-01 -2.75815903e-04 -1.29191707e+01] [-3.08540725e-03 2.75038549e-05 9.99995240e-01 -6.30433425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters Centerline goodness : 0.996565 with order 1 Centerline is valid? [True, True] Translation: X:186.85, Y:-12.93, Z:-0.63 [[ 9.96835943e-01 7.94270654e-02 3.07317440e-03 1.86845698e+02] [-7.94265924e-02 9.96840680e-01 -2.75850454e-04 -1.29319362e+01] [-3.08537525e-03 3.08858772e-05 9.99995240e-01 -6.31890810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters Centerline goodness : 0.996646 with order 1 Centerline is valid? [True, True] Translation: X:186.90, Y:-12.95, Z:-0.63 [[ 9.96112260e-01 8.80393172e-02 3.07317440e-03 1.86903853e+02] [-8.80388852e-02 9.96117000e-01 -2.75850454e-04 -1.29451134e+01] [-3.08552695e-03 4.21917125e-06 9.99995240e-01 -6.33448442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:-12.96, Z:-0.63 [[ 9.94988982e-01 9.99373898e-02 3.07317746e-03 1.86962642e+02] [-9.99370146e-02 9.94993727e-01 -2.75816357e-04 -1.29560065e+01] [-3.08535666e-03 -3.26899445e-05 9.99995240e-01 -6.28678613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters Centerline goodness : 0.996468 with order 1 Centerline is valid? [True, True] Translation: X:187.02, Y:-12.96, Z:-0.63 [[ 9.93629507e-01 1.12654152e-01 3.07318352e-03 1.87021214e+02] [-1.12653838e-01 9.93634257e-01 -2.75748835e-04 -1.29613371e+01] [-3.08468467e-03 -7.22137398e-05 9.99995240e-01 -6.32197532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:187.08, Y:-12.96, Z:-0.64 [[ 9.92442855e-01 1.22669210e-01 3.07319008e-03 1.87079970e+02] [-1.22668944e-01 9.92447608e-01 -2.75675681e-04 -1.29606798e+01] [-3.08379706e-03 -1.03392622e-04 9.99995240e-01 -6.37084170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:187.14, Y:-12.96, Z:-0.64 [[ 9.90970026e-01 1.34048364e-01 3.07320197e-03 1.87138459e+02] [-1.34048152e-01 9.90974781e-01 -2.75543040e-04 -1.29557807e+01] [-3.08240175e-03 -1.38902153e-04 9.99995240e-01 -6.38529541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters Centerline goodness : 0.997405 with order 1 Centerline is valid? [True, True] Translation: X:187.20, Y:-12.95, Z:-0.64 [[ 9.90569760e-01 1.36974834e-01 3.07321662e-03 1.87197892e+02] [-1.36974637e-01 9.90574517e-01 -2.75379613e-04 -1.29481517e+01] [-3.08197014e-03 -1.48170015e-04 9.99995240e-01 -6.35380061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters Centerline goodness : 0.997682 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:-12.94, Z:-0.64 [[ 9.90701456e-01 1.36019044e-01 3.07322816e-03 1.87256659e+02] [-1.36018844e-01 9.90706212e-01 -2.75250729e-04 -1.29416379e+01] [-3.08210557e-03 -1.45325642e-04 9.99995240e-01 -6.36623903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters Centerline goodness : 0.997535 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:-12.93, Z:-0.64 [[ 9.91067191e-01 1.33328083e-01 3.07324357e-03 1.87316724e+02] [-1.33327870e-01 9.91071947e-01 -2.75078612e-04 -1.29339057e+01] [-3.08248119e-03 -1.37127630e-04 9.99995240e-01 -6.35394267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters Centerline goodness : 0.997477 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:-12.93, Z:-0.63 [[ 9.91646139e-01 1.28951499e-01 3.07325489e-03 1.87375111e+02] [-1.28951265e-01 9.91650894e-01 -2.74952052e-04 -1.29336336e+01] [-3.08305144e-03 -1.23644966e-04 9.99995240e-01 -6.34011480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:-12.93, Z:-0.63 [[ 9.92675394e-01 1.20772999e-01 3.07327189e-03 1.87434795e+02] [-1.20772727e-01 9.92680146e-01 -2.74761860e-04 -1.29307040e+01] [-3.08395981e-03 -9.84180897e-05 9.99995240e-01 -6.29574328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters Centerline goodness : 0.996855 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:-12.93, Z:-0.63 [[ 9.93716978e-01 1.11879944e-01 3.07328327e-03 1.87493545e+02] [-1.11879629e-01 9.93721728e-01 -2.74634566e-04 -1.29322299e+01] [-3.08471446e-03 -7.09287608e-05 9.99995240e-01 -6.33392664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:-12.94, Z:-0.64 [[ 9.94537671e-01 1.04333000e-01 3.07329466e-03 1.87552623e+02] [-1.04332650e-01 9.94542419e-01 -2.74507008e-04 -1.29373590e+01] [-3.08516205e-03 -4.76374158e-05 9.99995240e-01 -6.40801225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters Centerline goodness : 0.997546 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:-12.94, Z:-0.64 [[ 9.94951019e-01 1.00314625e-01 3.07330408e-03 1.87610123e+02] [-1.00314256e-01 9.94955765e-01 -2.74401561e-04 -1.29434288e+01] [-3.08532810e-03 -3.52800995e-05 9.99995240e-01 -6.42865663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:-12.95, Z:-0.64 [[ 9.95154715e-01 9.82733303e-02 3.07331965e-03 1.87669148e+02] [-9.82729520e-02 9.95159460e-01 -2.74227023e-04 -1.29491685e+01] [-3.08539233e-03 -2.91258801e-05 9.99995240e-01 -6.41975334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters Centerline goodness : 0.996806 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:-12.95, Z:-0.64 [[ 9.94647169e-01 1.03283903e-01 3.07333200e-03 1.87728284e+02] [-1.03283549e-01 9.94651916e-01 -2.74088554e-04 -1.29529390e+01] [-3.08520450e-03 -4.48032310e-05 9.99995240e-01 -6.40156735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters Centerline goodness : 0.996991 with order 1 Centerline is valid? [True, True] Translation: X:187.79, Y:-12.96, Z:-0.64 [[ 9.94208939e-01 1.07420390e-01 3.07334516e-03 1.87785654e+02] [-1.07420057e-01 9.94213688e-01 -2.73940938e-04 -1.29565494e+01] [-3.08498867e-03 -5.77843814e-05 9.99995240e-01 -6.38893177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters Centerline goodness : 0.997675 with order 1 Centerline is valid? [True, True] Translation: X:187.84, Y:-12.96, Z:-0.64 [[ 9.94469167e-01 1.04983956e-01 3.07336149e-03 1.87843228e+02] [-1.04983611e-01 9.94473914e-01 -2.73757534e-04 -1.29623935e+01] [-3.08511799e-03 -5.04091617e-05 9.99995240e-01 -6.38014085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:187.90, Y:-12.97, Z:-0.64 [[ 9.95295407e-01 9.68380472e-02 3.07337914e-03 1.87901940e+02] [-9.68376641e-02 9.95300152e-01 -2.73559270e-04 -1.29692878e+01] [-3.08542567e-03 -2.53465721e-05 9.99995240e-01 -6.37024580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters Centerline goodness : 0.997235 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-12.98, Z:-0.64 [[ 9.95706562e-01 9.25148448e-02 3.07339208e-03 1.87960436e+02] [-9.25144416e-02 9.95711305e-01 -2.73413828e-04 -1.29767110e+01] [-3.08550608e-03 -1.20932092e-05 9.99995240e-01 -6.39199912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:188.02, Y:-12.98, Z:-0.64 [[ 9.95827742e-01 9.12012233e-02 3.07340517e-03 1.88018099e+02] [-9.12008143e-02 9.95832484e-01 -2.73266573e-04 -1.29839184e+01] [-3.08551896e-03 -8.17062003e-06 9.99995240e-01 -6.43970421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters Centerline goodness : 0.997873 with order 1 Centerline is valid? [True, True] Translation: X:188.08, Y:-12.99, Z:-0.64 [[ 9.95722165e-01 9.23467606e-02 3.07342321e-03 1.88076696e+02] [-9.23463577e-02 9.95726908e-01 -2.73063534e-04 -1.29917654e+01] [-3.08550673e-03 -1.19240258e-05 9.99995240e-01 -6.38315899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:188.14, Y:-13.00, Z:-0.64 [[ 9.95649250e-01 9.31296149e-02 3.07343588e-03 1.88135240e+02] [-9.31292161e-02 9.95653993e-01 -2.72920896e-04 -1.29996830e+01] [-3.08549572e-03 -1.44931883e-05 9.99995240e-01 -6.35899648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:188.19, Y:-13.01, Z:-0.64 [[ 9.95966458e-01 8.96736792e-02 3.07344879e-03 1.88193637e+02] [-8.96732644e-02 9.95971200e-01 -2.72775421e-04 -1.30089764e+01] [-3.08552726e-03 -3.93101626e-06 9.99995240e-01 -6.38135123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:-13.02, Z:-0.64 [[ 9.96326977e-01 8.55751612e-02 3.07345564e-03 1.88252349e+02] [-8.55747272e-02 9.96331718e-01 -2.72698195e-04 -1.30171638e+01] [-3.08551753e-03 8.68644044e-06 9.99995240e-01 -6.38059427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:188.31, Y:-13.03, Z:-0.64 [[ 9.96559829e-01 8.28194509e-02 3.07346195e-03 1.88311299e+02] [-8.28190039e-02 9.96564568e-01 -2.72627125e-04 -1.30265751e+01] [-3.08548211e-03 1.71481839e-05 9.99995240e-01 -6.37174201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:188.37, Y:-13.03, Z:-0.64 [[ 9.96234666e-01 8.66431951e-02 3.07346820e-03 1.88370418e+02] [-8.66427666e-02 9.96239407e-01 -2.72556639e-04 -1.30335632e+01] [-3.08552531e-03 5.23658447e-06 9.99995240e-01 -6.38633329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters Centerline goodness : 0.997621 with order 1 Centerline is valid? [True, True] Translation: X:188.43, Y:-13.04, Z:-0.64 [[ 9.95936081e-01 9.00104252e-02 3.07347444e-03 1.88429100e+02] [-9.00100129e-02 9.95940823e-01 -2.72486233e-04 -1.30378912e+01] [-3.08552527e-03 -5.26460299e-06 9.99995240e-01 -6.39031458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:188.49, Y:-13.04, Z:-0.63 [[ 9.95560184e-01 9.40769608e-02 3.07348685e-03 1.88486377e+02] [-9.40765683e-02 9.95564928e-01 -2.72346228e-04 -1.30435155e+01] [-3.08547721e-03 -1.80060343e-05 9.99995240e-01 -6.34492793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:-13.05, Z:-0.63 [[ 9.95566926e-01 9.40055782e-02 3.07350225e-03 1.88544871e+02] [-9.40051859e-02 9.95571670e-01 -2.72172237e-04 -1.30501502e+01] [-3.08547748e-03 -1.79594737e-05 9.99995240e-01 -6.30128286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters Centerline goodness : 0.997513 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-13.05, Z:-0.63 [[ 9.95267120e-01 9.71283339e-02 3.07351440e-03 1.88603635e+02] [-9.71279570e-02 9.95271865e-01 -2.72034986e-04 -1.30532097e+01] [-3.08540472e-03 -2.77766976e-05 9.99995240e-01 -6.33001563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:-13.05, Z:-0.64 [[ 9.94680359e-01 1.02963761e-01 3.07352659e-03 1.88662111e+02] [-1.02963412e-01 9.94685107e-01 -2.71897256e-04 -1.30540568e+01] [-3.08518668e-03 -4.60099237e-05 9.99995240e-01 -6.39825463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:-13.05, Z:-0.64 [[ 9.94023912e-01 1.09119273e-01 3.07353901e-03 1.88720841e+02] [-1.09118954e-01 9.94028662e-01 -2.71756684e-04 -1.30529578e+01] [-3.08483976e-03 -6.52487197e-05 9.99995240e-01 -6.43962322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:-13.05, Z:-0.64 [[ 9.93784197e-01 1.11281277e-01 3.07355177e-03 1.88779127e+02] [-1.11280969e-01 9.93788947e-01 -2.71612378e-04 -1.30528317e+01] [-3.08468715e-03 -7.21037307e-05 9.99995240e-01 -6.42159540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters Centerline goodness : 0.997810 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-13.05, Z:-0.64 [[ 9.94038382e-01 1.08987375e-01 3.07356750e-03 1.88838439e+02] [-1.08987056e-01 9.94043132e-01 -2.71434210e-04 -1.30491289e+01] [-3.08484157e-03 -6.51630515e-05 9.99995240e-01 -6.41812677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters Centerline goodness : 0.998350 with order 1 Centerline is valid? [True, True] Translation: X:188.90, Y:-13.05, Z:-0.65 [[ 9.94436366e-01 1.05294192e-01 3.07358019e-03 1.88896805e+02] [-1.05293856e-01 9.94441115e-01 -2.71290448e-04 -1.30472078e+01] [-3.08505982e-03 -5.38480230e-05 9.99995240e-01 -6.53268827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:188.96, Y:-13.05, Z:-0.64 [[ 9.94760953e-01 1.02182188e-01 3.07359646e-03 1.88956106e+02] [-1.02181838e-01 9.94765700e-01 -2.71106034e-04 -1.30486690e+01] [-3.08521054e-03 -4.43800394e-05 9.99995240e-01 -6.44293760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters Centerline goodness : 0.996977 with order 1 Centerline is valid? [True, True] Translation: X:189.02, Y:-13.05, Z:-0.64 [[ 9.94924707e-01 1.00575246e-01 3.07360914e-03 1.89015603e+02] [-1.00574889e-01 9.94929454e-01 -2.70962152e-04 -1.30490104e+01] [-3.08527635e-03 -3.95409583e-05 9.99995240e-01 -6.35848470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:189.07, Y:-13.05, Z:-0.64 [[ 9.94746413e-01 1.02323638e-01 3.07362174e-03 1.89073352e+02] [-1.02323290e-01 9.94751160e-01 -2.70819116e-04 -1.30487486e+01] [-3.08519999e-03 -4.51067437e-05 9.99995240e-01 -6.40860145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters Centerline goodness : 0.997993 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:-13.05, Z:-0.64 [[ 9.94666095e-01 1.03101461e-01 3.07363732e-03 1.89131407e+02] [-1.03101117e-01 9.94670843e-01 -2.70642198e-04 -1.30490367e+01] [-3.08516103e-03 -4.76968223e-05 9.99995240e-01 -6.39827128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:-13.05, Z:-0.64 [[ 9.94881315e-01 1.01003573e-01 3.07365264e-03 1.89190755e+02] [-1.01003220e-01 9.94886062e-01 -2.70468140e-04 -1.30493057e+01] [-3.08525242e-03 -4.13651132e-05 9.99995240e-01 -6.42859512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters Centerline goodness : 0.997733 with order 1 Centerline is valid? [True, True] Translation: X:189.25, Y:-13.05, Z:-0.64 [[ 9.95337927e-01 9.64000164e-02 3.07366491e-03 1.89250083e+02] [-9.63996412e-02 9.95342673e-01 -2.70328576e-04 -1.30461676e+01] [-3.08540953e-03 -2.72319107e-05 9.99995240e-01 -6.42493824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters Centerline goodness : 0.998103 with order 1 Centerline is valid? [True, True] Translation: X:189.31, Y:-13.04, Z:-0.64 [[ 9.95470043e-01 9.50260327e-02 3.07367746e-03 1.89308066e+02] [-9.50256514e-02 9.95474788e-01 -2.70185790e-04 -1.30424600e+01] [-3.08544310e-03 -2.31163429e-05 9.99995240e-01 -6.39952148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters Centerline goodness : 0.998426 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:-13.04, Z:-0.65 [[ 9.95501590e-01 9.46949693e-02 3.07369299e-03 1.89367178e+02] [-9.46945870e-02 9.95506335e-01 -2.70009036e-04 -1.30380707e+01] [-3.08544934e-03 -2.22676636e-05 9.99995240e-01 -6.48536638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:189.43, Y:-13.04, Z:-0.65 [[ 9.95848812e-01 9.09708519e-02 3.07370476e-03 1.89426571e+02] [-9.09704522e-02 9.95853555e-01 -2.69875055e-04 -1.30379449e+01] [-3.08551057e-03 -1.08615582e-05 9.99995240e-01 -6.49273345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters Centerline goodness : 0.998167 with order 1 Centerline is valid? [True, True] Translation: X:189.49, Y:-13.04, Z:-0.64 [[ 9.96120296e-01 8.79483280e-02 3.07371746e-03 1.89485813e+02] [-8.79479144e-02 9.96125038e-01 -2.69730253e-04 -1.30398979e+01] [-3.08552925e-03 -1.64326131e-06 9.99995240e-01 -6.43569278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:-13.04, Z:-0.65 [[ 9.96516935e-01 8.33339717e-02 3.07373000e-03 1.89543909e+02] [-8.33335365e-02 9.96521675e-01 -2.69587299e-04 -1.30442074e+01] [-3.08550435e-03 1.25035177e-05 9.99995240e-01 -6.45559611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:-13.05, Z:-0.64 [[ 9.96701932e-01 8.10913720e-02 3.07374927e-03 1.89601277e+02] [-8.10909269e-02 9.96706672e-01 -2.69367454e-04 -1.30463941e+01] [-3.08546978e-03 1.92258844e-05 9.99995240e-01 -6.41625685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:-13.05, Z:-0.64 [[ 9.96961077e-01 7.78406232e-02 3.07376822e-03 1.89658803e+02] [-7.78401633e-02 9.96965815e-01 -2.69151021e-04 -1.30516432e+01] [-3.08539272e-03 2.90704718e-05 9.99995240e-01 -6.40338802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters Centerline goodness : 0.997859 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:-13.06, Z:-0.64 [[ 9.97269709e-01 7.37812979e-02 3.07378371e-03 1.89717017e+02] [-7.37808193e-02 9.97274445e-01 -2.68973998e-04 -1.30585703e+01] [-3.08525119e-03 4.14533407e-05 9.99995240e-01 -6.39186845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:-13.07, Z:-0.64 [[ 9.97650715e-01 6.84368525e-02 3.07379600e-03 1.89774888e+02] [-6.84363489e-02 9.97655448e-01 -2.68833452e-04 -1.30702352e+01] [-3.08498744e-03 5.78425105e-05 9.99995240e-01 -6.39173380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters Centerline goodness : 0.997943 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:-13.08, Z:-0.64 [[ 9.97743257e-01 6.70741775e-02 3.07380823e-03 1.89831844e+02] [-6.70736679e-02 9.97747990e-01 -2.68693555e-04 -1.30773508e+01] [-3.08490838e-03 6.19155898e-05 9.99995240e-01 -6.40801016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:-13.09, Z:-0.64 [[ 9.97636564e-01 6.86428320e-02 3.07382450e-03 1.89889601e+02] [-6.86423304e-02 9.97641297e-01 -2.68507257e-04 -1.30881457e+01] [-3.08500536e-03 5.68781795e-05 9.99995240e-01 -6.44260317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:189.95, Y:-13.10, Z:-0.65 [[ 9.97103979e-01 7.59882066e-02 3.07383649e-03 1.89947718e+02] [-7.59877403e-02 9.97108716e-01 -2.68369947e-04 -1.30972938e+01] [-3.08534211e-03 3.40188525e-05 9.99995240e-01 -6.45482375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:-13.11, Z:-0.64 [[ 9.96742928e-01 8.05858982e-02 3.07384839e-03 1.90006457e+02] [-8.05854542e-02 9.96747667e-01 -2.68233567e-04 -1.31057542e+01] [-3.08546706e-03 1.96524421e-05 9.99995240e-01 -6.39550431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-13.11, Z:-0.64 [[ 9.96503712e-01 8.34919401e-02 3.07386021e-03 1.90064649e+02] [-8.34915104e-02 9.96508452e-01 -2.68098113e-04 -1.31126263e+01] [-3.08551171e-03 1.05195338e-05 9.99995240e-01 -6.40621361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:-13.12, Z:-0.64 [[ 9.96512092e-01 8.33918520e-02 3.07387196e-03 1.90122859e+02] [-8.33914222e-02 9.96516833e-01 -2.67963254e-04 -1.31168439e+01] [-3.08551111e-03 1.06940680e-05 9.99995240e-01 -6.41826970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:-13.12, Z:-0.64 [[ 9.96451694e-01 8.41104784e-02 3.07388421e-03 1.90180902e+02] [-8.41100524e-02 9.96456435e-01 -2.67822713e-04 -1.31210580e+01] [-3.08551840e-03 8.32783393e-06 9.99995240e-01 -6.39937937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:190.24, Y:-13.13, Z:-0.64 [[ 9.96626661e-01 8.20112811e-02 3.07389939e-03 1.90238368e+02] [-8.20108457e-02 9.96631401e-01 -2.67648386e-04 -1.31255437e+01] [-3.08549484e-03 1.46524290e-05 9.99995240e-01 -6.43775583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters Centerline goodness : 0.996296 with order 1 Centerline is valid? [True, True] Translation: X:190.30, Y:-13.13, Z:-0.65 [[ 9.97113444e-01 7.58638938e-02 3.07391432e-03 1.90297151e+02] [-7.58634297e-02 9.97118182e-01 -2.67476736e-04 -1.31294916e+01] [-3.08534769e-03 3.35069664e-05 9.99995240e-01 -6.46013287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters Centerline goodness : 0.996006 with order 1 Centerline is valid? [True, True] Translation: X:190.35, Y:-13.14, Z:-0.65 [[ 9.97560408e-01 6.97408263e-02 3.07392693e-03 1.90354706e+02] [-6.97403336e-02 9.97565143e-01 -2.67331793e-04 -1.31363343e+01] [-3.08508630e-03 5.23029230e-05 9.99995240e-01 -6.48738743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters Centerline goodness : 0.995816 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:-13.14, Z:-0.65 [[ 9.97617204e-01 6.89236145e-02 3.07394247e-03 1.90412766e+02] [-6.89231184e-02 9.97621939e-01 -2.67152970e-04 -1.31433455e+01] [-3.08504559e-03 5.46506981e-05 9.99995240e-01 -6.47982991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters Centerline goodness : 0.995378 with order 1 Centerline is valid? [True, True] Translation: X:190.47, Y:-13.15, Z:-0.65 [[ 9.97493690e-01 7.06886717e-02 3.07395476e-03 1.90469663e+02] [-7.06881845e-02 9.97498426e-01 -2.67011466e-04 -1.31506938e+01] [-3.08513972e-03 4.90499716e-05 9.99995240e-01 -6.46019785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters Centerline goodness : 0.995598 with order 1 Centerline is valid? [True, True] Translation: X:190.53, Y:-13.16, Z:-0.65 [[ 9.97417292e-01 7.17585994e-02 3.07396518e-03 1.90528329e+02] [-7.17581176e-02 9.97422028e-01 -2.66891488e-04 -1.31570029e+01] [-3.08519234e-03 4.56202303e-05 9.99995240e-01 -6.46111501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters Centerline goodness : 0.995427 with order 1 Centerline is valid? [True, True] Translation: X:190.59, Y:-13.17, Z:-0.65 [[ 9.97539001e-01 7.00463516e-02 3.07397417e-03 1.90586181e+02] [-7.00458620e-02 9.97543736e-01 -2.66787835e-04 -1.31678781e+01] [-3.08511120e-03 5.08121002e-05 9.99995240e-01 -6.46181285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters Centerline goodness : 0.995681 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:-13.18, Z:-0.65 [[ 9.97859720e-01 6.53186736e-02 3.07398625e-03 1.90644186e+02] [-6.53181620e-02 9.97864453e-01 -2.66648618e-04 -1.31802341e+01] [-3.08483874e-03 6.52907839e-05 9.99995240e-01 -6.46654792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:190.70, Y:-13.19, Z:-0.65 [[ 9.98044026e-01 6.24393473e-02 3.07399842e-03 1.90701913e+02] [-6.24388224e-02 9.98048758e-01 -2.66508270e-04 -1.31897759e+01] [-3.08464090e-03 7.40501457e-05 9.99995240e-01 -6.47150624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters Centerline goodness : 0.995229 with order 1 Centerline is valid? [True, True] Translation: X:190.76, Y:-13.20, Z:-0.64 [[ 9.97975743e-01 6.35213904e-02 3.07400442e-03 1.90759586e+02] [-6.35208709e-02 9.97980475e-01 -2.66438978e-04 -1.32028120e+01] [-3.08472097e-03 7.06361992e-05 9.99995240e-01 -6.44735070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters Centerline goodness : 0.995239 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:-13.22, Z:-0.65 [[ 9.97585504e-01 6.93809295e-02 3.07401667e-03 1.90817153e+02] [-6.93804383e-02 9.97590238e-01 -2.66297644e-04 -1.32165155e+01] [-3.08508500e-03 5.23780454e-05 9.99995240e-01 -6.45720934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters Centerline goodness : 0.995158 with order 1 Centerline is valid? [True, True] Translation: X:190.88, Y:-13.23, Z:-0.64 [[ 9.97305891e-01 7.32905878e-02 3.07402883e-03 1.90875022e+02] [-7.32901155e-02 9.97310628e-01 -2.66157125e-04 -1.32317676e+01] [-3.08526844e-03 4.01441405e-05 9.99995240e-01 -6.43625463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters Centerline goodness : 0.995540 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:-13.24, Z:-0.65 [[ 9.97206846e-01 7.46261184e-02 3.07403792e-03 1.90933508e+02] [-7.46256528e-02 9.97211583e-01 -2.66052198e-04 -1.32437577e+01] [-3.08532066e-03 3.59069864e-05 9.99995240e-01 -6.45078841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters Centerline goodness : 0.995365 with order 1 Centerline is valid? [True, True] Translation: X:190.99, Y:-13.26, Z:-0.65 [[ 9.96754980e-01 8.04366884e-02 3.07404390e-03 1.90991938e+02] [-8.04362507e-02 9.96759720e-01 -2.65982990e-04 -1.32566885e+01] [-3.08547793e-03 1.78553039e-05 9.99995240e-01 -6.46414008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters Centerline goodness : 0.995290 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:-13.26, Z:-0.65 [[ 9.95975282e-01 8.95756017e-02 3.07405002e-03 1.91049757e+02] [-8.95752076e-02 9.95980026e-01 -2.65912305e-04 -1.32636971e+01] [-3.08551167e-03 -1.05165859e-05 9.99995240e-01 -6.46723215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters Centerline goodness : 0.994796 with order 1 Centerline is valid? [True, True] Translation: X:191.11, Y:-13.27, Z:-0.65 [[ 9.95544435e-01 9.42434535e-02 3.07405911e-03 1.91108512e+02] [-9.42430820e-02 9.95549181e-01 -2.65807102e-04 -1.32695659e+01] [-3.08542761e-03 -2.50860238e-05 9.99995240e-01 -6.47576084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters Centerline goodness : 0.995158 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:-13.27, Z:-0.65 [[ 9.95676061e-01 9.28425138e-02 3.07407134e-03 1.91166818e+02] [-9.28421360e-02 9.95680806e-01 -2.65665688e-04 -1.32733255e+01] [-3.08545890e-03 -2.08863831e-05 9.99995240e-01 -6.48346951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters Centerline goodness : 0.995194 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:-13.28, Z:-0.65 [[ 9.95908469e-01 9.03153998e-02 3.07408395e-03 1.91225065e+02] [-9.03150105e-02 9.95913213e-01 -2.65519604e-04 -1.32779282e+01] [-3.08550134e-03 -1.32027022e-05 9.99995240e-01 -6.45127723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters Centerline goodness : 0.994930 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-13.28, Z:-0.64 [[ 9.96000308e-01 8.92969006e-02 3.07409331e-03 1.91284313e+02] [-8.92965067e-02 9.96005052e-01 -2.65411248e-04 -1.32820119e+01] [-3.08551287e-03 -1.01561093e-05 9.99995240e-01 -6.43290788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters Centerline goodness : 0.994861 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:-13.29, Z:-0.65 [[ 9.96051234e-01 8.87270515e-02 3.07409925e-03 1.91342041e+02] [-8.87266551e-02 9.96055977e-01 -2.65342376e-04 -1.32908083e+01] [-3.08551798e-03 -8.45994312e-06 9.99995240e-01 -6.45853887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters Centerline goodness : 0.995549 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:-13.30, Z:-0.65 [[ 9.96027569e-01 8.89923086e-02 3.07410811e-03 1.91400669e+02] [-8.89919138e-02 9.96032313e-01 -2.65239732e-04 -1.32989172e+01] [-3.08551531e-03 -9.38467831e-06 9.99995240e-01 -6.49268981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:-13.31, Z:-0.65 [[ 9.95912546e-01 9.02704290e-02 3.07411686e-03 1.91458630e+02] [-9.02700407e-02 9.95917290e-01 -2.65138269e-04 -1.33080585e+01] [-3.08550028e-03 -1.34461256e-05 9.99995240e-01 -6.49530025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:191.52, Y:-13.31, Z:-0.64 [[ 9.95109276e-01 9.87323559e-02 3.07412556e-03 1.91516880e+02] [-9.87320082e-02 9.95114024e-01 -2.65037399e-04 -1.33121716e+01] [-3.08527322e-03 -3.97734154e-05 9.99995240e-01 -6.44032554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters Centerline goodness : 0.993538 with order 1 Centerline is valid? [True, True] Translation: X:191.58, Y:-13.31, Z:-0.64 [[ 9.94562057e-01 1.04100264e-01 3.07413787e-03 1.91575804e+02] [-1.04099942e-01 9.94566806e-01 -2.64894553e-04 -1.33135323e+01] [-3.08501107e-03 -5.65635032e-05 9.99995240e-01 -6.43886396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters Centerline goodness : 0.993630 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:-13.31, Z:-0.65 [[ 9.93842513e-01 1.10759236e-01 3.07415029e-03 1.91634627e+02] [-1.10758946e-01 9.93847265e-01 -2.64750299e-04 -1.33103856e+01] [-3.08455940e-03 -7.73695441e-05 9.99995240e-01 -6.45594110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:-13.31, Z:-0.65 [[ 9.93722094e-01 1.11834474e-01 3.07416268e-03 1.91692237e+02] [-1.11834190e-01 9.93726846e-01 -2.64606382e-04 -1.33115130e+01] [-3.08447010e-03 -8.08512861e-05 9.99995240e-01 -6.46497767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters Centerline goodness : 0.993576 with order 1 Centerline is valid? [True, True] Translation: X:191.75, Y:-13.31, Z:-0.65 [[ 9.93677864e-01 1.12226786e-01 3.07417976e-03 1.91751283e+02] [-1.12226505e-01 9.93682616e-01 -2.64407805e-04 -1.33120663e+01] [-3.08443262e-03 -8.22682673e-05 9.99995240e-01 -6.46765764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:191.81, Y:-13.31, Z:-0.65 [[ 9.93482788e-01 1.13940774e-01 3.07419268e-03 1.91809498e+02] [-1.13940501e-01 9.93487540e-01 -2.64257432e-04 -1.33064610e+01] [-3.08428182e-03 -8.77398458e-05 9.99995240e-01 -6.50728629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:191.87, Y:-13.30, Z:-0.65 [[ 9.93457880e-01 1.14157741e-01 3.07420863e-03 1.91867806e+02] [-1.14157470e-01 9.93462633e-01 -2.64071723e-04 -1.33015712e+01] [-3.08425723e-03 -8.85997457e-05 9.99995240e-01 -6.51862425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:191.93, Y:-13.29, Z:-0.65 [[ 9.93661138e-01 1.12374780e-01 3.07422583e-03 1.91927399e+02] [-1.12374501e-01 9.93665890e-01 -2.63871377e-04 -1.32934618e+01] [-3.08440584e-03 -8.32658622e-05 9.99995240e-01 -6.48010361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters Centerline goodness : 0.991968 with order 1 Centerline is valid? [True, True] Translation: X:191.99, Y:-13.29, Z:-0.65 [[ 9.94125872e-01 1.08186414e-01 3.07423794e-03 1.91986435e+02] [-1.08186115e-01 9.94130623e-01 -2.63730280e-04 -1.32894398e+01] [-3.08472611e-03 -7.04087646e-05 9.99995240e-01 -6.46516657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:192.05, Y:-13.29, Z:-0.65 [[ 9.94554058e-01 1.04176654e-01 3.07425039e-03 1.92045687e+02] [-1.04176337e-01 9.94558807e-01 -2.63584979e-04 -1.32864212e+01] [-3.08498221e-03 -5.81146347e-05 9.99995240e-01 -6.46217206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:-13.29, Z:-0.65 [[ 9.95430797e-01 9.54362459e-02 3.07426276e-03 1.92104391e+02] [-9.54358874e-02 9.95435544e-01 -2.63440679e-04 -1.32885184e+01] [-3.08537221e-03 -3.11580292e-05 9.99995240e-01 -6.46001877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters Centerline goodness : 0.992377 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:-13.29, Z:-0.64 [[ 9.96481354e-01 8.37583464e-02 3.07427512e-03 1.92161602e+02] [-8.37579327e-02 9.96486096e-01 -2.63296370e-04 -1.32925274e+01] [-3.08552568e-03 4.87499423e-06 9.99995240e-01 -6.42789784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters Centerline goodness : 0.992563 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:-13.30, Z:-0.65 [[ 9.97253462e-01 7.40005512e-02 3.07429034e-03 1.92219757e+02] [-7.40000917e-02 9.97258200e-01 -2.63118487e-04 -1.33027796e+01] [-3.08533217e-03 3.48980546e-05 9.99995240e-01 -6.48389793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters Centerline goodness : 0.993036 with order 1 Centerline is valid? [True, True] Translation: X:192.28, Y:-13.31, Z:-0.65 [[ 9.97592612e-01 6.92786373e-02 3.07430247e-03 1.92278421e+02] [-6.92781558e-02 9.97597348e-01 -2.62976727e-04 -1.33088245e+01] [-3.08513466e-03 4.93616345e-05 9.99995240e-01 -6.47711700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:-13.33, Z:-0.65 [[ 9.98108499e-01 6.14001123e-02 3.07431448e-03 1.92336930e+02] [-6.13995938e-02 9.98113230e-01 -2.62836242e-04 -1.33262243e+01] [-3.08465213e-03 7.35774267e-05 9.99995240e-01 -6.49231232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:192.39, Y:-13.34, Z:-0.65 [[ 9.98393355e-01 5.65796567e-02 3.07432065e-03 1.92394146e+02] [-5.65791156e-02 9.98398084e-01 -2.62764003e-04 -1.33420593e+01] [-3.08426295e-03 8.83994914e-05 9.99995240e-01 -6.51098701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters Centerline goodness : 0.993531 with order 1 Centerline is valid? [True, True] Translation: X:192.45, Y:-13.36, Z:-0.65 [[ 9.98436770e-01 5.58082863e-02 3.07432677e-03 1.92453600e+02] [-5.58077418e-02 9.98441499e-01 -2.62692422e-04 -1.33613998e+01] [-3.08419584e-03 9.07105392e-05 9.99995240e-01 -6.50651492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters Centerline goodness : 0.993265 with order 1 Centerline is valid? [True, True] Translation: X:192.51, Y:-13.38, Z:-0.65 [[ 9.98312045e-01 5.79966392e-02 3.07432677e-03 1.92511681e+02] [-5.79961050e-02 9.98316775e-01 -2.62692422e-04 -1.33770060e+01] [-3.08438726e-03 8.39500312e-05 9.99995240e-01 -6.47634494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters Centerline goodness : 0.993822 with order 1 Centerline is valid? [True, True] Translation: X:192.57, Y:-13.39, Z:-0.65 [[ 9.98085953e-01 6.17655185e-02 3.07432982e-03 1.92570383e+02] [-6.17650023e-02 9.98090685e-01 -2.62656771e-04 -1.33899191e+01] [-3.08468308e-03 7.22680454e-05 9.99995240e-01 -6.53162830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:192.63, Y:-13.40, Z:-0.65 [[ 9.97910163e-01 6.45434398e-02 3.07433608e-03 1.92629399e+02] [-6.45429370e-02 9.97914896e-01 -2.62583459e-04 -1.33978530e+01] [-3.08487381e-03 6.36080222e-05 9.99995240e-01 -6.54234415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters Centerline goodness : 0.994454 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:-13.41, Z:-0.65 [[ 9.97769829e-01 6.66777049e-02 3.07433919e-03 1.92689432e+02] [-6.66772124e-02 9.97774564e-01 -2.62547055e-04 -1.34054715e+01] [-3.08500348e-03 5.69731638e-05 9.99995240e-01 -6.54140329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters Centerline goodness : 0.994381 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:-13.41, Z:-0.65 [[ 9.97628547e-01 6.87592172e-02 3.07433919e-03 1.92748246e+02] [-6.87587346e-02 9.97633283e-01 -2.62547055e-04 -1.34125585e+01] [-3.08511563e-03 5.05367654e-05 9.99995240e-01 -6.54072356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters Centerline goodness : 0.993842 with order 1 Centerline is valid? [True, True] Translation: X:192.81, Y:-13.42, Z:-0.65 [[ 9.97590287e-01 6.93121034e-02 3.07434224e-03 1.92808497e+02] [-6.93116235e-02 9.97595023e-01 -2.62511353e-04 -1.34189093e+01] [-3.08514373e-03 4.87911242e-05 9.99995240e-01 -6.52528360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:192.87, Y:-13.42, Z:-0.65 [[ 9.97441626e-01 7.14195478e-02 3.07434224e-03 1.92869097e+02] [-7.14190779e-02 9.97446363e-01 -2.62511353e-04 -1.34237368e+01] [-3.08523992e-03 4.22730629e-05 9.99995240e-01 -6.51131906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:192.93, Y:-13.43, Z:-0.65 [[ 9.97267314e-01 7.38136336e-02 3.07434224e-03 1.92928657e+02] [-7.38131750e-02 9.97272052e-01 -2.62511353e-04 -1.34294479e+01] [-3.08533251e-03 3.48670303e-05 9.99995240e-01 -6.46168300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters Centerline goodness : 0.994253 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:-13.43, Z:-0.65 [[ 9.97161660e-01 7.52274684e-02 3.07434830e-03 1.92988350e+02] [-7.52270167e-02 9.97166399e-01 -2.62440286e-04 -1.34347775e+01] [-3.08537954e-03 3.04213401e-05 9.99995240e-01 -6.50371558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters Centerline goodness : 0.994440 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:-13.45, Z:-0.65 [[ 9.97165003e-01 7.51831388e-02 3.07435449e-03 1.93046986e+02] [-7.51826872e-02 9.97169742e-01 -2.62367721e-04 -1.34457329e+01] [-3.08537891e-03 3.04856770e-05 9.99995240e-01 -6.51340546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:-13.45, Z:-0.65 [[ 9.97189685e-01 7.48550648e-02 3.07435127e-03 1.93107131e+02] [-7.48546115e-02 9.97194424e-01 -2.62405523e-04 -1.34544110e+01] [-3.08536832e-03 3.15387112e-05 9.99995240e-01 -6.47540579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters Centerline goodness : 0.994969 with order 1 Centerline is valid? [True, True] Translation: X:193.17, Y:-13.46, Z:-0.65 [[ 9.96915394e-01 7.84235038e-02 3.07435127e-03 1.93167381e+02] [-7.84230675e-02 9.96920134e-01 -2.62405523e-04 -1.34626446e+01] [-3.08546144e-03 2.04960486e-05 9.99995240e-01 -6.53491431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters Centerline goodness : 0.994597 with order 1 Centerline is valid? [True, True] Translation: X:193.23, Y:-13.47, Z:-0.66 [[ 9.96703681e-01 8.10698530e-02 3.07435127e-03 1.93226124e+02] [-8.10694293e-02 9.96708422e-01 -2.62405523e-04 -1.34687254e+01] [-3.08550498e-03 1.23046483e-05 9.99995240e-01 -6.56898454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters Centerline goodness : 0.995411 with order 1 Centerline is valid? [True, True] Translation: X:193.29, Y:-13.48, Z:-0.66 [[ 9.96694338e-01 8.11846354e-02 3.07435437e-03 1.93285146e+02] [-8.11842123e-02 9.96699079e-01 -2.62369120e-04 -1.34758870e+01] [-3.08550652e-03 1.19127780e-05 9.99995240e-01 -6.57932179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters Centerline goodness : 0.994940 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:-13.48, Z:-0.65 [[ 9.96752927e-01 8.04621044e-02 3.07435743e-03 1.93345251e+02] [-8.04616779e-02 9.96757668e-01 -2.62333309e-04 -1.34824208e+01] [-3.08549723e-03 1.41135367e-05 9.99995240e-01 -6.52657076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters Centerline goodness : 0.995395 with order 1 Centerline is valid? [True, True] Translation: X:193.40, Y:-13.49, Z:-0.65 [[ 9.96751714e-01 8.04771304e-02 3.07435743e-03 1.93404778e+02] [-8.04767041e-02 9.96756455e-01 -2.62333309e-04 -1.34915299e+01] [-3.08549745e-03 1.40670227e-05 9.99995240e-01 -6.54380112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:-13.49, Z:-0.65 [[ 9.96302366e-01 8.58611914e-02 3.07434276e-03 1.93465170e+02] [-8.58607901e-02 9.96307109e-01 -2.62505104e-04 -1.34942495e+01] [-3.08552855e-03 -2.43104268e-06 9.99995240e-01 -6.54291457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters Centerline goodness : 0.994771 with order 1 Centerline is valid? [True, True] Translation: X:193.52, Y:-13.49, Z:-0.65 [[ 9.95683922e-01 9.27581560e-02 3.07434276e-03 1.93524829e+02] [-9.27577876e-02 9.95688668e-01 -2.62505104e-04 -1.34922924e+01] [-3.08543774e-03 -2.37971215e-05 9.99995240e-01 -6.51357241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters Centerline goodness : 0.995010 with order 1 Centerline is valid? [True, True] Translation: X:193.58, Y:-13.49, Z:-0.65 [[ 9.95524758e-01 9.44510737e-02 3.07434912e-03 1.93583575e+02] [-9.44507136e-02 9.95529504e-01 -2.62430590e-04 -1.34944971e+01] [-3.08539211e-03 -2.91183186e-05 9.99995240e-01 -6.54016391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:193.64, Y:-13.49, Z:-0.66 [[ 9.95601656e-01 9.36370219e-02 3.07435856e-03 1.93642884e+02] [-9.36366582e-02 9.95606402e-01 -2.62319979e-04 -1.34933107e+01] [-3.08541393e-03 -2.67064562e-05 9.99995240e-01 -6.61686795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters Centerline goodness : 0.995085 with order 1 Centerline is valid? [True, True] Translation: X:193.70, Y:-13.49, Z:-0.66 [[ 9.96438908e-01 8.42618034e-02 3.07436787e-03 1.93703001e+02] [-8.42613954e-02 9.96443650e-01 -2.62210867e-04 -1.34903680e+01] [-3.08552870e-03 2.22658381e-06 9.99995240e-01 -6.57289083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:-13.49, Z:-0.65 [[ 9.96952405e-01 7.79515860e-02 3.07437407e-03 1.93762793e+02] [-7.79511482e-02 9.96957145e-01 -2.62138059e-04 -1.34907441e+01] [-3.08545328e-03 2.16881796e-05 9.99995240e-01 -6.54521027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:-13.50, Z:-0.66 [[ 9.97569109e-01 6.96162458e-02 3.07438025e-03 1.93821525e+02] [-6.96157686e-02 9.97573845e-01 -2.62065584e-04 -1.34976645e+01] [-3.08516535e-03 4.74031866e-05 9.99995240e-01 -6.59917289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters Centerline goodness : 0.995660 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:-13.50, Z:-0.66 [[ 9.97742128e-01 6.70909338e-02 3.07438329e-03 1.93881735e+02] [-6.70904448e-02 9.97746863e-01 -2.62029912e-04 -1.35046367e+01] [-3.08503612e-03 5.51765399e-05 9.99995240e-01 -6.58697183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters Centerline goodness : 0.996257 with order 1 Centerline is valid? [True, True] Translation: X:193.94, Y:-13.51, Z:-0.66 [[ 9.97576575e-01 6.95091742e-02 3.07438329e-03 1.93940841e+02] [-6.95086967e-02 9.97581311e-01 -2.62029912e-04 -1.35100090e+01] [-3.08516080e-03 4.76985267e-05 9.99995240e-01 -6.60542039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters Centerline goodness : 0.994814 with order 1 Centerline is valid? [True, True] Translation: X:194.00, Y:-13.52, Z:-0.65 [[ 9.97404656e-01 7.19340011e-02 3.07438630e-03 1.94001083e+02] [-7.19335352e-02 9.97409393e-01 -2.61994616e-04 -1.35186328e+01] [-3.08526810e-03 4.01631749e-05 9.99995240e-01 -6.53470980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters Centerline goodness : 0.995006 with order 1 Centerline is valid? [True, True] Translation: X:194.06, Y:-13.53, Z:-0.65 [[ 9.97325184e-01 7.30275680e-02 3.07438630e-03 1.94060357e+02] [-7.30271073e-02 9.97329922e-01 -2.61994616e-04 -1.35290755e+01] [-3.08531028e-03 3.67802905e-05 9.99995240e-01 -6.54867691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters Centerline goodness : 0.989107 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:-13.54, Z:-0.64 [[ 9.97442026e-01 7.14139598e-02 3.07438315e-03 1.94120063e+02] [-7.14134913e-02 9.97446763e-01 -2.62031541e-04 -1.35381464e+01] [-3.08524623e-03 4.18088360e-05 9.99995240e-01 -6.43901851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters Centerline goodness : 0.995451 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:-13.55, Z:-0.66 [[ 9.97416490e-01 7.17697301e-02 3.07438315e-03 1.94178722e+02] [-7.17692633e-02 9.97421227e-01 -2.62031541e-04 -1.35483333e+01] [-3.08526095e-03 4.07083654e-05 9.99995240e-01 -6.55613984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters Centerline goodness : 0.991442 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:-13.56, Z:-0.65 [[ 9.96941342e-01 7.80929452e-02 3.07438621e-03 1.94238052e+02] [-7.80925085e-02 9.96946083e-01 -2.61995634e-04 -1.35591991e+01] [-3.08545730e-03 2.11077475e-05 9.99995240e-01 -6.50024461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:-13.56, Z:-0.66 [[ 9.96387302e-01 8.48698607e-02 3.07438621e-03 1.94297977e+02] [-8.48694563e-02 9.96392045e-01 -2.61995634e-04 -1.35630889e+01] [-3.08552950e-03 1.27636403e-07 9.99995240e-01 -6.56741834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:-13.57, Z:-0.66 [[ 9.95470524e-01 9.50209615e-02 3.07438621e-03 1.94356836e+02] [-9.50206055e-02 9.95475271e-01 -2.61995634e-04 -1.35661951e+01] [-3.08537053e-03 -3.13211082e-05 9.99995240e-01 -6.58588819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters Centerline goodness : 0.995192 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:-13.57, Z:-0.66 [[ 9.95226026e-01 9.75484766e-02 3.07439568e-03 1.94416289e+02] [-9.75481329e-02 9.95230774e-01 -2.61884544e-04 -1.35678993e+01] [-3.08527963e-03 -3.92672441e-05 9.99995240e-01 -6.58471027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters Centerline goodness : 0.995286 with order 1 Centerline is valid? [True, True] Translation: X:194.47, Y:-13.57, Z:-0.66 [[ 9.95455550e-01 9.51777028e-02 3.07440189e-03 1.94474916e+02] [-9.51773481e-02 9.95460297e-01 -2.61811522e-04 -1.35710337e+01] [-3.08536364e-03 -3.19916867e-05 9.99995240e-01 -6.57629510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters Centerline goodness : 0.993822 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:-13.57, Z:-0.65 [[ 9.95810007e-01 9.13946320e-02 3.07441111e-03 1.94534533e+02] [-9.13942596e-02 9.95814752e-01 -2.61703259e-04 -1.35737469e+01] [-3.08546221e-03 -2.03768032e-05 9.99995240e-01 -6.52933322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:-13.58, Z:-0.66 [[ 9.96191913e-01 8.71333499e-02 3.07442226e-03 1.94594078e+02] [-8.71329576e-02 9.96196657e-01 -2.61572155e-04 -1.35753274e+01] [-3.08552084e-03 -7.30743944e-06 9.99995240e-01 -6.57535230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:-13.57, Z:-0.66 [[ 9.95903852e-01 9.03662856e-02 3.07442842e-03 1.94653168e+02] [-9.03659089e-02 9.95908597e-01 -2.61499744e-04 -1.35747518e+01] [-3.08548046e-03 -1.73949171e-05 9.99995240e-01 -6.60017123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters Centerline goodness : 0.994446 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:-13.58, Z:-0.66 [[ 9.95844718e-01 9.10156333e-02 3.07443486e-03 1.94712522e+02] [-9.10152599e-02 9.95849464e-01 -2.61424093e-04 -1.35757483e+01] [-3.08546798e-03 -1.94826852e-05 9.99995240e-01 -6.55920722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters Centerline goodness : 0.994038 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:-13.58, Z:-0.65 [[ 9.95939588e-01 8.99715799e-02 3.07444670e-03 1.94771993e+02] [-8.99712020e-02 9.95944333e-01 -2.61284772e-04 -1.35762518e+01] [-3.08548597e-03 -1.63878169e-05 9.99995240e-01 -6.53849318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:-13.58, Z:-0.65 [[ 9.96170661e-01 8.73759752e-02 3.07445898e-03 1.94830582e+02] [-8.73755854e-02 9.96175406e-01 -2.61140194e-04 -1.35795859e+01] [-3.08551780e-03 -8.49245300e-06 9.99995240e-01 -6.53465259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters Centerline goodness : 0.994452 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:-13.59, Z:-0.66 [[ 9.96632578e-01 8.19393191e-02 3.07447136e-03 1.94889963e+02] [-8.19389038e-02 9.96637320e-01 -2.60994274e-04 -1.35856533e+01] [-3.08551859e-03 8.19658307e-06 9.99995240e-01 -6.60012613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters Centerline goodness : 0.994259 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:-13.59, Z:-0.65 [[ 9.96587057e-01 8.24911234e-02 3.07447772e-03 1.94948401e+02] [-8.24907110e-02 9.96591799e-01 -2.60919416e-04 -1.35918010e+01] [-3.08552282e-03 6.41306054e-06 9.99995240e-01 -6.50634263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters Centerline goodness : 0.993134 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:-13.60, Z:-0.64 [[ 9.96282160e-01 8.60953306e-02 3.07448448e-03 1.95007830e+02] [-8.60949356e-02 9.96286903e-01 -2.60839680e-04 -1.35961651e+01] [-3.08552570e-03 -4.82762403e-06 9.99995240e-01 -6.44608455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters Centerline goodness : 0.993999 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:-13.60, Z:-0.65 [[ 9.96254767e-01 8.64117268e-02 3.07449048e-03 1.95067054e+02] [-8.64113335e-02 9.96259511e-01 -2.60768922e-04 -1.36011667e+01] [-3.08552388e-03 -5.87854082e-06 9.99995240e-01 -6.49863980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters Centerline goodness : 0.994086 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:-13.61, Z:-0.66 [[ 9.96193942e-01 8.71101505e-02 3.07449658e-03 1.95125722e+02] [-8.71097608e-02 9.96198686e-01 -2.60697007e-04 -1.36074023e+01] [-3.08551881e-03 -8.11388299e-06 9.99995240e-01 -6.57326859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:195.18, Y:-13.61, Z:-0.65 [[ 9.95910095e-01 9.02974552e-02 3.07450311e-03 1.95184350e+02] [-9.02970809e-02 9.95914840e-01 -2.60619945e-04 -1.36114335e+01] [-3.08547660e-03 -1.80646221e-05 9.99995240e-01 -6.52564593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters Centerline goodness : 0.994483 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:-13.61, Z:-0.66 [[ 9.95210795e-01 9.77037413e-02 3.07451521e-03 1.95243904e+02] [-9.77034027e-02 9.95215543e-01 -2.60477160e-04 -1.36112794e+01] [-3.08525492e-03 -4.11609159e-05 9.99995240e-01 -6.58619188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters Centerline goodness : 0.994263 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:-13.62, Z:-0.66 [[ 9.94797762e-01 1.01823181e-01 3.07452423e-03 1.95301550e+02] [-1.01822862e-01 9.94802512e-01 -2.60370618e-04 -1.36151467e+01] [-3.08505619e-03 -5.40407493e-05 9.99995240e-01 -6.58684045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters Centerline goodness : 0.994092 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:-13.62, Z:-0.66 [[ 9.94789573e-01 1.01903155e-01 3.07453914e-03 1.95360010e+02] [-1.01902837e-01 9.94794323e-01 -2.60194423e-04 -1.36178436e+01] [-3.08504872e-03 -5.44655625e-05 9.99995240e-01 -6.59090746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:-13.62, Z:-0.66 [[ 9.94753840e-01 1.02251380e-01 3.07455085e-03 1.95419068e+02] [-1.02251065e-01 9.94758590e-01 -2.60056019e-04 -1.36231079e+01] [-3.08502696e-03 -5.56843756e-05 9.99995240e-01 -6.59113138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:-13.63, Z:-0.66 [[ 9.94272374e-01 1.06831614e-01 3.07456259e-03 1.95477353e+02] [-1.06831321e-01 9.94277125e-01 -2.59917218e-04 -1.36259018e+01] [-3.08473462e-03 -7.00310734e-05 9.99995240e-01 -6.57589375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters Centerline goodness : 0.993598 with order 1 Centerline is valid? [True, True] Translation: X:195.54, Y:-13.63, Z:-0.66 [[ 9.93472794e-01 1.14027864e-01 3.07457711e-03 1.95536281e+02] [-1.14027606e-01 9.93477548e-01 -2.59745294e-04 -1.36281549e+01] [-3.08414153e-03 -9.25367828e-05 9.99995240e-01 -6.57692633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters Centerline goodness : 0.994076 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:-13.63, Z:-0.66 [[ 9.93250087e-01 1.15951768e-01 3.07458932e-03 1.95594475e+02] [-1.15951519e-01 9.93254840e-01 -2.59600710e-04 -1.36301595e+01] [-3.08395188e-03 -9.86548751e-05 9.99995240e-01 -6.55935569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters Centerline goodness : 0.993467 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:-13.63, Z:-0.65 [[ 9.93757915e-01 1.11515712e-01 3.07460433e-03 1.95653611e+02] [-1.11515443e-01 9.93762667e-01 -2.59422749e-04 -1.36339233e+01] [-3.08435672e-03 -8.50624538e-05 9.99995240e-01 -6.52832121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters Centerline goodness : 0.994062 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:-13.63, Z:-0.65 [[ 9.94651475e-01 1.03242385e-01 3.07461624e-03 1.95711802e+02] [-1.03242077e-01 9.94656225e-01 -2.59281549e-04 -1.36346252e+01] [-3.08495503e-03 -5.95349913e-05 9.99995240e-01 -6.53544946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters Centerline goodness : 0.993866 with order 1 Centerline is valid? [True, True] Translation: X:195.77, Y:-13.64, Z:-0.65 [[ 9.95574415e-01 9.39262004e-02 3.07463218e-03 1.95769796e+02] [-9.39258481e-02 9.95579162e-01 -2.59092390e-04 -1.36365712e+01] [-3.08537529e-03 -3.08416803e-05 9.99995240e-01 -6.49740213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters Centerline goodness : 0.993963 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:-13.63, Z:-0.65 [[ 9.96050112e-01 8.87396227e-02 3.07464801e-03 1.95829226e+02] [-8.87392463e-02 9.96054857e-01 -2.58904455e-04 -1.36327187e+01] [-3.08549316e-03 -1.49601349e-05 9.99995240e-01 -6.50955356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters Centerline goodness : 0.993145 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:-13.64, Z:-0.65 [[ 9.96349431e-01 8.53132924e-02 3.07466062e-03 1.95886627e+02] [-8.53129001e-02 9.96354175e-01 -2.58754577e-04 -1.36372594e+01] [-3.08552615e-03 -4.49823910e-06 9.99995240e-01 -6.53532211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters Centerline goodness : 0.993676 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:-13.64, Z:-0.65 [[ 9.96731979e-01 8.07211758e-02 3.07467661e-03 1.95945501e+02] [-8.07207623e-02 9.96736721e-01 -2.58564381e-04 -1.36407696e+01] [-3.08551471e-03 9.52914698e-06 9.99995240e-01 -6.52282693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters Centerline goodness : 0.993743 with order 1 Centerline is valid? [True, True] Translation: X:196.00, Y:-13.65, Z:-0.65 [[ 9.96871195e-01 7.89833286e-02 3.07468894e-03 1.96002411e+02] [-7.89829072e-02 9.96875937e-01 -2.58417684e-04 -1.36495827e+01] [-3.08549411e-03 1.47612742e-05 9.99995240e-01 -6.53908784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters Centerline goodness : 0.994291 with order 1 Centerline is valid? [True, True] Translation: X:196.06, Y:-13.66, Z:-0.66 [[ 9.96752448e-01 8.04680290e-02 3.07470416e-03 1.96060745e+02] [-8.04676153e-02 9.96757190e-01 -2.58236513e-04 -1.36560475e+01] [-3.08551326e-03 9.98376469e-06 9.99995240e-01 -6.55471182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters Centerline goodness : 0.993968 with order 1 Centerline is valid? [True, True] Translation: X:196.12, Y:-13.66, Z:-0.65 [[ 9.96625158e-01 8.20295161e-02 3.07471584e-03 1.96119432e+02] [-8.20291102e-02 9.96629900e-01 -2.58097392e-04 -1.36642609e+01] [-3.08552534e-03 5.01014928e-06 9.99995240e-01 -6.52222203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:-13.67, Z:-0.65 [[ 9.96901819e-01 7.85958637e-02 3.07472747e-03 1.96177647e+02] [-7.85954419e-02 9.96906560e-01 -2.57958786e-04 -1.36685019e+01] [-3.08549048e-03 1.55000190e-05 9.99995240e-01 -6.51758984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:196.24, Y:-13.67, Z:-0.65 [[ 9.97161870e-01 7.52246767e-02 3.07473961e-03 1.96236552e+02] [-7.52242393e-02 9.97166610e-01 -2.57813904e-04 -1.36718892e+01] [-3.08542164e-03 2.57872465e-05 9.99995240e-01 -6.51356077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:196.30, Y:-13.67, Z:-0.65 [[ 9.97487962e-01 7.07694293e-02 3.07475168e-03 1.96295997e+02] [-7.07689712e-02 9.97492700e-01 -2.57669969e-04 -1.36734693e+01] [-3.08527751e-03 3.94256794e-05 9.99995240e-01 -6.52397159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:-13.68, Z:-0.65 [[ 9.97819914e-01 6.59239266e-02 3.07475765e-03 1.96354718e+02] [-6.59234457e-02 9.97824650e-01 -2.57598699e-04 -1.36790887e+01] [-3.08505089e-03 5.43384932e-05 9.99995240e-01 -6.52041030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters Centerline goodness : 0.994967 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:-13.68, Z:-0.65 [[ 9.97968966e-01 6.36277407e-02 3.07476649e-03 1.96414109e+02] [-6.36272492e-02 9.97973700e-01 -2.57493041e-04 -1.36826510e+01] [-3.08491980e-03 6.13311293e-05 9.99995240e-01 -6.50316925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters Centerline goodness : 0.994960 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:-13.69, Z:-0.65 [[ 9.98104499e-01 6.14650621e-02 3.07477238e-03 1.96472194e+02] [-6.14645606e-02 9.98109233e-01 -2.57422752e-04 -1.36913929e+01] [-3.08478121e-03 6.79452735e-05 9.99995240e-01 -6.51725668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters Centerline goodness : 0.995862 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:-13.70, Z:-0.65 [[ 9.98104875e-01 6.14589560e-02 3.07478111e-03 1.96531817e+02] [-6.14584548e-02 9.98109609e-01 -2.57318371e-04 -1.36977505e+01] [-3.08478310e-03 6.78594250e-05 9.99995240e-01 -6.54482907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters Centerline goodness : 0.995357 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:-13.71, Z:-0.65 [[ 9.98311955e-01 5.79981550e-02 3.07478702e-03 1.96590383e+02] [-5.79976376e-02 9.98316687e-01 -2.57247812e-04 -1.37074937e+01] [-3.08453109e-03 7.84831831e-05 9.99995240e-01 -6.50932379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters Centerline goodness : 0.995260 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:-13.72, Z:-0.66 [[ 9.98777480e-01 4.93365138e-02 3.07478994e-03 1.96649891e+02] [-4.93359555e-02 9.98782207e-01 -2.57212858e-04 -1.37197640e+01] [-3.08373547e-03 1.05200710e-04 9.99995240e-01 -6.57312330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters Centerline goodness : 0.995039 with order 1 Centerline is valid? [True, True] Translation: X:196.71, Y:-13.74, Z:-0.66 [[ 9.99038818e-01 4.37262615e-02 3.07478994e-03 1.96709711e+02] [-4.37256767e-02 9.99043542e-01 -2.57212858e-04 -1.37379610e+01] [-3.08309599e-03 1.22518359e-04 9.99995240e-01 -6.57958699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters Centerline goodness : 0.996022 with order 1 Centerline is valid? [True, True] Translation: X:196.77, Y:-13.75, Z:-0.65 [[ 9.99053314e-01 4.33937961e-02 3.07478430e-03 1.96769620e+02] [-4.33932094e-02 9.99058038e-01 -2.57280309e-04 -1.37543818e+01] [-3.08305234e-03 1.23611986e-04 9.99995240e-01 -6.50809319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters Centerline goodness : 0.995878 with order 1 Centerline is valid? [True, True] Translation: X:196.83, Y:-13.77, Z:-0.65 [[ 9.98882864e-01 4.71547418e-02 3.07477849e-03 1.96829449e+02] [-4.71541728e-02 9.98887590e-01 -2.57349738e-04 -1.37664901e+01] [-3.08349333e-03 1.12073607e-04 9.99995240e-01 -6.48688461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters Centerline goodness : 0.993466 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-13.78, Z:-0.64 [[ 9.98426175e-01 5.59974907e-02 3.07477561e-03 1.96889126e+02] [-5.59969634e-02 9.98430906e-01 -2.57384100e-04 -1.37815350e+01] [-3.08436386e-03 8.48009253e-05 9.99995240e-01 -6.43055629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters Centerline goodness : 0.996106 with order 1 Centerline is valid? [True, True] Translation: X:196.95, Y:-13.79, Z:-0.66 [[ 9.98031716e-01 6.26357728e-02 3.07477561e-03 1.96948514e+02] [-6.26352770e-02 9.98036450e-01 -2.57384100e-04 -1.37934701e+01] [-3.08485959e-03 6.42880729e-05 9.99995240e-01 -6.56485894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters Centerline goodness : 0.996544 with order 1 Centerline is valid? [True, True] Translation: X:197.01, Y:-13.80, Z:-0.65 [[ 9.97536025e-01 7.00886924e-02 3.07477262e-03 1.97009043e+02] [-7.00882318e-02 9.97540763e-01 -2.57419772e-04 -1.38031030e+01] [-3.08525324e-03 4.12801195e-05 9.99995240e-01 -6.52981472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:197.07, Y:-13.81, Z:-0.65 [[ 9.97344931e-01 7.27573697e-02 3.07476659e-03 1.97069170e+02] [-7.27569216e-02 9.97349670e-01 -2.57491806e-04 -1.38128003e+01] [-3.08535187e-03 3.30975951e-05 9.99995240e-01 -6.53639132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters Centerline goodness : 0.996275 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:-13.83, Z:-0.66 [[ 9.97503041e-01 7.05565609e-02 3.07476360e-03 1.97130349e+02] [-7.05561022e-02 9.97507779e-01 -2.57527572e-04 -1.38288032e+01] [-3.08527087e-03 3.99412021e-05 9.99995240e-01 -6.55851753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:-13.84, Z:-0.65 [[ 9.97508684e-01 7.04767370e-02 3.07472203e-03 1.97192179e+02] [-7.04762764e-02 9.97513422e-01 -2.58022853e-04 -1.38394838e+01] [-3.08526111e-03 4.06850765e-05 9.99995240e-01 -6.53904293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters Centerline goodness : 0.996257 with order 1 Centerline is valid? [True, True] Translation: X:197.25, Y:-13.86, Z:-0.65 [[ 9.97351744e-01 7.26639223e-02 3.07468003e-03 1.97253890e+02] [-7.26634705e-02 9.97356483e-01 -2.58522372e-04 -1.38554519e+01] [-3.08533731e-03 3.44208161e-05 9.99995240e-01 -6.54083610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:-13.86, Z:-0.65 [[ 9.97073127e-01 7.63919189e-02 3.07463202e-03 1.97316141e+02] [-7.63914831e-02 9.97077868e-01 -2.59092202e-04 -1.38649170e+01] [-3.08544008e-03 2.34581723e-05 9.99995240e-01 -6.54223537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:-13.88, Z:-0.65 [[ 9.96912138e-01 7.84648720e-02 3.07458433e-03 1.97378026e+02] [-7.84644444e-02 9.96916879e-01 -2.59656893e-04 -1.38754182e+01] [-3.08547895e-03 1.76095575e-05 9.99995240e-01 -6.54654665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:-13.89, Z:-0.65 [[ 9.96903571e-01 7.85736468e-02 3.07453672e-03 1.97438786e+02] [-7.85732179e-02 9.96908312e-01 -2.60219421e-04 -1.38887394e+01] [-3.08547759e-03 1.78374266e-05 9.99995240e-01 -6.52537493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:-13.90, Z:-0.65 [[ 9.96913407e-01 7.84487552e-02 3.07449247e-03 1.97500881e+02] [-7.84483241e-02 9.96918147e-01 -2.60741156e-04 -1.38998643e+01] [-3.08547215e-03 1.87475728e-05 9.99995240e-01 -6.53854474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters Centerline goodness : 0.996464 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:-13.91, Z:-0.66 [[ 9.96722659e-01 8.08361887e-02 3.07444402e-03 1.97563325e+02] [-8.08357672e-02 9.96727400e-01 -2.61311137e-04 -1.39114837e+01] [-3.08550599e-03 1.19296897e-05 9.99995240e-01 -6.55190770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:197.63, Y:-13.92, Z:-0.66 [[ 9.96406681e-01 8.46420355e-02 3.07442177e-03 1.97625195e+02] [-8.46416313e-02 9.96411424e-01 -2.61572672e-04 -1.39199416e+01] [-3.08552902e-03 4.08684135e-07 9.99995240e-01 -6.55619020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters Centerline goodness : 0.996686 with order 1 Centerline is valid? [True, True] Translation: X:197.69, Y:-13.93, Z:-0.66 [[ 9.95903998e-01 9.03646770e-02 3.07437408e-03 1.97687770e+02] [-9.03642984e-02 9.95908743e-01 -2.62132012e-04 -1.39288010e+01] [-3.08548350e-03 -1.67553380e-05 9.99995240e-01 -6.60319022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:-13.94, Z:-0.66 [[ 9.95072980e-01 9.90974939e-02 3.07432470e-03 1.97748955e+02] [-9.90971551e-02 9.95077728e-01 -2.62709830e-04 -1.39363813e+01] [-3.08522593e-03 -4.32413782e-05 9.99995240e-01 -6.55106799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:-13.94, Z:-0.65 [[ 9.93730854e-01 1.11756601e-01 3.07427889e-03 1.97810468e+02] [-1.11756321e-01 9.93735606e-01 -2.63244859e-04 -1.39393158e+01] [-3.08443975e-03 -8.19755596e-05 9.99995240e-01 -6.50950056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters Centerline goodness : 0.997226 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:-13.94, Z:-0.66 [[ 9.92644497e-01 1.21026656e-01 3.07423390e-03 1.97872651e+02] [-1.21026418e-01 9.92649251e-01 -2.63769271e-04 -1.39363971e+01] [-3.08355909e-03 -1.10234403e-04 9.99995240e-01 -6.59803404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:-13.93, Z:-0.66 [[ 9.91929745e-01 1.26751448e-01 3.07419214e-03 1.97933616e+02] [-1.26751237e-01 9.91934501e-01 -2.64255001e-04 -1.39315382e+01] [-3.08289195e-03 -1.27535261e-04 9.99995240e-01 -6.59260555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters Centerline goodness : 0.997371 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:-13.93, Z:-0.66 [[ 9.91671248e-01 1.28758242e-01 3.07418919e-03 1.97994784e+02] [-1.28758040e-01 9.91676004e-01 -2.64289301e-04 -1.39289632e+01] [-3.08262908e-03 -1.33738475e-04 9.99995240e-01 -6.57564764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters Centerline goodness : 0.997655 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:-13.92, Z:-0.66 [[ 9.91383140e-01 1.30958085e-01 3.07418919e-03 1.98054825e+02] [-1.30957893e-01 9.91387896e-01 -2.64289301e-04 -1.39203116e+01] [-3.08232478e-03 -1.40577384e-04 9.99995240e-01 -6.58130733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters Centerline goodness : 0.997340 with order 1 Centerline is valid? [True, True] Translation: X:198.12, Y:-13.91, Z:-0.66 [[ 9.91472585e-01 1.30279170e-01 3.07419216e-03 1.98115084e+02] [-1.30278976e-01 9.91477341e-01 -2.64254823e-04 -1.39104681e+01] [-3.08241877e-03 -1.38501194e-04 9.99995240e-01 -6.58975882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters Centerline goodness : 0.997386 with order 1 Centerline is valid? [True, True] Translation: X:198.17, Y:-13.90, Z:-0.66 [[ 9.92050467e-01 1.25803102e-01 3.07419811e-03 1.98174386e+02] [-1.25802887e-01 9.92055222e-01 -2.64185594e-04 -1.39022358e+01] [-3.08300965e-03 -1.24657554e-04 9.99995240e-01 -6.60657595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters Centerline goodness : 0.996967 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:-13.90, Z:-0.65 [[ 9.93247182e-01 1.15976656e-01 3.07420698e-03 1.98234581e+02] [-1.15976393e-01 9.93251935e-01 -2.64082250e-04 -1.38957898e+01] [-3.08408941e-03 -9.42364877e-05 9.99995240e-01 -6.54344995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters Centerline goodness : 0.996926 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:-13.89, Z:-0.65 [[ 9.94456547e-01 1.05103401e-01 3.07421316e-03 1.98293496e+02] [-1.05103086e-01 9.94461297e-01 -2.64010292e-04 -1.38898844e+01] [-3.08493439e-03 -6.05625283e-05 9.99995240e-01 -6.54541239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:-13.89, Z:-0.66 [[ 9.95624708e-01 9.33915909e-02 3.07422237e-03 1.98353202e+02] [-9.33912212e-02 9.95629454e-01 -2.63903093e-04 -1.38907544e+01] [-3.08543267e-03 -2.43569408e-05 9.99995240e-01 -6.56931077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:-13.89, Z:-0.66 [[ 9.96162051e-01 8.74740896e-02 3.07422842e-03 1.98412458e+02] [-8.74736919e-02 9.96166795e-01 -2.63832509e-04 -1.38923283e+01] [-3.08552278e-03 -6.09417707e-06 9.99995240e-01 -6.56085474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:198.47, Y:-13.90, Z:-0.65 [[ 9.96767184e-01 8.02852988e-02 3.07423474e-03 1.98471743e+02] [-8.02848672e-02 9.96771925e-01 -2.63758931e-04 -1.38967462e+01] [-3.08548684e-03 1.60917192e-05 9.99995240e-01 -6.53349062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters Centerline goodness : 0.996765 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:-13.90, Z:-0.65 [[ 9.96842666e-01 7.93426000e-02 3.07423786e-03 1.98530656e+02] [-7.93421640e-02 9.96847406e-01 -2.63722528e-04 -1.39026251e+01] [-3.08547047e-03 1.89731840e-05 9.99995240e-01 -6.54568732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters Centerline goodness : 0.996903 with order 1 Centerline is valid? [True, True] Translation: X:198.59, Y:-13.91, Z:-0.66 [[ 9.96758002e-01 8.03992228e-02 3.07424401e-03 1.98590123e+02] [-8.03987920e-02 9.96762742e-01 -2.63650826e-04 -1.39112631e+01] [-3.08548921e-03 1.56305662e-05 9.99995240e-01 -6.58895261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters Centerline goodness : 0.996645 with order 1 Centerline is valid? [True, True] Translation: X:198.65, Y:-13.92, Z:-0.66 [[ 9.96665138e-01 8.15423327e-02 3.07425021e-03 1.98648961e+02] [-8.15419076e-02 9.96669879e-01 -2.63578529e-04 -1.39166814e+01] [-3.08550539e-03 1.20193049e-05 9.99995240e-01 -6.63159485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:198.71, Y:-13.92, Z:-0.67 [[ 9.96362973e-01 8.51550051e-02 3.07425328e-03 1.98708755e+02] [-8.51545973e-02 9.96367716e-01 -2.63542678e-04 -1.39231188e+01] [-3.08552870e-03 7.97366282e-07 9.99995240e-01 -6.67145051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:198.77, Y:-13.93, Z:-0.67 [[ 9.96269745e-01 8.62388806e-02 3.07425945e-03 1.98767794e+02] [-8.62384782e-02 9.96274488e-01 -2.63470704e-04 -1.39260029e+01] [-3.08552768e-03 -2.63156517e-06 9.99995240e-01 -6.67397163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters Centerline goodness : 0.996554 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:-13.93, Z:-0.66 [[ 9.96133403e-01 8.77997255e-02 3.07426864e-03 1.98826838e+02] [-8.77993308e-02 9.96138147e-01 -2.63363401e-04 -1.39317759e+01] [-3.08551950e-03 -7.57364812e-06 9.99995240e-01 -6.62440122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters Centerline goodness : 0.996736 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:-13.94, Z:-0.66 [[ 9.96127307e-01 8.78688662e-02 3.07427477e-03 1.98886447e+02] [-8.78684721e-02 9.96132051e-01 -2.63291811e-04 -1.39365305e+01] [-3.08551879e-03 -7.85966444e-06 9.99995240e-01 -6.62227362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:-13.94, Z:-0.67 [[ 9.96000654e-01 8.92930323e-02 3.07427792e-03 1.98945383e+02] [-8.92926451e-02 9.96005399e-01 -2.63255051e-04 -1.39431523e+01] [-3.08550425e-03 -1.23082037e-05 9.99995240e-01 -6.65218935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters Centerline goodness : 0.997238 with order 1 Centerline is valid? [True, True] Translation: X:199.00, Y:-13.95, Z:-0.66 [[ 9.95945025e-01 8.99113782e-02 3.07428436e-03 1.99004902e+02] [-8.99109942e-02 9.95949770e-01 -2.63179843e-04 -1.39514385e+01] [-3.08549566e-03 -1.42993074e-05 9.99995240e-01 -6.61918536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters Centerline goodness : 0.997109 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:-13.96, Z:-0.66 [[ 9.96147463e-01 8.76400590e-02 3.07429062e-03 1.99063610e+02] [-8.76396644e-02 9.96152207e-01 -2.63106732e-04 -1.39596477e+01] [-3.08552007e-03 -7.33669419e-06 9.99995240e-01 -6.62069403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters Centerline goodness : 0.996895 with order 1 Centerline is valid? [True, True] Translation: X:199.12, Y:-13.97, Z:-0.66 [[ 9.96104450e-01 8.81275996e-02 3.07429690e-03 1.99122744e+02] [-8.81272075e-02 9.96109194e-01 -2.63033328e-04 -1.39668804e+01] [-3.08551590e-03 -8.92053203e-06 9.99995240e-01 -6.58030820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:-13.97, Z:-0.67 [[ 9.95494434e-01 9.47701425e-02 3.07430000e-03 1.99182363e+02] [-9.47697822e-02 9.95499181e-01 -2.62997079e-04 -1.39702830e+01] [-3.08538740e-03 -2.95386127e-05 9.99995240e-01 -6.65536256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters Centerline goodness : 0.997304 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:-13.97, Z:-0.67 [[ 9.95217257e-01 9.76379072e-02 3.07430614e-03 1.99242085e+02] [-9.76375608e-02 9.95222004e-01 -2.62925297e-04 -1.39736396e+01] [-3.08528859e-03 -3.84999600e-05 9.99995240e-01 -6.66324009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:-13.97, Z:-0.67 [[ 9.94688743e-01 1.02882716e-01 3.07431225e-03 1.99301271e+02] [-1.02882395e-01 9.94693492e-01 -2.62853745e-04 -1.39728304e+01] [-3.08504150e-03 -5.48349452e-05 9.99995240e-01 -6.65038316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:199.36, Y:-13.98, Z:-0.67 [[ 9.94872936e-01 1.01086049e-01 3.07432488e-03 1.99359561e+02] [-1.01085720e-01 9.94877685e-01 -2.62706040e-04 -1.39756094e+01] [-3.08513313e-03 -4.94112126e-05 9.99995240e-01 -6.67606406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters Centerline goodness : 0.997621 with order 1 Centerline is valid? [True, True] Translation: X:199.42, Y:-13.98, Z:-0.67 [[ 9.95505061e-01 9.46584443e-02 3.07433151e-03 1.99418117e+02] [-9.46580846e-02 9.95509808e-01 -2.62628379e-04 -1.39777450e+01] [-3.08538716e-03 -2.95624516e-05 9.99995240e-01 -6.69557642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters Centerline goodness : 0.997732 with order 1 Centerline is valid? [True, True] Translation: X:199.48, Y:-13.98, Z:-0.67 [[ 9.95599116e-01 9.36640193e-02 3.07434063e-03 1.99478225e+02] [-9.36636552e-02 9.95603862e-01 -2.62521584e-04 -1.39796130e+01] [-3.08541423e-03 -2.65877232e-05 9.99995240e-01 -6.67139423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters Centerline goodness : 0.997400 with order 1 Centerline is valid? [True, True] Translation: X:199.54, Y:-13.98, Z:-0.66 [[ 9.95207355e-01 9.77387742e-02 3.07434677e-03 1.99537479e+02] [-9.77384298e-02 9.95212103e-01 -2.62449604e-04 -1.39788388e+01] [-3.08527862e-03 -3.92900504e-05 9.99995240e-01 -6.64954969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:199.60, Y:-13.98, Z:-0.66 [[ 9.95084442e-01 9.89823342e-02 3.07435903e-03 1.99595168e+02] [-9.89819961e-02 9.95089190e-01 -2.62305983e-04 -1.39794833e+01] [-3.08522509e-03 -4.32895908e-05 9.99995240e-01 -6.57993466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters Centerline goodness : 0.996710 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-13.98, Z:-0.66 [[ 9.95178292e-01 9.80342558e-02 3.07437412e-03 1.99652759e+02] [-9.80339137e-02 9.95183040e-01 -2.62129022e-04 -1.39818024e+01] [-3.08526260e-03 -4.05278139e-05 9.99995240e-01 -6.55790386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters Centerline goodness : 0.997150 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-13.98, Z:-0.67 [[ 9.95274962e-01 9.70479128e-02 3.07439048e-03 1.99712110e+02] [-9.70475667e-02 9.95279710e-01 -2.61936936e-04 -1.39819872e+01] [-3.08529890e-03 -3.76628408e-05 9.99995240e-01 -6.65529992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters Centerline goodness : 0.997289 with order 1 Centerline is valid? [True, True] Translation: X:199.77, Y:-13.98, Z:-0.67 [[ 9.95385988e-01 9.59024676e-02 3.07440285e-03 1.99771338e+02] [-9.59021164e-02 9.95390735e-01 -2.61791719e-04 -1.39809191e+01] [-3.08533858e-03 -3.42579314e-05 9.99995240e-01 -6.65545667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:-13.98, Z:-0.66 [[ 9.95269709e-01 9.71017756e-02 3.07441533e-03 1.99829148e+02] [-9.71014306e-02 9.95274456e-01 -2.61645004e-04 -1.39814350e+01] [-3.08529324e-03 -3.81227805e-05 9.99995240e-01 -6.62435828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-13.98, Z:-0.66 [[ 9.95159272e-01 9.82271384e-02 3.07443075e-03 1.99888516e+02] [-9.82267993e-02 9.95164020e-01 -2.61463735e-04 -1.39816101e+01] [-3.08524570e-03 -4.17934314e-05 9.99995240e-01 -6.63957943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters Centerline goodness : 0.996806 with order 1 Centerline is valid? [True, True] Translation: X:199.95, Y:-13.99, Z:-0.67 [[ 9.95394132e-01 9.58179023e-02 3.07444286e-03 1.99946950e+02] [-9.58175521e-02 9.95398879e-01 -2.61321216e-04 -1.39871505e+01] [-3.08533623e-03 -3.44679843e-05 9.99995240e-01 -6.65907822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:200.00, Y:-13.99, Z:-0.67 [[ 9.95597142e-01 9.36850014e-02 3.07445200e-03 2.00004052e+02] [-9.36846414e-02 9.95601888e-01 -2.61213632e-04 -1.39935012e+01] [-3.08540202e-03 -2.79653878e-05 9.99995240e-01 -6.68548099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters Centerline goodness : 0.997350 with order 1 Centerline is valid? [True, True] Translation: X:200.06, Y:-14.00, Z:-0.67 [[ 9.95880311e-01 9.06253488e-02 3.07446723e-03 2.00061145e+02] [-9.06249748e-02 9.95885057e-01 -2.61034251e-04 -1.39992368e+01] [-3.08547229e-03 -1.86646443e-05 9.99995240e-01 -6.66288401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-14.01, Z:-0.67 [[ 9.95877944e-01 9.06513540e-02 3.07448227e-03 2.00119275e+02] [-9.06509807e-02 9.95882690e-01 -2.60856973e-04 -1.40066285e+01] [-3.08547072e-03 -1.89231277e-05 9.99995240e-01 -6.70428021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:200.18, Y:-14.01, Z:-0.67 [[ 9.95781198e-01 9.17079790e-02 3.07449466e-03 2.00176967e+02] [-9.17076112e-02 9.95785944e-01 -2.60710960e-04 -1.40146760e+01] [-3.08544784e-03 -2.23434881e-05 9.99995240e-01 -6.70762116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters Centerline goodness : 0.997534 with order 1 Centerline is valid? [True, True] Translation: X:200.23, Y:-14.02, Z:-0.67 [[ 9.95648432e-01 9.31383189e-02 3.07451038e-03 2.00234792e+02] [-9.31379584e-02 9.95653179e-01 -2.60525377e-04 -1.40205821e+01] [-3.08541093e-03 -2.69619364e-05 9.99995240e-01 -6.73473259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:200.29, Y:-14.03, Z:-0.66 [[ 9.95736052e-01 9.21968630e-02 3.07452546e-03 2.00293735e+02] [-9.21964986e-02 9.95740799e-01 -2.60347372e-04 -1.40263783e+01] [-3.08543364e-03 -2.42232172e-05 9.99995240e-01 -6.63556815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-14.03, Z:-0.66 [[ 9.95896078e-01 9.04519132e-02 3.07454636e-03 2.00352313e+02] [-9.04515412e-02 9.95900824e-01 -2.60100222e-04 -1.40330258e+01] [-3.08546982e-03 -1.90646664e-05 9.99995240e-01 -6.60322545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:-14.04, Z:-0.67 [[ 9.96228350e-01 8.67157535e-02 3.07455875e-03 2.00410468e+02] [-8.67153642e-02 9.96233094e-01 -2.59953675e-04 -1.40396952e+01] [-3.08551926e-03 -7.63826180e-06 9.99995240e-01 -6.68677394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters Centerline goodness : 0.996903 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:-14.05, Z:-0.67 [[ 9.96177523e-01 8.72977109e-02 3.07456799e-03 2.00469151e+02] [-8.72973247e-02 9.96182267e-01 -2.59844426e-04 -1.40463037e+01] [-3.08551393e-03 -9.55038290e-06 9.99995240e-01 -6.67840569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:-14.05, Z:-0.67 [[ 9.95877446e-01 9.06568251e-02 3.07457997e-03 2.00527280e+02] [-9.06564554e-02 9.95882192e-01 -2.59702520e-04 -1.40492688e+01] [-3.08546325e-03 -2.00986402e-05 9.99995240e-01 -6.71469789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters Centerline goodness : 0.997555 with order 1 Centerline is valid? [True, True] Translation: X:200.59, Y:-14.05, Z:-0.67 [[ 9.95871947e-01 9.07172079e-02 3.07459479e-03 2.00585715e+02] [-9.07168390e-02 9.95876693e-01 -2.59526995e-04 -1.40544845e+01] [-3.08546086e-03 -2.04618666e-05 9.99995240e-01 -6.68957672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:-14.06, Z:-0.66 [[ 9.96229050e-01 8.67077089e-02 3.07460654e-03 2.00644556e+02] [-8.67073213e-02 9.96233794e-01 -2.59387675e-04 -1.40600226e+01] [-3.08551785e-03 -8.18136013e-06 9.99995240e-01 -6.64887770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:200.70, Y:-14.07, Z:-0.68 [[ 9.96959555e-01 7.78600773e-02 3.07461917e-03 2.00702278e+02] [-7.78596480e-02 9.96964296e-01 -2.59237948e-04 -1.40682012e+01] [-3.08546982e-03 1.90609833e-05 9.99995240e-01 -6.75020005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters Centerline goodness : 0.997586 with order 1 Centerline is valid? [True, True] Translation: X:200.76, Y:-14.08, Z:-0.67 [[ 9.97640690e-01 6.85827980e-02 3.07462843e-03 2.00761779e+02] [-6.85823250e-02 9.97645427e-01 -2.59128032e-04 -1.40786865e+01] [-3.08516072e-03 4.76515024e-05 9.99995240e-01 -6.70422391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-14.09, Z:-0.67 [[ 9.97937941e-01 6.41124935e-02 3.07462843e-03 2.00820202e+02] [-6.41119993e-02 9.97942676e-01 -2.59128032e-04 -1.40905147e+01] [-3.08491627e-03 6.14731190e-05 9.99995240e-01 -6.66136455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:-14.10, Z:-0.67 [[ 9.97879344e-01 6.50181688e-02 3.07463147e-03 2.00879889e+02] [-6.50176790e-02 9.97884079e-01 -2.59091984e-04 -1.41023638e+01] [-3.08497148e-03 5.86371372e-05 9.99995240e-01 -6.73254988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters Centerline goodness : 0.998046 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:-14.11, Z:-0.67 [[ 9.97606358e-01 6.90803961e-02 3.07463147e-03 2.00938567e+02] [-6.90799256e-02 9.97611095e-01 -2.59091984e-04 -1.41093978e+01] [-3.08518464e-03 4.60764975e-05 9.99995240e-01 -6.73599286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:-14.12, Z:-0.67 [[ 9.97104720e-01 7.59784405e-02 3.07463453e-03 2.00998363e+02] [-7.59780029e-02 9.97109460e-01 -2.59055686e-04 -1.41153717e+01] [-3.08542982e-03 2.47010562e-05 9.99995240e-01 -6.70327161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters Centerline goodness : 0.997616 with order 1 Centerline is valid? [True, True] Translation: X:201.06, Y:-14.13, Z:-0.67 [[ 9.97055063e-01 7.66273296e-02 3.07464053e-03 2.01058104e+02] [-7.66268953e-02 9.97059804e-01 -2.58984380e-04 -1.41263982e+01] [-3.08544577e-03 2.26215291e-05 9.99995240e-01 -6.65132054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:201.12, Y:-14.13, Z:-0.66 [[ 9.97011053e-01 7.71978377e-02 3.07464053e-03 2.01118119e+02] [-7.71974061e-02 9.97015794e-01 -2.58984380e-04 -1.41337610e+01] [-3.08545821e-03 2.08560158e-05 9.99995240e-01 -6.64763555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters Centerline goodness : 0.998059 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:-14.15, Z:-0.66 [[ 9.96762782e-01 8.03399209e-02 3.07464053e-03 2.01177184e+02] [-8.03395042e-02 9.96767524e-01 -2.58984380e-04 -1.41472325e+01] [-3.08550862e-03 1.11308951e-05 9.99995240e-01 -6.64694426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:201.24, Y:-14.16, Z:-0.67 [[ 9.96314689e-01 8.57180696e-02 3.07464355e-03 2.01237211e+02] [-8.57176787e-02 9.96319433e-01 -2.58948547e-04 -1.41593323e+01] [-3.08552369e-03 -5.55706737e-06 9.99995240e-01 -6.69604945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:201.30, Y:-14.17, Z:-0.67 [[ 9.95914434e-01 9.02495840e-02 3.07464355e-03 2.01295714e+02] [-9.02492147e-02 9.95919180e-01 -2.58948547e-04 -1.41700806e+01] [-3.08546648e-03 -1.95935708e-05 9.99995240e-01 -6.70199468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:201.36, Y:-14.18, Z:-0.67 [[ 9.95271135e-01 9.70871515e-02 3.07464653e-03 2.01355590e+02] [-9.70868149e-02 9.95275883e-01 -2.58913183e-04 -1.41791785e+01] [-3.08525868e-03 -4.08188207e-05 9.99995240e-01 -6.68850570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters Centerline goodness : 0.997279 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:-14.18, Z:-0.67 [[ 9.94719292e-01 1.02586927e-01 3.07464653e-03 2.01415304e+02] [-1.02586616e-01 9.94724042e-01 -2.58913183e-04 -1.41823569e+01] [-3.08498593e-03 -5.78716458e-05 9.99995240e-01 -6.74914958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters Centerline goodness : 0.997109 with order 1 Centerline is valid? [True, True] Translation: X:201.48, Y:-14.18, Z:-0.67 [[ 9.94923381e-01 1.00588330e-01 3.07464953e-03 2.01475207e+02] [-1.00588010e-01 9.94928131e-01 -2.58877581e-04 -1.41848335e+01] [-3.08509537e-03 -5.17095186e-05 9.99995240e-01 -6.73431585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:-14.19, Z:-0.67 [[ 9.95486791e-01 9.48503800e-02 3.07465241e-03 2.01536490e+02] [-9.48500329e-02 9.95491539e-01 -2.58843304e-04 -1.41873897e+01] [-3.08534185e-03 -3.39557919e-05 9.99995240e-01 -6.71626384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters Centerline goodness : 0.997012 with order 1 Centerline is valid? [True, True] Translation: X:201.60, Y:-14.19, Z:-0.67 [[ 9.95857898e-01 9.08713030e-02 3.07464620e-03 2.01596944e+02] [-9.08709367e-02 9.95862644e-01 -2.58917098e-04 -1.41918299e+01] [-3.08545343e-03 -2.15513433e-05 9.99995240e-01 -6.70639878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters Centerline goodness : 0.996588 with order 1 Centerline is valid? [True, True] Translation: X:201.66, Y:-14.19, Z:-0.67 [[ 9.96172766e-01 8.73519718e-02 3.07463117e-03 2.01657987e+02] [-8.73515882e-02 9.96177511e-01 -2.59095487e-04 -1.41899907e+01] [-3.08551092e-03 -1.04700480e-05 9.99995240e-01 -6.70831686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:201.72, Y:-14.19, Z:-0.67 [[ 9.96187792e-01 8.71804400e-02 3.07462820e-03 2.01718705e+02] [-8.71800554e-02 9.96192537e-01 -2.59130722e-04 -1.41937267e+01] [-3.08551279e-03 -9.90339484e-06 9.99995240e-01 -6.70289341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters Centerline goodness : 0.996739 with order 1 Centerline is valid? [True, True] Translation: X:201.78, Y:-14.19, Z:-0.67 [[ 9.96202934e-01 8.70072473e-02 3.07462820e-03 2.01778882e+02] [-8.70068619e-02 9.96207679e-01 -2.59130722e-04 -1.41941370e+01] [-3.08551447e-03 -9.36696543e-06 9.99995240e-01 -6.72702683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters Centerline goodness : 0.996935 with order 1 Centerline is valid? [True, True] Translation: X:201.84, Y:-14.20, Z:-0.67 [[ 9.96513051e-01 8.33803738e-02 3.07462820e-03 2.01839050e+02] [-8.33799712e-02 9.96517794e-01 -2.59130722e-04 -1.41991746e+01] [-3.08552812e-03 1.86473584e-06 9.99995240e-01 -6.73521850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters Centerline goodness : 0.996900 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:-14.20, Z:-0.67 [[ 9.97154697e-01 7.53196978e-02 3.07462820e-03 2.01898870e+02] [-7.53192569e-02 9.97159437e-01 -2.59130722e-04 -1.42044909e+01] [-3.08541217e-03 2.68147056e-05 9.99995240e-01 -6.73216154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters Centerline goodness : 0.996349 with order 1 Centerline is valid? [True, True] Translation: X:201.96, Y:-14.22, Z:-0.67 [[ 9.97783924e-01 6.64664411e-02 3.07461337e-03 2.01960124e+02] [-6.64659576e-02 9.97788660e-01 -2.59306569e-04 -1.42165752e+01] [-3.08504953e-03 5.43748043e-05 9.99995240e-01 -6.73270045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:202.02, Y:-14.22, Z:-0.67 [[ 9.98017140e-01 6.28675998e-02 3.07457043e-03 2.02020837e+02] [-6.28670976e-02 9.98021874e-01 -2.59814628e-04 -1.42221561e+01] [-3.08482247e-03 6.60101327e-05 9.99995240e-01 -6.72780717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:202.08, Y:-14.23, Z:-0.68 [[ 9.97901757e-01 6.46732593e-02 3.07456437e-03 2.02082189e+02] [-6.46727654e-02 9.97906492e-01 -2.59886405e-04 -1.42295037e+01] [-3.08493544e-03 6.05005199e-05 9.99995240e-01 -6.75775104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters Centerline goodness : 0.997120 with order 1 Centerline is valid? [True, True] Translation: X:202.14, Y:-14.23, Z:-0.68 [[ 9.97732942e-01 6.72274048e-02 3.07455825e-03 2.02141907e+02] [-6.72269228e-02 9.97737678e-01 -2.59958762e-04 -1.42336754e+01] [-3.08507896e-03 5.26763303e-05 9.99995240e-01 -6.78166592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters Centerline goodness : 0.996988 with order 1 Centerline is valid? [True, True] Translation: X:202.20, Y:-14.24, Z:-0.67 [[ 9.97601959e-01 6.91438921e-02 3.07455522e-03 2.02202005e+02] [-6.91434191e-02 9.97606696e-01 -2.59994590e-04 -1.42378406e+01] [-3.08517391e-03 4.67858527e-05 9.99995240e-01 -6.71206114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters Centerline goodness : 0.996347 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:-14.24, Z:-0.67 [[ 9.97689074e-01 6.78753213e-02 3.07455522e-03 2.02262980e+02] [-6.78748422e-02 9.97693810e-01 -2.59994590e-04 -1.42430007e+01] [-3.08511193e-03 5.07088114e-05 9.99995240e-01 -6.72871851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters Centerline goodness : 0.996992 with order 1 Centerline is valid? [True, True] Translation: X:202.32, Y:-14.25, Z:-0.68 [[ 9.97950919e-01 6.39101702e-02 3.07454909e-03 2.02323663e+02] [-6.39096722e-02 9.97955653e-01 -2.60066987e-04 -1.42484498e+01] [-3.08488458e-03 6.30406644e-05 9.99995240e-01 -6.81812085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters Centerline goodness : 0.996717 with order 1 Centerline is valid? [True, True] Translation: X:202.38, Y:-14.26, Z:-0.68 [[ 9.98104546e-01 6.14643135e-02 3.07454299e-03 2.02384773e+02] [-6.14638036e-02 9.98109279e-01 -2.60139170e-04 -1.42555991e+01] [-3.08471916e-03 7.06729814e-05 9.99995240e-01 -6.76492923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:-14.26, Z:-0.68 [[ 9.98185578e-01 6.01340087e-02 3.07453692e-03 2.02445258e+02] [-6.01334923e-02 9.98190310e-01 -2.60210882e-04 -1.42635645e+01] [-3.08462048e-03 7.48561073e-05 9.99995240e-01 -6.78629753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:-14.28, Z:-0.67 [[ 9.98181468e-01 6.02021979e-02 3.07451323e-03 2.02506239e+02] [-6.02016810e-02 9.98186200e-01 -2.60490486e-04 -1.42763808e+01] [-3.08461878e-03 7.49259110e-05 9.99995240e-01 -6.71890678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters Centerline goodness : 0.996996 with order 1 Centerline is valid? [True, True] Translation: X:202.57, Y:-14.29, Z:-0.67 [[ 9.98298753e-01 5.82249797e-02 3.07447160e-03 2.02568752e+02] [-5.82244519e-02 9.98303483e-01 -2.60980912e-04 -1.42875415e+01] [-3.08445131e-03 8.15274954e-05 9.99995240e-01 -6.74731796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:202.63, Y:-14.31, Z:-0.68 [[ 9.98338911e-01 5.75323079e-02 3.07442244e-03 2.02629215e+02] [-5.75317750e-02 9.98343641e-01 -2.61558749e-04 -1.43112204e+01] [-3.08437817e-03 8.42472968e-05 9.99995240e-01 -6.81294688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:202.69, Y:-14.32, Z:-0.68 [[ 9.98123177e-01 6.11610302e-02 3.07437962e-03 2.02689803e+02] [-6.11605130e-02 9.98127909e-01 -2.62061113e-04 -1.43240472e+01] [-3.08465203e-03 7.35386363e-05 9.99995240e-01 -6.77588944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters Centerline goodness : 0.996169 with order 1 Centerline is valid? [True, True] Translation: X:202.75, Y:-14.34, Z:-0.68 [[ 9.97396684e-01 7.20444477e-02 3.07434000e-03 2.02752196e+02] [-7.20439807e-02 9.97401422e-01 -2.62525061e-04 -1.43376667e+01] [-3.08526456e-03 4.03539341e-05 9.99995240e-01 -6.75669499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:202.81, Y:-14.34, Z:-0.67 [[ 9.96302014e-01 8.58652804e-02 3.07429038e-03 2.02813402e+02] [-8.58648773e-02 9.96306757e-01 -2.63104859e-04 -1.43438621e+01] [-3.08552785e-03 -1.84166515e-06 9.99995240e-01 -6.73316968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters Centerline goodness : 0.996754 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:-14.35, Z:-0.68 [[ 9.95790244e-01 9.16097151e-02 3.07425010e-03 2.02875707e+02] [-9.16093380e-02 9.95794989e-01 -2.63574692e-04 -1.43489984e+01] [-3.08546884e-03 -1.91649094e-05 9.99995240e-01 -6.75763913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:202.94, Y:-14.35, Z:-0.67 [[ 9.95198409e-01 9.78298365e-02 3.07420023e-03 2.02937712e+02] [-9.78294872e-02 9.95203156e-01 -2.64154995e-04 -1.43482992e+01] [-3.08529601e-03 -3.78608012e-05 9.99995240e-01 -6.72479860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters Centerline goodness : 0.996928 with order 1 Centerline is valid? [True, True] Translation: X:203.00, Y:-14.35, Z:-0.67 [[ 9.95011006e-01 9.97178411e-02 3.07419405e-03 2.02999011e+02] [-9.97175006e-02 9.95015754e-01 -2.64226892e-04 -1.43517831e+01] [-3.08521965e-03 -4.36422821e-05 9.99995240e-01 -6.71828496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters Centerline goodness : 0.997273 with order 1 Centerline is valid? [True, True] Translation: X:203.06, Y:-14.35, Z:-0.67 [[ 9.94488712e-01 1.04798619e-01 3.07415432e-03 2.03060233e+02] [-1.04798302e-01 9.94493462e-01 -2.64688356e-04 -1.43513167e+01] [-3.08496535e-03 -5.89365692e-05 9.99995240e-01 -6.72963015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters Centerline goodness : 0.997215 with order 1 Centerline is valid? [True, True] Translation: X:203.12, Y:-14.34, Z:-0.68 [[ 9.93548577e-01 1.13365668e-01 3.07414821e-03 2.03121569e+02] [-1.13365391e-01 9.93553329e-01 -2.64759320e-04 -1.43438491e+01] [-3.08434480e-03 -8.54507676e-05 9.99995240e-01 -6.79019973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:203.18, Y:-14.34, Z:-0.67 [[ 9.93296240e-01 1.15555737e-01 3.07414821e-03 2.03180932e+02] [-1.15555470e-01 9.93300993e-01 -2.64759320e-04 -1.43374218e+01] [-3.08414893e-03 -9.22502046e-05 9.99995240e-01 -6.74947252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters Centerline goodness : 0.997312 with order 1 Centerline is valid? [True, True] Translation: X:203.24, Y:-14.33, Z:-0.67 [[ 9.93625386e-01 1.12690472e-01 3.07415733e-03 2.03240974e+02] [-1.12690192e-01 9.93630138e-01 -2.64653347e-04 -1.43309452e+01] [-3.08439928e-03 -8.34610953e-05 9.99995240e-01 -6.73044034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:203.30, Y:-14.33, Z:-0.67 [[ 9.94310638e-01 1.06474898e-01 3.07416343e-03 2.03300873e+02] [-1.06474588e-01 9.94315389e-01 -2.64582510e-04 -1.43258872e+01] [-3.08485940e-03 -6.42430806e-05 9.99995240e-01 -6.74086854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:203.36, Y:-14.32, Z:-0.67 [[ 9.94516533e-01 1.04534274e-01 3.07416065e-03 2.03361350e+02] [-1.04533955e-01 9.94521283e-01 -2.64614769e-04 -1.43234503e+01] [-3.08497951e-03 -5.81904091e-05 9.99995240e-01 -6.74896697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters Centerline goodness : 0.997126 with order 1 Centerline is valid? [True, True] Translation: X:203.42, Y:-14.32, Z:-0.67 [[ 9.94699533e-01 1.02778350e-01 3.07416695e-03 2.03419641e+02] [-1.02778023e-01 9.94704282e-01 -2.64541553e-04 -1.43151943e+01] [-3.08507617e-03 -5.28174419e-05 9.99995240e-01 -6.74337090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:203.48, Y:-14.31, Z:-0.67 [[ 9.94650972e-01 1.03247241e-01 3.07418256e-03 2.03478572e+02] [-1.03246917e-01 9.94655721e-01 -2.64360035e-04 -1.43139948e+01] [-3.08504772e-03 -5.44539056e-05 9.99995240e-01 -6.71475718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters Centerline goodness : 0.997277 with order 1 Centerline is valid? [True, True] Translation: X:203.54, Y:-14.31, Z:-0.67 [[ 9.94581199e-01 1.03917218e-01 3.07419423e-03 2.03538619e+02] [-1.03916897e-01 9.94585948e-01 -2.64224224e-04 -1.43070387e+01] [-3.08500783e-03 -5.66682810e-05 9.99995240e-01 -6.73704833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters Centerline goodness : 0.997208 with order 1 Centerline is valid? [True, True] Translation: X:203.60, Y:-14.30, Z:-0.67 [[ 9.94856318e-01 1.01249477e-01 3.07420580e-03 2.03598174e+02] [-1.01249144e-01 9.94861066e-01 -2.64089618e-04 -1.43030367e+01] [-3.08514659e-03 -4.85294818e-05 9.99995240e-01 -6.72145844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters Centerline goodness : 0.996934 with order 1 Centerline is valid? [True, True] Translation: X:203.66, Y:-14.30, Z:-0.67 [[ 9.95548946e-01 9.41957801e-02 3.07421808e-03 2.03657033e+02] [-9.41954141e-02 9.95553692e-01 -2.63946593e-04 -1.42977077e+01] [-3.08541181e-03 -2.68054923e-05 9.99995240e-01 -6.74562358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:203.72, Y:-14.29, Z:-0.68 [[ 9.96432179e-01 8.43413407e-02 3.07423330e-03 2.03715165e+02] [-8.43409284e-02 9.96436921e-01 -2.63769184e-04 -1.42942897e+01] [-3.08552621e-03 3.54441256e-06 9.99995240e-01 -6.77335393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:-14.30, Z:-0.68 [[ 9.97082305e-01 7.62720489e-02 3.07424719e-03 2.03773918e+02] [-7.62715986e-02 9.97087044e-01 -2.63607201e-04 -1.42976308e+01] [-3.08539790e-03 2.83603276e-05 9.99995240e-01 -6.77898361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters Centerline goodness : 0.997325 with order 1 Centerline is valid? [True, True] Translation: X:203.83, Y:-14.30, Z:-0.68 [[ 9.98166118e-01 6.04561823e-02 3.07425941e-03 2.03832101e+02] [-6.04556574e-02 9.98170849e-01 -2.63464554e-04 -1.43036717e+01] [-3.08456419e-03 7.71250174e-05 9.99995240e-01 -6.76442974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters Centerline goodness : 0.997082 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:-14.31, Z:-0.67 [[ 9.98544797e-01 5.38408600e-02 3.07426595e-03 2.03891215e+02] [-5.38403040e-02 9.98549524e-01 -2.63388248e-04 -1.43127590e+01] [-3.08398785e-03 9.74855510e-05 9.99995240e-01 -6.72255500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:-14.33, Z:-0.67 [[ 9.98879705e-01 4.72216548e-02 3.07427135e-03 2.03950769e+02] [-4.72210677e-02 9.98884428e-01 -2.63325249e-04 -1.43262510e+01] [-3.08327643e-03 1.17859872e-04 9.99995240e-01 -6.72459707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:-14.35, Z:-0.68 [[ 9.98938352e-01 4.59643147e-02 3.07427135e-03 2.04009439e+02] [-4.59637217e-02 9.98943075e-01 -2.63325249e-04 -1.43452812e+01] [-3.08312564e-03 1.21740738e-04 9.99995240e-01 -6.77314928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:-14.36, Z:-0.67 [[ 9.98517774e-01 5.43397145e-02 3.07427135e-03 2.04068603e+02] [-5.43391611e-02 9.98522502e-01 -2.63325249e-04 -1.43605800e+01] [-3.08403814e-03 9.58816156e-05 9.99995240e-01 -6.69937814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters Centerline goodness : 0.997916 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:-14.38, Z:-0.67 [[ 9.97596223e-01 6.92266125e-02 3.07427135e-03 2.04126689e+02] [-6.92261296e-02 9.97600959e-01 -2.63325249e-04 -1.43753853e+01] [-3.08512516e-03 4.98723674e-05 9.99995240e-01 -6.73765846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:-14.38, Z:-0.68 [[ 9.96788677e-01 8.00180140e-02 3.07428027e-03 2.04186076e+02] [-8.00175828e-02 9.96793417e-01 -2.63221094e-04 -1.43839628e+01] [-3.08548476e-03 1.63793301e-05 9.99995240e-01 -6.77663601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters Centerline goodness : 0.997763 with order 1 Centerline is valid? [True, True] Translation: X:204.24, Y:-14.39, Z:-0.68 [[ 9.95648117e-01 9.31417017e-02 3.07428632e-03 2.04244601e+02] [-9.31413331e-02 9.95652863e-01 -2.63150336e-04 -1.43909152e+01] [-3.08543225e-03 -2.43379899e-05 9.99995240e-01 -6.76594028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:-14.39, Z:-0.67 [[ 9.94794642e-01 1.01853667e-01 3.07429872e-03 2.04303691e+02] [-1.01853341e-01 9.94799391e-01 -2.63005385e-04 -1.43937834e+01] [-3.08509856e-03 -5.14912470e-05 9.99995240e-01 -6.72927309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters Centerline goodness : 0.997230 with order 1 Centerline is valid? [True, True] Translation: X:204.36, Y:-14.40, Z:-0.68 [[ 9.93925192e-01 1.10014820e-01 3.07431110e-03 2.04362869e+02] [-1.10014533e-01 9.93929944e-01 -2.62860654e-04 -1.43955113e+01] [-3.08456842e-03 -7.69550732e-05 9.99995240e-01 -6.75167222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters Centerline goodness : 0.997846 with order 1 Centerline is valid? [True, True] Translation: X:204.42, Y:-14.39, Z:-0.68 [[ 9.93349889e-01 1.15093641e-01 3.07432347e-03 2.04422002e+02] [-1.15093379e-01 9.93354642e-01 -2.62715872e-04 -1.43928328e+01] [-3.08413042e-03 -9.28654928e-05 9.99995240e-01 -6.75056462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters Centerline goodness : 0.997624 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:-14.39, Z:-0.68 [[ 9.93238527e-01 1.16050748e-01 3.07433590e-03 2.04480547e+02] [-1.16050491e-01 9.93243281e-01 -2.62570345e-04 -1.43923262e+01] [-3.08403496e-03 -9.59832072e-05 9.99995240e-01 -6.76211674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:-14.39, Z:-0.68 [[ 9.93732252e-01 1.11744175e-01 3.07435125e-03 2.04538624e+02] [-1.11743898e-01 9.93737004e-01 -2.62390490e-04 -1.43901141e+01] [-3.08441721e-03 -8.27940995e-05 9.99995240e-01 -6.76820938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:-14.39, Z:-0.68 [[ 9.94383708e-01 1.05790305e-01 3.07436627e-03 2.04597872e+02] [-1.05790000e-01 9.94388459e-01 -2.62214363e-04 -1.43866947e+01] [-3.08485408e-03 -6.44955168e-05 9.99995240e-01 -6.77451650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters Centerline goodness : 0.997204 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:-14.38, Z:-0.68 [[ 9.95030480e-01 9.95233242e-02 3.07437814e-03 2.04657855e+02] [-9.95229894e-02 9.95035228e-01 -2.62075128e-04 -1.43812702e+01] [-3.08519714e-03 -4.51985621e-05 9.99995240e-01 -6.78496590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters Centerline goodness : 0.997180 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:-14.38, Z:-0.68 [[ 9.95996703e-01 8.93370928e-02 3.07439048e-03 2.04715955e+02] [-8.93367098e-02 9.96001448e-01 -2.61930294e-04 -1.43801972e+01] [-3.08549746e-03 -1.37742211e-05 9.99995240e-01 -6.78658257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:-14.38, Z:-0.68 [[ 9.96753361e-01 8.04567254e-02 3.07440576e-03 2.04774864e+02] [-8.04563008e-02 9.96758103e-01 -2.61750867e-04 -1.43837897e+01] [-3.08549847e-03 1.35457424e-05 9.99995240e-01 -6.79143843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:-14.39, Z:-0.68 [[ 9.97702203e-01 6.76820639e-02 3.07441781e-03 2.04833898e+02] [-6.76815790e-02 9.97706939e-01 -2.61609188e-04 -1.43928034e+01] [-3.08507423e-03 5.29266115e-05 9.99995240e-01 -6.81029462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters Centerline goodness : 0.997389 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:-14.40, Z:-0.68 [[ 9.98035799e-01 6.25706918e-02 3.07442395e-03 2.04892228e+02] [-6.25701829e-02 9.98040532e-01 -2.61537017e-04 -1.44012252e+01] [-3.08476427e-03 6.86560366e-05 9.99995240e-01 -6.80852525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters Centerline goodness : 0.997508 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:-14.41, Z:-0.68 [[ 9.98082270e-01 6.18249974e-02 3.07443296e-03 2.04951287e+02] [-6.18244853e-02 9.98087003e-01 -2.61431034e-04 -1.44114641e+01] [-3.08471455e-03 7.08544442e-05 9.99995240e-01 -6.80274475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters Centerline goodness : 0.997553 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:-14.43, Z:-0.68 [[ 9.97928396e-01 6.42609124e-02 3.07443905e-03 2.05008740e+02] [-6.42604120e-02 9.97933130e-01 -2.61359391e-04 -1.44250732e+01] [-3.08487978e-03 6.32532375e-05 9.99995240e-01 -6.75605717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:-14.44, Z:-0.68 [[ 9.97695876e-01 6.77752715e-02 3.07444808e-03 2.05067618e+02] [-6.77747882e-02 9.97700611e-01 -2.61253121e-04 -1.44359307e+01] [-3.08508523e-03 5.22810937e-05 9.99995240e-01 -6.79588387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:205.13, Y:-14.44, Z:-0.68 [[ 9.97320243e-01 7.30950166e-02 3.07445448e-03 2.05125389e+02] [-7.30945587e-02 9.97324981e-01 -2.61177790e-04 -1.44441970e+01] [-3.08532105e-03 3.57520029e-05 9.99995240e-01 -6.81641653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:205.18, Y:-14.45, Z:-0.68 [[ 9.97065954e-01 7.64854974e-02 3.07446112e-03 2.05184823e+02] [-7.64850559e-02 9.97070694e-01 -2.61099685e-04 -1.44521033e+01] [-3.08542542e-03 2.51832764e-05 9.99995240e-01 -6.80182798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:205.24, Y:-14.46, Z:-0.68 [[ 9.96943155e-01 7.80697965e-02 3.07446723e-03 2.05244028e+02] [-7.80693627e-02 9.96947896e-01 -2.61027637e-04 -1.44617671e+01] [-3.08546201e-03 2.02080185e-05 9.99995240e-01 -6.79355364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters Centerline goodness : 0.997829 with order 1 Centerline is valid? [True, True] Translation: X:205.30, Y:-14.47, Z:-0.68 [[ 9.96659507e-01 8.16111210e-02 3.07447344e-03 2.05303402e+02] [-8.16107043e-02 9.96664249e-01 -2.60954521e-04 -1.44685301e+01] [-3.08551455e-03 9.17286169e-06 9.99995240e-01 -6.83235884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:205.36, Y:-14.48, Z:-0.68 [[ 9.96283019e-01 8.60853866e-02 3.07447978e-03 2.05362115e+02] [-8.60849914e-02 9.96287763e-01 -2.60879845e-04 -1.44753345e+01] [-3.08552452e-03 -4.75640554e-06 9.99995240e-01 -6.83185403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters Centerline goodness : 0.998002 with order 1 Centerline is valid? [True, True] Translation: X:205.42, Y:-14.48, Z:-0.68 [[ 9.96249798e-01 8.64689988e-02 3.07448921e-03 2.05420724e+02] [-8.64686058e-02 9.96254542e-01 -2.60768618e-04 -1.44835516e+01] [-3.08552224e-03 -6.05611273e-06 9.99995240e-01 -6.83502646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters Centerline goodness : 0.997848 with order 1 Centerline is valid? [True, True] Translation: X:205.48, Y:-14.50, Z:-0.68 [[ 9.96470007e-01 8.38932271e-02 3.07449822e-03 2.05479909e+02] [-8.38928221e-02 9.96474750e-01 -2.60662288e-04 -1.44950113e+01] [-3.08552765e-03 1.81381931e-06 9.99995240e-01 -6.80040862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:-14.50, Z:-0.68 [[ 9.96158420e-01 8.75154288e-02 3.07450457e-03 2.05538619e+02] [-8.75150414e-02 9.96163164e-01 -2.60587446e-04 -1.45012097e+01] [-3.08551362e-03 -9.47901613e-06 9.99995240e-01 -6.75508369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:-14.50, Z:-0.68 [[ 9.95353702e-01 9.62369742e-02 3.07451395e-03 2.05596986e+02] [-9.62366287e-02 9.95358450e-01 -2.60476689e-04 -1.45049812e+01] [-3.08531093e-03 -3.66144209e-05 9.99995240e-01 -6.80950333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters Centerline goodness : 0.997869 with order 1 Centerline is valid? [True, True] Translation: X:205.66, Y:-14.51, Z:-0.69 [[ 9.94871633e-01 1.01098864e-01 3.07452004e-03 2.05655288e+02] [-1.01098542e-01 9.94876383e-01 -2.60404846e-04 -1.45087080e+01] [-3.08509401e-03 -5.17600974e-05 9.99995240e-01 -6.85300259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters Centerline goodness : 0.997747 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:-14.51, Z:-0.68 [[ 9.94512351e-01 1.04574047e-01 3.07453266e-03 2.05713994e+02] [-1.04573742e-01 9.94517101e-01 -2.60255764e-04 -1.45093557e+01] [-3.08489130e-03 -6.26878142e-05 9.99995240e-01 -6.83419550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [True, True] Translation: X:205.77, Y:-14.51, Z:-0.68 [[ 9.94342262e-01 1.06179155e-01 3.07454552e-03 2.05772415e+02] [-1.06178858e-01 9.94347013e-01 -2.60103679e-04 -1.45076608e+01] [-3.08478275e-03 -6.78196508e-05 9.99995240e-01 -6.79613211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters Centerline goodness : 0.997348 with order 1 Centerline is valid? [True, True] Translation: X:205.83, Y:-14.51, Z:-0.68 [[ 9.93995314e-01 1.09379442e-01 3.07456137e-03 2.05831739e+02] [-1.09379161e-01 9.94000066e-01 -2.59916219e-04 -1.45052061e+01] [-3.08454370e-03 -7.79374388e-05 9.99995240e-01 -6.80395295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:205.89, Y:-14.50, Z:-0.68 [[ 9.93835871e-01 1.10818808e-01 3.07457349e-03 2.05891608e+02] [-1.10818534e-01 9.93840624e-01 -2.59772795e-04 -1.45012603e+01] [-3.08442374e-03 -8.25482047e-05 9.99995240e-01 -6.82764615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-14.50, Z:-0.68 [[ 9.94196902e-01 1.07531705e-01 3.07458252e-03 2.05950466e+02] [-1.07531416e-01 9.94201653e-01 -2.59665874e-04 -1.44981284e+01] [-3.08467734e-03 -7.24552037e-05 9.99995240e-01 -6.77869315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters Centerline goodness : 0.996747 with order 1 Centerline is valid? [True, True] Translation: X:206.01, Y:-14.50, Z:-0.68 [[ 9.94487468e-01 1.04810412e-01 3.07459522e-03 2.06009172e+02] [-1.04810111e-01 9.94492219e-01 -2.59515341e-04 -1.44959060e+01] [-3.08486094e-03 -6.41639111e-05 9.99995240e-01 -6.75855505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters Centerline goodness : 0.995990 with order 1 Centerline is valid? [True, True] Translation: X:206.07, Y:-14.49, Z:-0.68 [[ 9.94759990e-01 1.02191528e-01 3.07461153e-03 2.06068037e+02] [-1.02191215e-01 9.94764740e-01 -2.59322002e-04 -1.44921477e+01] [-3.08501565e-03 -5.62351345e-05 9.99995240e-01 -6.76521659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters Centerline goodness : 0.996733 with order 1 Centerline is valid? [True, True] Translation: X:206.13, Y:-14.48, Z:-0.68 [[ 9.95192984e-01 9.78849937e-02 3.07462365e-03 2.06127134e+02] [-9.78846600e-02 9.95197732e-01 -2.59178192e-04 -1.44824876e+01] [-3.08522814e-03 -4.30261729e-05 9.99995240e-01 -6.77792149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-14.48, Z:-0.68 [[ 9.95816045e-01 9.13288035e-02 3.07464195e-03 2.06186598e+02] [-9.13284392e-02 9.95820792e-01 -2.58960991e-04 -1.44793982e+01] [-3.08544297e-03 -2.29247404e-05 9.99995240e-01 -6.79872270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters Centerline goodness : 0.995981 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-14.48, Z:-0.68 [[ 9.96853113e-01 7.92112190e-02 3.07465402e-03 2.06245280e+02] [-7.92107975e-02 9.96857855e-01 -2.58817563e-04 -1.44799996e+01] [-3.08549427e-03 1.44572969e-05 9.99995240e-01 -6.81533546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:-14.49, Z:-0.68 [[ 9.97618950e-01 6.88983152e-02 3.07466617e-03 2.06304104e+02] [-6.88978451e-02 9.97623687e-01 -2.58673195e-04 -1.44850707e+01] [-3.08518194e-03 4.62194080e-05 9.99995240e-01 -6.80487549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters Centerline goodness : 0.995872 with order 1 Centerline is valid? [True, True] Translation: X:206.36, Y:-14.49, Z:-0.68 [[ 9.97765304e-01 6.67453743e-02 3.07467846e-03 2.06361791e+02] [-6.67448945e-02 9.97770040e-01 -2.58527032e-04 -1.44929755e+01] [-3.08507753e-03 5.27302135e-05 9.99995240e-01 -6.79579155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters Centerline goodness : 0.996003 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:-14.50, Z:-0.68 [[ 9.97724456e-01 6.73532124e-02 3.07469351e-03 2.06420783e+02] [-6.73527360e-02 9.97729193e-01 -2.58347908e-04 -1.44989471e+01] [-3.08511203e-03 5.06710058e-05 9.99995240e-01 -6.81960019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters Centerline goodness : 0.996548 with order 1 Centerline is valid? [True, True] Translation: X:206.48, Y:-14.51, Z:-0.68 [[ 9.97743114e-01 6.70762578e-02 3.07470539e-03 2.06479768e+02] [-6.70757806e-02 9.97747850e-01 -2.58206379e-04 -1.45052990e+01] [-3.08510021e-03 5.13853723e-05 9.99995240e-01 -6.82086995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters Centerline goodness : 0.995550 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:-14.51, Z:-0.67 [[ 9.97588791e-01 6.93336193e-02 3.07471720e-03 2.06537427e+02] [-6.93331532e-02 9.97593528e-01 -2.58065630e-04 -1.45135192e+01] [-3.08521061e-03 4.42635406e-05 9.99995240e-01 -6.74433300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters Centerline goodness : 0.995558 with order 1 Centerline is valid? [True, True] Translation: X:206.60, Y:-14.52, Z:-0.68 [[ 9.97232575e-01 7.42814733e-02 3.07473308e-03 2.06596097e+02] [-7.42810312e-02 9.97237315e-01 -2.57876386e-04 -1.45182753e+01] [-3.08539399e-03 2.87683892e-05 9.99995240e-01 -6.78083448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters Centerline goodness : 0.995793 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:-14.52, Z:-0.68 [[ 9.97008631e-01 7.72291102e-02 3.07474458e-03 2.06653983e+02] [-7.72286826e-02 9.97013372e-01 -2.57739189e-04 -1.45246740e+01] [-3.08546643e-03 1.95097229e-05 9.99995240e-01 -6.77059410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters Centerline goodness : 0.995429 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:-14.53, Z:-0.68 [[ 9.97029725e-01 7.69563087e-02 3.07475886e-03 2.06712044e+02] [-7.69558803e-02 9.97034466e-01 -2.57568666e-04 -1.45311357e+01] [-3.08546209e-03 2.01828418e-05 9.99995240e-01 -6.77086807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters Centerline goodness : 0.996208 with order 1 Centerline is valid? [True, True] Translation: X:206.77, Y:-14.54, Z:-0.68 [[ 9.97198783e-01 7.47337500e-02 3.07477018e-03 2.06770840e+02] [-7.47333115e-02 9.97203523e-01 -2.57433514e-04 -1.45391182e+01] [-3.08541062e-03 2.69246295e-05 9.99995240e-01 -6.80606541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters Centerline goodness : 0.996332 with order 1 Centerline is valid? [True, True] Translation: X:206.83, Y:-14.55, Z:-0.68 [[ 9.97561117e-01 6.97306523e-02 3.07478143e-03 2.06828557e+02] [-6.97301904e-02 9.97565855e-01 -2.57299039e-04 -1.45472990e+01] [-3.08523860e-03 4.22664217e-05 9.99995240e-01 -6.81002940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters Centerline goodness : 0.996419 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:-14.55, Z:-0.68 [[ 9.97469197e-01 7.10334204e-02 3.07479534e-03 2.06887047e+02] [-7.10329652e-02 9.97473935e-01 -2.57132742e-04 -1.45535062e+01] [-3.08529322e-03 3.80701594e-05 9.99995240e-01 -6.82614828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters Centerline goodness : 0.996858 with order 1 Centerline is valid? [True, True] Translation: X:206.95, Y:-14.55, Z:-0.69 [[ 9.96963584e-01 7.78084658e-02 3.07480634e-03 2.06946142e+02] [-7.78080432e-02 9.96968326e-01 -2.57001157e-04 -1.45547966e+01] [-3.08548139e-03 1.69761305e-05 9.99995240e-01 -6.86071744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters Centerline goodness : 0.996283 with order 1 Centerline is valid? [True, True] Translation: X:207.00, Y:-14.56, Z:-0.69 [[ 9.96656594e-01 8.16466750e-02 3.07481727e-03 2.07004179e+02] [-8.16462711e-02 9.96661337e-01 -2.56870214e-04 -1.45576862e+01] [-3.08552409e-03 4.96402786e-06 9.99995240e-01 -6.85948481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters Centerline goodness : 0.995759 with order 1 Centerline is valid? [True, True] Translation: X:207.06, Y:-14.56, Z:-0.69 [[ 9.96850535e-01 7.92436551e-02 3.07483087e-03 2.07062700e+02] [-7.92432403e-02 9.96855277e-01 -2.56707403e-04 -1.45602934e+01] [-3.08550381e-03 1.22393512e-05 9.99995240e-01 -6.90335137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:207.12, Y:-14.56, Z:-0.69 [[ 9.97142774e-01 7.54773758e-02 3.07484239e-03 2.07120661e+02] [-7.54769435e-02 9.97147514e-01 -2.56569269e-04 -1.45631071e+01] [-3.08543662e-03 2.37564866e-05 9.99995240e-01 -6.90384734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters Centerline goodness : 0.996507 with order 1 Centerline is valid? [True, True] Translation: X:207.18, Y:-14.57, Z:-0.68 [[ 9.97366892e-01 7.24556922e-02 3.07485870e-03 2.07179011e+02] [-7.24552461e-02 9.97371632e-01 -2.56373715e-04 -1.45654581e+01] [-3.08535257e-03 3.29090116e-05 9.99995240e-01 -6.83995662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters Centerline goodness : 0.996172 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:-14.57, Z:-0.68 [[ 9.97545429e-01 6.99547181e-02 3.07487330e-03 2.07237579e+02] [-6.99542607e-02 9.97550167e-01 -2.56198480e-04 -1.45719109e+01] [-3.08526266e-03 4.04691342e-05 9.99995240e-01 -6.83572940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters Centerline goodness : 0.996250 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:-14.57, Z:-0.68 [[ 9.97663562e-01 6.82492720e-02 3.07488488e-03 2.07296222e+02] [-6.82488069e-02 9.97668299e-01 -2.56059379e-04 -1.45745798e+01] [-3.08519104e-03 4.56038879e-05 9.99995240e-01 -6.79798960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters Centerline goodness : 0.995042 with order 1 Centerline is valid? [True, True] Translation: X:207.35, Y:-14.58, Z:-0.68 [[ 9.97524953e-01 7.02460876e-02 3.07489655e-03 2.07354276e+02] [-7.02456324e-02 9.97529692e-01 -2.55919151e-04 -1.45787292e+01] [-3.08527793e-03 3.92876856e-05 9.99995240e-01 -6.77752777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-14.58, Z:-0.69 [[ 9.97551406e-01 6.98694359e-02 3.07491095e-03 2.07413205e+02] [-6.98689795e-02 9.97556144e-01 -2.55746024e-04 -1.45846390e+01] [-3.08526514e-03 4.02789155e-05 9.99995240e-01 -6.87379818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters Centerline goodness : 0.996441 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:-14.59, Z:-0.69 [[ 9.97561810e-01 6.97207287e-02 3.07492250e-03 2.07471725e+02] [-6.97202719e-02 9.97566548e-01 -2.55607162e-04 -1.45874657e+01] [-3.08526094e-03 4.05995105e-05 9.99995240e-01 -6.85724834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters Centerline goodness : 0.995945 with order 1 Centerline is valid? [True, True] Translation: X:207.53, Y:-14.59, Z:-0.68 [[ 9.97472670e-01 7.09846335e-02 3.07493452e-03 2.07530260e+02] [-7.09841833e-02 9.97477409e-01 -2.55462401e-04 -1.45865915e+01] [-3.08531162e-03 3.65450478e-05 9.99995240e-01 -6.80705549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters Centerline goodness : 0.996146 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:-14.59, Z:-0.69 [[ 9.97551372e-01 6.98699195e-02 3.07494941e-03 2.07587550e+02] [-6.98694644e-02 9.97556110e-01 -2.55283103e-04 -1.45902172e+01] [-3.08527118e-03 3.98129409e-05 9.99995240e-01 -6.88330977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters Centerline goodness : 0.996151 with order 1 Centerline is valid? [True, True] Translation: X:207.65, Y:-14.60, Z:-0.68 [[ 9.98019429e-01 6.28312375e-02 3.07496380e-03 2.07646205e+02] [-6.28307496e-02 9.98024164e-01 -2.55109571e-04 -1.45957291e+01] [-3.08491703e-03 6.14020278e-05 9.99995240e-01 -6.83439456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:207.71, Y:-14.61, Z:-0.68 [[ 9.98609945e-01 5.26186482e-02 3.07497541e-03 2.07705571e+02] [-5.26181123e-02 9.98614675e-01 -2.54969629e-04 -1.46069999e+01] [-3.08413172e-03 9.28158063e-05 9.99995240e-01 -6.82446001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters Centerline goodness : 0.995878 with order 1 Centerline is valid? [True, True] Translation: X:207.76, Y:-14.62, Z:-0.68 [[ 9.98876351e-01 4.72924887e-02 3.07498114e-03 2.07764613e+02] [-4.72919278e-02 9.98881078e-01 -2.54900501e-04 -1.46176188e+01] [-3.08359535e-03 1.09192297e-04 9.99995240e-01 -6.84621517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:-14.63, Z:-0.69 [[ 9.98915291e-01 4.64627404e-02 3.07498680e-03 2.07823588e+02] [-4.64621757e-02 9.98920017e-01 -2.54832132e-04 -1.46315533e+01] [-3.08350607e-03 1.11685136e-04 9.99995240e-01 -6.85223180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters Centerline goodness : 0.995885 with order 1 Centerline is valid? [True, True] Translation: X:207.88, Y:-14.65, Z:-0.68 [[ 9.98640073e-01 5.20437272e-02 3.07498959e-03 2.07881986e+02] [-5.20431891e-02 9.98644802e-01 -2.54798480e-04 -1.46453936e+01] [-3.08408304e-03 9.44197075e-05 9.99995240e-01 -6.83361733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:207.94, Y:-14.66, Z:-0.68 [[ 9.98252207e-01 5.90175911e-02 3.07499545e-03 2.07940650e+02] [-5.90170862e-02 9.98256940e-01 -2.54727754e-04 -1.46603664e+01] [-3.08466897e-03 7.28052704e-05 9.99995240e-01 -6.83574691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:-14.67, Z:-0.69 [[ 9.97911407e-01 6.45241618e-02 3.07500138e-03 2.07999285e+02] [-6.45236834e-02 9.97916143e-01 -2.54656161e-04 -1.46748836e+01] [-3.08502499e-03 5.57138729e-05 9.99995240e-01 -6.88380144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters Centerline goodness : 0.996109 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:-14.70, Z:-0.69 [[ 9.97761007e-01 6.68095638e-02 3.07500749e-03 2.08057741e+02] [-6.68090964e-02 9.97765744e-01 -2.54582388e-04 -1.46951255e+01] [-3.08514567e-03 4.85739084e-05 9.99995240e-01 -6.93676516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:-14.71, Z:-0.69 [[ 9.97481545e-01 7.08598011e-02 3.07501051e-03 2.08117727e+02] [-7.08593530e-02 9.97486284e-01 -2.54545898e-04 -1.47062550e+01] [-3.08531788e-03 3.60115809e-05 9.99995240e-01 -6.92292974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters Centerline goodness : 0.996353 with order 1 Centerline is valid? [True, True] Translation: X:208.18, Y:-14.72, Z:-0.69 [[ 9.96556446e-01 8.28600852e-02 3.07501051e-03 2.08175236e+02] [-8.28596942e-02 9.96561190e-01 -2.54545898e-04 -1.47170154e+01] [-3.08552783e-03 -1.12507450e-06 9.99995240e-01 -6.90981224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters Centerline goodness : 0.996285 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:-14.72, Z:-0.69 [[ 9.95370321e-01 9.60649135e-02 3.07501960e-03 2.08233555e+02] [-9.60645858e-02 9.95375070e-01 -2.54436038e-04 -1.47206730e+01] [-3.08524023e-03 -4.21424035e-05 9.99995240e-01 -6.89346410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:208.29, Y:-14.72, Z:-0.69 [[ 9.94231427e-01 1.07212008e-01 3.07503143e-03 2.08292440e+02] [-1.07211734e-01 9.94236179e-01 -2.54292975e-04 -1.47237913e+01] [-3.08457076e-03 -7.68533838e-05 9.99995240e-01 -6.86342950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters Centerline goodness : 0.995929 with order 1 Centerline is valid? [True, True] Translation: X:208.35, Y:-14.72, Z:-0.68 [[ 9.93386848e-01 1.14774188e-01 3.07504351e-03 2.08351519e+02] [-1.14773950e-01 9.93391602e-01 -2.54146763e-04 -1.47173523e+01] [-3.08389189e-03 -1.00468840e-04 9.99995240e-01 -6.84227444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters Centerline goodness : 0.996053 with order 1 Centerline is valid? [True, True] Translation: X:208.41, Y:-14.71, Z:-0.68 [[ 9.93063699e-01 1.17537375e-01 3.07505540e-03 2.08411017e+02] [-1.17537151e-01 9.93068454e-01 -2.54002813e-04 -1.47134582e+01] [-3.08359534e-03 -1.09192279e-04 9.99995240e-01 -6.83969822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters Centerline goodness : 0.996007 with order 1 Centerline is valid? [True, True] Translation: X:208.47, Y:-14.70, Z:-0.69 [[ 9.92967728e-01 1.18345407e-01 3.07506720e-03 2.08469920e+02] [-1.18345187e-01 9.92972483e-01 -2.53859964e-04 -1.46981062e+01] [-3.08350027e-03 -1.11844652e-04 9.99995240e-01 -6.87687323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters Centerline goodness : 0.995587 with order 1 Centerline is valid? [True, True] Translation: X:208.53, Y:-14.69, Z:-0.69 [[ 9.93485983e-01 1.13912881e-01 3.07508172e-03 2.08528797e+02] [-1.13912641e-01 9.93490738e-01 -2.53683903e-04 -1.46872716e+01] [-3.08396307e-03 -9.82592782e-05 9.99995240e-01 -6.86424687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters Centerline goodness : 0.995531 with order 1 Centerline is valid? [True, True] Translation: X:208.59, Y:-14.67, Z:-0.68 [[ 9.94219175e-01 1.07325561e-01 3.07509898e-03 2.08586791e+02] [-1.07325291e-01 9.94223927e-01 -2.53474466e-04 -1.46727237e+01] [-3.08454128e-03 -7.80267175e-05 9.99995240e-01 -6.84648700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters Centerline goodness : 0.995977 with order 1 Centerline is valid? [True, True] Translation: X:208.65, Y:-14.67, Z:-0.69 [[ 9.94451684e-01 1.05149378e-01 3.07511897e-03 2.08645273e+02] [-1.05149097e-01 9.94456436e-01 -2.53231778e-04 -1.46720417e+01] [-3.08469901e-03 -7.15192159e-05 9.99995240e-01 -6.86040851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters Centerline goodness : 0.995601 with order 1 Centerline is valid? [True, True] Translation: X:208.70, Y:-14.66, Z:-0.69 [[ 9.95252345e-01 9.72795577e-02 3.07513604e-03 2.08704604e+02] [-9.72792401e-02 9.95257095e-01 -2.53024372e-04 -1.46630915e+01] [-3.08516506e-03 -4.73237968e-05 9.99995240e-01 -6.89469277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters Centerline goodness : 0.996023 with order 1 Centerline is valid? [True, True] Translation: X:208.76, Y:-14.66, Z:-0.69 [[ 9.96407320e-01 8.46344842e-02 3.07515299e-03 2.08763912e+02] [-8.46341070e-02 9.96412065e-01 -2.52818151e-04 -1.46607562e+01] [-3.08551668e-03 -8.35297126e-06 9.99995240e-01 -6.88579845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters Centerline goodness : 0.995918 with order 1 Centerline is valid? [True, True] Translation: X:208.82, Y:-14.66, Z:-0.69 [[ 9.97171362e-01 7.50987263e-02 3.07516411e-03 2.08821660e+02] [-7.50983042e-02 9.97176103e-01 -2.52682780e-04 -1.46602971e+01] [-3.08545632e-03 2.10284224e-05 9.99995240e-01 -6.90304927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters Centerline goodness : 0.995928 with order 1 Centerline is valid? [True, True] Translation: X:208.88, Y:-14.66, Z:-0.69 [[ 9.97345209e-01 7.27535315e-02 3.07518226e-03 2.08879573e+02] [-7.27530989e-02 9.97349950e-01 -2.52461701e-04 -1.46577477e+01] [-3.08540036e-03 2.80624292e-05 9.99995240e-01 -6.87611177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters Centerline goodness : 0.995408 with order 1 Centerline is valid? [True, True] Translation: X:208.94, Y:-14.66, Z:-0.69 [[ 9.97121041e-01 7.57639324e-02 3.07519711e-03 2.08937793e+02] [-7.57635146e-02 9.97125783e-01 -2.52280726e-04 -1.46573755e+01] [-3.08547210e-03 1.85666789e-05 9.99995240e-01 -6.87742128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-14.66, Z:-0.69 [[ 9.97043453e-01 7.67782218e-02 3.07521281e-03 2.08995618e+02] [-7.67778095e-02 9.97048196e-01 -2.52089227e-04 -1.46572846e+01] [-3.08549034e-03 1.52358099e-05 9.99995240e-01 -6.91107311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters Centerline goodness : 0.996217 with order 1 Centerline is valid? [True, True] Translation: X:209.05, Y:-14.66, Z:-0.69 [[ 9.97172661e-01 7.50814738e-02 3.07523137e-03 2.09053242e+02] [-7.50810541e-02 9.97177402e-01 -2.51862607e-04 -1.46570141e+01] [-3.08546144e-03 2.02588932e-05 9.99995240e-01 -6.89310176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:209.11, Y:-14.66, Z:-0.69 [[ 9.97498165e-01 7.06254481e-02 3.07525826e-03 2.09110033e+02] [-7.06250082e-02 9.97502905e-01 -2.51533762e-04 -1.46599263e+01] [-3.08534374e-03 3.37143264e-05 9.99995240e-01 -6.89654546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters Centerline goodness : 0.995807 with order 1 Centerline is valid? [True, True] Translation: X:209.17, Y:-14.67, Z:-0.69 [[ 9.97953007e-01 6.38775251e-02 3.07528340e-03 2.09168367e+02] [-6.38770541e-02 9.97957744e-01 -2.51226074e-04 -1.46671615e+01] [-3.08505058e-03 5.42717719e-05 9.99995240e-01 -6.89721848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:209.23, Y:-14.68, Z:-0.69 [[ 9.98297088e-01 5.82534721e-02 3.07529508e-03 2.09225813e+02] [-5.82529749e-02 9.98301822e-01 -2.51082999e-04 -1.46759106e+01] [-3.08469914e-03 7.15103396e-05 9.99995240e-01 -6.91992438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters Centerline goodness : 0.996135 with order 1 Centerline is valid? [True, True] Translation: X:209.28, Y:-14.69, Z:-0.69 [[ 9.98765379e-01 4.95808521e-02 3.07530946e-03 2.09283914e+02] [-4.95803144e-02 9.98770108e-01 -2.50906760e-04 -1.46894638e+01] [-3.08396733e-03 9.81221751e-05 9.99995240e-01 -6.91315827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters Centerline goodness : 0.995926 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:-14.71, Z:-0.69 [[ 9.99025858e-01 4.40213382e-02 3.07532123e-03 2.09340195e+02] [-4.40207745e-02 9.99030584e-01 -2.50762401e-04 -1.47065520e+01] [-3.08337886e-03 1.15140100e-04 9.99995240e-01 -6.93462873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters Centerline goodness : 0.995838 with order 1 Centerline is valid? [True, True] Translation: X:209.40, Y:-14.73, Z:-0.70 [[ 9.99216894e-01 3.94479617e-02 3.07533577e-03 2.09398760e+02] [-3.94473770e-02 9.99221618e-01 -2.50584033e-04 -1.47282889e+01] [-3.08282701e-03 1.29073870e-04 9.99995240e-01 -6.97445565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:209.46, Y:-14.75, Z:-0.69 [[ 9.99283924e-01 3.77118144e-02 3.07534156e-03 2.09456835e+02] [-3.77112217e-02 9.99288647e-01 -2.50512939e-04 -1.47518720e+01] [-3.08260120e-03 1.34358666e-04 9.99995240e-01 -6.92222270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters Centerline goodness : 0.995918 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:-14.77, Z:-0.69 [[ 9.99277082e-01 3.78926826e-02 3.07534441e-03 2.09515774e+02] [-3.78920909e-02 9.99281805e-01 -2.50477845e-04 -1.47680631e+01] [-3.08262700e-03 1.33765540e-04 9.99995240e-01 -6.93136987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters Centerline goodness : 0.989951 with order 1 Centerline is valid? [True, True] Translation: X:209.57, Y:-14.79, Z:-0.68 [[ 9.99208891e-01 3.96501377e-02 3.07534441e-03 2.09574539e+02] [-3.96495542e-02 9.99213616e-01 -2.50477845e-04 -1.47911602e+01] [-3.08285749e-03 1.28343655e-04 9.99995240e-01 -6.84198441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters Centerline goodness : 0.996131 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:-14.81, Z:-0.70 [[ 9.99166665e-01 4.07003321e-02 3.07534152e-03 2.09632872e+02] [-4.06997535e-02 9.99171390e-01 -2.50513347e-04 -1.48128569e+01] [-3.08298924e-03 1.25138943e-04 9.99995240e-01 -6.95307514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters Centerline goodness : 0.995788 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:-14.83, Z:-0.70 [[ 9.99042241e-01 4.36479367e-02 3.07533869e-03 2.09692411e+02] [-4.36473720e-02 9.99046968e-01 -2.50548101e-04 -1.48343116e+01] [-3.08334370e-03 1.16077685e-04 9.99995240e-01 -6.95142497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:-14.85, Z:-0.69 [[ 9.98818389e-01 4.85012262e-02 3.07533306e-03 2.09752549e+02] [-4.85006842e-02 9.98823118e-01 -2.50617263e-04 -1.48548575e+01] [-3.08386900e-03 1.01165373e-04 9.99995240e-01 -6.90563957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters Centerline goodness : 0.995324 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:-14.87, Z:-0.69 [[ 9.98539741e-01 5.39344746e-02 3.07532720e-03 2.09813287e+02] [-5.39339581e-02 9.98544473e-01 -2.50689121e-04 -1.48689266e+01] [-3.08437176e-03 8.44584819e-05 9.99995240e-01 -6.90577582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:209.87, Y:-14.88, Z:-0.70 [[ 9.97814453e-01 6.60065178e-02 3.07532129e-03 2.09872566e+02] [-6.60060584e-02 9.97819191e-01 -2.50761561e-04 -1.48817814e+01] [-3.08516650e-03 4.72236734e-05 9.99995240e-01 -6.97221502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters Centerline goodness : 0.995977 with order 1 Centerline is valid? [True, True] Translation: X:209.93, Y:-14.89, Z:-0.70 [[ 9.97165344e-01 7.51785780e-02 3.07530772e-03 2.09933400e+02] [-7.51781616e-02 9.97170086e-01 -2.50927847e-04 -1.48922121e+01] [-3.08546927e-03 1.90205718e-05 9.99995240e-01 -6.99244872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters Centerline goodness : 0.995803 with order 1 Centerline is valid? [True, True] Translation: X:209.99, Y:-14.90, Z:-0.70 [[ 9.96665606e-01 8.15365765e-02 3.07530192e-03 2.09994078e+02] [-8.15361901e-02 9.96670350e-01 -2.50998939e-04 -1.48981436e+01] [-3.08552784e-03 -5.86393005e-07 9.99995240e-01 -6.98193206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters Centerline goodness : 0.996125 with order 1 Centerline is valid? [True, True] Translation: X:210.05, Y:-14.90, Z:-0.70 [[ 9.96337027e-01 8.54580099e-02 3.07530192e-03 2.10054925e+02] [-8.54576422e-02 9.96341773e-01 -2.50998939e-04 -1.49013662e+01] [-3.08550164e-03 -1.27285152e-05 9.99995240e-01 -6.96158480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters Centerline goodness : 0.995686 with order 1 Centerline is valid? [True, True] Translation: X:210.12, Y:-14.90, Z:-0.70 [[ 9.96291903e-01 8.59824837e-02 3.07530192e-03 2.10115329e+02] [-8.59821186e-02 9.96296649e-01 -2.50998939e-04 -1.49041929e+01] [-3.08549451e-03 -1.43527643e-05 9.99995240e-01 -6.98285298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters Centerline goodness : 0.996337 with order 1 Centerline is valid? [True, True] Translation: X:210.18, Y:-14.91, Z:-0.70 [[ 9.96268372e-01 8.62546962e-02 3.07529905e-03 2.10176373e+02] [-8.62543322e-02 9.96273119e-01 -2.51034120e-04 -1.49100695e+01] [-3.08549065e-03 -1.51605118e-05 9.99995240e-01 -6.95563807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters Centerline goodness : 0.995719 with order 1 Centerline is valid? [True, True] Translation: X:210.24, Y:-14.91, Z:-0.69 [[ 9.95943888e-01 8.99239377e-02 3.07529302e-03 2.10237023e+02] [-8.99235910e-02 9.95948636e-01 -2.51108002e-04 -1.49140643e+01] [-3.08541450e-03 -2.64519118e-05 9.99995240e-01 -6.94198408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:-14.91, Z:-0.69 [[ 9.95514660e-01 9.45574091e-02 3.07529302e-03 2.10296810e+02] [-9.45570844e-02 9.95519410e-01 -2.51108002e-04 -1.49143430e+01] [-3.08525801e-03 -4.08090445e-05 9.99995240e-01 -6.92320790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters Centerline goodness : 0.995942 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:-14.92, Z:-0.69 [[ 9.95376972e-01 9.59959733e-02 3.07528967e-03 2.10355380e+02] [-9.59956554e-02 9.95381721e-01 -2.51148921e-04 -1.49158664e+01] [-3.08519641e-03 -4.52265958e-05 9.99995240e-01 -6.92439780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters Centerline goodness : 0.994385 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:-14.92, Z:-0.69 [[ 9.95271261e-01 9.70858348e-02 3.07529557e-03 2.10413922e+02] [-9.70855223e-02 9.95276011e-01 -2.51076751e-04 -1.49160540e+01] [-3.08514390e-03 -4.86772020e-05 9.99995240e-01 -6.87869337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters Centerline goodness : 0.995427 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:-14.92, Z:-0.69 [[ 9.95320106e-01 9.65837906e-02 3.07530366e-03 2.10473785e+02] [-9.65834760e-02 9.95324856e-01 -2.50977582e-04 -1.49151749e+01] [-3.08516654e-03 -4.72204833e-05 9.99995240e-01 -6.92067456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters Centerline goodness : 0.995358 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:-14.91, Z:-0.69 [[ 9.95410130e-01 9.56515310e-02 3.07530961e-03 2.10533534e+02] [-9.56512122e-02 9.95414880e-01 -2.50904666e-04 -1.49088043e+01] [-3.08520836e-03 -4.44040459e-05 9.99995240e-01 -6.93654662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:210.59, Y:-14.91, Z:-0.70 [[ 9.95549540e-01 9.41894727e-02 3.07531847e-03 2.10593021e+02] [-9.41891473e-02 9.95554289e-01 -2.50796041e-04 -1.49054868e+01] [-3.08526884e-03 -3.99817406e-05 9.99995240e-01 -6.95527931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters Centerline goodness : 0.996396 with order 1 Centerline is valid? [True, True] Translation: X:210.65, Y:-14.90, Z:-0.70 [[ 9.96260272e-01 8.63482045e-02 3.07532988e-03 2.10652751e+02] [-8.63478421e-02 9.96265019e-01 -2.50655999e-04 -1.49016802e+01] [-3.08548728e-03 -1.58294852e-05 9.99995240e-01 -6.95866038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters Centerline goodness : 0.996023 with order 1 Centerline is valid? [True, True] Translation: X:210.71, Y:-14.91, Z:-0.69 [[ 9.97385223e-01 7.22029057e-02 3.07533569e-03 2.10712189e+02] [-7.22024762e-02 9.97389964e-01 -2.50584677e-04 -1.49068718e+01] [-3.08540190e-03 2.78826018e-05 9.99995240e-01 -6.93736811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters Centerline goodness : 0.995640 with order 1 Centerline is valid? [True, True] Translation: X:210.77, Y:-14.91, Z:-0.69 [[ 9.97908408e-01 6.45705193e-02 3.07533857e-03 2.10772408e+02] [-6.45700537e-02 9.97913145e-01 -2.50549370e-04 -1.49133386e+01] [-3.08509889e-03 5.14505462e-05 9.99995240e-01 -6.93168445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters Centerline goodness : 0.996147 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:-14.92, Z:-0.70 [[ 9.98156101e-01 6.06212887e-02 3.07533857e-03 2.10832512e+02] [-6.06208043e-02 9.98160836e-01 -2.50549370e-04 -1.49240453e+01] [-3.08487114e-03 6.36578846e-05 9.99995240e-01 -6.96789175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters Centerline goodness : 0.995446 with order 1 Centerline is valid? [True, True] Translation: X:210.89, Y:-14.94, Z:-0.69 [[ 9.98134246e-01 6.09800663e-02 3.07533857e-03 2.10892066e+02] [-6.09795836e-02 9.98138982e-01 -2.50549370e-04 -1.49389183e+01] [-3.08489383e-03 6.25490412e-05 9.99995240e-01 -6.92818035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters Centerline goodness : 0.995706 with order 1 Centerline is valid? [True, True] Translation: X:210.95, Y:-14.95, Z:-0.69 [[ 9.98136735e-01 6.09393241e-02 3.07533560e-03 2.10952764e+02] [-6.09388411e-02 9.98141470e-01 -2.50585760e-04 -1.49526602e+01] [-3.08489053e-03 6.27114649e-05 9.99995240e-01 -6.93248614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters Centerline goodness : 0.995521 with order 1 Centerline is valid? [True, True] Translation: X:211.01, Y:-14.97, Z:-0.69 [[ 9.98301306e-01 5.81811377e-02 3.07532967e-03 2.11012676e+02] [-5.81806415e-02 9.98306040e-01 -2.50658574e-04 -1.49666634e+01] [-3.08470379e-03 7.13081288e-05 9.99995240e-01 -6.94948978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters Centerline goodness : 0.995621 with order 1 Centerline is valid? [True, True] Translation: X:211.07, Y:-14.98, Z:-0.70 [[ 9.98372879e-01 5.69397565e-02 3.07532372e-03 2.11073975e+02] [-5.69392541e-02 9.98377613e-01 -2.50731519e-04 -1.49818545e+01] [-3.08461095e-03 7.52169096e-05 9.99995240e-01 -6.98826677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters Centerline goodness : 0.995503 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:-15.00, Z:-0.69 [[ 9.98195669e-01 5.99662333e-02 3.07528191e-03 2.11134238e+02] [-5.99657438e-02 9.98200404e-01 -2.51243311e-04 -1.49971100e+01] [-3.08481376e-03 6.63784183e-05 9.99995240e-01 -6.94908519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters Centerline goodness : 0.995838 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:-15.01, Z:-0.70 [[ 9.97840392e-01 6.56132220e-02 3.07524323e-03 2.11195717e+02] [-6.56127578e-02 9.97845130e-01 -2.51715908e-04 -1.50112931e+01] [-3.08513237e-03 4.93971117e-05 9.99995240e-01 -6.99505911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters Centerline goodness : 0.996582 with order 1 Centerline is valid? [True, True] Translation: X:211.26, Y:-15.02, Z:-0.70 [[ 9.97531725e-01 7.01498510e-02 3.07520031e-03 2.11256480e+02] [-7.01494067e-02 9.97536464e-01 -2.52239171e-04 -1.50215415e+01] [-3.08531898e-03 3.58930986e-05 9.99995240e-01 -7.03504549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:211.32, Y:-15.03, Z:-0.70 [[ 9.96989086e-01 7.74809980e-02 3.07517634e-03 2.11317411e+02] [-7.74805876e-02 9.96993829e-01 -2.52530998e-04 -1.50303915e+01] [-3.08549819e-03 1.35041793e-05 9.99995240e-01 -7.01220073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters Centerline goodness : 0.995594 with order 1 Centerline is valid? [True, True] Translation: X:211.38, Y:-15.04, Z:-0.70 [[ 9.96366937e-01 8.51085829e-02 3.07516734e-03 2.11378754e+02] [-8.51082085e-02 9.96371682e-01 -2.52640590e-04 -1.50371106e+01] [-3.08551154e-03 -9.99925261e-06 9.99995240e-01 -7.00637998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:211.44, Y:-15.04, Z:-0.70 [[ 9.95995775e-01 8.93474149e-02 3.07516123e-03 2.11439588e+02] [-8.93470604e-02 9.96000522e-01 -2.52714967e-04 -1.50421791e+01] [-3.08544161e-03 -2.30535767e-05 9.99995240e-01 -6.99969189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters Centerline goodness : 0.995512 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:-15.04, Z:-0.70 [[ 9.95307485e-01 9.67137700e-02 3.07515529e-03 2.11501058e+02] [-9.67134505e-02 9.95312235e-01 -2.52787208e-04 -1.50423452e+01] [-3.08518769e-03 -4.58078781e-05 9.99995240e-01 -7.00510798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters Centerline goodness : 0.995203 with order 1 Centerline is valid? [True, True] Translation: X:211.56, Y:-15.04, Z:-0.70 [[ 9.94507544e-01 1.04619732e-01 3.07514905e-03 2.11560754e+02] [-1.04619450e-01 9.94512296e-01 -2.52863035e-04 -1.50400669e+01] [-3.08472801e-03 -7.02462060e-05 9.99995240e-01 -6.98712093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:211.62, Y:-15.04, Z:-0.70 [[ 9.93867297e-01 1.10536598e-01 3.07515212e-03 2.11621196e+02] [-1.10536345e-01 9.93872050e-01 -2.52825732e-04 -1.50369163e+01] [-3.08425424e-03 -8.86408482e-05 9.99995240e-01 -6.97240274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:-15.03, Z:-0.70 [[ 9.93590208e-01 1.13000182e-01 3.07515503e-03 2.11680695e+02] [-1.12999940e-01 9.93594963e-01 -2.52790351e-04 -1.50327597e+01] [-3.08402390e-03 -9.63223159e-05 9.99995240e-01 -7.03981286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters Centerline goodness : 0.995972 with order 1 Centerline is valid? [True, True] Translation: X:211.74, Y:-15.03, Z:-0.70 [[ 9.93639456e-01 1.12566316e-01 3.07516375e-03 2.11740828e+02] [-1.12566073e-01 9.93644210e-01 -2.52684157e-04 -1.50269657e+01] [-3.08406238e-03 -9.50821591e-05 9.99995240e-01 -7.04796448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters Centerline goodness : 0.995896 with order 1 Centerline is valid? [True, True] Translation: X:211.80, Y:-15.03, Z:-0.70 [[ 9.93832910e-01 1.10845347e-01 3.07516968e-03 2.11800392e+02] [-1.10845096e-01 9.93837663e-01 -2.52612072e-04 -1.50271003e+01] [-3.08422032e-03 -8.98132870e-05 9.99995240e-01 -7.03886408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:211.86, Y:-15.02, Z:-0.71 [[ 9.94069756e-01 1.08700797e-01 3.07517569e-03 2.11859899e+02] [-1.08700535e-01 9.94074509e-01 -2.52538894e-04 -1.50240527e+01] [-3.08440494e-03 -8.32319660e-05 9.99995240e-01 -7.05366691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters Centerline goodness : 0.995733 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:-15.02, Z:-0.70 [[ 9.94329297e-01 1.06300483e-01 3.07518459e-03 2.11919112e+02] [-1.06300210e-01 9.94334049e-01 -2.52430402e-04 -1.50214713e+01] [-3.08459422e-03 -7.58938235e-05 9.99995240e-01 -7.01977533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:-15.02, Z:-0.70 [[ 9.94755118e-01 1.02238931e-01 3.07519647e-03 2.11978539e+02] [-1.02238639e-01 9.94759869e-01 -2.52285620e-04 -1.50226692e+01] [-3.08487545e-03 -6.34414907e-05 9.99995240e-01 -7.02123825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters Centerline goodness : 0.995442 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:-15.03, Z:-0.70 [[ 9.95422671e-01 9.55209363e-02 3.07521558e-03 2.12038083e+02] [-9.55206133e-02 9.95427420e-01 -2.52052497e-04 -1.50292038e+01] [-3.08523020e-03 -4.28477086e-05 9.99995240e-01 -6.99065742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:-15.03, Z:-0.70 [[ 9.95804132e-01 9.14585952e-02 3.07522147e-03 2.12097462e+02] [-9.14582531e-02 9.95808879e-01 -2.51980584e-04 -1.50341404e+01] [-3.08537863e-03 -3.03310766e-05 9.99995240e-01 -6.96524019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:-15.04, Z:-0.70 [[ 9.95714936e-01 9.24246120e-02 3.07522746e-03 2.12156962e+02] [-9.24242747e-02 9.95719684e-01 -2.51907405e-04 -1.50367531e+01] [-3.08534696e-03 -3.33977025e-05 9.99995240e-01 -7.02002196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters Centerline goodness : 0.995769 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:-15.04, Z:-0.71 [[ 9.95447121e-01 9.52658015e-02 3.07523344e-03 2.12215407e+02] [-9.52654780e-02 9.95451870e-01 -2.51834449e-04 -1.50383303e+01] [-3.08523809e-03 -4.22757062e-05 9.99995240e-01 -7.05751470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters Centerline goodness : 0.995781 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:-15.04, Z:-0.71 [[ 9.94885205e-01 1.00965203e-01 3.07524542e-03 2.12273672e+02] [-1.00964908e-01 9.94889956e-01 -2.51688044e-04 -1.50384056e+01] [-3.08494251e-03 -6.00911585e-05 9.99995240e-01 -7.07070638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:212.33, Y:-15.04, Z:-0.70 [[ 9.94855653e-01 1.01255970e-01 3.07526028e-03 2.12332578e+02] [-1.01255676e-01 9.94860405e-01 -2.51506399e-04 -1.50368229e+01] [-3.08492121e-03 -6.11749959e-05 9.99995240e-01 -7.04310730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters Centerline goodness : 0.995797 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:-15.04, Z:-0.71 [[ 9.94916362e-01 1.00657718e-01 3.07527230e-03 2.12390354e+02] [-1.00657421e-01 9.94921113e-01 -2.51359324e-04 -1.50399888e+01] [-3.08495459e-03 -5.94674753e-05 9.99995240e-01 -7.05169854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters Centerline goodness : 0.995335 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:-15.05, Z:-0.71 [[ 9.95028425e-01 9.95438382e-02 3.07528714e-03 2.12448643e+02] [-9.95435372e-02 9.95033176e-01 -2.51177526e-04 -1.50454812e+01] [-3.08501591e-03 -5.61961820e-05 9.99995240e-01 -7.08725474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters Centerline goodness : 0.995893 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:-15.05, Z:-0.71 [[ 9.95059595e-01 9.92317713e-02 3.07529927e-03 2.12506060e+02] [-9.92314693e-02 9.95064346e-01 -2.51028999e-04 -1.50502580e+01] [-3.08503071e-03 -5.53776508e-05 9.99995240e-01 -7.05386760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters Centerline goodness : 0.996513 with order 1 Centerline is valid? [True, True] Translation: X:212.56, Y:-15.06, Z:-0.70 [[ 9.95033772e-01 9.94903803e-02 3.07531418e-03 2.12564355e+02] [-9.94900801e-02 9.95038522e-01 -2.50846196e-04 -1.50566269e+01] [-3.08501286e-03 -5.63628171e-05 9.99995240e-01 -7.02172918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters Centerline goodness : 0.996483 with order 1 Centerline is valid? [True, True] Translation: X:212.62, Y:-15.06, Z:-0.70 [[ 9.94544520e-01 1.04267640e-01 3.07532617e-03 2.12622764e+02] [-1.04267363e-01 9.94549272e-01 -2.50699119e-04 -1.50614324e+01] [-3.08470321e-03 -7.13247164e-05 9.99995240e-01 -7.03700409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:-15.06, Z:-0.71 [[ 9.93563937e-01 1.13230936e-01 3.07533842e-03 2.12681094e+02] [-1.13230702e-01 9.93568692e-01 -2.50548700e-04 -1.50597920e+01] [-3.08392984e-03 -9.92865764e-05 9.99995240e-01 -7.07259079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters Centerline goodness : 0.996892 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-15.05, Z:-0.71 [[ 9.92412295e-01 1.22916144e-01 3.07535355e-03 2.12740944e+02] [-1.22915957e-01 9.92417052e-01 -2.50362870e-04 -1.50517342e+01] [-3.08280694e-03 -1.29546836e-04 9.99995240e-01 -7.05210701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-15.04, Z:-0.70 [[ 9.92083536e-01 1.25542020e-01 3.07536546e-03 2.12799234e+02] [-1.25541847e-01 9.92088293e-01 -2.50216459e-04 -1.50402643e+01] [-3.08244676e-03 -1.37851431e-04 9.99995240e-01 -7.00604773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters Centerline goodness : 0.995979 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-15.03, Z:-0.70 [[ 9.92693522e-01 1.20623852e-01 3.07538606e-03 2.12858003e+02] [-1.20623656e-01 9.92698278e-01 -2.49963071e-04 -1.50337322e+01] [-3.08308195e-03 -1.22827588e-04 9.99995240e-01 -7.03451695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters Centerline goodness : 0.995843 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-15.02, Z:-0.71 [[ 9.94270852e-01 1.06845756e-01 3.07540348e-03 2.12917186e+02] [-1.06845495e-01 9.94275605e-01 -2.49748577e-04 -1.50244831e+01] [-3.08448323e-03 -8.02752756e-05 9.99995240e-01 -7.05071428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters Centerline goodness : 0.996347 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-15.02, Z:-0.71 [[ 9.95291099e-01 9.68822436e-02 3.07542094e-03 2.12976389e+02] [-9.68819349e-02 9.95295850e-01 -2.49533331e-04 -1.50170500e+01] [-3.08512905e-03 -4.95944281e-05 9.99995240e-01 -7.06988356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:-15.02, Z:-0.71 [[ 9.95698545e-01 9.26010219e-02 3.07543261e-03 2.13035363e+02] [-9.26006932e-02 9.95703294e-01 -2.49389443e-04 -1.50156691e+01] [-3.08531210e-03 -3.64704860e-05 9.99995240e-01 -7.09812325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters Centerline goodness : 0.995846 with order 1 Centerline is valid? [True, True] Translation: X:213.09, Y:-15.01, Z:-0.71 [[ 9.96207335e-01 8.69568133e-02 3.07544450e-03 2.13093224e+02] [-8.69564582e-02 9.96212082e-01 -2.49242803e-04 -1.50146886e+01] [-3.08546832e-03 -1.91322521e-05 9.99995240e-01 -7.06383966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters Centerline goodness : 0.996081 with order 1 Centerline is valid? [True, True] Translation: X:213.15, Y:-15.02, Z:-0.71 [[ 9.96814061e-01 7.97011231e-02 3.07545914e-03 2.13151344e+02] [-7.97007340e-02 9.96818805e-01 -2.49061913e-04 -1.50161239e+01] [-3.08552602e-03 3.15206539e-06 9.99995240e-01 -7.06885989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:-15.02, Z:-0.71 [[ 9.97393139e-01 7.20934631e-02 3.07547695e-03 2.13208446e+02] [-7.20930385e-02 9.97397880e-01 -2.48841882e-04 -1.50225520e+01] [-3.08541406e-03 2.64727076e-05 9.99995240e-01 -7.08250725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:-15.03, Z:-0.71 [[ 9.97886075e-01 6.49147368e-02 3.07549155e-03 2.13266951e+02] [-6.49142786e-02 9.97890813e-01 -2.48661314e-04 -1.50328294e+01] [-3.08514654e-03 4.84923474e-05 9.99995240e-01 -7.07996431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:-15.05, Z:-0.71 [[ 9.98226566e-01 5.94496737e-02 3.07550340e-03 2.13323811e+02] [-5.94491901e-02 9.98231302e-01 -2.48514579e-04 -1.50482120e+01] [-3.08483788e-03 6.52376679e-05 9.99995240e-01 -7.11042101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters Centerline goodness : 0.991662 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:-15.06, Z:-0.70 [[ 9.98276826e-01 5.85996576e-02 3.07551803e-03 2.13381727e+02] [-5.85991705e-02 9.98281561e-01 -2.48333472e-04 -1.50602208e+01] [-3.08478519e-03 6.76827447e-05 9.99995240e-01 -7.00250655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters Centerline goodness : 0.996649 with order 1 Centerline is valid? [True, True] Translation: X:213.44, Y:-15.08, Z:-0.71 [[ 9.98016887e-01 6.28715756e-02 3.07552656e-03 2.13439591e+02] [-6.28711091e-02 9.98021624e-01 -2.48227758e-04 -1.50770997e+01] [-3.08504848e-03 5.43737288e-05 9.99995240e-01 -7.08962766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters Centerline goodness : 0.996961 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:-15.09, Z:-0.71 [[ 9.97456030e-01 7.12180364e-02 3.07553815e-03 2.13497204e+02] [-7.12176099e-02 9.97460771e-01 -2.48084003e-04 -1.50884300e+01] [-3.08539672e-03 2.84204086e-05 9.99995240e-01 -7.10268694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters Centerline goodness : 0.996794 with order 1 Centerline is valid? [True, True] Translation: X:213.55, Y:-15.09, Z:-0.71 [[ 9.96978390e-01 7.76185016e-02 3.07555014e-03 2.13554378e+02] [-7.76181061e-02 9.96983133e-01 -2.47935327e-04 -1.50948123e+01] [-3.08551598e-03 8.46778611e-06 9.99995240e-01 -7.08948751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters Centerline goodness : 0.996423 with order 1 Centerline is valid? [True, True] Translation: X:213.61, Y:-15.10, Z:-0.71 [[ 9.96521402e-01 8.32804667e-02 3.07556506e-03 2.13612736e+02] [-8.32800987e-02 9.96526148e-01 -2.47750102e-04 -1.51010163e+01] [-3.08551375e-03 -9.24508250e-06 9.99995240e-01 -7.08962767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters Centerline goodness : 0.997124 with order 1 Centerline is valid? [True, True] Translation: X:213.67, Y:-15.11, Z:-0.71 [[ 9.96347001e-01 8.53416304e-02 3.07557682e-03 2.13671881e+02] [-8.53412727e-02 9.96351748e-01 -2.47603998e-04 -1.51052753e+01] [-3.08548727e-03 -1.57741396e-05 9.99995240e-01 -7.11875939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters Centerline goodness : 0.996463 with order 1 Centerline is valid? [True, True] Translation: X:213.73, Y:-15.11, Z:-0.71 [[ 9.96222872e-01 8.67786222e-02 3.07558864e-03 2.13729435e+02] [-8.67782717e-02 9.96227620e-01 -2.47457093e-04 -1.51056550e+01] [-3.08546034e-03 -2.03718511e-05 9.99995240e-01 -7.05914790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters Centerline goodness : 0.996329 with order 1 Centerline is valid? [True, True] Translation: X:213.79, Y:-15.11, Z:-0.71 [[ 9.95986170e-01 8.94543970e-02 3.07560318e-03 2.13787449e+02] [-8.94540599e-02 9.95990919e-01 -2.47276256e-04 -1.51071191e+01] [-3.08539279e-03 -2.88414597e-05 9.99995240e-01 -7.06793200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters Centerline goodness : 0.996435 with order 1 Centerline is valid? [True, True] Translation: X:213.85, Y:-15.11, Z:-0.71 [[ 9.95884612e-01 9.05780342e-02 3.07561751e-03 2.13846722e+02] [-9.05777030e-02 9.95889361e-01 -2.47097921e-04 -1.51089368e+01] [-3.08535640e-03 -3.25013521e-05 9.99995240e-01 -7.06958708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:213.91, Y:-15.11, Z:-0.71 [[ 9.96071546e-01 8.84986811e-02 3.07562895e-03 2.13905573e+02] [-8.84983405e-02 9.96076294e-01 -2.46955434e-04 -1.51111529e+01] [-3.08541632e-03 -2.62027772e-05 9.99995240e-01 -7.06036641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters Centerline goodness : 0.996350 with order 1 Centerline is valid? [True, True] Translation: X:213.96, Y:-15.11, Z:-0.71 [[ 9.96395751e-01 8.47705656e-02 3.07564075e-03 2.13963923e+02] [-8.47702076e-02 9.96400497e-01 -2.46808434e-04 -1.51138699e+01] [-3.08549206e-03 -1.48038300e-05 9.99995240e-01 -7.08288081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters Centerline goodness : 0.996354 with order 1 Centerline is valid? [True, True] Translation: X:214.02, Y:-15.12, Z:-0.71 [[ 9.96662786e-01 8.15710168e-02 3.07565269e-03 2.14022178e+02] [-8.15706440e-02 9.96667532e-01 -2.46659478e-04 -1.51152817e+01] [-3.08552344e-03 -5.04664886e-06 9.99995240e-01 -7.06854676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters Centerline goodness : 0.996191 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:-15.12, Z:-0.71 [[ 9.96966612e-01 7.77696272e-02 3.07566740e-03 2.14079693e+02] [-7.77692369e-02 9.96971356e-01 -2.46475987e-04 -1.51186917e+01] [-3.08552064e-03 6.53602372e-06 9.99995240e-01 -7.08872224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:-15.12, Z:-0.71 [[ 9.97687079e-01 6.79045788e-02 3.07568173e-03 2.14138159e+02] [-6.79041421e-02 9.97691820e-01 -2.46297014e-04 -1.51231475e+01] [-3.08530720e-03 3.68758195e-05 9.99995240e-01 -7.09027521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters Centerline goodness : 0.996186 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:-15.13, Z:-0.71 [[ 9.98217895e-01 5.95950878e-02 3.07569331e-03 2.14195764e+02] [-5.95946121e-02 9.98222631e-01 -2.46152298e-04 -1.51349516e+01] [-3.08489614e-03 6.24188790e-05 9.99995240e-01 -7.07506540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters Centerline goodness : 0.995961 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:-15.14, Z:-0.71 [[ 9.98336006e-01 5.75826305e-02 3.07570478e-03 2.14254354e+02] [-5.75821458e-02 9.98340741e-01 -2.46008949e-04 -1.51408774e+01] [-3.08476723e-03 6.84939112e-05 9.99995240e-01 -7.07541623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:214.31, Y:-15.16, Z:-0.70 [[ 9.98636907e-01 5.21043903e-02 3.07571327e-03 2.14313179e+02] [-5.21038799e-02 9.98641640e-01 -2.45902729e-04 -1.51561839e+01] [-3.08434796e-03 8.53109461e-05 9.99995240e-01 -7.03663622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters Centerline goodness : 0.996648 with order 1 Centerline is valid? [True, True] Translation: X:214.37, Y:-15.18, Z:-0.71 [[ 9.98738465e-01 5.01200466e-02 3.07571886e-03 2.14371321e+02] [-5.01195270e-02 9.98743197e-01 -2.45832762e-04 -1.51760933e+01] [-3.08417444e-03 9.13690606e-05 9.99995240e-01 -7.12073511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters Centerline goodness : 0.997126 with order 1 Centerline is valid? [True, True] Translation: X:214.43, Y:-15.20, Z:-0.70 [[ 9.98287167e-01 5.84232136e-02 3.07572162e-03 2.14429295e+02] [-5.84227335e-02 9.98291903e-01 -2.45798206e-04 -1.51968253e+01] [-3.08482831e-03 6.56851301e-05 9.99995240e-01 -7.04760513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:214.49, Y:-15.21, Z:-0.71 [[ 9.97766976e-01 6.67203274e-02 3.07572749e-03 2.14488191e+02] [-6.67198868e-02 9.97771716e-01 -2.45724747e-04 -1.52073953e+01] [-3.08526873e-03 3.99638479e-05 9.99995240e-01 -7.06230927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters Centerline goodness : 0.997096 with order 1 Centerline is valid? [True, True] Translation: X:214.55, Y:-15.22, Z:-0.71 [[ 9.96849542e-01 7.92561042e-02 3.07573331e-03 2.14545904e+02] [-7.92557235e-02 9.96854287e-01 -2.45651846e-04 -1.52187255e+01] [-3.08552735e-03 1.10846116e-06 9.99995240e-01 -7.09895333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:-15.22, Z:-0.71 [[ 9.96454361e-01 8.40788070e-02 3.07574199e-03 2.14605450e+02] [-8.40784497e-02 9.96459108e-01 -2.45543177e-04 -1.52236139e+01] [-3.08549610e-03 -1.39310489e-05 9.99995240e-01 -7.05828928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters Centerline goodness : 0.997471 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:-15.22, Z:-0.71 [[ 9.95875373e-01 9.06795516e-02 3.07574782e-03 2.14664931e+02] [-9.06792259e-02 9.95880122e-01 -2.45470143e-04 -1.52234531e+01] [-3.08533524e-03 -3.44487612e-05 9.99995240e-01 -7.07135717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters Centerline goodness : 0.997112 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:-15.22, Z:-0.71 [[ 9.95200338e-01 9.78101575e-02 3.07575971e-03 2.14723957e+02] [-9.78098663e-02 9.95205089e-01 -2.45321053e-04 -1.52226521e+01] [-3.08500661e-03 -5.66960507e-05 9.99995240e-01 -7.08930498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters Centerline goodness : 0.997378 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:-15.22, Z:-0.71 [[ 9.94885415e-01 1.00963120e-01 3.07577147e-03 2.14782973e+02] [-1.00962844e-01 9.94890167e-01 -2.45173508e-04 -1.52203385e+01] [-3.08480827e-03 -6.66190891e-05 9.99995240e-01 -7.14164934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters Centerline goodness : 0.997378 with order 1 Centerline is valid? [True, True] Translation: X:214.84, Y:-15.22, Z:-0.71 [[ 9.94909359e-01 1.00726891e-01 3.07578344e-03 2.14840581e+02] [-1.00726614e-01 9.94914111e-01 -2.45023198e-04 -1.52200381e+01] [-3.08482078e-03 -6.60373798e-05 9.99995240e-01 -7.14187923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:-15.22, Z:-0.71 [[ 9.95166365e-01 9.81552071e-02 3.07579822e-03 2.14898455e+02] [-9.81549190e-02 9.95171117e-01 -2.44837618e-04 -1.52163347e+01] [-3.08497763e-03 -5.82505626e-05 9.99995240e-01 -7.09814180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters Centerline goodness : 0.997721 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:-15.21, Z:-0.71 [[ 9.95589705e-01 9.37639540e-02 3.07581275e-03 2.14956469e+02] [-9.37636456e-02 9.95594455e-01 -2.44654900e-04 -1.52117814e+01] [-3.08520193e-03 -4.48235165e-05 9.99995240e-01 -7.12665752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters Centerline goodness : 0.997184 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:-15.21, Z:-0.71 [[ 9.95808366e-01 9.14124567e-02 3.07582687e-03 2.15016006e+02] [-9.14121376e-02 9.95813116e-01 -2.44477231e-04 -1.52073434e+01] [-3.08529701e-03 -3.77154370e-05 9.99995240e-01 -7.09905059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:215.08, Y:-15.20, Z:-0.71 [[ 9.95892421e-01 9.04921244e-02 3.07583826e-03 2.15075755e+02] [-9.04918013e-02 9.95897170e-01 -2.44333876e-04 -1.52014861e+01] [-3.08532891e-03 -3.50078891e-05 9.99995240e-01 -7.06556995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters Centerline goodness : 0.997226 with order 1 Centerline is valid? [True, True] Translation: X:215.13, Y:-15.20, Z:-0.71 [[ 9.96063301e-01 8.85914246e-02 3.07584983e-03 2.15134843e+02] [-8.85910929e-02 9.96068049e-01 -2.44188186e-04 -1.51976728e+01] [-3.08538872e-03 -2.92660068e-05 9.99995240e-01 -7.12023305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters Centerline goodness : 0.996907 with order 1 Centerline is valid? [True, True] Translation: X:215.19, Y:-15.20, Z:-0.71 [[ 9.96807651e-01 7.97812432e-02 3.07586129e-03 2.15193428e+02] [-7.97808699e-02 9.96812396e-01 -2.44043673e-04 -1.51962648e+01] [-3.08552677e-03 -2.13028969e-06 9.99995240e-01 -7.08878384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters Centerline goodness : 0.996510 with order 1 Centerline is valid? [True, True] Translation: X:215.25, Y:-15.20, Z:-0.70 [[ 9.97850008e-01 6.54667900e-02 3.07587758e-03 2.15251037e+02] [-6.54663493e-02 9.97854748e-01 -2.43838191e-04 -1.52021023e+01] [-3.08524235e-03 4.19474651e-05 9.99995240e-01 -7.04936284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters Centerline goodness : 0.996398 with order 1 Centerline is valid? [True, True] Translation: X:215.31, Y:-15.21, Z:-0.71 [[ 9.98541202e-01 5.39073994e-02 3.07589302e-03 2.15309293e+02] [-5.39069045e-02 9.98545936e-01 -2.43643275e-04 -1.52090787e+01] [-3.08455465e-03 7.74759767e-05 9.99995240e-01 -7.06790848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters Centerline goodness : 0.996895 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:-15.22, Z:-0.71 [[ 9.98858124e-01 4.76758439e-02 3.07590405e-03 2.15366636e+02] [-4.76753199e-02 9.98862856e-01 -2.43503896e-04 -1.52235659e+01] [-3.08401556e-03 9.65811351e-05 9.99995240e-01 -7.08202040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:215.43, Y:-15.23, Z:-0.70 [[ 9.98924794e-01 4.62579155e-02 3.07591221e-03 2.15425308e+02] [-4.62573851e-02 9.98929525e-01 -2.43400814e-04 -1.52337684e+01] [-3.08387874e-03 1.00855452e-04 9.99995240e-01 -6.99713571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters Centerline goodness : 0.996994 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:-15.25, Z:-0.71 [[ 9.98838081e-01 4.80939289e-02 3.07591773e-03 2.15483390e+02] [-4.80934074e-02 9.98842813e-01 -2.43331047e-04 -1.52492425e+01] [-3.08406106e-03 9.51169519e-05 9.99995240e-01 -7.07479382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:215.54, Y:-15.26, Z:-0.71 [[ 9.98557473e-01 5.36051507e-02 3.07592375e-03 2.15542743e+02] [-5.36046555e-02 9.98562207e-01 -2.43254932e-04 -1.52616425e+01] [-3.08454093e-03 7.80201976e-05 9.99995240e-01 -7.11076095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters Centerline goodness : 0.997401 with order 1 Centerline is valid? [True, True] Translation: X:215.60, Y:-15.28, Z:-0.71 [[ 9.98175104e-01 6.03075428e-02 3.07592652e-03 2.15601763e+02] [-6.03070795e-02 9.98179842e-01 -2.43219892e-04 -1.52755972e+01] [-3.08499584e-03 5.72758952e-05 9.99995240e-01 -7.13360913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters Centerline goodness : 0.997449 with order 1 Centerline is valid? [True, True] Translation: X:215.66, Y:-15.29, Z:-0.71 [[ 9.97645966e-01 6.85059494e-02 3.07593238e-03 2.15659448e+02] [-6.85055253e-02 9.97650707e-01 -2.43145820e-04 -1.52863726e+01] [-3.08536305e-03 3.18550831e-05 9.99995240e-01 -7.07640773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters Centerline goodness : 0.997261 with order 1 Centerline is valid? [True, True] Translation: X:215.72, Y:-15.30, Z:-0.71 [[ 9.97229926e-01 7.43169734e-02 3.07594105e-03 2.15717494e+02] [-7.43165773e-02 9.97234670e-01 -2.43035988e-04 -1.52950239e+01] [-3.08549676e-03 1.37693491e-05 9.99995240e-01 -7.05480029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters Centerline goodness : 0.997632 with order 1 Centerline is valid? [True, True] Translation: X:215.78, Y:-15.31, Z:-0.71 [[ 9.96708610e-01 8.10091735e-02 3.07595254e-03 2.15775624e+02] [-8.10088096e-02 9.96713356e-01 -2.42890516e-04 -1.53070878e+01] [-3.08551934e-03 -7.08818579e-06 9.99995240e-01 -7.06228829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters Centerline goodness : 0.997622 with order 1 Centerline is valid? [True, True] Translation: X:215.83, Y:-15.32, Z:-0.71 [[ 9.96229736e-01 8.66997758e-02 3.07596423e-03 2.15833392e+02] [-8.66994395e-02 9.96234485e-01 -2.42742366e-04 -1.53169150e+01] [-3.08542735e-03 -2.48572114e-05 9.99995240e-01 -7.08657958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters Centerline goodness : 0.997143 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:-15.32, Z:-0.70 [[ 9.95489812e-01 9.48186278e-02 3.07597293e-03 2.15891993e+02] [-9.48183306e-02 9.95494563e-01 -2.42632101e-04 -1.53200041e+01] [-3.08512037e-03 -5.01208333e-05 9.99995240e-01 -7.04943949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters Centerline goodness : 0.997244 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:-15.32, Z:-0.71 [[ 9.94757881e-01 1.02212017e-01 3.07598444e-03 2.15951599e+02] [-1.02211755e-01 9.94762634e-01 -2.42486151e-04 -1.53169424e+01] [-3.08465938e-03 -7.31867588e-05 9.99995240e-01 -7.08264386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters Centerline goodness : 0.997752 with order 1 Centerline is valid? [True, True] Translation: X:216.01, Y:-15.32, Z:-0.71 [[ 9.94727437e-01 1.02507876e-01 3.07599603e-03 2.16010321e+02] [-1.02507617e-01 9.94732190e-01 -2.42339041e-04 -1.53170738e+01] [-3.08463392e-03 -7.42517287e-05 9.99995240e-01 -7.09871559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters Centerline goodness : 0.997555 with order 1 Centerline is valid? [True, True] Translation: X:216.07, Y:-15.32, Z:-0.70 [[ 9.95476564e-01 9.49576138e-02 3.07600746e-03 2.16069049e+02] [-9.49573187e-02 9.95481315e-01 -2.42193838e-04 -1.53165626e+01] [-3.08510610e-03 -5.09911308e-05 9.99995240e-01 -7.04800044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:-15.32, Z:-0.71 [[ 9.96051519e-01 8.87237818e-02 3.07601893e-03 2.16126641e+02] [-8.87234574e-02 9.96056268e-01 -2.42048109e-04 -1.53191192e+01] [-3.08536336e-03 -3.18226473e-05 9.99995240e-01 -7.09973898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:216.19, Y:-15.32, Z:-0.71 [[ 9.96434215e-01 8.43172200e-02 3.07603317e-03 2.16185318e+02] [-8.43168751e-02 9.96438963e-01 -2.41866972e-04 -1.53233858e+01] [-3.08547285e-03 -1.83569784e-05 9.99995240e-01 -7.11069344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters Centerline goodness : 0.997425 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:-15.33, Z:-0.71 [[ 9.96790773e-01 7.99918332e-02 3.07604463e-03 2.16242909e+02] [-7.99914682e-02 9.96795519e-01 -2.41721141e-04 -1.53278332e+01] [-3.08552322e-03 -5.11192326e-06 9.99995240e-01 -7.10533243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters Centerline goodness : 0.997446 with order 1 Centerline is valid? [True, True] Translation: X:216.30, Y:-15.34, Z:-0.72 [[ 9.97295967e-01 7.34254117e-02 3.07606079e-03 2.16301491e+02] [-7.34250160e-02 9.97300711e-01 -2.41515316e-04 -1.53401943e+01] [-3.08549097e-03 1.50024385e-05 9.99995240e-01 -7.15101616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:216.36, Y:-15.36, Z:-0.71 [[ 9.97753807e-01 6.69169576e-02 3.07606666e-03 2.16359612e+02] [-6.69165312e-02 9.97758548e-01 -2.41440506e-04 -1.53557626e+01] [-3.08532827e-03 3.50584731e-05 9.99995240e-01 -7.12919586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:216.42, Y:-15.37, Z:-0.71 [[ 9.97834268e-01 6.57062555e-02 3.07606956e-03 2.16419273e+02] [-6.57058235e-02 9.97839008e-01 -2.41403581e-04 -1.53711472e+01] [-3.08528392e-03 3.87650819e-05 9.99995240e-01 -7.13682309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:-15.38, Z:-0.71 [[ 9.97570397e-01 6.95977009e-02 3.07606956e-03 2.16478521e+02] [-6.95972873e-02 9.97575140e-01 -2.41403581e-04 -1.53799329e+01] [-3.08541165e-03 2.67309692e-05 9.99995240e-01 -7.09636994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters Centerline goodness : 0.997038 with order 1 Centerline is valid? [True, True] Translation: X:216.54, Y:-15.39, Z:-0.71 [[ 9.96928880e-01 7.82518067e-02 3.07606725e-03 2.16537013e+02] [-7.82514343e-02 9.96933626e-01 -2.41432930e-04 -1.53906488e+01] [-3.08552745e-03 -1.52144444e-08 9.99995240e-01 -7.07456472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters Centerline goodness : 0.997043 with order 1 Centerline is valid? [True, True] Translation: X:216.60, Y:-15.40, Z:-0.71 [[ 9.96311038e-01 8.57604371e-02 3.07606486e-03 2.16596181e+02] [-8.57601003e-02 9.96315787e-01 -2.41463479e-04 -1.53975513e+01] [-3.08543999e-03 -2.32309013e-05 9.99995240e-01 -7.12443285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters Centerline goodness : 0.996692 with order 1 Centerline is valid? [True, True] Translation: X:216.66, Y:-15.40, Z:-0.71 [[ 9.95423537e-01 9.55118870e-02 3.07607068e-03 2.16655130e+02] [-9.55115970e-02 9.95428288e-01 -2.41389336e-04 -1.54001219e+01] [-3.08506332e-03 -5.35157964e-05 9.99995240e-01 -7.06835223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters Centerline goodness : 0.996959 with order 1 Centerline is valid? [True, True] Translation: X:216.71, Y:-15.40, Z:-0.71 [[ 9.94691406e-01 1.02856915e-01 3.07607933e-03 2.16712794e+02] [-1.02856660e-01 9.94696159e-01 -2.41279028e-04 -1.53982033e+01] [-3.08458151e-03 -7.63970696e-05 9.99995240e-01 -7.10779889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:216.77, Y:-15.40, Z:-0.71 [[ 9.94856128e-01 1.01251278e-01 3.07609346e-03 2.16771793e+02] [-1.01251016e-01 9.94860882e-01 -2.41098699e-04 -1.54007791e+01] [-3.08469660e-03 -7.15990715e-05 9.99995240e-01 -7.11730394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters Centerline goodness : 0.997111 with order 1 Centerline is valid? [True, True] Translation: X:216.83, Y:-15.40, Z:-0.72 [[ 9.95668493e-01 9.29235711e-02 3.07610461e-03 2.16831776e+02] [-9.29232700e-02 9.95673244e-01 -2.40956432e-04 -1.54044580e+01] [-3.08518558e-03 -4.59289713e-05 9.99995240e-01 -7.15426113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:216.89, Y:-15.41, Z:-0.71 [[ 9.96177192e-01 8.73014328e-02 3.07611019e-03 2.16890786e+02] [-8.73011051e-02 9.96181941e-01 -2.40885073e-04 -1.54095938e+01] [-3.08539503e-03 -2.85836042e-05 9.99995240e-01 -7.14001343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters Centerline goodness : 0.997033 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-15.42, Z:-0.71 [[ 9.96994653e-01 7.74092959e-02 3.07611583e-03 2.16951347e+02] [-7.74089213e-02 9.96999399e-01 -2.40813070e-04 -1.54173336e+01] [-3.08552680e-03 1.97053513e-06 9.99995240e-01 -7.07863658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:217.01, Y:-15.43, Z:-0.71 [[ 9.97395952e-01 7.20545092e-02 3.07611583e-03 2.17010943e+02] [-7.20541092e-02 9.97400695e-01 -2.40813070e-04 -1.54263906e+01] [-3.08547174e-03 1.85391956e-05 9.99995240e-01 -7.07800691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:217.07, Y:-15.43, Z:-0.71 [[ 9.97473783e-01 7.09689284e-02 3.07611583e-03 2.17071080e+02] [-7.09685232e-02 9.97478526e-01 -2.40813070e-04 -1.54337967e+01] [-3.08544973e-03 2.18973265e-05 9.99995240e-01 -7.09595706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters Centerline goodness : 0.993794 with order 1 Centerline is valid? [True, True] Translation: X:217.13, Y:-15.44, Z:-0.70 [[ 9.97403067e-01 7.19559507e-02 3.07611583e-03 2.17130794e+02] [-7.19555502e-02 9.97407811e-01 -2.40813070e-04 -1.54378401e+01] [-3.08546989e-03 1.88440879e-05 9.99995240e-01 -7.02762303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters Centerline goodness : 0.996115 with order 1 Centerline is valid? [True, True] Translation: X:217.19, Y:-15.44, Z:-0.71 [[ 9.97010647e-01 7.72030200e-02 3.07611870e-03 2.17189677e+02] [-7.72026446e-02 9.97015393e-01 -2.40776367e-04 -1.54426651e+01] [-3.08552636e-03 2.57210314e-06 9.99995240e-01 -7.05582001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters Centerline goodness : 0.996221 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:-15.44, Z:-0.71 [[ 9.96729622e-01 8.07502224e-02 3.07612151e-03 2.17249511e+02] [-8.07498640e-02 9.96734369e-01 -2.40740495e-04 -1.54447300e+01] [-3.08551588e-03 -8.44321117e-06 9.99995240e-01 -7.09057350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters Centerline goodness : 0.996835 with order 1 Centerline is valid? [True, True] Translation: X:217.31, Y:-15.45, Z:-0.71 [[ 9.96421916e-01 8.44624306e-02 3.07612720e-03 2.17307827e+02] [-8.44620901e-02 9.96426664e-01 -2.40667757e-04 -1.54454835e+01] [-3.08546255e-03 -2.00095055e-05 9.99995240e-01 -7.12243368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:217.37, Y:-15.45, Z:-0.71 [[ 9.96382987e-01 8.49204401e-02 3.07613568e-03 2.17367551e+02] [-8.49201021e-02 9.96387735e-01 -2.40559298e-04 -1.54474694e+01] [-3.08545227e-03 -2.15365640e-05 9.99995240e-01 -7.13075616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters Centerline goodness : 0.996291 with order 1 Centerline is valid? [True, True] Translation: X:217.43, Y:-15.45, Z:-0.71 [[ 9.96254931e-01 8.64097786e-02 3.07614132e-03 2.17427353e+02] [-8.64094480e-02 9.96259680e-01 -2.40487151e-04 -1.54512279e+01] [-3.08541601e-03 -2.62211633e-05 9.99995240e-01 -7.11754369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters Centerline goodness : 0.996320 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:-15.45, Z:-0.70 [[ 9.95893016e-01 9.04855632e-02 3.07614710e-03 2.17486623e+02] [-9.04852522e-02 9.95897767e-01 -2.40413210e-04 -1.54474651e+01] [-3.08528195e-03 -3.89201091e-05 9.99995240e-01 -7.04782844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:-15.45, Z:-0.70 [[ 9.95856307e-01 9.08886867e-02 3.07615567e-03 2.17545897e+02] [-9.08883779e-02 9.95861057e-01 -2.40303470e-04 -1.54501305e+01] [-3.08526451e-03 -4.02790729e-05 9.99995240e-01 -7.04830969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters Centerline goodness : 0.995724 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:-15.45, Z:-0.71 [[ 9.96102245e-01 8.81524531e-02 3.07616743e-03 2.17605035e+02] [-8.81521318e-02 9.96106994e-01 -2.40152871e-04 -1.54524660e+01] [-3.08536196e-03 -3.19539031e-05 9.99995240e-01 -7.07069092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters Centerline goodness : 0.995418 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:-15.46, Z:-0.71 [[ 9.96456441e-01 8.40541388e-02 3.07617925e-03 2.17663372e+02] [-8.40537984e-02 9.96461189e-01 -2.40001366e-04 -1.54580282e+01] [-3.08546634e-03 -1.94136434e-05 9.99995240e-01 -7.05669599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters Centerline goodness : 0.994930 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:-15.46, Z:-0.71 [[ 9.96784364e-01 8.00716531e-02 3.07618802e-03 2.17722768e+02] [-8.00712941e-02 9.96789110e-01 -2.39888898e-04 -1.54631275e+01] [-3.08551902e-03 -7.19685335e-06 9.99995240e-01 -7.08206688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters Centerline goodness : 0.994821 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:-15.47, Z:-0.70 [[ 9.96691279e-01 8.12221118e-02 3.07619377e-03 2.17780786e+02] [-8.12217585e-02 9.96696026e-01 -2.39815185e-04 -1.54684008e+01] [-3.08550840e-03 -1.08321639e-05 9.99995240e-01 -7.04499188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:-15.47, Z:-0.71 [[ 9.96534812e-01 8.31198254e-02 3.07620231e-03 2.17840676e+02] [-8.31194814e-02 9.96539560e-01 -2.39705574e-04 -1.54707530e+01] [-3.08548158e-03 -1.68173920e-05 9.99995240e-01 -7.07355931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters Centerline goodness : 0.995100 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:-15.47, Z:-0.72 [[ 9.96199528e-01 8.70461766e-02 3.07620799e-03 2.17899191e+02] [-8.70458516e-02 9.96204277e-01 -2.39632641e-04 -1.54727562e+01] [-3.08539066e-03 -2.90492205e-05 9.99995240e-01 -7.16093432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters Centerline goodness : 0.995806 with order 1 Centerline is valid? [True, True] Translation: X:217.96, Y:-15.48, Z:-0.71 [[ 9.95929063e-01 9.00879530e-02 3.07621641e-03 2.17957925e+02] [-9.00876429e-02 9.95933813e-01 -2.39524538e-04 -1.54752680e+01] [-3.08528621e-03 -3.85796365e-05 9.99995240e-01 -7.12549778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:218.02, Y:-15.48, Z:-0.71 [[ 9.95763483e-01 9.19000748e-02 3.07622789e-03 2.18016437e+02] [-9.18997737e-02 9.95768233e-01 -2.39377055e-04 -1.54768734e+01] [-3.08520878e-03 -4.43417170e-05 9.99995240e-01 -7.10615796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters Centerline goodness : 0.995107 with order 1 Centerline is valid? [True, True] Translation: X:218.07, Y:-15.48, Z:-0.71 [[ 9.95972267e-01 8.96090371e-02 3.07623928e-03 2.18074510e+02] [-8.96087256e-02 9.95977017e-01 -2.39230510e-04 -1.54793424e+01] [-3.08530084e-03 -3.73909284e-05 9.99995240e-01 -7.10869147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters Centerline goodness : 0.994726 with order 1 Centerline is valid? [True, True] Translation: X:218.13, Y:-15.48, Z:-0.71 [[ 9.96405352e-01 8.46576145e-02 3.07625335e-03 2.18133524e+02] [-8.46572799e-02 9.96410100e-01 -2.39049472e-04 -1.54830040e+01] [-3.08544727e-03 -2.22370673e-05 9.99995240e-01 -7.07689564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters Centerline goodness : 0.995051 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:-15.49, Z:-0.71 [[ 9.96452394e-01 8.41020964e-02 3.07625901e-03 2.18192556e+02] [-8.41017594e-02 9.96457143e-01 -2.38976559e-04 -1.54886669e+01] [-3.08545870e-03 -2.05900312e-05 9.99995240e-01 -7.05746139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters Centerline goodness : 0.994661 with order 1 Centerline is valid? [True, True] Translation: X:218.25, Y:-15.49, Z:-0.70 [[ 9.96017120e-01 8.91091131e-02 3.07627039e-03 2.18250841e+02] [-8.91088004e-02 9.96021870e-01 -2.38830023e-04 -1.54926583e+01] [-3.08531452e-03 -3.62439731e-05 9.99995240e-01 -7.04720316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters Centerline goodness : 0.994701 with order 1 Centerline is valid? [True, True] Translation: X:218.31, Y:-15.50, Z:-0.71 [[ 9.95737939e-01 9.21764226e-02 3.07628166e-03 2.18308065e+02] [-9.21761250e-02 9.95742690e-01 -2.38684797e-04 -1.54963682e+01] [-3.08518608e-03 -4.58922145e-05 9.99995240e-01 -7.05808519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters Centerline goodness : 0.995195 with order 1 Centerline is valid? [True, True] Translation: X:218.37, Y:-15.50, Z:-0.71 [[ 9.95893045e-01 9.04852482e-02 3.07629559e-03 2.18366909e+02] [-9.04849431e-02 9.95897795e-01 -2.38505100e-04 -1.55030416e+01] [-3.08525719e-03 -4.08328613e-05 9.99995240e-01 -7.10125304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:218.43, Y:-15.51, Z:-0.71 [[ 9.96348945e-01 8.53189114e-02 3.07630677e-03 2.18426445e+02] [-8.53185821e-02 9.96353694e-01 -2.38360794e-04 -1.55107346e+01] [-3.08542630e-03 -2.49756066e-05 9.99995240e-01 -7.12811534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters Centerline goodness : 0.995019 with order 1 Centerline is valid? [True, True] Translation: X:218.48, Y:-15.52, Z:-0.71 [[ 9.96473240e-01 8.38547430e-02 3.07631233e-03 2.18484701e+02] [-8.38544069e-02 9.96477989e-01 -2.38288984e-04 -1.55200256e+01] [-3.08545919e-03 -2.05137503e-05 9.99995240e-01 -7.11862286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters Centerline goodness : 0.995727 with order 1 Centerline is valid? [True, True] Translation: X:218.54, Y:-15.53, Z:-0.72 [[ 9.96076306e-01 8.84450636e-02 3.07632058e-03 2.18541730e+02] [-8.84447498e-02 9.96081056e-01 -2.38182527e-04 -1.55267601e+01] [-3.08533072e-03 -3.48364323e-05 9.99995240e-01 -7.15503049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters Centerline goodness : 0.995678 with order 1 Centerline is valid? [True, True] Translation: X:218.60, Y:-15.53, Z:-0.71 [[ 9.95619670e-01 9.34452162e-02 3.07633395e-03 2.18600534e+02] [-9.34449268e-02 9.95624422e-01 -2.38009663e-04 -1.55307683e+01] [-3.08511407e-03 -5.05006982e-05 9.99995240e-01 -7.12146901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters Centerline goodness : 0.995320 with order 1 Centerline is valid? [True, True] Translation: X:218.66, Y:-15.54, Z:-0.71 [[ 9.95681190e-01 9.27874171e-02 3.07634455e-03 2.18659598e+02] [-9.27871249e-02 9.95685941e-01 -2.37872637e-04 -1.55360296e+01] [-3.08514460e-03 -4.85998557e-05 9.99995240e-01 -7.12464017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters Centerline goodness : 0.994342 with order 1 Centerline is valid? [True, True] Translation: X:218.72, Y:-15.54, Z:-0.71 [[ 9.96023135e-01 8.90418458e-02 3.07635515e-03 2.18717424e+02] [-8.90415362e-02 9.96027885e-01 -2.37735412e-04 -1.55427761e+01] [-3.08530391e-03 -3.71334179e-05 9.99995240e-01 -7.09659153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:218.78, Y:-15.55, Z:-0.71 [[ 9.96013239e-01 8.91524773e-02 3.07636301e-03 2.18776096e+02] [-8.91521685e-02 9.96017989e-01 -2.37633677e-04 -1.55502455e+01] [-3.08529853e-03 -3.75781446e-05 9.99995240e-01 -7.08266673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:-15.56, Z:-0.71 [[ 9.95745289e-01 9.20969849e-02 3.07637077e-03 2.18835065e+02] [-9.20966905e-02 9.95750041e-01 -2.37533154e-04 -1.55557838e+01] [-3.08517241e-03 -4.68010477e-05 9.99995240e-01 -7.10527009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters Centerline goodness : 0.992060 with order 1 Centerline is valid? [True, True] Translation: X:218.89, Y:-15.57, Z:-0.71 [[ 9.95732219e-01 9.22381900e-02 3.07638096e-03 2.18893785e+02] [-9.22378967e-02 9.95736970e-01 -2.37401170e-04 -1.55653038e+01] [-3.08516371e-03 -4.73709148e-05 9.99995240e-01 -7.07719285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters Centerline goodness : 0.994395 with order 1 Centerline is valid? [True, True] Translation: X:218.95, Y:-15.57, Z:-0.71 [[ 9.95674366e-01 9.28606044e-02 3.07638856e-03 2.18953296e+02] [-9.28603143e-02 9.95679118e-01 -2.37302594e-04 -1.55726919e+01] [-3.08513191e-03 -4.93982987e-05 9.99995240e-01 -7.13960461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters Centerline goodness : 0.994085 with order 1 Centerline is valid? [True, True] Translation: X:219.01, Y:-15.57, Z:-0.72 [[ 9.95456288e-01 9.51699191e-02 3.07639403e-03 2.19012509e+02] [-9.51696403e-02 9.95461041e-01 -2.37231687e-04 -1.55740791e+01] [-3.08500772e-03 -5.66255384e-05 9.99995240e-01 -7.15661695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters Centerline goodness : 0.994188 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:-15.57, Z:-0.72 [[ 9.94723650e-01 1.02544602e-01 3.07640482e-03 2.19071398e+02] [-1.02544359e-01 9.94728404e-01 -2.37091633e-04 -1.55732112e+01] [-3.08449973e-03 -7.96273061e-05 9.99995240e-01 -7.18358484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters Centerline goodness : 0.994546 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:-15.57, Z:-0.72 [[ 9.94398375e-01 1.05652295e-01 3.07641611e-03 2.19130038e+02] [-1.05652067e-01 9.94403130e-01 -2.36945090e-04 -1.55711735e+01] [-3.08423160e-03 -8.94119092e-05 9.99995240e-01 -7.17609520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters Centerline goodness : 0.994478 with order 1 Centerline is valid? [True, True] Translation: X:219.19, Y:-15.57, Z:-0.72 [[ 9.94939714e-01 1.00426598e-01 3.07643200e-03 2.19188561e+02] [-1.00426346e-01 9.94944467e-01 -2.36738501e-04 -1.55714827e+01] [-3.08465384e-03 -7.34142883e-05 9.99995240e-01 -7.16550862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:219.25, Y:-15.57, Z:-0.71 [[ 9.95877467e-01 9.06565282e-02 3.07644299e-03 2.19246891e+02] [-9.06562298e-02 9.95882218e-01 -2.36595714e-04 -1.55730639e+01] [-3.08522381e-03 -4.32783819e-05 9.99995240e-01 -7.14950458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:219.31, Y:-15.58, Z:-0.71 [[ 9.96234132e-01 8.66492374e-02 3.07645661e-03 2.19305316e+02] [-8.66489204e-02 9.96238881e-01 -2.36418478e-04 -1.55783077e+01] [-3.08537117e-03 -3.10434867e-05 9.99995240e-01 -7.10736273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters Centerline goodness : 0.993716 with order 1 Centerline is valid? [True, True] Translation: X:219.36, Y:-15.58, Z:-0.71 [[ 9.96082918e-01 8.83705548e-02 3.07646828e-03 2.19362984e+02] [-8.83702465e-02 9.96087669e-01 -2.36266442e-04 -1.55800808e+01] [-3.08531112e-03 -3.65272937e-05 9.99995240e-01 -7.11952282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters Centerline goodness : 0.994481 with order 1 Centerline is valid? [True, True] Translation: X:219.42, Y:-15.58, Z:-0.72 [[ 9.95710531e-01 9.24720154e-02 3.07648271e-03 2.19420450e+02] [-9.24717272e-02 9.95715283e-01 -2.36078393e-04 -1.55814754e+01] [-3.08513150e-03 -4.94219281e-05 9.99995240e-01 -7.15576204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:219.48, Y:-15.58, Z:-0.71 [[ 9.95611590e-01 9.35312668e-02 3.07649663e-03 2.19478466e+02] [-9.35309843e-02 9.95616341e-01 -2.35896839e-04 -1.55828233e+01] [-3.08507405e-03 -5.28861310e-05 9.99995240e-01 -7.13137020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:219.54, Y:-15.59, Z:-0.72 [[ 9.95915483e-01 9.02379349e-02 3.07651032e-03 2.19537139e+02] [-9.02376372e-02 9.95920234e-01 -2.35718185e-04 -1.55880566e+01] [-3.08522960e-03 -4.28616323e-05 9.99995240e-01 -7.19712267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters Centerline goodness : 0.994043 with order 1 Centerline is valid? [True, True] Translation: X:219.60, Y:-15.59, Z:-0.72 [[ 9.96144702e-01 8.76713650e-02 3.07652148e-03 2.19595815e+02] [-8.76710555e-02 9.96149452e-01 -2.35572463e-04 -1.55894561e+01] [-3.08532815e-03 -3.50576245e-05 9.99995240e-01 -7.15112730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:-15.59, Z:-0.72 [[ 9.96218308e-01 8.68309684e-02 3.07653277e-03 2.19653981e+02] [-8.68306553e-02 9.96223058e-01 -2.35424975e-04 -1.55933685e+01] [-3.08535506e-03 -3.26026861e-05 9.99995240e-01 -7.16090362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters Centerline goodness : 0.994190 with order 1 Centerline is valid? [True, True] Translation: X:219.71, Y:-15.59, Z:-0.72 [[ 9.96244232e-01 8.65330316e-02 3.07654664e-03 2.19712863e+02] [-8.65327177e-02 9.96248982e-01 -2.35243582e-04 -1.55937279e+01] [-3.08536279e-03 -3.18618801e-05 9.99995240e-01 -7.21821281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters Centerline goodness : 0.992732 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:-15.60, Z:-0.72 [[ 9.96542748e-01 8.30246142e-02 3.07655795e-03 2.19770021e+02] [-8.30242841e-02 9.96547497e-01 -2.35095540e-04 -1.55989155e+01] [-3.08545484e-03 -2.11462655e-05 9.99995240e-01 -7.16909752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters Centerline goodness : 0.993733 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:-15.60, Z:-0.71 [[ 9.96707090e-01 8.10278488e-02 3.07657226e-03 2.19828556e+02] [-8.10275098e-02 9.96711838e-01 -2.34908061e-04 -1.56033272e+01] [-3.08549009e-03 -1.51524595e-05 9.99995240e-01 -7.14843955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters Centerline goodness : 0.993339 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:-15.61, Z:-0.72 [[ 9.97004531e-01 7.72819517e-02 3.07658356e-03 2.19886785e+02] [-7.72815952e-02 9.97009278e-01 -2.34760028e-04 -1.56091178e+01] [-3.08552507e-03 -3.70647368e-06 9.99995240e-01 -7.16055450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters Centerline goodness : 0.993533 with order 1 Centerline is valid? [True, True] Translation: X:219.95, Y:-15.61, Z:-0.72 [[ 9.97037483e-01 7.68556598e-02 3.07659194e-03 2.19946201e+02] [-7.68553016e-02 9.97042230e-01 -2.34650104e-04 -1.56147129e+01] [-3.08552628e-03 -2.49745304e-06 9.99995240e-01 -7.22194474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters Centerline goodness : 0.993883 with order 1 Centerline is valid? [True, True] Translation: X:220.00, Y:-15.62, Z:-0.72 [[ 9.96745108e-01 8.05588185e-02 3.07659738e-03 2.20004732e+02] [-8.05584782e-02 9.96749857e-01 -2.34578733e-04 -1.56211594e+01] [-3.08549539e-03 -1.40307989e-05 9.99995240e-01 -7.21862047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters Centerline goodness : 0.993515 with order 1 Centerline is valid? [True, True] Translation: X:220.06, Y:-15.62, Z:-0.72 [[ 9.96259303e-01 8.63593422e-02 3.07660280e-03 2.20064222e+02] [-8.63590298e-02 9.96264053e-01 -2.34507671e-04 -1.56210821e+01] [-3.08536070e-03 -3.20619843e-05 9.99995240e-01 -7.23623898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters Centerline goodness : 0.992474 with order 1 Centerline is valid? [True, True] Translation: X:220.12, Y:-15.62, Z:-0.72 [[ 9.95642450e-01 9.32021787e-02 3.07661348e-03 2.20123102e+02] [-9.32018993e-02 9.95647202e-01 -2.34367532e-04 -1.56182363e+01] [-3.08506516e-03 -5.33999554e-05 9.99995240e-01 -7.20939851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters Centerline goodness : 0.993298 with order 1 Centerline is valid? [True, True] Translation: X:220.18, Y:-15.62, Z:-0.72 [[ 9.95499986e-01 9.47117333e-02 3.07662417e-03 2.20182634e+02] [-9.47114616e-02 9.95504738e-01 -2.34227102e-04 -1.56151092e+01] [-3.08497799e-03 -5.82184945e-05 9.99995240e-01 -7.21107252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters Centerline goodness : 0.992982 with order 1 Centerline is valid? [True, True] Translation: X:220.24, Y:-15.61, Z:-0.72 [[ 9.95818050e-01 9.13068775e-02 3.07663530e-03 2.20241674e+02] [-9.13065900e-02 9.95822801e-01 -2.34080764e-04 -1.56122403e+01] [-3.08515677e-03 -4.78152281e-05 9.99995240e-01 -7.22072622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters Centerline goodness : 0.993002 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:-15.61, Z:-0.72 [[ 9.96541893e-01 8.30348708e-02 3.07664668e-03 2.20299215e+02] [-8.30345443e-02 9.96546642e-01 -2.33931120e-04 -1.56147901e+01] [-3.08544636e-03 -2.23457936e-05 9.99995240e-01 -7.17928532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters Centerline goodness : 0.992762 with order 1 Centerline is valid? [True, True] Translation: X:220.36, Y:-15.62, Z:-0.72 [[ 9.97013307e-01 7.71686436e-02 3.07666074e-03 2.20357042e+02] [-7.71682897e-02 9.97018054e-01 -2.33746053e-04 -1.56199280e+01] [-3.08552417e-03 -4.37272230e-06 9.99995240e-01 -7.19964886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters Centerline goodness : 0.992933 with order 1 Centerline is valid? [True, True] Translation: X:220.42, Y:-15.63, Z:-0.72 [[ 9.97229131e-01 7.43276108e-02 3.07667434e-03 2.20415931e+02] [-7.43272439e-02 9.97233877e-01 -2.33566923e-04 -1.56258732e+01] [-3.08552435e-03 4.23901592e-06 9.99995240e-01 -7.21757359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:220.47, Y:-15.63, Z:-0.72 [[ 9.97144244e-01 7.54578680e-02 3.07668571e-03 2.20474258e+02] [-7.54575069e-02 9.97148991e-01 -2.33417085e-04 -1.56278996e+01] [-3.08552720e-03 5.91470018e-07 9.99995240e-01 -7.19632814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters Centerline goodness : 0.992725 with order 1 Centerline is valid? [True, True] Translation: X:220.53, Y:-15.63, Z:-0.72 [[ 9.97166935e-01 7.51574188e-02 3.07669972e-03 2.20532666e+02] [-7.51570570e-02 9.97171682e-01 -2.33232198e-04 -1.56294437e+01] [-3.08552697e-03 1.33573932e-06 9.99995240e-01 -7.20360599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters Centerline goodness : 0.991933 with order 1 Centerline is valid? [True, True] Translation: X:220.59, Y:-15.63, Z:-0.72 [[ 9.97368610e-01 7.24319658e-02 3.07671080e-03 2.20590203e+02] [-7.24315914e-02 9.97373355e-01 -2.33085906e-04 -1.56344530e+01] [-3.08551225e-03 9.62150672e-06 9.99995240e-01 -7.20075506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:220.65, Y:-15.64, Z:-0.73 [[ 9.97741276e-01 6.71035001e-02 3.07672451e-03 2.20648581e+02] [-6.71031009e-02 9.97746020e-01 -2.32904891e-04 -1.56405896e+01] [-3.08541836e-03 2.59210684e-05 9.99995240e-01 -7.26007707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters Centerline goodness : 0.992955 with order 1 Centerline is valid? [True, True] Translation: X:220.71, Y:-15.65, Z:-0.73 [[ 9.98074389e-01 6.19519813e-02 3.07673533e-03 2.20707881e+02] [-6.19515581e-02 9.98079130e-01 -2.32761877e-04 -1.56501947e+01] [-3.08524538e-03 4.17051205e-05 9.99995240e-01 -7.27016453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters Centerline goodness : 0.993223 with order 1 Centerline is valid? [True, True] Translation: X:220.77, Y:-15.66, Z:-0.72 [[ 9.98079763e-01 6.18653457e-02 3.07674075e-03 2.20766864e+02] [-6.18649223e-02 9.98084504e-01 -2.32690229e-04 -1.56578479e+01] [-3.08524272e-03 4.19010814e-05 9.99995240e-01 -7.17743207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:220.83, Y:-15.66, Z:-0.72 [[ 9.97889501e-01 6.48619832e-02 3.07674625e-03 2.20825860e+02] [-6.48615742e-02 9.97894244e-01 -2.32617431e-04 -1.56643826e+01] [-3.08535540e-03 3.25638866e-05 9.99995240e-01 -7.17785922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters Centerline goodness : 0.993000 with order 1 Centerline is valid? [True, True] Translation: X:220.88, Y:-15.67, Z:-0.72 [[ 9.97735500e-01 6.71893287e-02 3.07675717e-03 2.20883963e+02] [-6.71889312e-02 9.97740243e-01 -2.32472924e-04 -1.56721969e+01] [-3.08542415e-03 2.52224637e-05 9.99995240e-01 -7.22339538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters Centerline goodness : 0.993425 with order 1 Centerline is valid? [True, True] Translation: X:220.94, Y:-15.68, Z:-0.72 [[ 9.97580967e-01 6.94460010e-02 3.07676527e-03 2.20942711e+02] [-6.94456146e-02 9.97585712e-01 -2.32365666e-04 -1.56783388e+01] [-3.08547394e-03 1.81357109e-05 9.99995240e-01 -7.22197049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters Centerline goodness : 0.992506 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:-15.69, Z:-0.71 [[ 9.97260304e-01 7.39081838e-02 3.07677315e-03 2.21001798e+02] [-7.39078189e-02 9.97265050e-01 -2.32261281e-04 -1.56850775e+01] [-3.08552434e-03 4.22736249e-06 9.99995240e-01 -7.14648127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters Centerline goodness : 0.993091 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-15.69, Z:-0.72 [[ 9.96775306e-01 8.01843092e-02 3.07677845e-03 2.21059143e+02] [-8.01839744e-02 9.96780054e-01 -2.32191064e-04 -1.56904705e+01] [-3.08548947e-03 -1.52660056e-05 9.99995240e-01 -7.17961599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters Centerline goodness : 0.992643 with order 1 Centerline is valid? [True, True] Translation: X:221.12, Y:-15.69, Z:-0.72 [[ 9.96103493e-01 8.81383270e-02 3.07679157e-03 2.21118267e+02] [-8.81380308e-02 9.96108244e-01 -2.32017026e-04 -1.56917529e+01] [-3.08526704e-03 -4.00693804e-05 9.99995240e-01 -7.19106006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters Centerline goodness : 0.992857 with order 1 Centerline is valid? [True, True] Translation: X:221.18, Y:-15.69, Z:-0.72 [[ 9.95575575e-01 9.39138267e-02 3.07680201e-03 2.21177985e+02] [-9.39135584e-02 9.95580328e-01 -2.31878446e-04 -1.56876459e+01] [-3.08498015e-03 -5.81009085e-05 9.99995240e-01 -7.18747956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:221.24, Y:-15.69, Z:-0.72 [[ 9.95346477e-01 9.63116003e-02 3.07681310e-03 2.21237402e+02] [-9.63113439e-02 9.95351230e-01 -2.31731246e-04 -1.56867160e+01] [-3.08482811e-03 -6.56791258e-05 9.99995240e-01 -7.20654010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters Centerline goodness : 0.993097 with order 1 Centerline is valid? [True, True] Translation: X:221.30, Y:-15.68, Z:-0.72 [[ 9.95214982e-01 9.76610055e-02 3.07682426e-03 2.21295502e+02] [-9.76607560e-02 9.95219736e-01 -2.31583055e-04 -1.56815751e+01] [-3.08473286e-03 -7.00100568e-05 9.99995240e-01 -7.18535001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters Centerline goodness : 0.993005 with order 1 Centerline is valid? [True, True] Translation: X:221.35, Y:-15.68, Z:-0.72 [[ 9.95502223e-01 9.46882094e-02 3.07683819e-03 2.21354292e+02] [-9.46879463e-02 9.95506976e-01 -2.31397819e-04 -1.56827857e+01] [-3.08492452e-03 -6.09824458e-05 9.99995240e-01 -7.19813043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:221.41, Y:-15.68, Z:-0.71 [[ 9.95709355e-01 9.24846610e-02 3.07684832e-03 2.21413917e+02] [-9.24843878e-02 9.95714108e-01 -2.31262950e-04 -1.56787270e+01] [-3.08504956e-03 -5.42897506e-05 9.99995240e-01 -7.14686989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters Centerline goodness : 0.993146 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:-15.68, Z:-0.71 [[ 9.95817736e-01 9.13102911e-02 3.07685842e-03 2.21471627e+02] [-9.13100127e-02 9.95822488e-01 -2.31128565e-04 -1.56787351e+01] [-3.08510922e-03 -5.07860566e-05 9.99995240e-01 -7.12779613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters Centerline goodness : 0.993368 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:-15.68, Z:-0.72 [[ 9.96031830e-01 8.89445094e-02 3.07687456e-03 2.21529346e+02] [-8.89442204e-02 9.96036582e-01 -2.30913469e-04 -1.56775415e+01] [-3.08521811e-03 -4.36730442e-05 9.99995240e-01 -7.19462235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:-15.68, Z:-0.72 [[ 9.96333434e-01 8.54998270e-02 3.07688785e-03 2.21587451e+02] [-8.54995221e-02 9.96338185e-01 -2.30736267e-04 -1.56776113e+01] [-3.08534877e-03 -3.31821831e-05 9.99995240e-01 -7.20463285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:-15.67, Z:-0.72 [[ 9.96437883e-01 8.42738293e-02 3.07690447e-03 2.21646267e+02] [-8.42735192e-02 9.96442633e-01 -2.30514440e-04 -1.56748612e+01] [-3.08538512e-03 -2.96082470e-05 9.99995240e-01 -7.19108813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters Centerline goodness : 0.993309 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:-15.68, Z:-0.72 [[ 9.96397104e-01 8.47546079e-02 3.07692109e-03 2.21704180e+02] [-8.47543008e-02 9.96401854e-01 -2.30292360e-04 -1.56774022e+01] [-3.08536822e-03 -3.13196548e-05 9.99995240e-01 -7.20140232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters Centerline goodness : 0.993572 with order 1 Centerline is valid? [True, True] Translation: X:221.76, Y:-15.67, Z:-0.72 [[ 9.96209778e-01 8.69287626e-02 3.07693749e-03 2.21762290e+02] [-8.69284666e-02 9.96214529e-01 -2.30073024e-04 -1.56733362e+01] [-3.08528980e-03 -3.82724613e-05 9.99995240e-01 -7.20898527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters Centerline goodness : 0.993341 with order 1 Centerline is valid? [True, True] Translation: X:221.82, Y:-15.67, Z:-0.72 [[ 9.96217457e-01 8.68407212e-02 3.07695385e-03 2.21821200e+02] [-8.68404254e-02 9.96222208e-01 -2.29854023e-04 -1.56690568e+01] [-3.08529045e-03 -3.82193910e-05 9.99995240e-01 -7.21824879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters Centerline goodness : 0.993522 with order 1 Centerline is valid? [True, True] Translation: X:221.88, Y:-15.67, Z:-0.72 [[ 9.96650406e-01 8.17220896e-02 3.07697032e-03 2.21879001e+02] [-8.17217701e-02 9.96655156e-01 -2.29633359e-04 -1.56676631e+01] [-3.08544445e-03 -2.25912803e-05 9.99995240e-01 -7.22074630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters Centerline goodness : 0.993236 with order 1 Centerline is valid? [True, True] Translation: X:221.94, Y:-15.67, Z:-0.72 [[ 9.97130422e-01 7.56402979e-02 3.07698618e-03 2.21937384e+02] [-7.56399501e-02 9.97135169e-01 -2.29420642e-04 -1.56694097e+01] [-3.08552458e-03 -3.98077947e-06 9.99995240e-01 -7.19466549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters Centerline goodness : 0.994175 with order 1 Centerline is valid? [True, True] Translation: X:222.00, Y:-15.67, Z:-0.72 [[ 9.97560701e-01 6.97365002e-02 3.07699678e-03 2.21995407e+02] [-6.97361247e-02 9.97565447e-01 -2.29278295e-04 -1.56729316e+01] [-3.08549474e-03 1.41411854e-05 9.99995240e-01 -7.16733732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters Centerline goodness : 0.990112 with order 1 Centerline is valid? [True, True] Translation: X:222.05, Y:-15.68, Z:-0.71 [[ 9.97790768e-01 6.63635104e-02 3.07701269e-03 2.22054358e+02] [-6.63631196e-02 9.97795512e-01 -2.29064638e-04 -1.56803329e+01] [-3.08543099e-03 2.43584196e-05 9.99995240e-01 -7.10612333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:222.11, Y:-15.69, Z:-0.72 [[ 9.97913365e-01 6.44937888e-02 3.07702332e-03 2.22111874e+02] [-6.44933894e-02 9.97918108e-01 -2.28921824e-04 -1.56863446e+01] [-3.08538132e-03 2.99964844e-05 9.99995240e-01 -7.19126512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters Centerline goodness : 0.992928 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:-15.69, Z:-0.72 [[ 9.98062856e-01 6.21374883e-02 3.07703746e-03 2.22170576e+02] [-6.21370784e-02 9.98067598e-01 -2.28731498e-04 -1.56942651e+01] [-3.08530419e-03 3.70902939e-05 9.99995240e-01 -7.21065137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:222.23, Y:-15.70, Z:-0.72 [[ 9.98148539e-01 6.07455868e-02 3.07704751e-03 2.22228362e+02] [-6.07451707e-02 9.98153281e-01 -2.28596245e-04 -1.57040328e+01] [-3.08525128e-03 4.12572321e-05 9.99995240e-01 -7.21745440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters Centerline goodness : 0.993106 with order 1 Centerline is valid? [True, True] Translation: X:222.29, Y:-15.71, Z:-0.72 [[ 9.97932092e-01 6.42033643e-02 3.07705778e-03 2.22286911e+02] [-6.42029651e-02 9.97936835e-01 -2.28457966e-04 -1.57106606e+01] [-3.08537707e-03 3.04293025e-05 9.99995240e-01 -7.20473542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters Centerline goodness : 0.992906 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-15.71, Z:-0.72 [[ 9.97619196e-01 6.88946357e-02 3.07706840e-03 2.22345349e+02] [-6.88942592e-02 9.97623942e-01 -2.28314778e-04 -1.57141179e+01] [-3.08548677e-03 1.57788576e-05 9.99995240e-01 -7.21022589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:-15.72, Z:-0.72 [[ 9.97347840e-01 7.27173788e-02 3.07707906e-03 2.22403241e+02] [-7.27170209e-02 9.97352587e-01 -2.28171110e-04 -1.57176824e+01] [-3.08552476e-03 3.80994154e-06 9.99995240e-01 -7.22702955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:-15.73, Z:-0.72 [[ 9.97459305e-01 7.11720846e-02 3.07709229e-03 2.22460951e+02] [-7.11717199e-02 9.97464052e-01 -2.27992433e-04 -1.57269730e+01] [-3.08551564e-03 8.41122303e-06 9.99995240e-01 -7.22812474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters Centerline goodness : 0.993124 with order 1 Centerline is valid? [True, True] Translation: X:222.52, Y:-15.74, Z:-0.72 [[ 9.97692291e-01 6.78278946e-02 3.07710527e-03 2.22519294e+02] [-6.78275146e-02 9.97697036e-01 -2.27817223e-04 -1.57394054e+01] [-3.08547117e-03 1.85790855e-05 9.99995240e-01 -7.21012195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters Centerline goodness : 0.993236 with order 1 Centerline is valid? [True, True] Translation: X:222.58, Y:-15.75, Z:-0.72 [[ 9.97507268e-01 7.04966831e-02 3.07711553e-03 2.22577203e+02] [-7.04963162e-02 9.97512014e-01 -2.27678465e-04 -1.57495050e+01] [-3.08551029e-03 1.01856136e-05 9.99995240e-01 -7.20975266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:-15.76, Z:-0.72 [[ 9.96956253e-01 7.79022513e-02 3.07712606e-03 2.22634845e+02] [-7.79019201e-02 9.96961002e-01 -2.27536112e-04 -1.57561581e+01] [-3.08550025e-03 -1.28704787e-05 9.99995240e-01 -7.22501708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters Centerline goodness : 0.993404 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:-15.76, Z:-0.72 [[ 9.95941096e-01 8.99547898e-02 3.07713909e-03 2.22693946e+02] [-8.99545166e-02 9.95945849e-01 -2.27359720e-04 -1.57606016e+01] [-3.08511600e-03 -5.03656707e-05 9.99995240e-01 -7.17984642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters Centerline goodness : 0.992991 with order 1 Centerline is valid? [True, True] Translation: X:222.75, Y:-15.76, Z:-0.72 [[ 9.95296069e-01 9.68311250e-02 3.07714920e-03 2.22752134e+02] [-9.68308850e-02 9.95300823e-01 -2.27222855e-04 -1.57606169e+01] [-3.08469137e-03 -7.18090664e-05 9.99995240e-01 -7.16760183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:222.81, Y:-15.76, Z:-0.72 [[ 9.95198475e-01 9.78290723e-02 3.07716472e-03 2.22809263e+02] [-9.78288377e-02 9.95203229e-01 -2.27012421e-04 -1.57589828e+01] [-3.08461268e-03 -7.51130337e-05 9.99995240e-01 -7.23847236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters Centerline goodness : 0.993297 with order 1 Centerline is valid? [True, True] Translation: X:222.87, Y:-15.76, Z:-0.73 [[ 9.95212249e-01 9.76888477e-02 3.07718271e-03 2.22867257e+02] [-9.76886132e-02 9.95217003e-01 -2.26768308e-04 -1.57574615e+01] [-3.08461729e-03 -7.49231139e-05 9.99995240e-01 -7.26577864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters Centerline goodness : 0.993929 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:-15.76, Z:-0.73 [[ 9.95602222e-01 9.36309097e-02 3.07719739e-03 2.22925541e+02] [-9.36306564e-02 9.95606975e-01 -2.26568917e-04 -1.57560263e+01] [-3.08489304e-03 -6.25474944e-05 9.99995240e-01 -7.26306977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:-15.76, Z:-0.73 [[ 9.95965089e-01 8.96887506e-02 3.07721340e-03 2.22982651e+02] [-8.96884792e-02 9.95969842e-01 -2.26351339e-04 -1.57564483e+01] [-3.08511291e-03 -5.05525583e-05 9.99995240e-01 -7.26127064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters Centerline goodness : 0.994258 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:-15.76, Z:-0.72 [[ 9.96099563e-01 8.81827203e-02 3.07723184e-03 2.23041456e+02] [-8.81824425e-02 9.96104315e-01 -2.26100283e-04 -1.57561196e+01] [-3.08518205e-03 -4.61394275e-05 9.99995240e-01 -7.22681754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters Centerline goodness : 0.993820 with order 1 Centerline is valid? [True, True] Translation: X:223.10, Y:-15.76, Z:-0.72 [[ 9.96406851e-01 8.46399292e-02 3.07724208e-03 2.23099370e+02] [-8.46396349e-02 9.96411602e-01 -2.25960927e-04 -1.57580850e+01] [-3.08532503e-03 -3.53076302e-05 9.99995240e-01 -7.18548671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:223.16, Y:-15.76, Z:-0.72 [[ 9.96777990e-01 8.01509199e-02 3.07725764e-03 2.23157029e+02] [-8.01506049e-02 9.96782739e-01 -2.25748811e-04 -1.57624165e+01] [-3.08545127e-03 -2.16226154e-05 9.99995240e-01 -7.16413092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters Centerline goodness : 0.993278 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-15.77, Z:-0.72 [[ 9.97403795e-01 7.19458107e-02 3.07727323e-03 2.23214418e+02] [-7.19454573e-02 9.97408542e-01 -2.25536075e-04 -1.57697616e+01] [-3.08552498e-03 3.55470793e-06 9.99995240e-01 -7.18508709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters Centerline goodness : 0.994100 with order 1 Centerline is valid? [True, True] Translation: X:223.27, Y:-15.77, Z:-0.72 [[ 9.97787164e-01 6.64176572e-02 3.07728601e-03 2.23272684e+02] [-6.64172780e-02 9.97791909e-01 -2.25361557e-04 -1.57730081e+01] [-3.08545907e-03 2.04779081e-05 9.99995240e-01 -7.22033131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters Centerline goodness : 0.993402 with order 1 Centerline is valid? [True, True] Translation: X:223.33, Y:-15.78, Z:-0.73 [[ 9.97954755e-01 6.38501086e-02 3.07729610e-03 2.23331113e+02] [-6.38497176e-02 9.97959500e-01 -2.25223739e-04 -1.57817750e+01] [-3.08539743e-03 2.82786150e-05 9.99995240e-01 -7.25264953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters Centerline goodness : 0.993504 with order 1 Centerline is valid? [True, True] Translation: X:223.39, Y:-15.79, Z:-0.73 [[ 9.97914962e-01 6.44690501e-02 3.07730667e-03 2.23389626e+02] [-6.44686625e-02 9.97919707e-01 -2.25079207e-04 -1.57892462e+01] [-3.08541561e-03 2.62200636e-05 9.99995240e-01 -7.25791028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters Centerline goodness : 0.989847 with order 1 Centerline is valid? [True, True] Translation: X:223.45, Y:-15.80, Z:-0.72 [[ 9.97946654e-01 6.39766018e-02 3.07731739e-03 2.23447388e+02] [-6.39762124e-02 9.97951398e-01 -2.24932570e-04 -1.57962495e+01] [-3.08540361e-03 2.75955950e-05 9.99995240e-01 -7.16545098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters Centerline goodness : 0.993518 with order 1 Centerline is valid? [True, True] Translation: X:223.50, Y:-15.81, Z:-0.73 [[ 9.98051871e-01 6.23136696e-02 3.07733066e-03 2.23504856e+02] [-6.23132727e-02 9.98056614e-01 -2.24750803e-04 -1.58071643e+01] [-3.08535527e-03 3.25544148e-05 9.99995240e-01 -7.27115515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters Centerline goodness : 0.993340 with order 1 Centerline is valid? [True, True] Translation: X:223.56, Y:-15.82, Z:-0.73 [[ 9.98027765e-01 6.26985653e-02 3.07734373e-03 2.23562821e+02] [-6.26981709e-02 9.98032509e-01 -2.24571733e-04 -1.58166573e+01] [-3.08536941e-03 3.11850021e-05 9.99995240e-01 -7.28359437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters Centerline goodness : 0.993044 with order 1 Centerline is valid? [True, True] Translation: X:223.62, Y:-15.83, Z:-0.73 [[ 9.98023689e-01 6.27634177e-02 3.07735408e-03 2.23621366e+02] [-6.27630240e-02 9.98028433e-01 -2.24429785e-04 -1.58268288e+01] [-3.08537285e-03 3.08421938e-05 9.99995240e-01 -7.27585430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:223.68, Y:-15.84, Z:-0.72 [[ 9.98006557e-01 6.30352516e-02 3.07736475e-03 2.23678102e+02] [-6.30348597e-02 9.98011301e-01 -2.24283371e-04 -1.58394434e+01] [-3.08538256e-03 2.98550192e-05 9.99995240e-01 -7.23797546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters Centerline goodness : 0.993398 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:-15.86, Z:-0.72 [[ 9.97997425e-01 6.31796669e-02 3.07737791e-03 2.23736210e+02] [-6.31792762e-02 9.98002169e-01 -2.24102742e-04 -1.58551273e+01] [-3.08538856e-03 2.92274511e-05 9.99995240e-01 -7.20341732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:-15.87, Z:-0.72 [[ 9.97799711e-01 6.62289007e-02 3.07738803e-03 2.23793893e+02] [-6.62285249e-02 9.97804456e-01 -2.23963695e-04 -1.58662184e+01] [-3.08546435e-03 1.96600404e-05 9.99995240e-01 -7.22372295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters Centerline goodness : 0.995049 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:-15.87, Z:-0.72 [[ 9.97479630e-01 7.08866563e-02 3.07739845e-03 2.23850977e+02] [-7.08863031e-02 9.97484377e-01 -2.23820365e-04 -1.58749414e+01] [-3.08552275e-03 5.11085519e-06 9.99995240e-01 -7.24794071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters Centerline goodness : 0.994327 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:-15.89, Z:-0.72 [[ 9.96982129e-01 7.75703857e-02 3.07741138e-03 2.23909226e+02] [-7.75700649e-02 9.96986878e-01 -2.23642507e-04 -1.58860758e+01] [-3.08548680e-03 -1.57474171e-05 9.99995240e-01 -7.20023819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:-15.90, Z:-0.72 [[ 9.96973985e-01 7.76749821e-02 3.07742172e-03 2.23965927e+02] [-7.76746623e-02 9.96978734e-01 -2.23500093e-04 -1.58985046e+01] [-3.08548438e-03 -1.62139145e-05 9.99995240e-01 -7.17075086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters Centerline goodness : 0.995055 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:-15.91, Z:-0.72 [[ 9.97339230e-01 7.28353647e-02 3.07743457e-03 2.24024136e+02] [-7.28350223e-02 9.97343978e-01 -2.23322956e-04 -1.59142651e+01] [-3.08552665e-03 -1.41627086e-06 9.99995240e-01 -7.23308061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters Centerline goodness : 0.994713 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:-15.93, Z:-0.73 [[ 9.97539114e-01 7.00445929e-02 3.07743955e-03 2.24083013e+02] [-7.00442375e-02 9.97543861e-01 -2.23254380e-04 -1.59313371e+01] [-3.08551869e-03 7.14806989e-06 9.99995240e-01 -7.25234848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:224.14, Y:-15.94, Z:-0.73 [[ 9.97401385e-01 7.19792051e-02 3.07744484e-03 2.24142303e+02] [-7.19788591e-02 9.97406133e-01 -2.23181458e-04 -1.59410698e+01] [-3.08552678e-03 1.09052762e-06 9.99995240e-01 -7.25044529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters Centerline goodness : 0.995291 with order 1 Centerline is valid? [True, True] Translation: X:224.20, Y:-15.95, Z:-0.73 [[ 9.97129794e-01 7.56485549e-02 3.07745010e-03 2.24201545e+02] [-7.56482266e-02 9.97134543e-01 -2.23108906e-04 -1.59528522e+01] [-3.08550966e-03 -1.03351049e-05 9.99995240e-01 -7.28416450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters Centerline goodness : 0.995187 with order 1 Centerline is valid? [True, True] Translation: X:224.26, Y:-15.96, Z:-0.73 [[ 9.96932308e-01 7.82080765e-02 3.07745549e-03 2.24260634e+02] [-7.82077606e-02 9.96937057e-01 -2.23034476e-04 -1.59638772e+01] [-3.08547252e-03 -1.83306272e-05 9.99995240e-01 -7.27778395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters Centerline goodness : 0.995100 with order 1 Centerline is valid? [True, True] Translation: X:224.32, Y:-15.97, Z:-0.73 [[ 9.96781166e-01 8.01113985e-02 3.07745817e-03 2.24320196e+02] [-8.01110918e-02 9.96785916e-01 -2.22997456e-04 -1.59746884e+01] [-3.08543160e-03 -2.42588696e-05 9.99995240e-01 -7.27925617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters Centerline goodness : 0.994981 with order 1 Centerline is valid? [True, True] Translation: X:224.38, Y:-15.98, Z:-0.72 [[ 9.96540722e-01 8.30488901e-02 3.07745817e-03 2.24379354e+02] [-8.30485974e-02 9.96545473e-01 -2.22997456e-04 -1.59824760e+01] [-3.08534670e-03 -3.33525386e-05 9.99995240e-01 -7.22043150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters Centerline goodness : 0.994967 with order 1 Centerline is valid? [True, True] Translation: X:224.44, Y:-15.99, Z:-0.72 [[ 9.96347395e-01 8.53369611e-02 3.07746082e-03 2.24440072e+02] [-8.53366794e-02 9.96352147e-01 -2.22960973e-04 -1.59862099e+01] [-3.08526150e-03 -4.04737024e-05 9.99995240e-01 -7.22001674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters Centerline goodness : 0.994811 with order 1 Centerline is valid? [True, True] Translation: X:224.50, Y:-15.99, Z:-0.72 [[ 9.96353625e-01 8.52641982e-02 3.07746082e-03 2.24499821e+02] [-8.52639162e-02 9.96358377e-01 -2.22960973e-04 -1.59886134e+01] [-3.08526445e-03 -4.02483875e-05 9.99995240e-01 -7.23464222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters Centerline goodness : 0.995173 with order 1 Centerline is valid? [True, True] Translation: X:224.56, Y:-15.99, Z:-0.72 [[ 9.96480060e-01 8.37736205e-02 3.07746342e-03 2.24560810e+02] [-8.37733314e-02 9.96484811e-01 -2.22925008e-04 -1.59889378e+01] [-3.08532079e-03 -3.56690377e-05 9.99995240e-01 -7.22900624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters Centerline goodness : 0.994667 with order 1 Centerline is valid? [True, True] Translation: X:224.62, Y:-15.99, Z:-0.72 [[ 9.96329492e-01 8.55457283e-02 3.07746342e-03 2.24621066e+02] [-8.55454478e-02 9.96334244e-01 -2.22925008e-04 -1.59878725e+01] [-3.08525247e-03 -4.11562261e-05 9.99995240e-01 -7.23153053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters Centerline goodness : 0.995057 with order 1 Centerline is valid? [True, True] Translation: X:224.68, Y:-15.98, Z:-0.73 [[ 9.95828654e-01 9.11911272e-02 3.07746866e-03 2.24680021e+02] [-9.11908738e-02 9.95833407e-01 -2.22852720e-04 -1.59834693e+01] [-3.08496829e-03 -5.87139313e-05 9.99995240e-01 -7.26214317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters Centerline goodness : 0.995262 with order 1 Centerline is valid? [True, True] Translation: X:224.74, Y:-15.98, Z:-0.73 [[ 9.95604162e-01 9.36102680e-02 3.07747901e-03 2.24739156e+02] [-9.36100266e-02 9.95608916e-01 -2.22709680e-04 -1.59813051e+01] [-3.08481345e-03 -6.63522072e-05 9.99995240e-01 -7.27730868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters Centerline goodness : 0.994820 with order 1 Centerline is valid? [True, True] Translation: X:224.80, Y:-15.98, Z:-0.73 [[ 9.95871703e-01 9.07197884e-02 3.07748971e-03 2.24797978e+02] [-9.07195336e-02 9.95876457e-01 -2.22561646e-04 -1.59808733e+01] [-3.08499030e-03 -5.75455861e-05 9.99995240e-01 -7.28094363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:224.86, Y:-15.98, Z:-0.72 [[ 9.96206063e-01 8.69713159e-02 3.07750044e-03 2.24856258e+02] [-8.69710437e-02 9.96210815e-01 -2.22413244e-04 -1.59808791e+01] [-3.08518279e-03 -4.60840030e-05 9.99995240e-01 -7.24920376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters Centerline goodness : 0.995498 with order 1 Centerline is valid? [True, True] Translation: X:224.92, Y:-15.98, Z:-0.73 [[ 9.96350798e-01 8.52972210e-02 3.07751371e-03 2.24915524e+02] [-8.52969414e-02 9.96355550e-01 -2.22229476e-04 -1.59773912e+01] [-3.08525342e-03 -4.10839904e-05 9.99995240e-01 -7.26477622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:224.97, Y:-15.98, Z:-0.73 [[ 9.96491202e-01 8.36409722e-02 3.07752438e-03 2.24973181e+02] [-8.36406851e-02 9.96495954e-01 -2.22081524e-04 -1.59773142e+01] [-3.08531571e-03 -3.61039631e-05 9.99995240e-01 -7.26140655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters Centerline goodness : 0.994751 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:-15.98, Z:-0.72 [[ 9.96764152e-01 8.03228152e-02 3.07753810e-03 2.25032214e+02] [-8.03225130e-02 9.96768902e-01 -2.21891275e-04 -1.59779215e+01] [-3.08541721e-03 -2.60223251e-05 9.99995240e-01 -7.24321980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters Centerline goodness : 0.994750 with order 1 Centerline is valid? [True, True] Translation: X:225.09, Y:-15.98, Z:-0.73 [[ 9.97042618e-01 7.67889755e-02 3.07754861e-03 2.25090716e+02] [-7.67886569e-02 9.97047367e-01 -2.21745373e-04 -1.59821714e+01] [-3.08548934e-03 -1.52312372e-05 9.99995240e-01 -7.26775638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters Centerline goodness : 0.995535 with order 1 Centerline is valid? [True, True] Translation: X:225.15, Y:-15.98, Z:-0.73 [[ 9.97174260e-01 7.50601412e-02 3.07755922e-03 2.25149315e+02] [-7.50598148e-02 9.97179009e-01 -2.21598137e-04 -1.59836628e+01] [-3.08551064e-03 -1.00290665e-05 9.99995240e-01 -7.30276421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters Centerline goodness : 0.994733 with order 1 Centerline is valid? [True, True] Translation: X:225.21, Y:-15.99, Z:-0.73 [[ 9.97101866e-01 7.60157720e-02 3.07756547e-03 2.25207875e+02] [-7.60154504e-02 9.97106615e-01 -2.21511262e-04 -1.59888364e+01] [-3.08549924e-03 -1.30732330e-05 9.99995240e-01 -7.25311840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters Centerline goodness : 0.994983 with order 1 Centerline is valid? [True, True] Translation: X:225.27, Y:-15.99, Z:-0.73 [[ 9.97103714e-01 7.59915250e-02 3.07757573e-03 2.25267069e+02] [-7.59912037e-02 9.97108463e-01 -2.21368588e-04 -1.59926547e+01] [-3.08549895e-03 -1.31412432e-05 9.99995240e-01 -7.26651300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters Centerline goodness : 0.995070 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:-16.00, Z:-0.72 [[ 9.97120003e-01 7.57774913e-02 3.07758640e-03 2.25325632e+02] [-7.57771695e-02 9.97124752e-01 -2.21220129e-04 -1.59959250e+01] [-3.08550109e-03 -1.26277702e-05 9.99995240e-01 -7.24457946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:225.38, Y:-16.00, Z:-0.73 [[ 9.97118735e-01 7.57941732e-02 3.07759716e-03 2.25384119e+02] [-7.57938519e-02 9.97123484e-01 -2.21070429e-04 -1.59996425e+01] [-3.08550025e-03 -1.28294762e-05 9.99995240e-01 -7.25362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters Centerline goodness : 0.994758 with order 1 Centerline is valid? [True, True] Translation: X:225.44, Y:-16.00, Z:-0.73 [[ 9.97054106e-01 7.66396577e-02 3.07760510e-03 2.25442288e+02] [-7.66393408e-02 9.97058856e-01 -2.20959771e-04 -1.60033828e+01] [-3.08548770e-03 -1.55567786e-05 9.99995240e-01 -7.31201132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters Centerline goodness : 0.995425 with order 1 Centerline is valid? [True, True] Translation: X:225.50, Y:-16.01, Z:-0.73 [[ 9.97043224e-01 7.67811053e-02 3.07761806e-03 2.25501510e+02] [-7.67807896e-02 9.97047974e-01 -2.20779079e-04 -1.60059247e+01] [-3.08548451e-03 -1.61756603e-05 9.99995240e-01 -7.27519060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:225.56, Y:-16.01, Z:-0.72 [[ 9.97236117e-01 7.42337896e-02 3.07762849e-03 2.25559716e+02] [-7.42334622e-02 9.97240866e-01 -2.20633668e-04 -1.60101591e+01] [-3.08551537e-03 -8.43915522e-06 9.99995240e-01 -7.24965949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:225.62, Y:-16.02, Z:-0.73 [[ 9.97432499e-01 7.15467549e-02 3.07763894e-03 2.25619586e+02] [-7.15464151e-02 9.97437247e-01 -2.20487772e-04 -1.60158515e+01] [-3.08552690e-03 -2.72364204e-07 9.99995240e-01 -7.27912244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:225.68, Y:-16.02, Z:-0.73 [[ 9.97642135e-01 6.85616464e-02 3.07764418e-03 2.25678788e+02] [-6.85612927e-02 9.97646882e-01 -2.20414621e-04 -1.60208700e+01] [-3.08551411e-03 8.88765024e-06 9.99995240e-01 -7.31487566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:225.74, Y:-16.02, Z:-0.73 [[ 9.97670620e-01 6.81458822e-02 3.07764937e-03 2.25737937e+02] [-6.81455267e-02 9.97675367e-01 -2.20342064e-04 -1.60246167e+01] [-3.08551037e-03 1.01007663e-05 9.99995240e-01 -7.33698159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters Centerline goodness : 0.994550 with order 1 Centerline is valid? [True, True] Translation: X:225.80, Y:-16.03, Z:-0.73 [[ 9.97481419e-01 7.08614616e-02 3.07765452e-03 2.25796345e+02] [-7.08611193e-02 9.97486167e-01 -2.20270139e-04 -1.60294491e+01] [-3.08552648e-03 1.62932695e-06 9.99995240e-01 -7.28069865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:225.86, Y:-16.03, Z:-0.73 [[ 9.97395541e-01 7.20601263e-02 3.07766216e-03 2.25855799e+02] [-7.20597900e-02 9.97400290e-01 -2.20163389e-04 -1.60327407e+01] [-3.08552613e-03 -2.18570601e-06 9.99995240e-01 -7.26196696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters Centerline goodness : 0.994843 with order 1 Centerline is valid? [True, True] Translation: X:225.92, Y:-16.04, Z:-0.73 [[ 9.97373221e-01 7.23684004e-02 3.07766726e-03 2.25915079e+02] [-7.23680658e-02 9.97377970e-01 -2.20092057e-04 -1.60380562e+01] [-3.08552523e-03 -3.21090309e-06 9.99995240e-01 -7.31986394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters Centerline goodness : 0.994499 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:-16.04, Z:-0.73 [[ 9.97315785e-01 7.31556810e-02 3.07767248e-03 2.25974008e+02] [-7.31553503e-02 9.97320533e-01 -2.20018998e-04 -1.60422420e+01] [-3.08552160e-03 -5.71978926e-06 9.99995240e-01 -7.32044332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters Centerline goodness : 0.994803 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:-16.05, Z:-0.73 [[ 9.97266388e-01 7.38260007e-02 3.07767766e-03 2.26033899e+02] [-7.38256735e-02 9.97271137e-01 -2.19946565e-04 -1.60450540e+01] [-3.08551687e-03 -7.86630996e-06 9.99995240e-01 -7.29672483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters Centerline goodness : 0.994318 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:-16.05, Z:-0.73 [[ 9.97413734e-01 7.18078749e-02 3.07768295e-03 2.26092402e+02] [-7.18075383e-02 9.97418482e-01 -2.19872519e-04 -1.60506638e+01] [-3.08552643e-03 -1.69696613e-06 9.99995240e-01 -7.27180146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters Centerline goodness : 0.994308 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:-16.05, Z:-0.72 [[ 9.97398830e-01 7.20145887e-02 3.07769080e-03 2.26150474e+02] [-7.20142535e-02 9.97403579e-01 -2.19762555e-04 -1.60545215e+01] [-3.08552593e-03 -2.44668990e-06 9.99995240e-01 -7.23449684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters Centerline goodness : 0.994730 with order 1 Centerline is valid? [True, True] Translation: X:226.21, Y:-16.06, Z:-0.73 [[ 9.97248104e-01 7.40725834e-02 3.07769850e-03 2.26209243e+02] [-7.40722583e-02 9.97252853e-01 -2.19654623e-04 -1.60552577e+01] [-3.08551400e-03 -8.92192193e-06 9.99995240e-01 -7.25203628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:226.27, Y:-16.06, Z:-0.73 [[ 9.97381806e-01 7.22499934e-02 3.07770876e-03 2.26268669e+02] [-7.22496600e-02 9.97386554e-01 -2.19510767e-04 -1.60593518e+01] [-3.08552499e-03 -3.42736664e-06 9.99995240e-01 -7.29079695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters Centerline goodness : 0.995226 with order 1 Centerline is valid? [True, True] Translation: X:226.33, Y:-16.07, Z:-0.73 [[ 9.97754738e-01 6.69029992e-02 3.07771415e-03 2.26326885e+02] [-6.69026406e-02 9.97759484e-01 -2.19435219e-04 -1.60656349e+01] [-3.08549936e-03 1.30353261e-05 9.99995240e-01 -7.26302971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters Centerline goodness : 0.995290 with order 1 Centerline is valid? [True, True] Translation: X:226.39, Y:-16.07, Z:-0.73 [[ 9.97979888e-01 6.34560481e-02 3.07771924e-03 2.26385757e+02] [-6.34556733e-02 9.97984634e-01 -2.19363738e-04 -1.60724024e+01] [-3.08543647e-03 2.36218516e-05 9.99995240e-01 -7.27106549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters Centerline goodness : 0.994638 with order 1 Centerline is valid? [True, True] Translation: X:226.44, Y:-16.08, Z:-0.73 [[ 9.97913333e-01 6.44942418e-02 3.07772432e-03 2.26444664e+02] [-6.44938721e-02 9.97918079e-01 -2.19292462e-04 -1.60771807e+01] [-3.08545985e-03 2.03405132e-05 9.99995240e-01 -7.26657834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters Centerline goodness : 0.995011 with order 1 Centerline is valid? [True, True] Translation: X:226.50, Y:-16.08, Z:-0.73 [[ 9.97405799e-01 7.19180021e-02 3.07772945e-03 2.26503086e+02] [-7.19176680e-02 9.97410548e-01 -2.19220516e-04 -1.60799993e+01] [-3.08552572e-03 -2.69131081e-06 9.99995240e-01 -7.31204168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters Centerline goodness : 0.993844 with order 1 Centerline is valid? [True, True] Translation: X:226.56, Y:-16.08, Z:-0.73 [[ 9.97133071e-01 7.56053346e-02 3.07773985e-03 2.26561620e+02] [-7.56050185e-02 9.97137821e-01 -2.19074431e-04 -1.60817518e+01] [-3.08549400e-03 -1.42462175e-05 9.99995240e-01 -7.29336311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:226.62, Y:-16.08, Z:-0.73 [[ 9.97109579e-01 7.59145198e-02 3.07774759e-03 2.26620531e+02] [-7.59142056e-02 9.97114329e-01 -2.18965563e-04 -1.60819346e+01] [-3.08548889e-03 -1.53121033e-05 9.99995240e-01 -7.25687961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters Centerline goodness : 0.993132 with order 1 Centerline is valid? [True, True] Translation: X:226.68, Y:-16.09, Z:-0.73 [[ 9.97576761e-01 6.95063505e-02 3.07775801e-03 2.26678740e+02] [-6.95060062e-02 9.97581509e-01 -2.18819089e-04 -1.60860574e+01] [-3.08552379e-03 4.36617077e-06 9.99995240e-01 -7.26323883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters Centerline goodness : 0.993871 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:-16.09, Z:-0.72 [[ 9.98171807e-01 6.03620035e-02 3.07776570e-03 2.26737736e+02] [-6.03616160e-02 9.98176551e-01 -2.18710865e-04 -1.60944591e+01] [-3.08535537e-03 3.25321077e-05 9.99995240e-01 -7.24845559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters Centerline goodness : 0.993884 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:-16.10, Z:-0.73 [[ 9.98496953e-01 5.47207729e-02 3.07777088e-03 2.26797076e+02] [-5.47203588e-02 9.98501695e-01 -2.18637890e-04 -1.61031613e+01] [-3.08512347e-03 4.98925396e-05 9.99995240e-01 -7.28293822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters Centerline goodness : 0.993492 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:-16.12, Z:-0.73 [[ 9.98766894e-01 4.95501591e-02 3.07777604e-03 2.26855805e+02] [-4.95497207e-02 9.98771634e-01 -2.18565244e-04 -1.61167136e+01] [-3.08482535e-03 6.57927865e-05 9.99995240e-01 -7.33097527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters Centerline goodness : 0.993523 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:-16.13, Z:-0.73 [[ 9.98654855e-01 5.17591287e-02 3.07777369e-03 2.26914730e+02] [-5.17587007e-02 9.98659596e-01 -2.18598286e-04 -1.61294276e+01] [-3.08496269e-03 5.90026727e-05 9.99995240e-01 -7.31249560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters Centerline goodness : 0.994047 with order 1 Centerline is valid? [True, True] Translation: X:226.97, Y:-16.14, Z:-0.73 [[ 9.98245243e-01 5.91351236e-02 3.07777620e-03 2.26973247e+02] [-5.91347308e-02 9.98249987e-01 -2.18563013e-04 -1.61414807e+01] [-3.08531480e-03 3.61760213e-05 9.99995240e-01 -7.33072326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:227.03, Y:-16.15, Z:-0.73 [[ 9.97851938e-01 6.54372699e-02 3.07778102e-03 2.27033205e+02] [-6.54369073e-02 9.97856685e-01 -2.18495030e-04 -1.61498352e+01] [-3.08548209e-03 1.66252179e-05 9.99995240e-01 -7.32087214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:227.09, Y:-16.16, Z:-0.74 [[ 9.97640496e-01 6.85854756e-02 3.07778102e-03 2.27091860e+02] [-6.85851279e-02 9.97645244e-01 -2.18495030e-04 -1.61569168e+01] [-3.08551918e-03 6.88948518e-06 9.99995240e-01 -7.35442486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters Centerline goodness : 0.992714 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:-16.16, Z:-0.73 [[ 9.97283387e-01 7.35960079e-02 3.07778348e-03 2.27151546e+02] [-7.35956842e-02 9.97288137e-01 -2.18460483e-04 -1.61622872e+01] [-3.08551477e-03 -8.64457019e-06 9.99995240e-01 -7.33927538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters Centerline goodness : 0.993038 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:-16.17, Z:-0.73 [[ 9.96751979e-01 8.04737233e-02 3.07778834e-03 2.27209954e+02] [-8.04734325e-02 9.96756730e-01 -2.18391921e-04 -1.61674655e+01] [-3.08538105e-03 -2.99976128e-05 9.99995240e-01 -7.32858626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters Centerline goodness : 0.992552 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:-16.17, Z:-0.74 [[ 9.96474001e-01 8.38456498e-02 3.07779555e-03 2.27269222e+02] [-8.38453754e-02 9.96478753e-01 -2.18290278e-04 -1.61708427e+01] [-3.08526056e-03 -4.05383371e-05 9.99995240e-01 -7.36919627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters Centerline goodness : 0.992141 with order 1 Centerline is valid? [True, True] Translation: X:227.33, Y:-16.18, Z:-0.74 [[ 9.96406296e-01 8.46464411e-02 3.07780067e-03 2.27328045e+02] [-8.46461708e-02 9.96411049e-01 -2.18218047e-04 -1.61767364e+01] [-3.08522597e-03 -4.30902055e-05 9.99995240e-01 -7.39177743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:227.39, Y:-16.18, Z:-0.73 [[ 9.96455973e-01 8.40596270e-02 3.07780828e-03 2.27386803e+02] [-8.40593542e-02 9.96460725e-01 -2.18110620e-04 -1.61817183e+01] [-3.08524937e-03 -4.13809461e-05 9.99995240e-01 -7.33306938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters Centerline goodness : 0.991934 with order 1 Centerline is valid? [True, True] Translation: X:227.45, Y:-16.18, Z:-0.73 [[ 9.96169581e-01 8.73881709e-02 3.07781579e-03 2.27446177e+02] [-8.73879144e-02 9.96174335e-01 -2.18004614e-04 -1.61838657e+01] [-3.08509212e-03 -5.17943377e-05 9.99995240e-01 -7.32745894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters Centerline goodness : 0.991494 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:-16.19, Z:-0.73 [[ 9.95990220e-01 8.94092251e-02 3.07782071e-03 2.27506375e+02] [-8.94089783e-02 9.95994973e-01 -2.17935221e-04 -1.61851625e+01] [-3.08497937e-03 -5.81234566e-05 9.99995240e-01 -7.34756429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters Centerline goodness : 0.992063 with order 1 Centerline is valid? [True, True] Translation: X:227.56, Y:-16.19, Z:-0.74 [[ 9.96178459e-01 8.72869133e-02 3.07782586e-03 2.27564735e+02] [-8.72866567e-02 9.96183212e-01 -2.17862356e-04 -1.61854195e+01] [-3.08509499e-03 -5.16233432e-05 9.99995240e-01 -7.38076196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters Centerline goodness : 0.992679 with order 1 Centerline is valid? [True, True] Translation: X:227.62, Y:-16.19, Z:-0.74 [[ 9.96860210e-01 7.91217342e-02 3.07783352e-03 2.27624492e+02] [-7.91214389e-02 9.96864961e-01 -2.17754196e-04 -1.61904523e+01] [-3.08541348e-03 -2.64521225e-05 9.99995240e-01 -7.39481400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters Centerline goodness : 0.992144 with order 1 Centerline is valid? [True, True] Translation: X:227.69, Y:-16.19, Z:-0.74 [[ 9.97197224e-01 7.47544174e-02 3.07783855e-03 2.27685199e+02] [-7.47541016e-02 9.97201974e-01 -2.17682967e-04 -1.61945298e+01] [-3.08549944e-03 -1.30082057e-05 9.99995240e-01 -7.37849283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters Centerline goodness : 0.992123 with order 1 Centerline is valid? [True, True] Translation: X:227.74, Y:-16.20, Z:-0.74 [[ 9.97185602e-01 7.49092941e-02 3.07783855e-03 2.27744400e+02] [-7.49089790e-02 9.97190352e-01 -2.17682967e-04 -1.61967581e+01] [-3.08549739e-03 -1.34874234e-05 9.99995240e-01 -7.39710432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters Centerline goodness : 0.992391 with order 1 Centerline is valid? [True, True] Translation: X:227.80, Y:-16.20, Z:-0.74 [[ 9.97251933e-01 7.40210032e-02 3.07784371e-03 2.27803641e+02] [-7.40206841e-02 9.97256683e-01 -2.17609995e-04 -1.61976038e+01] [-3.08550792e-03 -1.08121090e-05 9.99995240e-01 -7.38647814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters Centerline goodness : 0.992411 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:-16.20, Z:-0.74 [[ 9.97510672e-01 7.04484576e-02 3.07784092e-03 2.27864414e+02] [-7.04481214e-02 9.97515421e-01 -2.17649539e-04 -1.62018595e+01] [-3.08552685e-03 2.79627427e-07 9.99995240e-01 -7.42141795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters Centerline goodness : 0.991741 with order 1 Centerline is valid? [True, True] Translation: X:227.92, Y:-16.20, Z:-0.74 [[ 9.97801196e-01 6.62065016e-02 3.07784092e-03 2.27924638e+02] [-6.62061452e-02 9.97805943e-01 -2.17649539e-04 -1.62037338e+01] [-3.08549777e-03 1.33989876e-05 9.99995240e-01 -7.39070812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters Centerline goodness : 0.992118 with order 1 Centerline is valid? [True, True] Translation: X:227.98, Y:-16.21, Z:-0.74 [[ 9.97995253e-01 6.32139341e-02 3.07784092e-03 2.27983909e+02] [-6.32135634e-02 9.97999999e-01 -2.17649539e-04 -1.62085021e+01] [-3.08544371e-03 2.26519148e-05 9.99995240e-01 -7.39648780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters Centerline goodness : 0.992369 with order 1 Centerline is valid? [True, True] Translation: X:228.04, Y:-16.22, Z:-0.74 [[ 9.98249985e-01 5.90550079e-02 3.07784581e-03 2.28044498e+02] [-5.90546177e-02 9.98254729e-01 -2.17580269e-04 -1.62160768e+01] [-3.08532334e-03 3.54384921e-05 9.99995240e-01 -7.40493712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters Centerline goodness : 0.992992 with order 1 Centerline is valid? [True, True] Translation: X:228.10, Y:-16.22, Z:-0.74 [[ 9.98316642e-01 5.79172595e-02 3.07784581e-03 2.28103866e+02] [-5.79168639e-02 9.98321386e-01 -2.17580269e-04 -1.62238286e+01] [-3.08528095e-03 3.89548262e-05 9.99995240e-01 -7.39339044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters Centerline goodness : 0.993128 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:-16.23, Z:-0.74 [[ 9.98126636e-01 6.11043759e-02 3.07784821e-03 2.28163560e+02] [-6.11039955e-02 9.98131381e-01 -2.17546398e-04 -1.62318895e+01] [-3.08538992e-03 2.90700311e-05 9.99995240e-01 -7.43122285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters Centerline goodness : 0.991987 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-16.24, Z:-0.74 [[ 9.97927411e-01 6.42760465e-02 3.07784821e-03 2.28223924e+02] [-6.42756812e-02 9.97932157e-01 -2.17546398e-04 -1.62397155e+01] [-3.08546672e-03 1.92647233e-05 9.99995240e-01 -7.40926189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:228.28, Y:-16.25, Z:-0.74 [[ 9.97604237e-01 6.91108763e-02 3.07784821e-03 2.28282978e+02] [-6.91105341e-02 9.97608985e-01 -2.17546398e-04 -1.62480684e+01] [-3.08552385e-03 4.31347480e-06 9.99995240e-01 -7.40204748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:228.34, Y:-16.26, Z:-0.74 [[ 9.97508513e-01 7.04790306e-02 3.07785070e-03 2.28343242e+02] [-7.04786949e-02 9.97513261e-01 -2.17511121e-04 -1.62563470e+01] [-3.08552686e-03 4.62947268e-08 9.99995240e-01 -7.38656677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters Centerline goodness : 0.992435 with order 1 Centerline is valid? [True, True] Translation: X:228.40, Y:-16.27, Z:-0.74 [[ 9.97524486e-01 7.02525873e-02 3.07785070e-03 2.28402496e+02] [-7.02522505e-02 9.97529235e-01 -2.17511121e-04 -1.62693807e+01] [-3.08552677e-03 7.46731225e-07 9.99995240e-01 -7.40479516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters Centerline goodness : 0.993039 with order 1 Centerline is valid? [True, True] Translation: X:228.46, Y:-16.28, Z:-0.74 [[ 9.97479627e-01 7.08866760e-02 3.07784808e-03 2.28462700e+02] [-7.08863422e-02 9.97484375e-01 -2.17548223e-04 -1.62787733e+01] [-3.08552664e-03 -1.17747178e-06 9.99995240e-01 -7.44087692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters Centerline goodness : 0.992528 with order 1 Centerline is valid? [True, True] Translation: X:228.52, Y:-16.29, Z:-0.74 [[ 9.97460525e-01 7.11549502e-02 3.07784808e-03 2.28523132e+02] [-7.11546176e-02 9.97465274e-01 -2.17548223e-04 -1.62878297e+01] [-3.08552621e-03 -2.00733847e-06 9.99995240e-01 -7.41097777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters Centerline goodness : 0.992573 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:-16.29, Z:-0.74 [[ 9.97456359e-01 7.12133301e-02 3.07784290e-03 2.28583284e+02] [-7.12129976e-02 9.97461108e-01 -2.17621509e-04 -1.62943741e+01] [-3.08552614e-03 -2.11446065e-06 9.99995240e-01 -7.42206760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:228.64, Y:-16.30, Z:-0.74 [[ 9.97482092e-01 7.08519776e-02 3.07784033e-03 2.28644255e+02] [-7.08516433e-02 9.97486841e-01 -2.17657763e-04 -1.63006483e+01] [-3.08552671e-03 -9.60324853e-07 9.99995240e-01 -7.42738826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters Centerline goodness : 0.993106 with order 1 Centerline is valid? [True, True] Translation: X:228.71, Y:-16.31, Z:-0.74 [[ 9.97486652e-01 7.07877602e-02 3.07783530e-03 2.28705007e+02] [-7.07874253e-02 9.97491400e-01 -2.17728918e-04 -1.63068630e+01] [-3.08552678e-03 -6.90347273e-07 9.99995240e-01 -7.41870094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters Centerline goodness : 0.993105 with order 1 Centerline is valid? [True, True] Translation: X:228.77, Y:-16.31, Z:-0.74 [[ 9.97445010e-01 7.13721155e-02 3.07783027e-03 2.28766558e+02] [-7.13717832e-02 9.97449759e-01 -2.17799990e-04 -1.63108459e+01] [-3.08552590e-03 -2.42672105e-06 9.99995240e-01 -7.38752718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:228.83, Y:-16.31, Z:-0.73 [[ 9.97227625e-01 7.43477734e-02 3.07782526e-03 2.28827315e+02] [-7.43474550e-02 9.97232374e-01 -2.17870727e-04 -1.63141376e+01] [-3.08550520e-03 -1.15617676e-05 9.99995240e-01 -7.34958092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:228.89, Y:-16.32, Z:-0.74 [[ 9.97012674e-01 7.71767811e-02 3.07782278e-03 2.28887704e+02] [-7.71764761e-02 9.97017424e-01 -2.17905815e-04 -1.63152945e+01] [-3.08546021e-03 -2.02806571e-05 9.99995240e-01 -7.36009210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:228.95, Y:-16.32, Z:-0.74 [[ 9.96970409e-01 7.77208443e-02 3.07782278e-03 2.28948335e+02] [-7.77205419e-02 9.96975160e-01 -2.17905815e-04 -1.63170476e+01] [-3.08544868e-03 -2.19644048e-05 9.99995240e-01 -7.40180982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:-16.32, Z:-0.74 [[ 9.96926675e-01 7.82798269e-02 3.07782034e-03 2.29008660e+02] [-7.82795271e-02 9.96931426e-01 -2.17940299e-04 -1.63187597e+01] [-3.08543614e-03 -2.36598222e-05 9.99995240e-01 -7.38305468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters Centerline goodness : 0.993410 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:-16.32, Z:-0.74 [[ 9.96802941e-01 7.98399900e-02 3.07781792e-03 2.29069344e+02] [-7.98396976e-02 9.96807692e-01 -2.17974347e-04 -1.63198130e+01] [-3.08539565e-03 -2.84545822e-05 9.99995240e-01 -7.39612956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:-16.32, Z:-0.75 [[ 9.96690757e-01 8.12284601e-02 3.07781792e-03 2.29129241e+02] [-8.12281742e-02 9.96695508e-01 -2.17974347e-04 -1.63178767e+01] [-3.08535302e-03 -3.27525139e-05 9.99995240e-01 -7.45677328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:-16.32, Z:-0.75 [[ 9.96841866e-01 7.93525128e-02 3.07782044e-03 2.29189833e+02] [-7.93522181e-02 9.96846617e-01 -2.17938771e-04 -1.63221399e+01] [-3.08540889e-03 -2.69813877e-05 9.99995240e-01 -7.45141495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters Centerline goodness : 0.993587 with order 1 Centerline is valid? [True, True] Translation: X:229.25, Y:-16.33, Z:-0.75 [[ 9.97162482e-01 7.52164254e-02 3.07782044e-03 2.29249633e+02] [-7.52161110e-02 9.97167232e-01 -2.17938771e-04 -1.63275051e+01] [-3.08549427e-03 -1.41813180e-05 9.99995240e-01 -7.46936529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:229.31, Y:-16.33, Z:-0.75 [[ 9.97459342e-01 7.11715434e-02 3.07780900e-03 2.29309611e+02] [-7.11712092e-02 9.97464090e-01 -2.18100303e-04 -1.63328656e+01] [-3.08552649e-03 -1.50520369e-06 9.99995240e-01 -7.45880422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters Centerline goodness : 0.988369 with order 1 Centerline is valid? [True, True] Translation: X:229.37, Y:-16.34, Z:-0.73 [[ 9.97501793e-01 7.05740728e-02 3.07780900e-03 2.29369678e+02] [-7.05737358e-02 9.97506541e-01 -2.18100303e-04 -1.63391133e+01] [-3.08552683e-03 3.42963992e-07 9.99995240e-01 -7.30026047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:229.43, Y:-16.35, Z:-0.74 [[ 9.97567680e-01 6.96365608e-02 3.07780900e-03 2.29429378e+02] [-6.96362194e-02 9.97572428e-01 -2.18100303e-04 -1.63461011e+01] [-3.08552515e-03 3.24283063e-06 9.99995240e-01 -7.44852253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters Centerline goodness : 0.993913 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:-16.36, Z:-0.74 [[ 9.97629860e-01 6.87400194e-02 3.07780634e-03 2.29489096e+02] [-6.87396736e-02 9.97634607e-01 -2.18137818e-04 -1.63578690e+01] [-3.08552092e-03 6.05339803e-06 9.99995240e-01 -7.42483748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters Centerline goodness : 0.994113 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:-16.37, Z:-0.74 [[ 9.97695315e-01 6.77833667e-02 3.07780397e-03 2.29550458e+02] [-6.77830162e-02 9.97700063e-01 -2.18171208e-04 -1.63693574e+01] [-3.08551359e-03 9.04555562e-06 9.99995240e-01 -7.40604414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters Centerline goodness : 0.994146 with order 1 Centerline is valid? [True, True] Translation: X:229.61, Y:-16.38, Z:-0.74 [[ 9.97643908e-01 6.85358318e-02 3.07776716e-03 2.29610946e+02] [-6.85354833e-02 9.97648655e-01 -2.18689215e-04 -1.63780547e+01] [-3.08551832e-03 7.23770320e-06 9.99995240e-01 -7.40032541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters Centerline goodness : 0.989075 with order 1 Centerline is valid? [True, True] Translation: X:229.67, Y:-16.39, Z:-0.73 [[ 9.97520685e-01 7.03065405e-02 3.07774676e-03 2.29672074e+02] [-7.03061995e-02 9.97525433e-01 -2.18976040e-04 -1.63924360e+01] [-3.08552612e-03 2.04845223e-06 9.99995240e-01 -7.28425470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters Centerline goodness : 0.992972 with order 1 Centerline is valid? [True, True] Translation: X:229.73, Y:-16.41, Z:-0.74 [[ 9.97225206e-01 7.43802181e-02 3.07770805e-03 2.29733444e+02] [-7.43798948e-02 9.97229955e-01 -2.19518713e-04 -1.64070387e+01] [-3.08551051e-03 -1.00100074e-05 9.99995240e-01 -7.40059121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters Centerline goodness : 0.993369 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:-16.42, Z:-0.74 [[ 9.96601004e-01 8.23223314e-02 3.07767209e-03 2.29795332e+02] [-8.23220444e-02 9.96605756e-01 -2.20021766e-04 -1.64162706e+01] [-3.08533842e-03 -3.40863454e-05 9.99995240e-01 -7.44457060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:229.86, Y:-16.42, Z:-0.75 [[ 9.96053349e-01 8.87031817e-02 3.07763551e-03 2.29856868e+02] [-8.87029236e-02 9.96058102e-01 -2.20532173e-04 -1.64240465e+01] [-3.08506569e-03 -5.33334588e-05 9.99995240e-01 -7.47609057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:229.92, Y:-16.43, Z:-0.75 [[ 9.95843113e-01 9.10330828e-02 3.07759855e-03 2.29918669e+02] [-9.10328342e-02 9.95847867e-01 -2.21046843e-04 -1.64296387e+01] [-3.08494253e-03 -6.00345424e-05 9.99995240e-01 -7.45725187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters Centerline goodness : 0.993054 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:-16.43, Z:-0.75 [[ 9.95655932e-01 9.30580174e-02 3.07756168e-03 2.29980446e+02] [-9.30577769e-02 9.95660686e-01 -2.21559015e-04 -1.64315139e+01] [-3.08482501e-03 -6.57945007e-05 9.99995240e-01 -7.47183203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters Centerline goodness : 0.993487 with order 1 Centerline is valid? [True, True] Translation: X:230.04, Y:-16.43, Z:-0.75 [[ 9.95156645e-01 9.82536533e-02 3.07752472e-03 2.30042264e+02] [-9.82534360e-02 9.95161400e-01 -2.22071180e-04 -1.64306574e+01] [-3.08445311e-03 -8.13817674e-05 9.99995240e-01 -7.45827641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters Centerline goodness : 0.993242 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-16.43, Z:-0.74 [[ 9.94647707e-01 1.03278592e-01 3.07751942e-03 2.30104056e+02] [-1.03278398e-01 9.94652463e-01 -2.22144525e-04 -1.64265129e+01] [-3.08400505e-03 -9.68857345e-05 9.99995240e-01 -7.43777475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters Centerline goodness : 0.993404 with order 1 Centerline is valid? [True, True] Translation: X:230.16, Y:-16.43, Z:-0.74 [[ 9.94658411e-01 1.03175455e-01 3.07751411e-03 2.30164271e+02] [-1.03175261e-01 9.94663167e-01 -2.22218138e-04 -1.64264822e+01] [-3.08401739e-03 -9.64921804e-05 9.99995240e-01 -7.42032755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters Centerline goodness : 0.993468 with order 1 Centerline is valid? [True, True] Translation: X:230.23, Y:-16.42, Z:-0.74 [[ 9.95106230e-01 9.87629500e-02 3.07751149e-03 2.30225911e+02] [-9.87627346e-02 9.95110985e-01 -2.22254423e-04 -1.64226670e+01] [-3.08441599e-03 -8.27766890e-05 9.99995240e-01 -7.40799293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters Centerline goodness : 0.993386 with order 1 Centerline is valid? [True, True] Translation: X:230.29, Y:-16.42, Z:-0.74 [[ 9.95396592e-01 9.57922391e-02 3.07750617e-03 2.30286069e+02] [-9.57920093e-02 9.95401347e-01 -2.22328016e-04 -1.64220282e+01] [-3.08465109e-03 -7.34959507e-05 9.99995240e-01 -7.40381847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters Centerline goodness : 0.988237 with order 1 Centerline is valid? [True, True] Translation: X:230.35, Y:-16.42, Z:-0.73 [[ 9.95276378e-01 9.70332948e-02 3.07750352e-03 2.30346447e+02] [-9.70330708e-02 9.95281133e-01 -2.22364661e-04 -1.64230308e+01] [-3.08455797e-03 -7.73053228e-05 9.99995240e-01 -7.29919962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters Centerline goodness : 0.988706 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-16.42, Z:-0.74 [[ 9.95237965e-01 9.74264977e-02 3.07750352e-03 2.30406458e+02] [-9.74262756e-02 9.95242720e-01 -2.22364661e-04 -1.64199324e+01] [-3.08452719e-03 -7.85239538e-05 9.99995240e-01 -7.36206581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters Centerline goodness : 0.992129 with order 1 Centerline is valid? [True, True] Translation: X:230.47, Y:-16.42, Z:-0.75 [[ 9.95650378e-01 9.31174172e-02 3.07750618e-03 2.30465807e+02] [-9.31171746e-02 9.95655132e-01 -2.22327875e-04 -1.64161206e+01] [-3.08483742e-03 -6.52078478e-05 9.99995240e-01 -7.46939101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters Centerline goodness : 0.993022 with order 1 Centerline is valid? [True, True] Translation: X:230.53, Y:-16.42, Z:-0.75 [[ 9.96266124e-01 8.62805888e-02 3.07751360e-03 2.30526588e+02] [-8.62803139e-02 9.96270876e-01 -2.22225177e-04 -1.64182621e+01] [-3.08521089e-03 -4.41334231e-05 9.99995240e-01 -7.46430269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters Centerline goodness : 0.992679 with order 1 Centerline is valid? [True, True] Translation: X:230.59, Y:-16.42, Z:-0.75 [[ 9.96563088e-01 8.27800742e-02 3.07751360e-03 2.30586351e+02] [-8.27797826e-02 9.96567839e-01 -2.22225177e-04 -1.64195761e+01] [-3.08534689e-03 -3.32944977e-05 9.99995240e-01 -7.47651882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters Centerline goodness : 0.993085 with order 1 Centerline is valid? [True, True] Translation: X:230.65, Y:-16.42, Z:-0.75 [[ 9.96782311e-01 8.00971532e-02 3.07751062e-03 2.30646371e+02] [-8.00968487e-02 9.96787061e-01 -2.22266469e-04 -1.64224171e+01] [-3.08542567e-03 -2.49476173e-05 9.99995240e-01 -7.46623953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters Centerline goodness : 0.992658 with order 1 Centerline is valid? [True, True] Translation: X:230.71, Y:-16.43, Z:-0.75 [[ 9.96808257e-01 7.97736044e-02 3.07751062e-03 2.30706019e+02] [-7.97732983e-02 9.96813007e-01 -2.22266469e-04 -1.64274409e+01] [-3.08543361e-03 -2.39461208e-05 9.99995240e-01 -7.46420792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters Centerline goodness : 0.992449 with order 1 Centerline is valid? [True, True] Translation: X:230.77, Y:-16.43, Z:-0.74 [[ 9.96796130e-01 7.99249925e-02 3.07751333e-03 2.30765837e+02] [-7.99246872e-02 9.96800880e-01 -2.22228872e-04 -1.64330762e+01] [-3.08542964e-03 -2.44524111e-05 9.99995240e-01 -7.43449865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters Centerline goodness : 0.992475 with order 1 Centerline is valid? [True, True] Translation: X:230.82, Y:-16.44, Z:-0.74 [[ 9.96693332e-01 8.11968644e-02 3.07751333e-03 2.30824808e+02] [-8.11965653e-02 9.96698083e-01 -2.22228872e-04 -1.64357676e+01] [-3.08539592e-03 -2.83894773e-05 9.99995240e-01 -7.44022288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:230.89, Y:-16.44, Z:-0.75 [[ 9.96518506e-01 8.33150393e-02 3.07751599e-03 2.30885364e+02] [-8.33147504e-02 9.96523258e-01 -2.22192054e-04 -1.64383438e+01] [-3.08532820e-03 -3.49839824e-05 9.99995240e-01 -7.46314785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters Centerline goodness : 0.992911 with order 1 Centerline is valid? [True, True] Translation: X:230.95, Y:-16.44, Z:-0.75 [[ 9.96630577e-01 8.19635427e-02 3.07751599e-03 2.30945787e+02] [-8.19632473e-02 9.96635328e-01 -2.22192054e-04 -1.64412896e+01] [-3.08537280e-03 -3.07998089e-05 9.99995240e-01 -7.46442024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters Centerline goodness : 0.992820 with order 1 Centerline is valid? [True, True] Translation: X:231.01, Y:-16.45, Z:-0.75 [[ 9.97091917e-01 7.61461594e-02 3.07751599e-03 2.31005830e+02] [-7.61458363e-02 9.97096666e-01 -2.22192054e-04 -1.64473504e+01] [-3.08550000e-03 -1.27941275e-05 9.99995240e-01 -7.47374735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters Centerline goodness : 0.993231 with order 1 Centerline is valid? [True, True] Translation: X:231.07, Y:-16.45, Z:-0.75 [[ 9.97590545e-01 6.93082559e-02 3.07751599e-03 2.31066327e+02] [-6.93079003e-02 9.97595291e-01 -2.22192054e-04 -1.64533898e+01] [-3.08551520e-03 8.36052121e-06 9.99995240e-01 -7.52102570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters Centerline goodness : 0.993490 with order 1 Centerline is valid? [True, True] Translation: X:231.13, Y:-16.46, Z:-0.75 [[ 9.97723023e-01 6.73743206e-02 3.07751599e-03 2.31126465e+02] [-6.73739557e-02 9.97727769e-01 -2.22192054e-04 -1.64587852e+01] [-3.08549320e-03 1.43417020e-05 9.99995240e-01 -7.53915047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:231.19, Y:-16.47, Z:-0.76 [[ 9.97825874e-01 6.58335333e-02 3.07751599e-03 2.31186954e+02] [-6.58331611e-02 9.97830620e-01 -2.22192054e-04 -1.64650326e+01] [-3.08546737e-03 1.91063749e-05 9.99995240e-01 -7.55779969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters Centerline goodness : 0.992913 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:-16.47, Z:-0.75 [[ 9.97610405e-01 6.90218026e-02 3.07751599e-03 2.31246292e+02] [-6.90214456e-02 9.97615152e-01 -2.22192054e-04 -1.64714149e+01] [-3.08551268e-03 9.24650274e-06 9.99995240e-01 -7.54197805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters Centerline goodness : 0.993153 with order 1 Centerline is valid? [True, True] Translation: X:231.31, Y:-16.47, Z:-0.75 [[ 9.97298299e-01 7.33936701e-02 3.07751859e-03 2.31307115e+02] [-7.33933340e-02 9.97303048e-01 -2.22155972e-04 -1.64730941e+01] [-3.08552351e-03 -4.31357644e-06 9.99995240e-01 -7.52296056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters Centerline goodness : 0.993209 with order 1 Centerline is valid? [True, True] Translation: X:231.37, Y:-16.48, Z:-0.75 [[ 9.97185500e-01 7.49106657e-02 3.07751859e-03 2.31366553e+02] [-7.49103368e-02 9.97190249e-01 -2.22155972e-04 -1.64767981e+01] [-3.08551338e-03 -9.00723999e-06 9.99995240e-01 -7.51082470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters Centerline goodness : 0.992848 with order 1 Centerline is valid? [True, True] Translation: X:231.43, Y:-16.48, Z:-0.75 [[ 9.97284059e-01 7.35869211e-02 3.07752116e-03 2.31426886e+02] [-7.35865861e-02 9.97288807e-01 -2.22120378e-04 -1.64831914e+01] [-3.08552256e-03 -4.94716320e-06 9.99995240e-01 -7.53268184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:231.49, Y:-16.49, Z:-0.75 [[ 9.97583842e-01 6.94046601e-02 3.07752116e-03 2.31486970e+02] [-6.94043051e-02 9.97588589e-01 -2.22120379e-04 -1.64888594e+01] [-3.08551618e-03 7.99048297e-06 9.99995240e-01 -7.51888283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters Centerline goodness : 0.991772 with order 1 Centerline is valid? [True, True] Translation: X:231.55, Y:-16.50, Z:-0.75 [[ 9.97804565e-01 6.61557217e-02 3.07751853e-03 2.31547112e+02] [-6.61553511e-02 9.97809311e-01 -2.22156838e-04 -1.64954684e+01] [-3.08547359e-03 1.80747881e-05 9.99995240e-01 -7.46325501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters Centerline goodness : 0.993517 with order 1 Centerline is valid? [True, True] Translation: X:231.61, Y:-16.51, Z:-0.75 [[ 9.98069337e-01 6.20332692e-02 3.07751853e-03 2.31607863e+02] [-6.20328791e-02 9.98074082e-01 -2.22156838e-04 -1.65092169e+01] [-3.08537260e-03 3.08205932e-05 9.99995240e-01 -7.49159229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters Centerline goodness : 0.992594 with order 1 Centerline is valid? [True, True] Translation: X:231.67, Y:-16.52, Z:-0.75 [[ 9.98088368e-01 6.17263194e-02 3.07751058e-03 2.31668163e+02] [-6.17259275e-02 9.98093112e-01 -2.22266905e-04 -1.65227717e+01] [-3.08536183e-03 3.18798175e-05 9.99995240e-01 -7.48463825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters Centerline goodness : 0.993126 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:-16.54, Z:-0.75 [[ 9.97714203e-01 6.75048024e-02 3.07747604e-03 2.31729178e+02] [-6.75044364e-02 9.97718949e-01 -2.22744155e-04 -1.65353561e+01] [-3.08549246e-03 1.44917219e-05 9.99995240e-01 -7.52662638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters Centerline goodness : 0.993128 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:-16.54, Z:-0.75 [[ 9.96965547e-01 7.77832085e-02 3.07743901e-03 2.31790066e+02] [-7.77828899e-02 9.96970297e-01 -2.23254530e-04 -1.65445236e+01] [-3.08548074e-03 -1.67950257e-05 9.99995240e-01 -7.54655543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters Centerline goodness : 0.993543 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:-16.55, Z:-0.75 [[ 9.96274213e-01 8.61871377e-02 3.07743348e-03 2.31851139e+02] [-8.61868589e-02 9.96278965e-01 -2.23330789e-04 -1.65517242e+01] [-3.08523048e-03 -4.27356195e-05 9.99995240e-01 -7.52322435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters Centerline goodness : 0.993632 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:-16.55, Z:-0.75 [[ 9.94881852e-01 1.00998170e-01 3.07739757e-03 2.31910533e+02] [-1.00997961e-01 9.94886608e-01 -2.23824537e-04 -1.65534709e+01] [-3.08426749e-03 -8.81319080e-05 9.99995240e-01 -7.51356935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters Centerline goodness : 0.993867 with order 1 Centerline is valid? [True, True] Translation: X:231.97, Y:-16.55, Z:-0.75 [[ 9.93336600e-01 1.15208196e-01 3.07740019e-03 2.31969753e+02] [-1.15208054e-01 9.93341358e-01 -2.23788444e-04 -1.65503056e+01] [-3.08269115e-03 -1.32244035e-04 9.99995240e-01 -7.52526996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters Centerline goodness : 0.992651 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:-16.55, Z:-0.75 [[ 9.93141668e-01 1.16876677e-01 3.07740531e-03 2.32029500e+02] [-1.16876544e-01 9.93146426e-01 -2.23718034e-04 -1.65481294e+01] [-3.08246151e-03 -1.37492795e-04 9.99995240e-01 -7.50002473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters Centerline goodness : 0.993332 with order 1 Centerline is valid? [True, True] Translation: X:232.09, Y:-16.55, Z:-0.75 [[ 9.93406018e-01 1.14608082e-01 3.07741065e-03 2.32089798e+02] [-1.14607939e-01 9.93410776e-01 -2.23644535e-04 -1.65469318e+01] [-3.08276438e-03 -1.30525864e-04 9.99995240e-01 -7.51957669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters Centerline goodness : 0.993151 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:-16.55, Z:-0.75 [[ 9.94062678e-01 1.08765443e-01 3.07741585e-03 2.32149378e+02] [-1.08765271e-01 9.94067435e-01 -2.23572930e-04 -1.65476660e+01] [-3.08347589e-03 -1.12470463e-04 9.99995240e-01 -7.52351413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:232.21, Y:-16.55, Z:-0.75 [[ 9.94365883e-01 1.05957631e-01 3.07741297e-03 2.32209222e+02] [-1.05957446e-01 9.94370640e-01 -2.23612614e-04 -1.65475550e+01] [-3.08378257e-03 -1.03722063e-04 9.99995240e-01 -7.51325474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:232.27, Y:-16.55, Z:-0.75 [[ 9.94394570e-01 1.05688075e-01 3.07741804e-03 2.32268369e+02] [-1.05687889e-01 9.94399326e-01 -2.23542888e-04 -1.65504472e+01] [-3.08380824e-03 -1.02955982e-04 9.99995240e-01 -7.53250976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters Centerline goodness : 0.993478 with order 1 Centerline is valid? [True, True] Translation: X:232.33, Y:-16.55, Z:-0.75 [[ 9.94531334e-01 1.04393269e-01 3.07742326e-03 2.32327179e+02] [-1.04393077e-01 9.94536091e-01 -2.23470919e-04 -1.65539011e+01] [-3.08393736e-03 -9.90128514e-05 9.99995240e-01 -7.53989028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters Centerline goodness : 0.993292 with order 1 Centerline is valid? [True, True] Translation: X:232.39, Y:-16.55, Z:-0.75 [[ 9.94672946e-01 1.03035235e-01 3.07743100e-03 2.32385773e+02] [-1.03035036e-01 9.94677702e-01 -2.23364235e-04 -1.65516443e+01] [-3.08406639e-03 -9.49088535e-05 9.99995240e-01 -7.53796555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters Centerline goodness : 0.993496 with order 1 Centerline is valid? [True, True] Translation: X:232.44, Y:-16.55, Z:-0.75 [[ 9.94613558e-01 1.03606944e-01 3.07743862e-03 2.32444855e+02] [-1.03606749e-01 9.94618315e-01 -2.23259255e-04 -1.65486994e+01] [-3.08400802e-03 -9.67867290e-05 9.99995240e-01 -7.52346070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters Centerline goodness : 0.992862 with order 1 Centerline is valid? [True, True] Translation: X:232.50, Y:-16.55, Z:-0.75 [[ 9.94509363e-01 1.04602372e-01 3.07744881e-03 2.32503964e+02] [-1.04602182e-01 9.94514119e-01 -2.23118665e-04 -1.65471698e+01] [-3.08390504e-03 -1.00014260e-04 9.99995240e-01 -7.51827826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters Centerline goodness : 0.993523 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:-16.54, Z:-0.75 [[ 9.94557058e-01 1.04147917e-01 3.07745892e-03 2.32563462e+02] [-1.04147725e-01 9.94561814e-01 -2.22979207e-04 -1.65433964e+01] [-3.08394594e-03 -9.87448012e-05 9.99995240e-01 -7.50282197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters Centerline goodness : 0.993280 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:-16.54, Z:-0.75 [[ 9.94933008e-01 1.00492977e-01 3.07746921e-03 2.32622182e+02] [-1.00492768e-01 9.94937764e-01 -2.22837089e-04 -1.65397630e+01] [-3.08428390e-03 -8.75554231e-05 9.99995240e-01 -7.49820426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:-16.54, Z:-0.75 [[ 9.95317911e-01 9.66063444e-02 3.07748191e-03 2.32680752e+02] [-9.66061174e-02 9.95322666e-01 -2.22661553e-04 -1.65414663e+01] [-3.08459802e-03 -7.56845470e-05 9.99995240e-01 -7.50144115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:232.74, Y:-16.54, Z:-0.76 [[ 9.95670207e-01 9.29051584e-02 3.07749224e-03 2.32738365e+02] [-9.29049143e-02 9.95674961e-01 -2.22518717e-04 -1.65417825e+01] [-3.08485510e-03 -6.43588950e-05 9.99995240e-01 -7.56132528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters Centerline goodness : 0.994512 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:-16.54, Z:-0.76 [[ 9.95578092e-01 9.38871263e-02 3.07750500e-03 2.32797023e+02] [-9.38868873e-02 9.95582846e-01 -2.22342043e-04 -1.65403448e+01] [-3.08478624e-03 -6.75784986e-05 9.99995240e-01 -7.56947188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters Centerline goodness : 0.994280 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:-16.54, Z:-0.76 [[ 9.95412314e-01 9.56287323e-02 3.07751513e-03 2.32856149e+02] [-9.56285021e-02 9.95417068e-01 -2.22201741e-04 -1.65388184e+01] [-3.08465996e-03 -7.31158128e-05 9.99995240e-01 -7.56955015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters Centerline goodness : 0.993412 with order 1 Centerline is valid? [True, True] Translation: X:232.92, Y:-16.54, Z:-0.75 [[ 9.95662244e-01 9.29904512e-02 3.07752513e-03 2.32915603e+02] [-9.29902088e-02 9.95666998e-01 -2.22063120e-04 -1.65361295e+01] [-3.08483996e-03 -6.50798401e-05 9.99995240e-01 -7.50171344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters Centerline goodness : 0.993595 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:-16.54, Z:-0.75 [[ 9.95850808e-01 9.09488663e-02 3.07753568e-03 2.32974691e+02] [-9.09486147e-02 9.95855562e-01 -2.21916913e-04 -1.65378173e+01] [-3.08496411e-03 -5.89014692e-05 9.99995240e-01 -7.51059583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters Centerline goodness : 0.993290 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-16.54, Z:-0.76 [[ 9.96390320e-01 8.48343075e-02 3.07754618e-03 2.33033831e+02] [-8.48340271e-02 9.96395072e-01 -2.21771143e-04 -1.65367950e+01] [-3.08526565e-03 -4.01100163e-05 9.99995240e-01 -7.55374608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters Centerline goodness : 0.992760 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:-16.53, Z:-0.75 [[ 9.96586110e-01 8.25024497e-02 3.07755673e-03 2.33093456e+02] [-8.25021586e-02 9.96590861e-01 -2.21624710e-04 -1.65329698e+01] [-3.08534949e-03 -3.30369660e-05 9.99995240e-01 -7.50632852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters Centerline goodness : 0.993514 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:-16.53, Z:-0.75 [[ 9.96757001e-01 8.04114980e-02 3.07756719e-03 2.33152185e+02] [-8.04111975e-02 9.96761752e-01 -2.21479343e-04 -1.65343588e+01] [-3.08541075e-03 -2.67097775e-05 9.99995240e-01 -7.51528026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters Centerline goodness : 0.993435 with order 1 Centerline is valid? [True, True] Translation: X:233.21, Y:-16.54, Z:-0.75 [[ 9.97280636e-01 7.36332937e-02 3.07757781e-03 2.33211190e+02] [-7.36329613e-02 9.97285384e-01 -2.21331701e-04 -1.65378970e+01] [-3.08552075e-03 -5.88134810e-06 9.99995240e-01 -7.53708406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters Centerline goodness : 0.993353 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:-16.54, Z:-0.75 [[ 9.97625778e-01 6.87992397e-02 3.07758840e-03 2.33268581e+02] [-6.87988847e-02 9.97630525e-01 -2.21184245e-04 -1.65431364e+01] [-3.08551344e-03 8.92445529e-06 9.99995240e-01 -7.52438453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters Centerline goodness : 0.993305 with order 1 Centerline is valid? [True, True] Translation: X:233.33, Y:-16.55, Z:-0.75 [[ 9.97649290e-01 6.84574453e-02 3.07760144e-03 2.33327767e+02] [-6.84570893e-02 9.97654037e-01 -2.21002639e-04 -1.65458334e+01] [-3.08551078e-03 9.79948887e-06 9.99995240e-01 -7.52121361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters Centerline goodness : 0.992665 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:-16.55, Z:-0.75 [[ 9.97517378e-01 7.03534627e-02 3.07761196e-03 2.33385788e+02] [-7.03531162e-02 9.97522125e-01 -2.20856038e-04 -1.65483187e+01] [-3.08552401e-03 3.78814411e-06 9.99995240e-01 -7.51701553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters Centerline goodness : 0.993395 with order 1 Centerline is valid? [True, True] Translation: X:233.44, Y:-16.56, Z:-0.75 [[ 9.97758368e-01 6.68488455e-02 3.07762492e-03 2.33444699e+02] [-6.68484828e-02 9.97763114e-01 -2.20675345e-04 -1.65556704e+01] [-3.08549252e-03 1.44461158e-05 9.99995240e-01 -7.52703177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters Centerline goodness : 0.988901 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:-16.57, Z:-0.74 [[ 9.98204426e-01 5.98201581e-02 3.07763531e-03 2.33503476e+02] [-5.98197625e-02 9.98209170e-01 -2.20530318e-04 -1.65684648e+01] [-3.08531595e-03 3.60309259e-05 9.99995240e-01 -7.43544734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters Centerline goodness : 0.994017 with order 1 Centerline is valid? [True, True] Translation: X:233.56, Y:-16.58, Z:-0.75 [[ 9.98434324e-01 5.58518486e-02 3.07764049e-03 2.33562641e+02] [-5.58514343e-02 9.98439066e-01 -2.20458066e-04 -1.65751772e+01] [-3.08514949e-03 4.82222643e-05 9.99995240e-01 -7.53908807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters Centerline goodness : 0.993659 with order 1 Centerline is valid? [True, True] Translation: X:233.62, Y:-16.59, Z:-0.76 [[ 9.98410367e-01 5.62784873e-02 3.07764581e-03 2.33621169e+02] [-5.62780752e-02 9.98415109e-01 -2.20383727e-04 -1.65883236e+01] [-3.08517094e-03 4.68294147e-05 9.99995240e-01 -7.56729665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters Centerline goodness : 0.993638 with order 1 Centerline is valid? [True, True] Translation: X:233.68, Y:-16.60, Z:-0.75 [[ 9.98040112e-01 6.25017084e-02 3.07764284e-03 2.33679724e+02] [-6.25013258e-02 9.98044857e-01 -2.20425238e-04 -1.66006500e+01] [-3.08540256e-03 2.76364708e-05 9.99995240e-01 -7.52525815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters Centerline goodness : 0.993595 with order 1 Centerline is valid? [True, True] Translation: X:233.74, Y:-16.61, Z:-0.75 [[ 9.97629395e-01 6.87467639e-02 3.07764792e-03 2.33738249e+02] [-6.87464112e-02 9.97634143e-01 -2.20354326e-04 -1.66128989e+01] [-3.08551529e-03 8.25470339e-06 9.99995240e-01 -7.54042938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters Centerline goodness : 0.993488 with order 1 Centerline is valid? [True, True] Translation: X:233.80, Y:-16.62, Z:-0.75 [[ 9.97335307e-01 7.28890477e-02 3.07765316e-03 2.33796329e+02] [-7.28887149e-02 9.97340056e-01 -2.20281047e-04 -1.66220333e+01] [-3.08552285e-03 -4.63211809e-06 9.99995240e-01 -7.54436063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters Centerline goodness : 0.993221 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:-16.63, Z:-0.75 [[ 9.96769765e-01 8.02531261e-02 3.07766095e-03 2.33855400e+02] [-8.02528288e-02 9.96774516e-01 -2.20172144e-04 -1.66278423e+01] [-3.08540351e-03 -2.75300612e-05 9.99995240e-01 -7.49480589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:233.91, Y:-16.63, Z:-0.75 [[ 9.96277959e-01 8.61438072e-02 3.07766610e-03 2.33913793e+02] [-8.61435382e-02 9.96282712e-01 -2.20100214e-04 -1.66296472e+01] [-3.08518579e-03 -4.58400548e-05 9.99995240e-01 -7.52938159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters Centerline goodness : 0.993819 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:-16.63, Z:-0.75 [[ 9.96147739e-01 8.76368043e-02 3.07767634e-03 2.33973217e+02] [-8.76365429e-02 9.96152492e-01 -2.19956871e-04 -1.66296054e+01] [-3.08511127e-03 -5.06073746e-05 9.99995240e-01 -7.52088692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters Centerline goodness : 0.993809 with order 1 Centerline is valid? [True, True] Translation: X:234.03, Y:-16.63, Z:-0.75 [[ 9.96260119e-01 8.63498930e-02 3.07768670e-03 2.34031989e+02] [-8.63496259e-02 9.96264871e-01 -2.19811851e-04 -1.66301292e+01] [-3.08517187e-03 -4.67673145e-05 9.99995240e-01 -7.53566714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:234.09, Y:-16.63, Z:-0.75 [[ 9.96654790e-01 8.16685781e-02 3.07769710e-03 2.34091067e+02] [-8.16682891e-02 9.96659542e-01 -2.19666164e-04 -1.66283676e+01] [-3.08535600e-03 -3.24189211e-05 9.99995240e-01 -7.52566266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters Centerline goodness : 0.993616 with order 1 Centerline is valid? [True, True] Translation: X:234.15, Y:-16.63, Z:-0.75 [[ 9.97016596e-01 7.71260946e-02 3.07770744e-03 2.34150467e+02] [-7.71257844e-02 9.97021346e-01 -2.19521093e-04 -1.66254401e+01] [-3.08547082e-03 -1.85044279e-05 9.99995240e-01 -7.54854415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [True, True] Translation: X:234.21, Y:-16.63, Z:-0.76 [[ 9.97549683e-01 6.98938979e-02 3.07771798e-03 2.34209374e+02] [-6.98935537e-02 9.97554431e-01 -2.19373319e-04 -1.66250943e+01] [-3.08552406e-03 3.72313814e-06 9.99995240e-01 -7.55452538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:-16.63, Z:-0.75 [[ 9.98133311e-01 6.09952513e-02 3.07772579e-03 2.34268876e+02] [-6.09948651e-02 9.98138056e-01 -2.19263623e-04 -1.66286116e+01] [-3.08536928e-03 3.11288562e-05 9.99995240e-01 -7.51801808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:-16.63, Z:-0.75 [[ 9.98443668e-01 5.56845507e-02 3.07773100e-03 2.34327790e+02] [-5.56841395e-02 9.98448411e-01 -2.19190521e-04 -1.66324193e+01] [-3.08516115e-03 4.74685858e-05 9.99995240e-01 -7.53377872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:234.39, Y:-16.64, Z:-0.75 [[ 9.98701310e-01 5.08549053e-02 3.07773866e-03 2.34387707e+02] [-5.08544715e-02 9.98706050e-01 -2.19082847e-04 -1.66377465e+01] [-3.08489766e-03 6.22815530e-05 9.99995240e-01 -7.52449310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters Centerline goodness : 0.993458 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:-16.65, Z:-0.75 [[ 9.98941044e-01 4.59055260e-02 3.07774376e-03 2.34447492e+02] [-4.59050690e-02 9.98945783e-01 -2.19011239e-04 -1.66462565e+01] [-3.08455297e-03 7.74952768e-05 9.99995240e-01 -7.54355092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:-16.65, Z:-0.76 [[ 9.99102875e-01 4.22370890e-02 3.07774376e-03 2.34507672e+02] [-4.22366146e-02 9.99107612e-01 -2.19011239e-04 -1.66539248e+01] [-3.08424761e-03 8.88212823e-05 9.99995240e-01 -7.57811360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters Centerline goodness : 0.994242 with order 1 Centerline is valid? [True, True] Translation: X:234.57, Y:-16.66, Z:-0.75 [[ 9.99288707e-01 3.75846729e-02 3.07774376e-03 2.34567200e+02] [-3.75841764e-02 9.99293441e-01 -2.19011239e-04 -1.66637455e+01] [-3.08380062e-03 1.03180994e-04 9.99995240e-01 -7.54843368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters Centerline goodness : 0.993973 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:-16.67, Z:-0.75 [[ 9.99353320e-01 3.58255513e-02 3.07774376e-03 2.34627580e+02] [-3.58250465e-02 9.99358053e-01 -2.19011239e-04 -1.66749511e+01] [-3.08361421e-03 1.08609296e-04 9.99995240e-01 -7.50648929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters Centerline goodness : 0.994134 with order 1 Centerline is valid? [True, True] Translation: X:234.69, Y:-16.69, Z:-0.75 [[ 9.99389717e-01 3.47954078e-02 3.07773876e-03 2.34688113e+02] [-3.47948979e-02 9.99394450e-01 -2.19081439e-04 -1.66883561e+01] [-3.08349806e-03 1.11858131e-04 9.99995240e-01 -7.53572431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters Centerline goodness : 0.994442 with order 1 Centerline is valid? [True, True] Translation: X:234.75, Y:-16.70, Z:-0.76 [[ 9.99376816e-01 3.51639921e-02 3.07773357e-03 2.34748117e+02] [-3.51634837e-02 9.99381549e-01 -2.19154375e-04 -1.67000232e+01] [-3.08353648e-03 1.10793967e-04 9.99995240e-01 -7.58964157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters Centerline goodness : 0.990731 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:-16.71, Z:-0.75 [[ 9.99229004e-01 3.91398148e-02 3.07773100e-03 2.34809074e+02] [-3.91393251e-02 9.99233739e-01 -2.19190390e-04 -1.67147534e+01] [-3.08395173e-03 9.85610813e-05 9.99995240e-01 -7.45624738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:234.87, Y:-16.72, Z:-0.75 [[ 9.99126392e-01 4.16770939e-02 3.07772593e-03 2.34870519e+02] [-4.16766160e-02 9.99131128e-01 -2.19261562e-04 -1.67208406e+01] [-3.08418997e-03 9.08008118e-05 9.99995240e-01 -7.54664242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters Centerline goodness : 0.994549 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:-16.74, Z:-0.76 [[ 9.98843799e-01 4.79749273e-02 3.07772084e-03 2.34929782e+02] [-4.79744790e-02 9.98848538e-01 -2.19333069e-04 -1.67358408e+01] [-3.08469944e-03 7.14274224e-05 9.99995240e-01 -7.56757394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:-16.75, Z:-0.75 [[ 9.98312272e-01 5.79925527e-02 3.07771832e-03 2.34989848e+02] [-5.79921520e-02 9.98317015e-01 -2.19368309e-04 -1.67455427e+01] [-3.08526030e-03 4.05145664e-05 9.99995240e-01 -7.54081566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:-16.75, Z:-0.76 [[ 9.97485052e-01 7.08103041e-02 3.07771832e-03 2.35050317e+02] [-7.08099643e-02 9.97489800e-01 -2.19368309e-04 -1.67482563e+01] [-3.08552617e-03 8.83484676e-07 9.99995240e-01 -7.57411533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters Centerline goodness : 0.995062 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:-16.75, Z:-0.76 [[ 9.96915884e-01 7.84171389e-02 3.07771832e-03 2.35110521e+02] [-7.84168353e-02 9.96920635e-01 -2.19368309e-04 -1.67492436e+01] [-3.08544314e-03 -2.26531790e-05 9.99995240e-01 -7.58652318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters Centerline goodness : 0.995122 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:-16.75, Z:-0.76 [[ 9.96506684e-01 8.34563117e-02 3.07771832e-03 2.35171006e+02] [-8.34560322e-02 9.96511436e-01 -2.19368309e-04 -1.67456178e+01] [-3.08528918e-03 -3.82521730e-05 9.99995240e-01 -7.56341781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters Centerline goodness : 0.990682 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:-16.75, Z:-0.75 [[ 9.96843731e-01 7.93290886e-02 3.07772366e-03 2.35231309e+02] [-7.93287897e-02 9.96848481e-01 -2.19293415e-04 -1.67460301e+01] [-3.08542050e-03 -2.55508267e-05 9.99995240e-01 -7.51293576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters Centerline goodness : 0.994575 with order 1 Centerline is valid? [True, True] Translation: X:235.29, Y:-16.74, Z:-0.76 [[ 9.97421273e-01 7.17030808e-02 3.07772366e-03 2.35292208e+02] [-7.17027455e-02 9.97426021e-01 -2.19293415e-04 -1.67419168e+01] [-3.08552568e-03 -1.95331897e-06 9.99995240e-01 -7.58438137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters Centerline goodness : 0.994549 with order 1 Centerline is valid? [True, True] Translation: X:235.35, Y:-16.74, Z:-0.76 [[ 9.97764191e-01 6.67618628e-02 3.07772366e-03 2.35352125e+02] [-6.67615040e-02 9.97768938e-01 -2.19293415e-04 -1.67422040e+01] [-3.08549750e-03 1.33296566e-05 9.99995240e-01 -7.61085780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters Centerline goodness : 0.994658 with order 1 Centerline is valid? [True, True] Translation: X:235.41, Y:-16.75, Z:-0.76 [[ 9.97971660e-01 6.35853226e-02 3.07772625e-03 2.35411202e+02] [-6.35849488e-02 9.97976406e-01 -2.19256992e-04 -1.67457793e+01] [-3.08543971e-03 2.31151983e-05 9.99995240e-01 -7.58943406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters Centerline goodness : 0.995097 with order 1 Centerline is valid? [True, True] Translation: X:235.47, Y:-16.75, Z:-0.76 [[ 9.98251546e-01 5.90286165e-02 3.07772882e-03 2.35470943e+02] [-5.90282211e-02 9.98256290e-01 -2.19221047e-04 -1.67500311e+01] [-3.08530246e-03 3.71648917e-05 9.99995240e-01 -7.58505019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:235.53, Y:-16.75, Z:-0.76 [[ 9.98496405e-01 5.47307632e-02 3.07773133e-03 2.35531181e+02] [-5.47303475e-02 9.98501147e-01 -2.19185700e-04 -1.67535644e+01] [-3.08511447e-03 5.04108283e-05 9.99995240e-01 -7.57365632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:-16.76, Z:-0.76 [[ 9.98714537e-01 5.05944679e-02 3.07773133e-03 2.35591172e+02] [-5.05940325e-02 9.98719278e-01 -2.19185700e-04 -1.67595483e+01] [-3.08487920e-03 6.31891061e-05 9.99995240e-01 -7.56376287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters Centerline goodness : 0.994079 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:-16.77, Z:-0.76 [[ 9.98910109e-01 4.65738311e-02 3.07773133e-03 2.35651437e+02] [-4.65733767e-02 9.98914847e-01 -2.19185700e-04 -1.67664612e+01] [-3.08459984e-03 7.56064711e-05 9.99995240e-01 -7.59081818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters Centerline goodness : 0.994873 with order 1 Centerline is valid? [True, True] Translation: X:235.71, Y:-16.77, Z:-0.76 [[ 9.98985059e-01 4.49374965e-02 3.07772877e-03 2.35712130e+02] [-4.49370342e-02 9.98989797e-01 -2.19221694e-04 -1.67746782e+01] [-3.08447091e-03 8.06951935e-05 9.99995240e-01 -7.62538405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters Centerline goodness : 0.995457 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:-16.79, Z:-0.76 [[ 9.98969879e-01 4.52737118e-02 3.07769588e-03 2.35773112e+02] [-4.52732497e-02 9.98974617e-01 -2.19682470e-04 -1.67853436e+01] [-3.08448590e-03 8.01188766e-05 9.99995240e-01 -7.64367688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters Centerline goodness : 0.995207 with order 1 Centerline is valid? [True, True] Translation: X:235.83, Y:-16.80, Z:-0.76 [[ 9.98862695e-01 4.75798642e-02 3.07767628e-03 2.35834355e+02] [-4.75794122e-02 9.98867434e-01 -2.19956746e-04 -1.67950491e+01] [-3.08465612e-03 7.32725596e-05 9.99995240e-01 -7.59363553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:235.89, Y:-16.80, Z:-0.76 [[ 9.98640429e-01 5.20367375e-02 3.07767108e-03 2.35894014e+02] [-5.20363064e-02 9.98645169e-01 -2.20029498e-04 -1.68028885e+01] [-3.08495097e-03 5.95797175e-05 9.99995240e-01 -7.58422191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:235.95, Y:-16.81, Z:-0.76 [[ 9.98461179e-01 5.53696843e-02 3.07765905e-03 2.35954683e+02] [-5.53692686e-02 9.98465921e-01 -2.20197526e-04 -1.68090936e+01] [-3.08512995e-03 4.94509510e-05 9.99995240e-01 -7.62257594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters Centerline goodness : 0.994685 with order 1 Centerline is valid? [True, True] Translation: X:236.01, Y:-16.82, Z:-0.76 [[ 9.98216592e-01 5.96167974e-02 3.07765396e-03 2.36014827e+02] [-5.96164015e-02 9.98221336e-01 -2.20268653e-04 -1.68159827e+01] [-3.08531156e-03 3.63971698e-05 9.99995240e-01 -7.59674918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters Centerline goodness : 0.994677 with order 1 Centerline is valid? [True, True] Translation: X:236.08, Y:-16.82, Z:-0.76 [[ 9.98013265e-01 6.29289370e-02 3.07765144e-03 2.36075519e+02] [-6.29285569e-02 9.98018010e-01 -2.20303963e-04 -1.68213558e+01] [-3.08541506e-03 2.61941145e-05 9.99995240e-01 -7.57407860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters Centerline goodness : 0.995121 with order 1 Centerline is valid? [True, True] Translation: X:236.14, Y:-16.83, Z:-0.76 [[ 9.97748039e-01 6.70028229e-02 3.07764626e-03 2.36135648e+02] [-6.70024619e-02 9.97752786e-01 -2.20376194e-04 -1.68261817e+01] [-3.08549596e-03 1.36700387e-05 9.99995240e-01 -7.59469004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:236.20, Y:-16.83, Z:-0.76 [[ 9.97674529e-01 6.80886282e-02 3.07764626e-03 2.36195498e+02] [-6.80882724e-02 9.97679276e-01 -2.20376194e-04 -1.68308555e+01] [-3.08550901e-03 1.03120983e-05 9.99995240e-01 -7.60404137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters Centerline goodness : 0.995269 with order 1 Centerline is valid? [True, True] Translation: X:236.26, Y:-16.84, Z:-0.77 [[ 9.97700016e-01 6.77141490e-02 3.07764626e-03 2.36255557e+02] [-6.77137913e-02 9.97704763e-01 -2.20376194e-04 -1.68366261e+01] [-3.08550492e-03 1.14702352e-05 9.99995240e-01 -7.65420499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters Centerline goodness : 0.995165 with order 1 Centerline is valid? [True, True] Translation: X:236.32, Y:-16.84, Z:-0.77 [[ 9.97646068e-01 6.85043851e-02 3.07763388e-03 2.36316274e+02] [-6.85040307e-02 9.97650815e-01 -2.20548950e-04 -1.68411547e+01] [-3.08551252e-03 9.19946676e-06 9.99995240e-01 -7.66180497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters Centerline goodness : 0.995718 with order 1 Centerline is valid? [True, True] Translation: X:236.38, Y:-16.85, Z:-0.76 [[ 9.97381971e-01 7.22477204e-02 3.07762861e-03 2.36376413e+02] [-7.22473836e-02 9.97386719e-01 -2.20622545e-04 -1.68474394e+01] [-3.08552537e-03 -2.30566593e-06 9.99995240e-01 -7.61572913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters Centerline goodness : 0.995060 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:-16.85, Z:-0.76 [[ 9.97400206e-01 7.19955322e-02 3.07761655e-03 2.36436951e+02] [-7.19951937e-02 9.97404955e-01 -2.20790554e-04 -1.68526958e+01] [-3.08552593e-03 -1.35705569e-06 9.99995240e-01 -7.62597810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters Centerline goodness : 0.995019 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:-16.86, Z:-0.76 [[ 9.97614296e-01 6.89655272e-02 3.07761655e-03 2.36498273e+02] [-6.89651743e-02 9.97619044e-01 -2.20790554e-04 -1.68608930e+01] [-3.08551582e-03 8.01545127e-06 9.99995240e-01 -7.60874720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters Centerline goodness : 0.991637 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:-16.87, Z:-0.75 [[ 9.97787165e-01 6.64176273e-02 3.07761135e-03 2.36559642e+02] [-6.64172620e-02 9.97791911e-01 -2.20863093e-04 -1.68726984e+01] [-3.08548491e-03 1.59678405e-05 9.99995240e-01 -7.51993927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters Centerline goodness : 0.995663 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:-16.88, Z:-0.76 [[ 9.97587397e-01 6.93535470e-02 3.07757425e-03 2.36619954e+02] [-6.93531940e-02 9.97592144e-01 -2.21378857e-04 -1.68791271e+01] [-3.08551730e-03 7.40515355e-06 9.99995240e-01 -7.64951678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:-16.89, Z:-0.76 [[ 9.97263868e-01 7.38600385e-02 3.07756898e-03 2.36681016e+02] [-7.38597068e-02 9.97268617e-01 -2.21452095e-04 -1.68852387e+01] [-3.08551942e-03 -6.46216912e-06 9.99995240e-01 -7.59061969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters Centerline goodness : 0.996083 with order 1 Centerline is valid? [True, True] Translation: X:236.74, Y:-16.89, Z:-0.76 [[ 9.97306913e-01 7.32765354e-02 3.07756352e-03 2.36742518e+02] [-7.32762007e-02 9.97311661e-01 -2.21527910e-04 -1.68919564e+01] [-3.08552279e-03 -4.58084617e-06 9.99995240e-01 -7.61903371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters Centerline goodness : 0.995388 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:-16.90, Z:-0.76 [[ 9.97354826e-01 7.26214848e-02 3.07752560e-03 2.36803229e+02] [-7.26211454e-02 9.97359574e-01 -2.22053521e-04 -1.68966039e+01] [-3.08552547e-03 -2.02728309e-06 9.99995240e-01 -7.62320003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters Centerline goodness : 0.995333 with order 1 Centerline is valid? [True, True] Translation: X:236.86, Y:-16.90, Z:-0.76 [[ 9.97314927e-01 7.31673838e-02 3.07749065e-03 2.36864596e+02] [-7.31670455e-02 9.97319675e-01 -2.22536734e-04 -1.68990861e+01] [-3.08552441e-03 -3.23169180e-06 9.99995240e-01 -7.60803893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters Centerline goodness : 0.995410 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:-16.90, Z:-0.76 [[ 9.96910969e-01 7.84796104e-02 3.07748529e-03 2.36926284e+02] [-7.84792972e-02 9.96915719e-01 -2.22610936e-04 -1.69014931e+01] [-3.08546388e-03 -1.95955985e-05 9.99995240e-01 -7.63756112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters Centerline goodness : 0.996122 with order 1 Centerline is valid? [True, True] Translation: X:236.99, Y:-16.90, Z:-0.76 [[ 9.96416084e-01 8.45311560e-02 3.07747992e-03 2.36986184e+02] [-8.45308713e-02 9.96420836e-01 -2.22685159e-04 -1.69000276e+01] [-3.08528895e-03 -3.82549850e-05 9.99995240e-01 -7.61528735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters Centerline goodness : 0.995837 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:-16.90, Z:-0.76 [[ 9.96236461e-01 8.66224168e-02 3.07748257e-03 2.37047263e+02] [-8.66221423e-02 9.96241213e-01 -2.22648453e-04 -1.69009986e+01] [-3.08520132e-03 -4.47676268e-05 9.99995240e-01 -7.62099171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters Centerline goodness : 0.995903 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:-16.90, Z:-0.76 [[ 9.96300997e-01 8.58769590e-02 3.07748257e-03 2.37107247e+02] [-8.58766809e-02 9.96305749e-01 -2.22648453e-04 -1.68991419e+01] [-3.08523395e-03 -4.24591135e-05 9.99995240e-01 -7.61834042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:237.17, Y:-16.90, Z:-0.76 [[ 9.96392666e-01 8.48067428e-02 3.07748518e-03 2.37168102e+02] [-8.48064597e-02 9.96397418e-01 -2.22612445e-04 -1.69009118e+01] [-3.08527732e-03 -3.91812144e-05 9.99995240e-01 -7.62691674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters Centerline goodness : 0.997155 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:-16.90, Z:-0.76 [[ 9.96383492e-01 8.49144644e-02 3.07748518e-03 2.37228351e+02] [-8.49141818e-02 9.96388244e-01 -2.22612445e-04 -1.69028482e+01] [-3.08527307e-03 -3.95147699e-05 9.99995240e-01 -7.63470309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:-16.91, Z:-0.76 [[ 9.96342672e-01 8.53920860e-02 3.07748518e-03 2.37288005e+02] [-8.53918057e-02 9.96347424e-01 -2.22612446e-04 -1.69067256e+01] [-3.08525377e-03 -4.09937375e-05 9.99995240e-01 -7.59733127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters Centerline goodness : 0.997225 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:-16.91, Z:-0.76 [[ 9.96300981e-01 8.58771418e-02 3.07748782e-03 2.37348218e+02] [-8.58768639e-02 9.96305734e-01 -2.22575906e-04 -1.69098518e+01] [-3.08523294e-03 -4.25324092e-05 9.99995240e-01 -7.61873741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters Centerline goodness : 0.996925 with order 1 Centerline is valid? [True, True] Translation: X:237.41, Y:-16.91, Z:-0.76 [[ 9.96215489e-01 8.68632786e-02 3.07748782e-03 2.37407999e+02] [-8.68630054e-02 9.96220241e-01 -2.22575906e-04 -1.69132853e+01] [-3.08518933e-03 -4.55862762e-05 9.99995240e-01 -7.63028452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters Centerline goodness : 0.997079 with order 1 Centerline is valid? [True, True] Translation: X:237.47, Y:-16.92, Z:-0.76 [[ 9.95857113e-01 9.08798029e-02 3.07749051e-03 2.37468173e+02] [-9.08795490e-02 9.95861867e-01 -2.22538643e-04 -1.69153165e+01] [-3.08497972e-03 -5.80642592e-05 9.99995240e-01 -7.60922602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters Centerline goodness : 0.997160 with order 1 Centerline is valid? [True, True] Translation: X:237.53, Y:-16.91, Z:-0.77 [[ 9.95606853e-01 9.35816392e-02 3.07749569e-03 2.37527735e+02] [-9.35813984e-02 9.95611607e-01 -2.22466998e-04 -1.69139710e+01] [-3.08480926e-03 -6.65066831e-05 9.99995240e-01 -7.65264393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters Centerline goodness : 0.997735 with order 1 Centerline is valid? [True, True] Translation: X:237.59, Y:-16.91, Z:-0.77 [[ 9.95272137e-01 9.70767890e-02 3.07750089e-03 2.37586709e+02] [-9.70765651e-02 9.95276892e-01 -2.22395140e-04 -1.69119444e+01] [-3.08455492e-03 -7.74095287e-05 9.99995240e-01 -7.67352969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters Centerline goodness : 0.998207 with order 1 Centerline is valid? [True, True] Translation: X:237.65, Y:-16.91, Z:-0.77 [[ 9.95004199e-01 9.97856350e-02 3.07750858e-03 2.37646249e+02] [-9.97854244e-02 9.95008955e-01 -2.22288584e-04 -1.69072188e+01] [-3.08432981e-03 -8.59124256e-05 9.99995240e-01 -7.68026486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:-16.90, Z:-0.77 [[ 9.94854018e-01 1.01271970e-01 3.07751896e-03 2.37705899e+02] [-1.01271767e-01 9.94858774e-01 -2.22144855e-04 -1.69030530e+01] [-3.08419378e-03 -9.06640811e-05 9.99995240e-01 -7.69883485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters Centerline goodness : 0.997774 with order 1 Centerline is valid? [True, True] Translation: X:237.76, Y:-16.90, Z:-0.77 [[ 9.94883760e-01 1.00979369e-01 3.07752954e-03 2.37764221e+02] [-1.00979165e-01 9.94888516e-01 -2.21998208e-04 -1.68976819e+01] [-3.08421603e-03 -8.99039518e-05 9.99995240e-01 -7.68131997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters Centerline goodness : 0.997405 with order 1 Centerline is valid? [True, True] Translation: X:237.82, Y:-16.90, Z:-0.77 [[ 9.95736450e-01 9.21924627e-02 3.07754447e-03 2.37823066e+02] [-9.21922174e-02 9.95741204e-01 -2.21790988e-04 -1.68951623e+01] [-3.08488529e-03 -6.28802776e-05 9.99995240e-01 -7.66285532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:-16.90, Z:-0.77 [[ 9.96858373e-01 7.91448802e-02 3.07755482e-03 2.37881449e+02] [-7.91445731e-02 9.96863124e-01 -2.21647267e-04 -1.68992818e+01] [-3.08544316e-03 -2.26208280e-05 9.99995240e-01 -7.68429470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters Centerline goodness : 0.997905 with order 1 Centerline is valid? [True, True] Translation: X:237.94, Y:-16.91, Z:-0.77 [[ 9.97523476e-01 7.02669441e-02 3.07756253e-03 2.37940347e+02] [-7.02665950e-02 9.97528223e-01 -2.21540230e-04 -1.69079715e+01] [-3.08552243e-03 4.74174076e-06 9.99995240e-01 -7.66071391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters Centerline goodness : 0.998020 with order 1 Centerline is valid? [True, True] Translation: X:238.00, Y:-16.92, Z:-0.77 [[ 9.97711251e-01 6.75484080e-02 3.07756766e-03 2.38000066e+02] [-6.75480462e-02 9.97715998e-01 -2.21468837e-04 -1.69159999e+01] [-3.08549836e-03 1.30782676e-05 9.99995240e-01 -7.66173511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:238.06, Y:-16.93, Z:-0.77 [[ 9.97555216e-01 6.98149021e-02 3.07757274e-03 2.38057990e+02] [-6.98145513e-02 9.97559963e-01 -2.21398252e-04 -1.69295561e+01] [-3.08552025e-03 5.99762080e-06 9.99995240e-01 -7.71962873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters Centerline goodness : 0.997807 with order 1 Centerline is valid? [True, True] Translation: X:238.12, Y:-16.94, Z:-0.77 [[ 9.97367813e-01 7.24428992e-02 3.07758027e-03 2.38116904e+02] [-7.24425612e-02 9.97372561e-01 -2.21293477e-04 -1.69382685e+01] [-3.08552526e-03 -2.23680663e-06 9.99995240e-01 -7.68556741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters Centerline goodness : 0.998426 with order 1 Centerline is valid? [True, True] Translation: X:238.17, Y:-16.95, Z:-0.77 [[ 9.97084425e-01 7.62441966e-02 3.07758549e-03 2.38174743e+02] [-7.62438770e-02 9.97089175e-01 -2.21220905e-04 -1.69458608e+01] [-3.08549399e-03 -1.40711303e-05 9.99995240e-01 -7.74474564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters Centerline goodness : 0.998238 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:-16.95, Z:-0.77 [[ 9.97013429e-01 7.71670324e-02 3.07759051e-03 2.38234374e+02] [-7.71667173e-02 9.97018179e-01 -2.21151120e-04 -1.69521650e+01] [-3.08547926e-03 -1.69969206e-05 9.99995240e-01 -7.71001271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:-16.96, Z:-0.77 [[ 9.97067849e-01 7.64606687e-02 3.07759569e-03 2.38293400e+02] [-7.64603505e-02 9.97072598e-01 -2.21078889e-04 -1.69587015e+01] [-3.08549018e-03 -1.48833936e-05 9.99995240e-01 -7.69860401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters Centerline goodness : 0.998371 with order 1 Centerline is valid? [True, True] Translation: X:238.35, Y:-16.97, Z:-0.77 [[ 9.97116103e-01 7.58287970e-02 3.07759286e-03 2.38353339e+02] [-7.58284757e-02 9.97120852e-01 -2.21118277e-04 -1.69664930e+01] [-3.08549915e-03 -1.28885815e-05 9.99995240e-01 -7.68003394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:238.41, Y:-16.97, Z:-0.77 [[ 9.96852271e-01 7.92217091e-02 3.07759286e-03 2.38411581e+02] [-7.92214039e-02 9.96857021e-01 -2.21118277e-04 -1.69703898e+01] [-3.08543742e-03 -2.33889713e-05 9.99995240e-01 -7.65877354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:238.47, Y:-16.97, Z:-0.77 [[ 9.96024613e-01 8.90252645e-02 3.07760054e-03 2.38470395e+02] [-8.90250064e-02 9.96029367e-01 -2.21011369e-04 -1.69695495e+01] [-3.08505611e-03 -5.38506446e-05 9.99995240e-01 -7.68240040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:-16.97, Z:-0.77 [[ 9.95219678e-01 9.76131187e-02 3.07761138e-03 2.38528611e+02] [-9.76129021e-02 9.95224433e-01 -2.20860319e-04 -1.69696480e+01] [-3.08447291e-03 -8.06100436e-05 9.99995240e-01 -7.68970221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:-16.97, Z:-0.77 [[ 9.94934012e-01 1.00483029e-01 3.07762583e-03 2.38587591e+02] [-1.00482827e-01 9.94938768e-01 -2.20658842e-04 -1.69670274e+01] [-3.08422172e-03 -8.97075573e-05 9.99995240e-01 -7.68147931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:-16.96, Z:-0.77 [[ 9.94807521e-01 1.01727696e-01 3.07763643e-03 2.38645828e+02] [-1.01727501e-01 9.94812277e-01 -2.20510842e-04 -1.69649975e+01] [-3.08410257e-03 -9.37144176e-05 9.99995240e-01 -7.71906539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:238.71, Y:-16.96, Z:-0.78 [[ 9.94689896e-01 1.02871468e-01 3.07764956e-03 2.38705238e+02] [-1.02871278e-01 9.94694652e-01 -2.20327465e-04 -1.69623192e+01] [-3.08398697e-03 -9.74442394e-05 9.99995240e-01 -7.76714587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:238.76, Y:-16.96, Z:-0.77 [[ 9.94421275e-01 1.05436500e-01 3.07766009e-03 2.38764671e+02] [-1.05436323e-01 9.94426032e-01 -2.20180276e-04 -1.69583686e+01] [-3.08372035e-03 -1.05545213e-04 9.99995240e-01 -7.71633807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters Centerline goodness : 0.998093 with order 1 Centerline is valid? [True, True] Translation: X:238.82, Y:-16.95, Z:-0.77 [[ 9.94241415e-01 1.07119268e-01 3.07767060e-03 2.38822617e+02] [-1.07119100e-01 9.94246172e-01 -2.20033220e-04 -1.69541210e+01] [-3.08353201e-03 -1.10911164e-04 9.99995240e-01 -7.70931808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:238.88, Y:-16.94, Z:-0.77 [[ 9.93973159e-01 1.09580508e-01 3.07768366e-03 2.38882263e+02] [-1.09580351e-01 9.93977916e-01 -2.19850455e-04 -1.69379628e+01] [-3.08324091e-03 -1.18728206e-04 9.99995240e-01 -7.72365214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:-16.93, Z:-0.77 [[ 9.94071221e-01 1.08687327e-01 3.07769913e-03 2.38940948e+02] [-1.08687167e-01 9.94075979e-01 -2.19633623e-04 -1.69332231e+01] [-3.08333817e-03 -1.16174937e-04 9.99995240e-01 -7.73315026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters Centerline goodness : 0.998148 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:-16.93, Z:-0.77 [[ 9.94511468e-01 1.04582352e-01 3.07771481e-03 2.38999013e+02] [-1.04582173e-01 9.94516225e-01 -2.19413694e-04 -1.69252443e+01] [-3.08378411e-03 -1.03664668e-04 9.99995240e-01 -7.73585229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters Centerline goodness : 0.995150 with order 1 Centerline is valid? [True, True] Translation: X:239.06, Y:-16.92, Z:-0.76 [[ 9.94823205e-01 1.01574198e-01 3.07773291e-03 2.39058376e+02] [-1.01574005e-01 9.94827962e-01 -2.19159569e-04 -1.69211092e+01] [-3.08407571e-03 -9.45926343e-05 9.99995240e-01 -7.58000917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:-16.92, Z:-0.77 [[ 9.94978074e-01 1.00045788e-01 3.07774393e-03 2.39115678e+02] [-1.00045589e-01 9.94982830e-01 -2.19004692e-04 -1.69179375e+01] [-3.08421286e-03 -9.00098380e-05 9.99995240e-01 -7.66991948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:-16.91, Z:-0.77 [[ 9.95124668e-01 9.85769841e-02 3.07776811e-03 2.39175405e+02] [-9.85767789e-02 9.95129424e-01 -2.18664265e-04 -1.69134579e+01] [-3.08433287e-03 -8.57982631e-05 9.99995240e-01 -7.73983129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters Centerline goodness : 0.997913 with order 1 Centerline is valid? [True, True] Translation: X:239.23, Y:-16.91, Z:-0.77 [[ 9.95610926e-01 9.35382839e-02 3.07777864e-03 2.39232082e+02] [-9.35380551e-02 9.95615681e-01 -2.18515944e-04 -1.69128316e+01] [-3.08472429e-03 -7.03325672e-05 9.99995240e-01 -7.73502357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters Centerline goodness : 0.997758 with order 1 Centerline is valid? [True, True] Translation: X:239.29, Y:-16.91, Z:-0.77 [[ 9.96395474e-01 8.47737399e-02 3.07779680e-03 2.39290491e+02] [-8.47734701e-02 9.96400226e-01 -2.18259968e-04 -1.69137638e+01] [-3.08522014e-03 -4.34422708e-05 9.99995240e-01 -7.67496116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters Centerline goodness : 0.998018 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:-16.92, Z:-0.77 [[ 9.96900535e-01 7.86120210e-02 3.07781284e-03 2.39348375e+02] [-7.86117225e-02 9.96905286e-01 -2.18033502e-04 -1.69194873e+01] [-3.08542794e-03 -2.45944544e-05 9.99995240e-01 -7.73277261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:-16.93, Z:-0.77 [[ 9.97196722e-01 7.47611210e-02 3.07782604e-03 2.39406735e+02] [-7.47608047e-02 9.97201471e-01 -2.17847005e-04 -1.69258285e+01] [-3.08549914e-03 -1.28644322e-05 9.99995240e-01 -7.72377312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:-16.93, Z:-0.77 [[ 9.97302057e-01 7.33425766e-02 3.07783653e-03 2.39464228e+02] [-7.33422540e-02 9.97306807e-01 -2.17698724e-04 -1.69302986e+01] [-3.08551390e-03 -8.62408359e-06 9.99995240e-01 -7.69245779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:239.52, Y:-16.94, Z:-0.78 [[ 9.97294671e-01 7.34429416e-02 3.07784949e-03 2.39522452e+02] [-7.34426201e-02 9.97299421e-01 -2.17515283e-04 -1.69381506e+01] [-3.08551248e-03 -9.11849840e-06 9.99995240e-01 -7.76445673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters Centerline goodness : 0.997725 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:-16.95, Z:-0.77 [[ 9.97202308e-01 7.46865677e-02 3.07785983e-03 2.39581059e+02] [-7.46862525e-02 9.97207058e-01 -2.17368927e-04 -1.69460040e+01] [-3.08549808e-03 -1.31130204e-05 9.99995240e-01 -7.74424394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters Centerline goodness : 0.997698 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:-16.95, Z:-0.78 [[ 9.97036133e-01 7.68731193e-02 3.07787016e-03 2.39639165e+02] [-7.68728150e-02 9.97040883e-01 -2.17222530e-04 -1.69505767e+01] [-3.08546096e-03 -2.00258323e-05 9.99995240e-01 -7.76427154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters Centerline goodness : 0.997555 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:-16.95, Z:-0.77 [[ 9.96868148e-01 7.90216612e-02 3.07788300e-03 2.39698269e+02] [-7.90213677e-02 9.96872899e-01 -2.17040402e-04 -1.69541154e+01] [-3.08540904e-03 -2.68578612e-05 9.99995240e-01 -7.71329071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters Centerline goodness : 0.997625 with order 1 Centerline is valid? [True, True] Translation: X:239.76, Y:-16.96, Z:-0.77 [[ 9.96888866e-01 7.87598547e-02 3.07789332e-03 2.39756716e+02] [-7.87595604e-02 9.96893617e-01 -2.16894004e-04 -1.69571240e+01] [-3.08541475e-03 -2.61943075e-05 9.99995240e-01 -7.72038778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters Centerline goodness : 0.997827 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:-16.96, Z:-0.77 [[ 9.97162715e-01 7.52133449e-02 3.07790365e-03 2.39815285e+02] [-7.52130341e-02 9.97167465e-01 -2.16747380e-04 -1.69614531e+01] [-3.08548767e-03 -1.53660665e-05 9.99995240e-01 -7.72331961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:-16.97, Z:-0.77 [[ 9.97664078e-01 6.82415883e-02 3.07791404e-03 2.39874095e+02] [-6.82412448e-02 9.97668826e-01 -2.16599596e-04 -1.69694737e+01] [-3.08551999e-03 6.05295060e-06 9.99995240e-01 -7.70776678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:-16.98, Z:-0.77 [[ 9.98088738e-01 6.17203085e-02 3.07792431e-03 2.39931845e+02] [-6.17199344e-02 9.98093484e-01 -2.16453645e-04 -1.69830860e+01] [-3.08541578e-03 2.60706591e-05 9.99995240e-01 -7.72695424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:-16.99, Z:-0.77 [[ 9.98129051e-01 6.10649128e-02 3.07793452e-03 2.39989928e+02] [-6.10645360e-02 9.98133796e-01 -2.16308382e-04 -1.69945396e+01] [-3.08539932e-03 2.79510369e-05 9.99995240e-01 -7.71826017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:-17.00, Z:-0.77 [[ 9.97895126e-01 6.47753281e-02 3.07794466e-03 2.40046892e+02] [-6.47749695e-02 9.97899873e-01 -2.16164030e-04 -1.70035262e+01] [-3.08548268e-03 1.63352604e-05 9.99995240e-01 -7.72613494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters Centerline goodness : 0.998297 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:-17.01, Z:-0.78 [[ 9.97355220e-01 7.26160562e-02 3.07795716e-03 2.40103915e+02] [-7.26157355e-02 9.97359969e-01 -2.15985765e-04 -1.70119309e+01] [-3.08551530e-03 -8.09359274e-06 9.99995240e-01 -7.77262605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:-17.02, Z:-0.78 [[ 9.96910531e-01 7.84851570e-02 3.07797038e-03 2.40162212e+02] [-7.84848648e-02 9.96915282e-01 -2.15797276e-04 -1.70198358e+01] [-3.08541259e-03 -2.64435119e-05 9.99995240e-01 -7.75824670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:240.22, Y:-17.03, Z:-0.77 [[ 9.96502039e-01 8.35117507e-02 3.07798088e-03 2.40220179e+02] [-8.35114829e-02 9.96506792e-01 -2.15647386e-04 -1.70251003e+01] [-3.08523794e-03 -4.21536885e-05 9.99995240e-01 -7.74924350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:-17.03, Z:-0.78 [[ 9.96256449e-01 8.63922139e-02 3.07799505e-03 2.40279430e+02] [-8.63919605e-02 9.96261202e-01 -2.15444907e-04 -1.70279037e+01] [-3.08509981e-03 -5.12756488e-05 9.99995240e-01 -7.76595638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:-17.03, Z:-0.78 [[ 9.96133980e-01 8.77930480e-02 3.07800472e-03 2.40338498e+02] [-8.77928017e-02 9.96138734e-01 -2.15306712e-04 -1.70331015e+01] [-3.08502216e-03 -5.57523257e-05 9.99995240e-01 -7.76945763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters Centerline goodness : 0.997297 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:-17.04, Z:-0.77 [[ 9.96159066e-01 8.75079463e-02 3.07801452e-03 2.40396998e+02] [-8.75076990e-02 9.96163820e-01 -2.15166510e-04 -1.70374546e+01] [-3.08503548e-03 -5.50098984e-05 9.99995240e-01 -7.74471845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters Centerline goodness : 0.997736 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:-17.04, Z:-0.77 [[ 9.96145733e-01 8.76595893e-02 3.07802496e-03 2.40455810e+02] [-8.76593432e-02 9.96150487e-01 -2.15017077e-04 -1.70412401e+01] [-3.08502437e-03 -5.56293024e-05 9.99995240e-01 -7.71601851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:240.51, Y:-17.05, Z:-0.77 [[ 9.96098374e-01 8.81961186e-02 3.07803524e-03 2.40513455e+02] [-8.81958755e-02 9.96103128e-01 -2.14869777e-04 -1.70450512e+01] [-3.08499121e-03 -5.74385778e-05 9.99995240e-01 -7.72092151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters Centerline goodness : 0.997410 with order 1 Centerline is valid? [True, True] Translation: X:240.57, Y:-17.05, Z:-0.77 [[ 9.96038038e-01 8.88749207e-02 3.07804797e-03 2.40572499e+02] [-8.88746815e-02 9.96042793e-01 -2.14687309e-04 -1.70497023e+01] [-3.08494781e-03 -5.97238069e-05 9.99995240e-01 -7.74991102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:240.63, Y:-17.05, Z:-0.78 [[ 9.96146759e-01 8.76479331e-02 3.07805812e-03 2.40630931e+02] [-8.76476885e-02 9.96151513e-01 -2.14541697e-04 -1.70543662e+01] [-3.08501639e-03 -5.60696634e-05 9.99995240e-01 -7.78728314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters Centerline goodness : 0.997560 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-17.06, Z:-0.78 [[ 9.96190918e-01 8.71445921e-02 3.07806834e-03 2.40689289e+02] [-8.71443455e-02 9.96195672e-01 -2.14394931e-04 -1.70599463e+01] [-3.08504172e-03 -5.46579676e-05 9.99995240e-01 -7.78051402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters Centerline goodness : 0.997952 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:-17.06, Z:-0.78 [[ 9.96135337e-01 8.77776508e-02 3.07807848e-03 2.40748145e+02] [-8.77774077e-02 9.96140091e-01 -2.14249277e-04 -1.70625979e+01] [-3.08500367e-03 -5.67644737e-05 9.99995240e-01 -7.75723435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters Centerline goodness : 0.996855 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:-17.07, Z:-0.78 [[ 9.95937364e-01 8.99960633e-02 3.07808865e-03 2.40805590e+02] [-8.99958312e-02 9.95942119e-01 -2.14103002e-04 -1.70659289e+01] [-3.08486656e-03 -6.37819670e-05 9.99995240e-01 -7.75840765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:240.86, Y:-17.07, Z:-0.77 [[ 9.96077351e-01 8.84332258e-02 3.07810121e-03 2.40864205e+02] [-8.84329869e-02 9.96082106e-01 -2.13922394e-04 -1.70660817e+01] [-3.08495938e-03 -5.91224323e-05 9.99995240e-01 -7.74204898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters Centerline goodness : 0.997706 with order 1 Centerline is valid? [True, True] Translation: X:240.92, Y:-17.07, Z:-0.78 [[ 9.96248080e-01 8.64886592e-02 3.07811123e-03 2.40921742e+02] [-8.64884114e-02 9.96252834e-01 -2.13778003e-04 -1.70681753e+01] [-3.08506641e-03 -5.32450258e-05 9.99995240e-01 -7.75614671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters Centerline goodness : 0.997370 with order 1 Centerline is valid? [True, True] Translation: X:240.98, Y:-17.07, Z:-0.78 [[ 9.96366003e-01 8.51194107e-02 3.07812451e-03 2.40980455e+02] [-8.51191569e-02 9.96370756e-01 -2.13586722e-04 -1.70687114e+01] [-3.08513362e-03 -4.91968147e-05 9.99995240e-01 -7.77176425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:241.04, Y:-17.07, Z:-0.78 [[ 9.96446732e-01 8.41690896e-02 3.07813408e-03 2.41039729e+02] [-8.41688317e-02 9.96451485e-01 -2.13448712e-04 -1.70679795e+01] [-3.08517706e-03 -4.63926772e-05 9.99995240e-01 -7.76569544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters Centerline goodness : 0.992970 with order 1 Centerline is valid? [True, True] Translation: X:241.10, Y:-17.07, Z:-0.76 [[ 9.96451800e-01 8.41090650e-02 3.07814389e-03 2.41098686e+02] [-8.41088073e-02 9.96456554e-01 -2.13307140e-04 -1.70679575e+01] [-3.08517771e-03 -4.63487269e-05 9.99995240e-01 -7.62912545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters Centerline goodness : 0.997127 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:-17.07, Z:-0.78 [[ 9.96364946e-01 8.51317723e-02 3.07815409e-03 2.41156459e+02] [-8.51315199e-02 9.96369700e-01 -2.13159741e-04 -1.70670465e+01] [-3.08512614e-03 -4.96630426e-05 9.99995240e-01 -7.75377973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:241.21, Y:-17.07, Z:-0.78 [[ 9.96440469e-01 8.42432026e-02 3.07816670e-03 2.41214262e+02] [-8.42429466e-02 9.96445222e-01 -2.12977545e-04 -1.70683029e+01] [-3.08516641e-03 -4.70943878e-05 9.99995240e-01 -7.75454815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters Centerline goodness : 0.997007 with order 1 Centerline is valid? [True, True] Translation: X:241.27, Y:-17.07, Z:-0.77 [[ 9.96923922e-01 7.83148687e-02 3.07817915e-03 2.41272831e+02] [-7.83145849e-02 9.96928674e-01 -2.12797416e-04 -1.70706723e+01] [-3.08539026e-03 -2.89234877e-05 9.99995240e-01 -7.71899063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters Centerline goodness : 0.997032 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:-17.08, Z:-0.78 [[ 9.97401574e-01 7.19765537e-02 3.07818946e-03 2.41331272e+02] [-7.19762402e-02 9.97406324e-01 -2.12648156e-04 -1.70754137e+01] [-3.08551132e-03 -9.46089829e-06 9.99995240e-01 -7.76933075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:-17.08, Z:-0.78 [[ 9.97408689e-01 7.18779014e-02 3.07819980e-03 2.41388749e+02] [-7.18775879e-02 9.97413438e-01 -2.12498427e-04 -1.70823813e+01] [-3.08551179e-03 -9.30579932e-06 9.99995240e-01 -7.76704604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters Centerline goodness : 0.997094 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:-17.09, Z:-0.78 [[ 9.97401334e-01 7.19798842e-02 3.07821353e-03 2.41447071e+02] [-7.19795718e-02 9.97406084e-01 -2.12299289e-04 -1.70853777e+01] [-3.08551019e-03 -9.82089795e-06 9.99995240e-01 -7.76016458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters Centerline goodness : 0.996735 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:-17.09, Z:-0.78 [[ 9.97504160e-01 7.05405946e-02 3.07822354e-03 2.41505002e+02] [-7.05402758e-02 9.97508909e-01 -2.12154153e-04 -1.70927075e+01] [-3.08552088e-03 -5.51408700e-06 9.99995240e-01 -7.75318984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:-17.10, Z:-0.77 [[ 9.97639229e-01 6.86038887e-02 3.07823588e-03 2.41562914e+02] [-6.86035612e-02 9.97643978e-01 -2.11974921e-04 -1.71007531e+01] [-3.08552579e-03 2.96553304e-07 9.99995240e-01 -7.74131220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters Centerline goodness : 0.996834 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:-17.11, Z:-0.77 [[ 9.97616565e-01 6.89326695e-02 3.07824846e-03 2.41621391e+02] [-6.89323441e-02 9.97621314e-01 -2.11792059e-04 -1.71054539e+01] [-3.08552567e-03 -9.03615798e-07 9.99995240e-01 -7.74358938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-17.11, Z:-0.78 [[ 9.97565620e-01 6.96660457e-02 3.07825854e-03 2.41679516e+02] [-6.96657243e-02 9.97570369e-01 -2.11645459e-04 -1.71103068e+01] [-3.08552401e-03 -3.31887704e-06 9.99995240e-01 -7.75689685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters Centerline goodness : 0.996882 with order 1 Centerline is valid? [True, True] Translation: X:241.74, Y:-17.12, Z:-0.78 [[ 9.97423465e-01 7.16725646e-02 3.07826850e-03 2.41737669e+02] [-7.16722531e-02 9.97428215e-01 -2.11500492e-04 -1.71177440e+01] [-3.08551064e-03 -9.67088602e-06 9.99995240e-01 -7.76697891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters Centerline goodness : 0.996843 with order 1 Centerline is valid? [True, True] Translation: X:241.80, Y:-17.12, Z:-0.77 [[ 9.97352985e-01 7.26467338e-02 3.07827846e-03 2.41796458e+02] [-7.26464275e-02 9.97357735e-01 -2.11355484e-04 -1.71244191e+01] [-3.08549912e-03 -1.28299103e-05 9.99995240e-01 -7.74989020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:241.85, Y:-17.13, Z:-0.78 [[ 9.97324815e-01 7.30324360e-02 3.07828836e-03 2.41854733e+02] [-7.30321320e-02 9.97329566e-01 -2.11211164e-04 -1.71313116e+01] [-3.08549326e-03 -1.41678262e-05 9.99995240e-01 -7.76450830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters Centerline goodness : 0.993454 with order 1 Centerline is valid? [True, True] Translation: X:241.91, Y:-17.14, Z:-0.76 [[ 9.97404649e-01 7.19339228e-02 3.07829828e-03 2.41912792e+02] [-7.19336140e-02 9.97409400e-01 -2.11066496e-04 -1.71436075e+01] [-3.08550648e-03 -1.09144156e-05 9.99995240e-01 -7.64821720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters Centerline goodness : 0.996960 with order 1 Centerline is valid? [True, True] Translation: X:241.97, Y:-17.16, Z:-0.78 [[ 9.97595441e-01 6.92377065e-02 3.07830815e-03 2.41970393e+02] [-6.92373853e-02 9.97600190e-01 -2.10922385e-04 -1.71571006e+01] [-3.08552458e-03 -2.71879854e-06 9.99995240e-01 -7.75894382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:-17.17, Z:-0.78 [[ 9.97411231e-01 7.18426034e-02 3.07831816e-03 2.42027779e+02] [-7.18422950e-02 9.97415982e-01 -2.10776313e-04 -1.71711172e+01] [-3.08550644e-03 -1.09227787e-05 9.99995240e-01 -7.75732734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:242.09, Y:-17.18, Z:-0.78 [[ 9.97077786e-01 7.63309390e-02 3.07832555e-03 2.42086330e+02] [-7.63306523e-02 9.97082538e-01 -2.10668196e-04 -1.71800347e+01] [-3.08542516e-03 -2.49180188e-05 9.99995240e-01 -7.76532289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:-17.19, Z:-0.77 [[ 9.96427695e-01 8.43941483e-02 3.07833554e-03 2.42143513e+02] [-8.43939005e-02 9.96432449e-01 -2.10522134e-04 -1.71876743e+01] [-3.08512026e-03 -5.00226587e-05 9.99995240e-01 -7.73804128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters Centerline goodness : 0.996478 with order 1 Centerline is valid? [True, True] Translation: X:242.20, Y:-17.19, Z:-0.77 [[ 9.95833782e-01 9.11350804e-02 3.07834795e-03 2.42200982e+02] [-9.11348653e-02 9.95838537e-01 -2.10340584e-04 -1.71923090e+01] [-3.08470692e-03 -7.10805662e-05 9.99995240e-01 -7.68647466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters Centerline goodness : 0.996450 with order 1 Centerline is valid? [True, True] Translation: X:242.26, Y:-17.19, Z:-0.78 [[ 9.95320921e-01 9.65753007e-02 3.07835984e-03 2.42259983e+02] [-9.65751122e-02 9.95325677e-01 -2.10166411e-04 -1.71896666e+01] [-3.08426748e-03 -8.81099214e-05 9.99995240e-01 -7.75084702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters Centerline goodness : 0.996611 with order 1 Centerline is valid? [True, True] Translation: X:242.32, Y:-17.19, Z:-0.77 [[ 9.95350832e-01 9.62665279e-02 3.07836951e-03 2.42319100e+02] [-9.62663384e-02 9.95355589e-01 -2.10024666e-04 -1.71878449e+01] [-3.08429064e-03 -8.72951352e-05 9.99995240e-01 -7.73771600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:-17.19, Z:-0.77 [[ 9.95529195e-01 9.44041562e-02 3.07837910e-03 2.42378325e+02] [-9.44039582e-02 9.95533952e-01 -2.09883995e-04 -1.71900475e+01] [-3.08444483e-03 -8.16655272e-05 9.99995240e-01 -7.73612819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters Centerline goodness : 0.992749 with order 1 Centerline is valid? [True, True] Translation: X:242.44, Y:-17.19, Z:-0.77 [[ 9.96232289e-01 8.66703528e-02 3.07838867e-03 2.42437259e+02] [-8.66701183e-02 9.96237043e-01 -2.09743607e-04 -1.71903723e+01] [-3.08498338e-03 -5.78509563e-05 9.99995240e-01 -7.65947686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters Centerline goodness : 0.996414 with order 1 Centerline is valid? [True, True] Translation: X:242.50, Y:-17.19, Z:-0.78 [[ 9.96544179e-01 8.30073665e-02 3.07839855e-03 2.42496313e+02] [-8.30071150e-02 9.96548933e-01 -2.09598453e-04 -1.71867590e+01] [-3.08517300e-03 -4.66548641e-05 9.99995240e-01 -7.75528883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters Centerline goodness : 0.996695 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:-17.19, Z:-0.78 [[ 9.96562676e-01 8.27850040e-02 3.07840861e-03 2.42554748e+02] [-8.27847519e-02 9.96567429e-01 -2.09450594e-04 -1.71865977e+01] [-3.08518112e-03 -4.61146486e-05 9.99995240e-01 -7.75187091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters Centerline goodness : 0.995865 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:-17.19, Z:-0.77 [[ 9.96527600e-01 8.32061619e-02 3.07842098e-03 2.42613466e+02] [-8.32059123e-02 9.96532354e-01 -2.09268548e-04 -1.71857296e+01] [-3.08515854e-03 -4.76009429e-05 9.99995240e-01 -7.74971385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters Centerline goodness : 0.996146 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:-17.19, Z:-0.77 [[ 9.96626309e-01 8.20153912e-02 3.07843111e-03 2.42671238e+02] [-8.20151365e-02 9.96631062e-01 -2.09119467e-04 -1.71854810e+01] [-3.08521108e-03 -4.40639853e-05 9.99995240e-01 -7.71833735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters Centerline goodness : 0.996112 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:-17.19, Z:-0.77 [[ 9.96914383e-01 7.84361955e-02 3.07844354e-03 2.42729804e+02] [-7.84359243e-02 9.96919135e-01 -2.08936376e-04 -1.71889167e+01] [-3.08534744e-03 -3.31688861e-05 9.99995240e-01 -7.71605253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters Centerline goodness : 0.996553 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:-17.19, Z:-0.77 [[ 9.97118088e-01 7.58026495e-02 3.07845350e-03 2.42787308e+02] [-7.58023662e-02 9.97122840e-01 -2.08789509e-04 -1.71897723e+01] [-3.08542309e-03 -2.51662629e-05 9.99995240e-01 -7.72200808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters Centerline goodness : 0.996208 with order 1 Centerline is valid? [True, True] Translation: X:242.85, Y:-17.19, Z:-0.78 [[ 9.97217504e-01 7.44833764e-02 3.07846673e-03 2.42846111e+02] [-7.44830873e-02 9.97222255e-01 -2.08594273e-04 -1.71918028e+01] [-3.08545234e-03 -2.12798457e-05 9.99995240e-01 -7.75988401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters Centerline goodness : 0.995840 with order 1 Centerline is valid? [True, True] Translation: X:242.90, Y:-17.19, Z:-0.77 [[ 9.97193271e-01 7.48071020e-02 3.07847642e-03 2.42904619e+02] [-7.48068150e-02 9.97198023e-01 -2.08451187e-04 -1.71916413e+01] [-3.08544423e-03 -2.24248948e-05 9.99995240e-01 -7.70302770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters Centerline goodness : 0.996203 with order 1 Centerline is valid? [True, True] Translation: X:242.96, Y:-17.19, Z:-0.77 [[ 9.97214069e-01 7.45293512e-02 3.07848621e-03 2.42963638e+02] [-7.45290633e-02 9.97218820e-01 -2.08306429e-04 -1.71927259e+01] [-3.08544933e-03 -2.17105917e-05 9.99995240e-01 -7.71113529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters Centerline goodness : 0.995916 with order 1 Centerline is valid? [True, True] Translation: X:243.02, Y:-17.20, Z:-0.77 [[ 9.97298471e-01 7.33912976e-02 3.07849603e-03 2.43021759e+02] [-7.33910047e-02 9.97303222e-01 -2.08161190e-04 -1.71957635e+01] [-3.08547123e-03 -1.83350801e-05 9.99995240e-01 -7.73072742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters Centerline goodness : 0.995608 with order 1 Centerline is valid? [True, True] Translation: X:243.08, Y:-17.20, Z:-0.77 [[ 9.97682237e-01 6.79755544e-02 3.07850914e-03 2.43080741e+02] [-6.79752363e-02 9.97686987e-01 -2.07967099e-04 -1.72006041e+01] [-3.08552519e-03 -1.77730557e-06 9.99995240e-01 -7.74549725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:-17.21, Z:-0.77 [[ 9.97942505e-01 6.40412324e-02 3.07851860e-03 2.43139052e+02] [-6.40408960e-02 9.97947253e-01 -2.07827071e-04 -1.72065616e+01] [-3.08550868e-03 1.02483787e-05 9.99995240e-01 -7.74429318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters Centerline goodness : 0.995645 with order 1 Centerline is valid? [True, True] Translation: X:243.20, Y:-17.21, Z:-0.77 [[ 9.97734057e-01 6.72106633e-02 3.07852843e-03 2.43197393e+02] [-6.72103425e-02 9.97738807e-01 -2.07681396e-04 -1.72111289e+01] [-3.08552568e-03 3.01852117e-07 9.99995240e-01 -7.71963711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:243.25, Y:-17.21, Z:-0.77 [[ 9.97463575e-01 7.11121617e-02 3.07853821e-03 2.43254629e+02] [-7.11118599e-02 9.97468325e-01 -2.07536195e-04 -1.72144190e+01] [-3.08550270e-03 -1.19107832e-05 9.99995240e-01 -7.73202846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters Centerline goodness : 0.995030 with order 1 Centerline is valid? [True, True] Translation: X:243.31, Y:-17.22, Z:-0.77 [[ 9.97380081e-01 7.22737639e-02 3.07855131e-03 2.43313101e+02] [-7.22734681e-02 9.97384832e-01 -2.07341703e-04 -1.72173862e+01] [-3.08548575e-03 -1.56990956e-05 9.99995240e-01 -7.73065468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters Centerline goodness : 0.995839 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:-17.22, Z:-0.78 [[ 9.97438775e-01 7.14591739e-02 3.07856102e-03 2.43370475e+02] [-7.14588748e-02 9.97443525e-01 -2.07197460e-04 -1.72217212e+01] [-3.08549692e-03 -1.33237256e-05 9.99995240e-01 -7.75748241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:-17.23, Z:-0.78 [[ 9.97519871e-01 7.03180552e-02 3.07857299e-03 2.43429042e+02] [-7.03177512e-02 9.97524622e-01 -2.07019487e-04 -1.72255750e+01] [-3.08550956e-03 -9.97227730e-06 9.99995240e-01 -7.77051358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters Centerline goodness : 0.995043 with order 1 Centerline is valid? [True, True] Translation: X:243.49, Y:-17.23, Z:-0.78 [[ 9.97757230e-01 6.68657824e-02 3.07858278e-03 2.43487001e+02] [-6.68654624e-02 9.97761979e-01 -2.06873800e-04 -1.72302948e+01] [-3.08552562e-03 5.58968225e-07 9.99995240e-01 -7.75712119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:243.55, Y:-17.24, Z:-0.78 [[ 9.97939855e-01 6.40825093e-02 3.07859491e-03 2.43545561e+02] [-6.40821766e-02 9.97944604e-01 -2.06693112e-04 -1.72367548e+01] [-3.08551259e-03 8.98423134e-06 9.99995240e-01 -7.76397579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters Centerline goodness : 0.994730 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:-17.24, Z:-0.78 [[ 9.97960734e-01 6.37565404e-02 3.07860432e-03 2.43604583e+02] [-6.37562066e-02 9.97965482e-01 -2.06552874e-04 -1.72417663e+01] [-3.08550994e-03 9.85152429e-06 9.99995240e-01 -7.76956704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:-17.25, Z:-0.78 [[ 9.97872984e-01 6.51155076e-02 3.07861369e-03 2.43663591e+02] [-6.51151807e-02 9.97877733e-01 -2.06413168e-04 -1.72452458e+01] [-3.08552074e-03 5.50963735e-06 9.99995240e-01 -7.78030056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters Centerline goodness : 0.995050 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:-17.25, Z:-0.78 [[ 9.98009382e-01 6.29904466e-02 3.07862302e-03 2.43721989e+02] [-6.29901100e-02 9.98014130e-01 -2.06273824e-04 -1.72495049e+01] [-3.08550256e-03 1.19404088e-05 9.99995240e-01 -7.78809104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters Centerline goodness : 0.995036 with order 1 Centerline is valid? [True, True] Translation: X:243.78, Y:-17.26, Z:-0.78 [[ 9.98216702e-01 5.96149168e-02 3.07863229e-03 2.43779883e+02] [-5.96145646e-02 9.98221449e-01 -2.06135437e-04 -1.72550827e+01] [-3.08544553e-03 2.22365125e-05 9.99995240e-01 -7.79415810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters Centerline goodness : 0.995005 with order 1 Centerline is valid? [True, True] Translation: X:243.84, Y:-17.26, Z:-0.78 [[ 9.98416797e-01 5.61642320e-02 3.07864372e-03 2.43837915e+02] [-5.61638639e-02 9.98421543e-01 -2.05964554e-04 -1.72631567e+01] [-3.08535206e-03 3.27299433e-05 9.99995240e-01 -7.78595118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters Centerline goodness : 0.994977 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:-17.27, Z:-0.78 [[ 9.98403434e-01 5.64012812e-02 3.07865273e-03 2.43896572e+02] [-5.64009146e-02 9.98408180e-01 -2.05829797e-04 -1.72695370e+01] [-3.08536113e-03 3.18623461e-05 9.99995240e-01 -7.76092484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:-17.28, Z:-0.78 [[ 9.98166755e-01 6.04454315e-02 3.07865726e-03 2.43954700e+02] [-6.04450844e-02 9.98171503e-01 -2.05762001e-04 -1.72756401e+01] [-3.08546532e-03 1.92950914e-05 9.99995240e-01 -7.77932566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters Centerline goodness : 0.994762 with order 1 Centerline is valid? [True, True] Translation: X:244.01, Y:-17.28, Z:-0.78 [[ 9.97940490e-01 6.40726185e-02 3.07866731e-03 2.44012568e+02] [-6.40722891e-02 9.97945239e-01 -2.05611550e-04 -1.72810817e+01] [-3.08551545e-03 7.93082927e-06 9.99995240e-01 -7.77064288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:-17.29, Z:-0.78 [[ 9.97916867e-01 6.44394896e-02 3.07867976e-03 2.44071321e+02] [-6.44391626e-02 9.97921616e-01 -2.05425002e-04 -1.72870847e+01] [-3.08551856e-03 6.60952917e-06 9.99995240e-01 -7.76714136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters Centerline goodness : 0.995064 with order 1 Centerline is valid? [True, True] Translation: X:244.13, Y:-17.29, Z:-0.78 [[ 9.98002093e-01 6.31058235e-02 3.07868712e-03 2.44129864e+02] [-6.31054904e-02 9.98006841e-01 -2.05314570e-04 -1.72920175e+01] [-3.08550735e-03 1.06223098e-05 9.99995240e-01 -7.76711434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters Centerline goodness : 0.994843 with order 1 Centerline is valid? [True, True] Translation: X:244.19, Y:-17.30, Z:-0.78 [[ 9.98032311e-01 6.26260933e-02 3.07869192e-03 2.44189264e+02] [-6.26257581e-02 9.98037060e-01 -2.05242637e-04 -1.72980384e+01] [-3.08550217e-03 1.20333679e-05 9.99995240e-01 -7.77825631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters Centerline goodness : 0.995280 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:-17.30, Z:-0.78 [[ 9.97984090e-01 6.33898873e-02 3.07869674e-03 2.44247445e+02] [-6.33895560e-02 9.97988839e-01 -2.05170320e-04 -1.73040635e+01] [-3.08551070e-03 9.59949616e-06 9.99995240e-01 -7.77140247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters Centerline goodness : 0.995575 with order 1 Centerline is valid? [True, True] Translation: X:244.31, Y:-17.31, Z:-0.78 [[ 9.97854255e-01 6.54018920e-02 3.07870389e-03 2.44305910e+02] [-6.54015706e-02 9.97859004e-01 -2.05062965e-04 -1.73088006e+01] [-3.08552390e-03 3.27088244e-06 9.99995240e-01 -7.77025133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters Centerline goodness : 0.995239 with order 1 Centerline is valid? [True, True] Translation: X:244.36, Y:-17.31, Z:-0.78 [[ 9.97728580e-01 6.72919117e-02 3.07871348e-03 2.44364034e+02] [-6.72915997e-02 9.97733330e-01 -2.04918795e-04 -1.73148011e+01] [-3.08552443e-03 -2.71821718e-06 9.99995240e-01 -7.78434416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters Centerline goodness : 0.995316 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:-17.32, Z:-0.78 [[ 9.97800192e-01 6.62215889e-02 3.07872062e-03 2.44422449e+02] [-6.62212722e-02 9.97804941e-01 -2.04811564e-04 -1.73210577e+01] [-3.08552559e-03 4.84221497e-07 9.99995240e-01 -7.76816160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:-17.33, Z:-0.78 [[ 9.97969003e-01 6.36269587e-02 3.07873013e-03 2.44480414e+02] [-6.36266300e-02 9.97973752e-01 -2.04668456e-04 -1.73282994e+01] [-3.08551429e-03 8.36355222e-06 9.99995240e-01 -7.78098416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters Centerline goodness : 0.995496 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:-17.33, Z:-0.78 [[ 9.98036382e-01 6.25611860e-02 3.07873721e-03 2.44539886e+02] [-6.25608526e-02 9.98041130e-01 -2.04561944e-04 -1.73340100e+01] [-3.08550400e-03 1.15518378e-05 9.99995240e-01 -7.79266914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters Centerline goodness : 0.995210 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:-17.34, Z:-0.78 [[ 9.98012943e-01 6.29339834e-02 3.07874190e-03 2.44599583e+02] [-6.29336521e-02 9.98017692e-01 -2.04491332e-04 -1.73391572e+01] [-3.08550834e-03 1.03285252e-05 9.99995240e-01 -7.75192283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters Centerline goodness : 0.995058 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:-17.34, Z:-0.77 [[ 9.98065977e-01 6.20872549e-02 3.07874659e-03 2.44658328e+02] [-6.20869197e-02 9.98070725e-01 -2.04420701e-04 -1.73438751e+01] [-3.08549876e-03 1.28754550e-05 9.99995240e-01 -7.74560162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters Centerline goodness : 0.994926 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:-17.35, Z:-0.77 [[ 9.98007611e-01 6.30184934e-02 3.07875354e-03 2.44718310e+02] [-6.30181630e-02 9.98012359e-01 -2.04315942e-04 -1.73481309e+01] [-3.08550977e-03 9.89147326e-06 9.99995240e-01 -7.73245529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:-17.35, Z:-0.78 [[ 9.97877313e-01 6.50491236e-02 3.07875814e-03 2.44777650e+02] [-6.50488030e-02 9.97882063e-01 -2.04246528e-04 -1.73500810e+01] [-3.08552358e-03 3.54344445e-06 9.99995240e-01 -7.75397306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:-17.35, Z:-0.78 [[ 9.97734727e-01 6.72007075e-02 3.07876274e-03 2.44836166e+02] [-6.72003974e-02 9.97739477e-01 -2.04177177e-04 -1.73495944e+01] [-3.08552398e-03 -3.17941960e-06 9.99995240e-01 -7.81286440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters Centerline goodness : 0.993851 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:-17.35, Z:-0.78 [[ 9.97820142e-01 6.59202966e-02 3.07876961e-03 2.44893797e+02] [-6.59199807e-02 9.97824892e-01 -2.04073585e-04 -1.73488566e+01] [-3.08552554e-03 6.76299965e-07 9.99995240e-01 -7.76892810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters Centerline goodness : 0.994316 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:-17.35, Z:-0.78 [[ 9.98092818e-01 6.16542591e-02 3.07878081e-03 2.44953158e+02] [-6.16539235e-02 9.98097566e-01 -2.03904406e-04 -1.73498691e+01] [-3.08549521e-03 1.36966060e-05 9.99995240e-01 -7.77264674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters Centerline goodness : 0.993656 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:-17.35, Z:-0.78 [[ 9.98452475e-01 5.55263492e-02 3.07878973e-03 2.45012821e+02] [-5.55259848e-02 9.98457222e-01 -2.03769677e-04 -1.73531884e+01] [-3.08535443e-03 3.25015065e-05 9.99995240e-01 -7.81113845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:-17.36, Z:-0.78 [[ 9.98795851e-01 4.89629292e-02 3.07879443e-03 2.45070655e+02] [-4.89625339e-02 9.98800595e-01 -2.03698633e-04 -1.73609737e+01] [-3.08507539e-03 5.27077729e-05 9.99995240e-01 -7.82503835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters Centerline goodness : 0.993994 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:-17.37, Z:-0.78 [[ 9.98928534e-01 4.61768860e-02 3.07880140e-03 2.45129784e+02] [-4.61764778e-02 9.98933277e-01 -2.03593297e-04 -1.73662889e+01] [-3.08491847e-03 6.12069490e-05 9.99995240e-01 -7.77783777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters Centerline goodness : 0.993335 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:-17.37, Z:-0.78 [[ 9.98942129e-01 4.58818428e-02 3.07880569e-03 2.45189433e+02] [-4.58814334e-02 9.98946872e-01 -2.03528287e-04 -1.73721580e+01] [-3.08490157e-03 6.20529618e-05 9.99995240e-01 -7.75121414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:-17.38, Z:-0.78 [[ 9.98909069e-01 4.65960535e-02 3.07881039e-03 2.45247558e+02] [-4.65956476e-02 9.98913812e-01 -2.03457223e-04 -1.73796192e+01] [-3.08494653e-03 5.97761013e-05 9.99995240e-01 -7.77423249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters Centerline goodness : 0.992948 with order 1 Centerline is valid? [True, True] Translation: X:245.31, Y:-17.39, Z:-0.78 [[ 9.98946743e-01 4.57812861e-02 3.07881543e-03 2.45306992e+02] [-4.57808766e-02 9.98951485e-01 -2.03380863e-04 -1.73860789e+01] [-3.08489829e-03 6.22157814e-05 9.99995240e-01 -7.78226314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters Centerline goodness : 0.992548 with order 1 Centerline is valid? [True, True] Translation: X:245.36, Y:-17.39, Z:-0.78 [[ 9.98935805e-01 4.60193231e-02 3.07882008e-03 2.45364887e+02] [-4.60189150e-02 9.98940548e-01 -2.03310482e-04 -1.73924776e+01] [-3.08491443e-03 6.14101603e-05 9.99995240e-01 -7.78217686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters Centerline goodness : 0.992780 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:-17.40, Z:-0.78 [[ 9.98941402e-01 4.58976624e-02 3.07882697e-03 2.45424083e+02] [-4.58972540e-02 9.98946145e-01 -2.03206117e-04 -1.73965045e+01] [-3.08490902e-03 6.16812999e-05 9.99995240e-01 -7.81060706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters Centerline goodness : 0.992796 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:-17.40, Z:-0.78 [[ 9.98950788e-01 4.56929398e-02 3.07883173e-03 2.45483134e+02] [-4.56925306e-02 9.98955530e-01 -2.03133927e-04 -1.74032113e+01] [-3.08489777e-03 6.22411827e-05 9.99995240e-01 -7.80802067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters Centerline goodness : 0.993112 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:-17.41, Z:-0.78 [[ 9.98952490e-01 4.56557103e-02 3.07882909e-03 2.45542440e+02] [-4.56553009e-02 9.98957232e-01 -2.03174057e-04 -1.74083941e+01] [-3.08489464e-03 6.23963619e-05 9.99995240e-01 -7.75227083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:-17.41, Z:-0.78 [[ 9.98840511e-01 4.80432545e-02 3.07883399e-03 2.45601602e+02] [-4.80428566e-02 9.98845255e-01 -2.03099737e-04 -1.74144526e+01] [-3.08503629e-03 5.49482648e-05 9.99995240e-01 -7.76828271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters Centerline goodness : 0.993419 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:-17.42, Z:-0.78 [[ 9.98731238e-01 5.02636640e-02 3.07883641e-03 2.45661449e+02] [-5.02632768e-02 9.98735982e-01 -2.03063081e-04 -1.74185979e+01] [-3.08515140e-03 4.80530359e-05 9.99995240e-01 -7.79505932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters Centerline goodness : 0.992542 with order 1 Centerline is valid? [True, True] Translation: X:245.72, Y:-17.42, Z:-0.78 [[ 9.98480002e-01 5.50291401e-02 3.07884119e-03 2.45721238e+02] [-5.50287757e-02 9.98484748e-01 -2.02990586e-04 -1.74222777e+01] [-3.08534636e-03 3.32571795e-05 9.99995240e-01 -7.80435131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters Centerline goodness : 0.992925 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:-17.42, Z:-0.78 [[ 9.98263996e-01 5.88176413e-02 3.07884595e-03 2.45781414e+02] [-5.88172952e-02 9.98268744e-01 -2.02918286e-04 -1.74221171e+01] [-3.08545085e-03 2.14766277e-05 9.99995240e-01 -7.83303250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:-17.42, Z:-0.79 [[ 9.98219143e-01 5.95740105e-02 3.07885076e-03 2.45840319e+02] [-5.95736682e-02 9.98223891e-01 -2.02845285e-04 -1.74248883e+01] [-3.08546669e-03 1.90656134e-05 9.99995240e-01 -7.86364446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:-17.43, Z:-0.78 [[ 9.98253488e-01 5.89957168e-02 3.07886036e-03 2.45899609e+02] [-5.89953722e-02 9.98258236e-01 -2.02699422e-04 -1.74263759e+01] [-3.08545611e-03 2.07068919e-05 9.99995240e-01 -7.84740025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters Centerline goodness : 0.992881 with order 1 Centerline is valid? [True, True] Translation: X:245.96, Y:-17.43, Z:-0.78 [[ 9.98308410e-01 5.80589329e-02 3.07886991e-03 2.45958540e+02] [-5.80585843e-02 9.98313157e-01 -2.02554346e-04 -1.74276419e+01] [-3.08543643e-03 2.34568786e-05 9.99995240e-01 -7.83721201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:246.02, Y:-17.43, Z:-0.79 [[ 9.98322505e-01 5.78160627e-02 3.07887696e-03 2.46017256e+02] [-5.78157133e-02 9.98327252e-01 -2.02447109e-04 -1.74300269e+01] [-3.08543147e-03 2.41000375e-05 9.99995240e-01 -7.86253777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:-17.43, Z:-0.78 [[ 9.98335679e-01 5.75881302e-02 3.07888623e-03 2.46076967e+02] [-5.75877802e-02 9.98340426e-01 -2.02305960e-04 -1.74323066e+01] [-3.08542702e-03 2.46630349e-05 9.99995240e-01 -7.83786847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters Centerline goodness : 0.993525 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:-17.44, Z:-0.78 [[ 9.98320312e-01 5.78539109e-02 3.07889085e-03 2.46135737e+02] [-5.78535623e-02 9.98325060e-01 -2.02235653e-04 -1.74350016e+01] [-3.08543402e-03 2.37711567e-05 9.99995240e-01 -7.84134719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters Centerline goodness : 0.993130 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:-17.44, Z:-0.78 [[ 9.98277644e-01 5.85855373e-02 3.07889999e-03 2.46194702e+02] [-5.85851926e-02 9.98282392e-01 -2.02096371e-04 -1.74373319e+01] [-3.08545157e-03 2.13703404e-05 9.99995240e-01 -7.82190370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:246.25, Y:-17.44, Z:-0.78 [[ 9.98351413e-01 5.73147163e-02 3.07890942e-03 2.46253312e+02] [-5.73143661e-02 9.98356160e-01 -2.01952706e-04 -1.74387627e+01] [-3.08542304e-03 2.51540278e-05 9.99995240e-01 -7.82891602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:-17.44, Z:-0.78 [[ 9.98410551e-01 5.62751486e-02 3.07891889e-03 2.46310826e+02] [-5.62747938e-02 9.98415298e-01 -2.01808148e-04 -1.74428465e+01] [-3.08539651e-03 2.82218581e-05 9.99995240e-01 -7.84398172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters Centerline goodness : 0.992377 with order 1 Centerline is valid? [True, True] Translation: X:246.37, Y:-17.45, Z:-0.78 [[ 9.98153924e-01 6.06569389e-02 3.07893062e-03 2.46368783e+02] [-6.06566055e-02 9.98158673e-01 -2.01629034e-04 -1.74458097e+01] [-3.08549150e-03 1.44993319e-05 9.99995240e-01 -7.80075404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters Centerline goodness : 0.992386 with order 1 Centerline is valid? [True, True] Translation: X:246.43, Y:-17.45, Z:-0.78 [[ 9.97977232e-01 6.34977575e-02 3.07894171e-03 2.46427630e+02] [-6.34974381e-02 9.97981981e-01 -2.01459518e-04 -1.74484710e+01] [-3.08552058e-03 5.54710099e-06 9.99995240e-01 -7.82005092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters Centerline goodness : 0.991454 with order 1 Centerline is valid? [True, True] Translation: X:246.49, Y:-17.45, Z:-0.78 [[ 9.97741167e-01 6.71050250e-02 3.07895103e-03 2.46485566e+02] [-6.71047232e-02 9.97745917e-01 -2.01317033e-04 -1.74504502e+01] [-3.08552020e-03 -5.74986574e-06 9.99995240e-01 -7.81020999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters Centerline goodness : 0.992354 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:-17.45, Z:-0.78 [[ 9.97673623e-01 6.81018552e-02 3.07896257e-03 2.46544844e+02] [-6.81015588e-02 9.97678374e-01 -2.01140429e-04 -1.74517032e+01] [-3.08551240e-03 -9.00964953e-06 9.99995240e-01 -7.84180870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters Centerline goodness : 0.991870 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:-17.45, Z:-0.79 [[ 9.98036802e-01 6.25544747e-02 3.07897179e-03 2.46603179e+02] [-6.25541523e-02 9.98041551e-01 -2.00999115e-04 -1.74544742e+01] [-3.08551518e-03 8.00204357e-06 9.99995240e-01 -7.89030421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:-17.46, Z:-0.79 [[ 9.98606917e-01 5.26758570e-02 3.07897865e-03 2.46662408e+02] [-5.26754879e-02 9.98611663e-01 -2.00893984e-04 -1.74583127e+01] [-3.08528625e-03 3.84274191e-05 9.99995240e-01 -7.87592885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters Centerline goodness : 0.992429 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:-17.46, Z:-0.79 [[ 9.98884183e-01 4.71265223e-02 3.07898327e-03 2.46721119e+02] [-4.71261271e-02 9.98888927e-01 -2.00823228e-04 -1.74646092e+01] [-3.08502639e-03 5.54985895e-05 9.99995240e-01 -7.90408522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters Centerline goodness : 0.991608 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:-17.47, Z:-0.79 [[ 9.99136769e-01 4.14274816e-02 3.07899005e-03 2.46781683e+02] [-4.14270596e-02 9.99141511e-01 -2.00719099e-04 -1.74726287e+01] [-3.08466206e-03 7.29923278e-05 9.99995240e-01 -7.86971281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [True, True] Translation: X:246.84, Y:-17.49, Z:-0.79 [[ 9.99216154e-01 3.94664112e-02 3.07899005e-03 2.46840069e+02] [-3.94659799e-02 9.99220895e-01 -2.00719099e-04 -1.74860112e+01] [-3.08451286e-03 7.90464068e-05 9.99995240e-01 -7.88900942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:246.90, Y:-17.50, Z:-0.79 [[ 9.99189185e-01 4.01434034e-02 3.07898748e-03 2.46900100e+02] [-4.01429753e-02 9.99193926e-01 -2.00758592e-04 -1.74953392e+01] [-3.08456472e-03 7.69960959e-05 9.99995240e-01 -7.89524333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters Centerline goodness : 0.992376 with order 1 Centerline is valid? [True, True] Translation: X:246.96, Y:-17.51, Z:-0.79 [[ 9.98993471e-01 4.47500347e-02 3.07898748e-03 2.46959998e+02] [-4.47496284e-02 9.98998213e-01 -2.00758592e-04 -1.75055348e+01] [-3.08488694e-03 6.27729773e-05 9.99995240e-01 -7.87811320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters Centerline goodness : 0.993012 with order 1 Centerline is valid? [True, True] Translation: X:247.02, Y:-17.51, Z:-0.79 [[ 9.98793272e-01 4.90154952e-02 3.07898748e-03 2.47019449e+02] [-4.90151092e-02 9.98798017e-01 -2.00758592e-04 -1.75123879e+01] [-3.08512687e-03 4.95994239e-05 9.99995240e-01 -7.86391671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters Centerline goodness : 0.992899 with order 1 Centerline is valid? [True, True] Translation: X:247.08, Y:-17.52, Z:-0.79 [[ 9.98575123e-01 5.32751735e-02 3.07899211e-03 2.47078490e+02] [-5.32748079e-02 9.98579869e-01 -2.00687563e-04 -1.75212979e+01] [-3.08531120e-03 3.63688946e-05 9.99995240e-01 -7.87141645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters Centerline goodness : 0.993667 with order 1 Centerline is valid? [True, True] Translation: X:247.14, Y:-17.53, Z:-0.79 [[ 9.98464453e-01 5.53105339e-02 3.07899440e-03 2.47137182e+02] [-5.53101781e-02 9.98469200e-01 -2.00652448e-04 -1.75305117e+01] [-3.08537927e-03 3.00446088e-05 9.99995240e-01 -7.90392329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters Centerline goodness : 0.993668 with order 1 Centerline is valid? [True, True] Translation: X:247.20, Y:-17.54, Z:-0.79 [[ 9.98222529e-01 5.95172433e-02 3.07899909e-03 2.47195506e+02] [-5.95169077e-02 9.98227277e-01 -2.00580423e-04 -1.75377556e+01] [-3.08547887e-03 1.69713926e-05 9.99995240e-01 -7.87458940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters Centerline goodness : 0.993776 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:-17.54, Z:-0.79 [[ 9.98017932e-01 6.28548131e-02 3.07900610e-03 2.47254588e+02] [-6.28544938e-02 9.98022681e-01 -2.00472800e-04 -1.75440239e+01] [-3.08551860e-03 6.54607993e-06 9.99995240e-01 -7.85743780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters Centerline goodness : 0.993362 with order 1 Centerline is valid? [True, True] Translation: X:247.31, Y:-17.55, Z:-0.78 [[ 9.97661739e-01 6.82757179e-02 3.07900389e-03 2.47313814e+02] [-6.82754242e-02 9.97666490e-01 -2.00506661e-04 -1.75486532e+01] [-3.08550874e-03 -1.01824731e-05 9.99995240e-01 -7.83239941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters Centerline goodness : 0.993249 with order 1 Centerline is valid? [True, True] Translation: X:247.37, Y:-17.55, Z:-0.79 [[ 9.97558277e-01 6.97710783e-02 3.07900867e-03 2.47373599e+02] [-6.97707920e-02 9.97563029e-01 -2.00433191e-04 -1.75531337e+01] [-3.08548966e-03 -1.48810854e-05 9.99995240e-01 -7.85349224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters Centerline goodness : 0.993955 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:-17.55, Z:-0.79 [[ 9.97736101e-01 6.71802971e-02 3.07901341e-03 2.47432916e+02] [-6.71799987e-02 9.97740852e-01 -2.00360364e-04 -1.75538282e+01] [-3.08551773e-03 -6.94134856e-06 9.99995240e-01 -7.88445292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters Centerline goodness : 0.989930 with order 1 Centerline is valid? [True, True] Translation: X:247.49, Y:-17.56, Z:-0.78 [[ 9.97978382e-01 6.34796685e-02 3.07901821e-03 2.47492726e+02] [-6.34793527e-02 9.97983132e-01 -2.00286583e-04 -1.75570376e+01] [-3.08552236e-03 4.42759725e-06 9.99995240e-01 -7.83945321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:-17.56, Z:-0.79 [[ 9.98224159e-01 5.94899022e-02 3.07902297e-03 2.47551964e+02] [-5.94895677e-02 9.98228907e-01 -2.00213400e-04 -1.75556207e+01] [-3.08548041e-03 1.66881078e-05 9.99995240e-01 -7.93731215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:247.61, Y:-17.56, Z:-0.79 [[ 9.98642434e-01 5.19981661e-02 3.07902533e-03 2.47611293e+02] [-5.19977960e-02 9.98647180e-01 -2.00177171e-04 -1.75556903e+01] [-3.08526880e-03 3.98028865e-05 9.99995240e-01 -7.92806395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters Centerline goodness : 0.993910 with order 1 Centerline is valid? [True, True] Translation: X:247.67, Y:-17.56, Z:-0.79 [[ 9.99018203e-01 4.41944573e-02 3.07902290e-03 2.47671353e+02] [-4.41940501e-02 9.99022946e-01 -2.00214434e-04 -1.75575877e+01] [-3.08486290e-03 6.39433720e-05 9.99995240e-01 -7.92652978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters Centerline goodness : 0.993982 with order 1 Centerline is valid? [True, True] Translation: X:247.73, Y:-17.56, Z:-0.79 [[ 9.99327771e-01 3.65311548e-02 3.07902290e-03 2.47731265e+02] [-3.65307112e-02 9.99332511e-01 -2.00214434e-04 -1.75615995e+01] [-3.08428175e-03 8.76009479e-05 9.99995240e-01 -7.94854980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters Centerline goodness : 0.993950 with order 1 Centerline is valid? [True, True] Translation: X:247.79, Y:-17.57, Z:-0.80 [[ 9.99585368e-01 2.86288501e-02 3.07902290e-03 2.47791965e+02] [-2.86283690e-02 9.99590104e-01 -2.00214434e-04 -1.75705316e+01] [-3.08349273e-03 1.11984015e-04 9.99995240e-01 -7.96532506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters Centerline goodness : 0.994356 with order 1 Centerline is valid? [True, True] Translation: X:247.85, Y:-17.59, Z:-0.79 [[ 9.99700850e-01 2.42637723e-02 3.07901822e-03 2.47851423e+02] [-2.42632704e-02 9.99705583e-01 -2.00286359e-04 -1.75859064e+01] [-3.08297141e-03 1.25519392e-04 9.99995240e-01 -7.90432667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters Centerline goodness : 0.994764 with order 1 Centerline is valid? [True, True] Translation: X:247.91, Y:-17.60, Z:-0.79 [[ 9.99683888e-01 2.49528368e-02 3.07900769e-03 2.47911545e+02] [-2.49523376e-02 9.99688622e-01 -2.00448188e-04 -1.76002093e+01] [-3.08305070e-03 1.23556384e-04 9.99995240e-01 -7.92318616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters Centerline goodness : 0.994693 with order 1 Centerline is valid? [True, True] Translation: X:247.97, Y:-17.61, Z:-0.79 [[ 9.99647354e-01 2.63758781e-02 3.07900329e-03 2.47972658e+02] [-2.63753854e-02 9.99652089e-01 -2.00515770e-04 -1.76075654e+01] [-3.08322085e-03 1.19235161e-04 9.99995240e-01 -7.93455910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:248.03, Y:-17.62, Z:-0.79 [[ 9.99454638e-01 3.28777474e-02 3.07899887e-03 2.48033169e+02] [-3.28772853e-02 9.99459376e-01 -2.00583637e-04 -1.76193713e+01] [-3.08392902e-03 9.92451223e-05 9.99995240e-01 -7.94331429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters Centerline goodness : 0.994672 with order 1 Centerline is valid? [True, True] Translation: X:248.09, Y:-17.63, Z:-0.79 [[ 9.99203542e-01 3.97844396e-02 3.07899415e-03 2.48094086e+02] [-3.97840101e-02 9.99208283e-01 -2.00655989e-04 -1.76291538e+01] [-3.08453945e-03 7.80014404e-05 9.99995240e-01 -7.94548295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters Centerline goodness : 0.994793 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:-17.63, Z:-0.79 [[ 9.99092440e-01 4.24831194e-02 3.07897575e-03 2.48154874e+02] [-4.24827018e-02 9.99097182e-01 -2.00937913e-04 -1.76341850e+01] [-3.08473247e-03 6.99523408e-05 9.99995240e-01 -7.93656976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters Centerline goodness : 0.993659 with order 1 Centerline is valid? [True, True] Translation: X:248.22, Y:-17.64, Z:-0.79 [[ 9.98957492e-01 4.55461294e-02 3.07897096e-03 2.48215385e+02] [-4.55457261e-02 9.98962235e-01 -2.01011359e-04 -1.76415774e+01] [-3.08493100e-03 6.05678351e-05 9.99995240e-01 -7.90901401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters Centerline goodness : 0.994020 with order 1 Centerline is valid? [True, True] Translation: X:248.28, Y:-17.65, Z:-0.80 [[ 9.98922220e-01 4.63132666e-02 3.07896620e-03 2.48275864e+02] [-4.63128667e-02 9.98926963e-01 -2.01084208e-04 -1.76490087e+01] [-3.08497522e-03 5.82717323e-05 9.99995240e-01 -7.95734209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters Centerline goodness : 0.993885 with order 1 Centerline is valid? [True, True] Translation: X:248.34, Y:-17.66, Z:-0.80 [[ 9.98968665e-01 4.53004057e-02 3.07893531e-03 2.48337853e+02] [-4.52999996e-02 9.98973408e-01 -2.01556094e-04 -1.76572699e+01] [-3.08490507e-03 6.18724540e-05 9.99995240e-01 -7.95995919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:248.40, Y:-17.67, Z:-0.79 [[ 9.98818592e-01 4.84968179e-02 3.07890219e-03 2.48398599e+02] [-4.84964254e-02 9.98823336e-01 -2.02060698e-04 -1.76658342e+01] [-3.08507866e-03 5.25062316e-05 9.99995240e-01 -7.92286331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:248.46, Y:-17.67, Z:-0.80 [[ 9.98287414e-01 5.84188223e-02 3.07889749e-03 2.48459264e+02] [-5.84184767e-02 9.98292162e-01 -2.02132384e-04 -1.76704136e+01] [-3.08544757e-03 2.19217142e-05 9.99995240e-01 -7.95083757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters Centerline goodness : 0.993959 with order 1 Centerline is valid? [True, True] Translation: X:248.52, Y:-17.67, Z:-0.80 [[ 9.97633059e-01 6.86935180e-02 3.07889280e-03 2.48519619e+02] [-6.86932211e-02 9.97637810e-01 -2.02203811e-04 -1.76734336e+01] [-3.08550996e-03 -9.77385665e-06 9.99995240e-01 -7.98027545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:248.58, Y:-17.68, Z:-0.79 [[ 9.97239350e-01 7.41902861e-02 3.07889046e-03 2.48580171e+02] [-7.41900153e-02 9.97244103e-01 -2.02239342e-04 -1.76761135e+01] [-3.08540955e-03 -2.67419003e-05 9.99995240e-01 -7.94995495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters Centerline goodness : 0.992896 with order 1 Centerline is valid? [True, True] Translation: X:248.64, Y:-17.68, Z:-0.79 [[ 9.97276181e-01 7.36935496e-02 3.07889046e-03 2.48640740e+02] [-7.36932764e-02 9.97280933e-01 -2.02239342e-04 -1.76772751e+01] [-3.08542249e-03 -2.52050470e-05 9.99995240e-01 -7.94675738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters Centerline goodness : 0.992439 with order 1 Centerline is valid? [True, True] Translation: X:248.70, Y:-17.68, Z:-0.79 [[ 9.97474420e-01 7.09598568e-02 3.07888584e-03 2.48701379e+02] [-7.09595704e-02 9.97479172e-01 -2.02309652e-04 -1.76790116e+01] [-3.08548036e-03 -1.66777138e-05 9.99995240e-01 -7.92253671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:248.76, Y:-17.68, Z:-0.79 [[ 9.97553216e-01 6.98434020e-02 3.07888354e-03 2.48763093e+02] [-6.98431102e-02 9.97557968e-01 -2.02344710e-04 -1.76771828e+01] [-3.08549725e-03 -1.31891863e-05 9.99995240e-01 -7.94463482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters Centerline goodness : 0.993060 with order 1 Centerline is valid? [True, True] Translation: X:248.82, Y:-17.68, Z:-0.79 [[ 9.97618146e-01 6.89097559e-02 3.07887909e-03 2.48823545e+02] [-6.89094594e-02 9.97622897e-01 -2.02412438e-04 -1.76754489e+01] [-3.08550847e-03 -1.02335722e-05 9.99995240e-01 -7.94151019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters Centerline goodness : 0.993011 with order 1 Centerline is valid? [True, True] Translation: X:248.88, Y:-17.68, Z:-0.79 [[ 9.97908258e-01 6.45726687e-02 3.07887909e-03 2.48883570e+02] [-6.45723515e-02 9.97913007e-01 -2.02412438e-04 -1.76771965e+01] [-3.08552380e-03 3.17858066e-06 9.99995240e-01 -7.89346120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters Centerline goodness : 0.992352 with order 1 Centerline is valid? [True, True] Translation: X:248.94, Y:-17.68, Z:-0.79 [[ 9.98302423e-01 5.81617774e-02 3.07886764e-03 2.48944506e+02] [-5.81614292e-02 9.98307171e-01 -2.02586412e-04 -1.76826860e+01] [-3.08543843e-03 2.31711640e-05 9.99995240e-01 -7.90430178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters Centerline goodness : 0.993150 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:-17.69, Z:-0.79 [[ 9.98580329e-01 5.31775036e-02 3.07886297e-03 2.49005232e+02] [-5.31771315e-02 9.98585075e-01 -2.02657278e-04 -1.76877679e+01] [-3.08528342e-03 3.86444702e-05 9.99995240e-01 -7.93902246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters Centerline goodness : 0.993811 with order 1 Centerline is valid? [True, True] Translation: X:249.07, Y:-17.69, Z:-0.79 [[ 9.98645666e-01 5.19360516e-02 3.07885572e-03 2.49065978e+02] [-5.19356732e-02 9.98650412e-01 -2.02767393e-04 -1.76920938e+01] [-3.08523147e-03 4.25903338e-05 9.99995240e-01 -7.94671391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters Centerline goodness : 0.992944 with order 1 Centerline is valid? [True, True] Translation: X:249.13, Y:-17.70, Z:-0.80 [[ 9.98672257e-01 5.14222100e-02 3.07885080e-03 2.49128112e+02] [-5.14218290e-02 9.98677002e-01 -2.02842109e-04 -1.77004584e+01] [-3.08520808e-03 4.42526478e-05 9.99995240e-01 -7.95763158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:249.19, Y:-17.71, Z:-0.80 [[ 9.98653114e-01 5.17926478e-02 3.07881679e-03 2.49189183e+02] [-5.17922670e-02 9.98657859e-01 -2.03357061e-04 -1.77075181e+01] [-3.08521698e-03 4.36242613e-05 9.99995240e-01 -7.95920546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters Centerline goodness : 0.993111 with order 1 Centerline is valid? [True, True] Translation: X:249.25, Y:-17.71, Z:-0.79 [[ 9.98552326e-01 5.37007770e-02 3.07878545e-03 2.49250895e+02] [-5.37004038e-02 9.98557072e-01 -2.03830431e-04 -1.77139274e+01] [-3.08528883e-03 3.82033295e-05 9.99995240e-01 -7.94462750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:249.31, Y:-17.72, Z:-0.80 [[ 9.98312877e-01 5.79820803e-02 3.07875180e-03 2.49312653e+02] [-5.79817259e-02 9.98317624e-01 -2.04337429e-04 -1.77153140e+01] [-3.08542009e-03 2.54813434e-05 9.99995240e-01 -7.97863975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters Centerline goodness : 0.993416 with order 1 Centerline is valid? [True, True] Translation: X:249.37, Y:-17.72, Z:-0.79 [[ 9.98157375e-01 6.06001371e-02 3.07874700e-03 2.49373719e+02] [-6.05997949e-02 9.98162123e-01 -2.04409645e-04 -1.77170015e+01] [-3.08547590e-03 1.74615574e-05 9.99995240e-01 -7.92824807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:249.43, Y:-17.72, Z:-0.80 [[ 9.98266509e-01 5.87749845e-02 3.07874209e-03 2.49434465e+02] [-5.87746333e-02 9.98271256e-01 -2.04483562e-04 -1.77213024e+01] [-3.08543826e-03 2.31771542e-05 9.99995240e-01 -7.96461129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters Centerline goodness : 0.993603 with order 1 Centerline is valid? [True, True] Translation: X:249.50, Y:-17.73, Z:-0.79 [[ 9.98372269e-01 5.69502750e-02 3.07871057e-03 2.49496121e+02] [-5.69499137e-02 9.98377016e-01 -2.04957120e-04 -1.77258265e+01] [-3.08538623e-03 2.92912036e-05 9.99995240e-01 -7.93671670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:-17.73, Z:-0.79 [[ 9.98251673e-01 5.90264253e-02 3.07870575e-03 2.49557627e+02] [-5.90260737e-02 9.98256420e-01 -2.05029505e-04 -1.77286784e+01] [-3.08543994e-03 2.29471340e-05 9.99995240e-01 -7.85687384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:249.62, Y:-17.73, Z:-0.79 [[ 9.97885620e-01 6.49215810e-02 3.07870097e-03 2.49618317e+02] [-6.49212572e-02 9.97890369e-01 -2.05101162e-04 -1.77299554e+01] [-3.08552154e-03 4.79436209e-06 9.99995240e-01 -7.91096147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters Centerline goodness : 0.994029 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:-17.73, Z:-0.79 [[ 9.97657847e-01 6.83325794e-02 3.07870097e-03 2.49679001e+02] [-6.83322719e-02 9.97662598e-01 -2.05101162e-04 -1.77329687e+01] [-3.08551990e-03 -5.75384840e-06 9.99995240e-01 -7.92207887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters Centerline goodness : 0.994471 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:-17.73, Z:-0.80 [[ 9.97529273e-01 7.01845532e-02 3.07870097e-03 2.49738093e+02] [-7.01842545e-02 9.97534024e-01 -2.05101162e-04 -1.77348973e+01] [-3.08550390e-03 -1.14819198e-05 9.99995240e-01 -7.95340498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters Centerline goodness : 0.994757 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:-17.74, Z:-0.79 [[ 9.97539849e-01 7.00340785e-02 3.07870338e-03 2.49798036e+02] [-7.00337792e-02 9.97544599e-01 -2.05065086e-04 -1.77381863e+01] [-3.08550547e-03 -1.10526376e-05 9.99995240e-01 -7.92381871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters Centerline goodness : 0.993697 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:-17.74, Z:-0.79 [[ 9.97614554e-01 6.89617541e-02 3.07870338e-03 2.49858882e+02] [-6.89614497e-02 9.97619304e-01 -2.05065086e-04 -1.77426272e+01] [-3.08551557e-03 -7.73593376e-06 9.99995240e-01 -7.90093947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters Centerline goodness : 0.989041 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:-17.75, Z:-0.78 [[ 9.97610239e-01 6.90241415e-02 3.07870103e-03 2.49919083e+02] [-6.90238373e-02 9.97614990e-01 -2.05100308e-04 -1.77482540e+01] [-3.08551517e-03 -7.89359179e-06 9.99995240e-01 -7.81268379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters Centerline goodness : 0.995099 with order 1 Centerline is valid? [True, True] Translation: X:249.98, Y:-17.75, Z:-0.80 [[ 9.97331579e-01 7.29399984e-02 3.07870103e-03 2.49978884e+02] [-7.29397127e-02 9.97336331e-01 -2.05100308e-04 -1.77503344e+01] [-3.08546040e-03 -2.00065550e-05 9.99995240e-01 -7.97253623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters Centerline goodness : 0.995046 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:-17.75, Z:-0.80 [[ 9.97164009e-01 7.51961436e-02 3.07870335e-03 2.50038833e+02] [-7.51958688e-02 9.97168762e-01 -2.05065521e-04 -1.77532887e+01] [-3.08540694e-03 -2.70218162e-05 9.99995240e-01 -7.95947251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:250.10, Y:-17.75, Z:-0.79 [[ 9.96806494e-01 7.97955851e-02 3.07870801e-03 2.50098763e+02] [-7.97953324e-02 9.96811247e-01 -2.04995467e-04 -1.77529422e+01] [-3.08524851e-03 -4.13257169e-05 9.99995240e-01 -7.92156053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters Centerline goodness : 0.995210 with order 1 Centerline is valid? [True, True] Translation: X:250.16, Y:-17.75, Z:-0.79 [[ 9.96668359e-01 8.15027792e-02 3.07871265e-03 2.50159063e+02] [-8.15025350e-02 9.96673113e-01 -2.04925734e-04 -1.77510253e+01] [-3.08517214e-03 -4.66798904e-05 9.99995240e-01 -7.92281446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters Centerline goodness : 0.995520 with order 1 Centerline is valid? [True, True] Translation: X:250.22, Y:-17.75, Z:-0.79 [[ 9.96835909e-01 7.94272746e-02 3.07871723e-03 2.50218638e+02] [-7.94270206e-02 9.96840663e-01 -2.04856913e-04 -1.77487458e+01] [-3.08526175e-03 -4.03246096e-05 9.99995240e-01 -7.94751999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:250.28, Y:-17.75, Z:-0.79 [[ 9.97147057e-01 7.54206145e-02 3.07872178e-03 2.50278796e+02] [-7.54203416e-02 9.97151809e-01 -2.04788617e-04 -1.77504478e+01] [-3.08539827e-03 -2.79938813e-05 9.99995240e-01 -7.94247554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters Centerline goodness : 0.989693 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:-17.75, Z:-0.78 [[ 9.97310699e-01 7.32249308e-02 3.07872632e-03 2.50338618e+02] [-7.32246477e-02 9.97315451e-01 -2.04720285e-04 -1.77545037e+01] [-3.08545196e-03 -2.12689194e-05 9.99995240e-01 -7.79961517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters Centerline goodness : 0.995140 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:-17.76, Z:-0.79 [[ 9.97258279e-01 7.39354216e-02 3.07873109e-03 2.50398492e+02] [-7.39351421e-02 9.97263031e-01 -2.04648586e-04 -1.77574611e+01] [-3.08543547e-03 -2.35389233e-05 9.99995240e-01 -7.91166727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:250.46, Y:-17.77, Z:-0.79 [[ 9.97285976e-01 7.35608855e-02 3.07873581e-03 2.50457815e+02] [-7.35606044e-02 9.97290728e-01 -2.04577481e-04 -1.77667520e+01] [-3.08544358e-03 -2.24514143e-05 9.99995240e-01 -7.94418245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters Centerline goodness : 0.995406 with order 1 Centerline is valid? [True, True] Translation: X:250.52, Y:-17.77, Z:-0.80 [[ 9.97250090e-01 7.40457965e-02 3.07873814e-03 2.50517626e+02] [-7.40455179e-02 9.97254842e-01 -2.04542339e-04 -1.77719192e+01] [-3.08543202e-03 -2.39868946e-05 9.99995240e-01 -7.95179050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters Centerline goodness : 0.995555 with order 1 Centerline is valid? [True, True] Translation: X:250.58, Y:-17.77, Z:-0.79 [[ 9.96941022e-01 7.80968668e-02 3.07874297e-03 2.50575908e+02] [-7.80966077e-02 9.96945775e-01 -2.04469736e-04 -1.77745979e+01] [-3.08530824e-03 -3.65951146e-05 9.99995240e-01 -7.91043628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters Centerline goodness : 0.995610 with order 1 Centerline is valid? [True, True] Translation: X:250.64, Y:-17.77, Z:-0.79 [[ 9.96570544e-01 8.26902191e-02 3.07875013e-03 2.50635957e+02] [-8.26899823e-02 9.96575298e-01 -2.04361893e-04 -1.77741803e+01] [-3.08510505e-03 -5.09207504e-05 9.99995240e-01 -7.90495144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters Centerline goodness : 0.995751 with order 1 Centerline is valid? [True, True] Translation: X:250.70, Y:-17.77, Z:-0.79 [[ 9.96464107e-01 8.39631130e-02 3.07875483e-03 2.50696055e+02] [-8.39628824e-02 9.96468862e-01 -2.04290951e-04 -1.77732684e+01] [-3.08503623e-03 -5.49325299e-05 9.99995240e-01 -7.93913099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters Centerline goodness : 0.996016 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:-17.77, Z:-0.79 [[ 9.96691732e-01 8.12164589e-02 3.07875961e-03 2.50755203e+02] [-8.12162155e-02 9.96696486e-01 -2.04218872e-04 -1.77725715e+01] [-3.08517482e-03 -4.65019436e-05 9.99995240e-01 -7.91108335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:250.81, Y:-17.77, Z:-0.80 [[ 9.96800653e-01 7.98685117e-02 3.07876477e-03 2.50814245e+02] [-7.98682621e-02 9.96805407e-01 -2.04141073e-04 -1.77737449e+01] [-3.08523381e-03 -4.24076370e-05 9.99995240e-01 -7.99239279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters Centerline goodness : 0.996592 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:-17.77, Z:-0.79 [[ 9.96840863e-01 7.93650776e-02 3.07877181e-03 2.50873568e+02] [-7.93648259e-02 9.96845616e-01 -2.04034946e-04 -1.77734084e+01] [-3.08525343e-03 -4.09558171e-05 9.99995240e-01 -7.91701993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters Centerline goodness : 0.996547 with order 1 Centerline is valid? [True, True] Translation: X:250.93, Y:-17.77, Z:-0.79 [[ 9.96820090e-01 7.96255544e-02 3.07878178e-03 2.50932134e+02] [-7.96253044e-02 9.96824844e-01 -2.03884315e-04 -1.77729245e+01] [-3.08524057e-03 -4.19129549e-05 9.99995240e-01 -7.87467453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:250.99, Y:-17.77, Z:-0.79 [[ 9.97003296e-01 7.72977945e-02 3.07879181e-03 2.50989738e+02] [-7.72975338e-02 9.97008049e-01 -2.03732781e-04 -1.77722557e+01] [-3.08532831e-03 -3.48607601e-05 9.99995240e-01 -7.86609627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters Centerline goodness : 0.996458 with order 1 Centerline is valid? [True, True] Translation: X:251.05, Y:-17.78, Z:-0.79 [[ 9.97602965e-01 6.91291954e-02 3.07880155e-03 2.51049214e+02] [-6.91288963e-02 9.97607716e-01 -2.03585495e-04 -1.77765702e+01] [-3.08550988e-03 -9.73665946e-06 9.99995240e-01 -7.90679755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:251.11, Y:-17.78, Z:-0.79 [[ 9.97999030e-01 6.31542393e-02 3.07880654e-03 2.51108468e+02] [-6.31539120e-02 9.98003779e-01 -2.03510035e-04 -1.77837749e+01] [-3.08551308e-03 8.66414065e-06 9.99995240e-01 -7.90711958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:251.17, Y:-17.79, Z:-0.79 [[ 9.98059886e-01 6.21850835e-02 3.07880893e-03 2.51168198e+02] [-6.21847517e-02 9.98064635e-01 -2.03473851e-04 -1.77886459e+01] [-3.08550335e-03 1.16241199e-05 9.99995240e-01 -7.92540616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters Centerline goodness : 0.996534 with order 1 Centerline is valid? [True, True] Translation: X:251.23, Y:-17.80, Z:-0.80 [[ 9.98093195e-01 6.16481609e-02 3.07881371e-03 2.51227138e+02] [-6.16478268e-02 9.98097943e-01 -2.03401467e-04 -1.77997608e+01] [-3.08549696e-03 1.32114454e-05 9.99995240e-01 -7.95413993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:-17.81, Z:-0.79 [[ 9.98076584e-01 6.19164950e-02 3.07881859e-03 2.51285725e+02] [-6.19161624e-02 9.98081333e-01 -2.03327488e-04 -1.78112649e+01] [-3.08550069e-03 1.23077722e-05 9.99995240e-01 -7.92855020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters Centerline goodness : 0.996751 with order 1 Centerline is valid? [True, True] Translation: X:251.35, Y:-17.82, Z:-0.79 [[ 9.97844302e-01 6.55535681e-02 3.07882101e-03 2.51345128e+02] [-6.55532529e-02 9.97849052e-01 -2.03290932e-04 -1.78201215e+01] [-3.08552507e-03 1.02596595e-06 9.99995240e-01 -7.94858254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:251.40, Y:-17.83, Z:-0.80 [[ 9.97583830e-01 6.94047760e-02 3.07882338e-03 2.51404798e+02] [-6.94044792e-02 9.97588581e-01 -2.03255047e-04 -1.78257557e+01] [-3.08550591e-03 -1.09201843e-05 9.99995240e-01 -7.95819767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters Centerline goodness : 0.996156 with order 1 Centerline is valid? [True, True] Translation: X:251.46, Y:-17.83, Z:-0.79 [[ 9.97172177e-01 7.50877553e-02 3.07882808e-03 2.51464683e+02] [-7.50874858e-02 9.97176929e-01 -2.03183708e-04 -1.78303524e+01] [-3.08539294e-03 -2.85723200e-05 9.99995240e-01 -7.92477306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters Centerline goodness : 0.996661 with order 1 Centerline is valid? [True, True] Translation: X:251.52, Y:-17.83, Z:-0.79 [[ 9.97002739e-01 7.73049716e-02 3.07883275e-03 2.51524643e+02] [-7.73047129e-02 9.97007493e-01 -2.03113032e-04 -1.78340730e+01] [-3.08532096e-03 -3.55040323e-05 9.99995240e-01 -7.94364748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters Centerline goodness : 0.995758 with order 1 Centerline is valid? [True, True] Translation: X:251.58, Y:-17.84, Z:-0.79 [[ 9.96933065e-01 7.81983630e-02 3.07883740e-03 2.51583889e+02] [-7.81981088e-02 9.96937819e-01 -2.03042442e-04 -1.78384110e+01] [-3.08528703e-03 -3.83395384e-05 9.99995240e-01 -7.91079301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters Centerline goodness : 0.996547 with order 1 Centerline is valid? [True, True] Translation: X:251.64, Y:-17.84, Z:-0.79 [[ 9.96884829e-01 7.88109061e-02 3.07884224e-03 2.51642157e+02] [-7.88106551e-02 9.96889582e-01 -2.02969043e-04 -1.78413658e+01] [-3.08526193e-03 -4.03088147e-05 9.99995240e-01 -7.90471627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters Centerline goodness : 0.996430 with order 1 Centerline is valid? [True, True] Translation: X:251.70, Y:-17.84, Z:-0.79 [[ 9.96854348e-01 7.91955099e-02 3.07884941e-03 2.51701950e+02] [-7.91952610e-02 9.96859102e-01 -2.02860263e-04 -1.78448336e+01] [-3.08524468e-03 -4.16081470e-05 9.99995240e-01 -7.90916025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters Centerline goodness : 0.995682 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:-17.85, Z:-0.79 [[ 9.97166477e-01 7.51634027e-02 3.07885422e-03 2.51760951e+02] [-7.51631348e-02 9.97171230e-01 -2.02787156e-04 -1.78514161e+01] [-3.08538703e-03 -2.92037816e-05 9.99995240e-01 -7.88194210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters Centerline goodness : 0.995939 with order 1 Centerline is valid? [True, True] Translation: X:251.82, Y:-17.86, Z:-0.79 [[ 9.97358255e-01 7.25743179e-02 3.07885660e-03 2.51821061e+02] [-7.25740378e-02 9.97363007e-01 -2.02751133e-04 -1.78570875e+01] [-3.08545220e-03 -2.12295392e-05 9.99995240e-01 -7.89396268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters Centerline goodness : 0.995954 with order 1 Centerline is valid? [True, True] Translation: X:251.88, Y:-17.87, Z:-0.79 [[ 9.97820711e-01 6.59116714e-02 3.07885660e-03 2.51880614e+02] [-6.59113596e-02 9.97825461e-01 -2.02751132e-04 -1.78671507e+01] [-3.08552517e-03 -6.22344859e-07 9.99995240e-01 -7.91817173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters Centerline goodness : 0.995576 with order 1 Centerline is valid? [True, True] Translation: X:251.94, Y:-17.87, Z:-0.79 [[ 9.97716932e-01 6.74643921e-02 3.07885660e-03 2.51939877e+02] [-6.74640877e-02 9.97721683e-01 -2.02751132e-04 -1.78745908e+01] [-3.08552047e-03 -5.42401348e-06 9.99995240e-01 -7.89544007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters Centerline goodness : 0.995225 with order 1 Centerline is valid? [True, True] Translation: X:252.00, Y:-17.88, Z:-0.79 [[ 9.97321803e-01 7.30735369e-02 3.07885405e-03 2.51999919e+02] [-7.30732591e-02 9.97326555e-01 -2.02789717e-04 -1.78785254e+01] [-3.08544147e-03 -2.27352942e-05 9.99995240e-01 -7.89623927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters Centerline goodness : 0.994897 with order 1 Centerline is valid? [True, True] Translation: X:252.06, Y:-17.88, Z:-0.79 [[ 9.96989526e-01 7.74752002e-02 3.07885405e-03 2.52059383e+02] [-7.74749433e-02 9.96994279e-01 -2.02789717e-04 -1.78819838e+01] [-3.08531105e-03 -3.63548200e-05 9.99995240e-01 -7.89606537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters Centerline goodness : 0.995297 with order 1 Centerline is valid? [True, True] Translation: X:252.12, Y:-17.89, Z:-0.79 [[ 9.97036803e-01 7.68643912e-02 3.07885156e-03 2.52119385e+02] [-7.68641313e-02 9.97041556e-01 -2.02827516e-04 -1.78870329e+01] [-3.08533317e-03 -3.44267523e-05 9.99995240e-01 -7.91487684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters Centerline goodness : 0.995031 with order 1 Centerline is valid? [True, True] Translation: X:252.18, Y:-17.89, Z:-0.79 [[ 9.97193038e-01 7.48102028e-02 3.07885156e-03 2.52180105e+02] [-7.48099331e-02 9.97197790e-01 -2.02827516e-04 -1.78910483e+01] [-3.08539754e-03 -2.80704924e-05 9.99995240e-01 -7.91085210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:252.24, Y:-17.90, Z:-0.79 [[ 9.97418828e-01 7.17370343e-02 3.07885156e-03 2.52240693e+02] [-7.17367500e-02 9.97423580e-01 -2.02827516e-04 -1.78979130e+01] [-3.08546939e-03 -1.85628211e-05 9.99995240e-01 -7.93859302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters Centerline goodness : 0.994905 with order 1 Centerline is valid? [True, True] Translation: X:252.30, Y:-17.90, Z:-0.80 [[ 9.97377802e-01 7.23051888e-02 3.07885156e-03 2.52300292e+02] [-7.23049072e-02 9.97382554e-01 -2.02827516e-04 -1.79000565e+01] [-3.08545832e-03 -2.03204142e-05 9.99995240e-01 -7.96908015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters Centerline goodness : 0.995370 with order 1 Centerline is valid? [True, True] Translation: X:252.36, Y:-17.90, Z:-0.79 [[ 9.97178581e-01 7.50026501e-02 3.07885404e-03 2.52359902e+02] [-7.50023815e-02 9.97183334e-01 -2.02789878e-04 -1.78998050e+01] [-3.08539172e-03 -2.87036621e-05 9.99995240e-01 -7.93691474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters Centerline goodness : 0.995205 with order 1 Centerline is valid? [True, True] Translation: X:252.42, Y:-17.90, Z:-0.79 [[ 9.96953646e-01 7.79355390e-02 3.07885880e-03 2.52419511e+02] [-7.79352846e-02 9.96958399e-01 -2.02717683e-04 -1.78961296e+01] [-3.08529305e-03 -3.78516036e-05 9.99995240e-01 -7.93951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters Centerline goodness : 0.995238 with order 1 Centerline is valid? [True, True] Translation: X:252.48, Y:-17.90, Z:-0.79 [[ 9.96974382e-01 7.76698305e-02 3.07886377e-03 2.52478322e+02] [-7.76695750e-02 9.96979135e-01 -2.02642080e-04 -1.78970231e+01] [-3.08530212e-03 -3.71050784e-05 9.99995240e-01 -7.93802118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters Centerline goodness : 0.994417 with order 1 Centerline is valid? [True, True] Translation: X:252.54, Y:-17.90, Z:-0.79 [[ 9.97244189e-01 7.41252228e-02 3.07886864e-03 2.52538552e+02] [-7.41249507e-02 9.97248941e-01 -2.02568161e-04 -1.78952053e+01] [-3.08541390e-03 -2.62110649e-05 9.99995240e-01 -7.92479423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters Centerline goodness : 0.994829 with order 1 Centerline is valid? [True, True] Translation: X:252.60, Y:-17.89, Z:-0.79 [[ 9.97604017e-01 6.91140084e-02 3.07887101e-03 2.52598722e+02] [-6.91137125e-02 9.97608768e-01 -2.02532053e-04 -1.78933804e+01] [-3.08550652e-03 -1.07454164e-05 9.99995240e-01 -7.94304153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters Centerline goodness : 0.994806 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:-17.89, Z:-0.79 [[ 9.97928601e-01 6.42575134e-02 3.07887330e-03 2.52658753e+02] [-6.42571944e-02 9.97933350e-01 -2.02497213e-04 -1.78924526e+01] [-3.08552232e-03 4.23800002e-06 9.99995240e-01 -7.92349817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters Centerline goodness : 0.995010 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:-17.89, Z:-0.79 [[ 9.98148679e-01 6.07431923e-02 3.07887571e-03 2.52718163e+02] [-6.07428568e-02 9.98153427e-01 -2.02460632e-04 -1.78907984e+01] [-3.08548845e-03 1.50661064e-05 9.99995240e-01 -7.91596185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters Centerline goodness : 0.995528 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:-17.89, Z:-0.80 [[ 9.98355053e-01 5.72512766e-02 3.07888052e-03 2.52777793e+02] [-5.72509247e-02 9.98359800e-01 -2.02387458e-04 -1.78885054e+01] [-3.08541748e-03 2.57857845e-05 9.99995240e-01 -7.96081829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters Centerline goodness : 0.995170 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:-17.89, Z:-0.79 [[ 9.98398193e-01 5.64939769e-02 3.07888534e-03 2.52836783e+02] [-5.64936216e-02 9.98402940e-01 -2.02314063e-04 -1.78870892e+01] [-3.08539770e-03 2.80526109e-05 9.99995240e-01 -7.92424203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters Centerline goodness : 0.994840 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:-17.89, Z:-0.79 [[ 9.98370983e-01 5.69728062e-02 3.07889249e-03 2.52895814e+02] [-5.69724535e-02 9.98375730e-01 -2.02205184e-04 -1.78857315e+01] [-3.08541174e-03 2.64637288e-05 9.99995240e-01 -7.88474852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters Centerline goodness : 0.995574 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:-17.89, Z:-0.79 [[ 9.98448733e-01 5.55936007e-02 3.07889679e-03 2.52955113e+02] [-5.55932417e-02 9.98453479e-01 -2.02139668e-04 -1.78900031e+01] [-3.08537289e-03 3.06602423e-05 9.99995240e-01 -7.92087720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters Centerline goodness : 0.991720 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:-17.90, Z:-0.78 [[ 9.98684902e-01 5.11760411e-02 3.07890150e-03 2.53014054e+02] [-5.11756613e-02 9.98689647e-01 -2.02067985e-04 -1.78983738e+01] [-3.08520809e-03 4.42374261e-05 9.99995240e-01 -7.83336793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters Centerline goodness : 0.996149 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:-17.91, Z:-0.80 [[ 9.98818132e-01 4.85062934e-02 3.07890616e-03 2.53074331e+02] [-4.85059012e-02 9.98822876e-01 -2.01996895e-04 -1.79064134e+01] [-3.08508003e-03 5.24130437e-05 9.99995240e-01 -7.97961473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters Centerline goodness : 0.995902 with order 1 Centerline is valid? [True, True] Translation: X:253.13, Y:-17.91, Z:-0.80 [[ 9.98632446e-01 5.21896298e-02 3.07890616e-03 2.53133402e+02] [-5.21892550e-02 9.98637192e-01 -2.01996895e-04 -1.79138556e+01] [-3.08525235e-03 4.10348351e-05 9.99995240e-01 -7.98695493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:-17.92, Z:-0.80 [[ 9.98303306e-01 5.81466185e-02 3.07891076e-03 2.53192626e+02] [-5.81462722e-02 9.98308054e-01 -2.01926856e-04 -1.79209596e+01] [-3.08544277e-03 2.25570645e-05 9.99995240e-01 -8.01566884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters Centerline goodness : 0.995875 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:-17.93, Z:-0.80 [[ 9.98277332e-01 5.85908622e-02 3.07891567e-03 2.53252007e+02] [-5.85905183e-02 9.98282080e-01 -2.01851841e-04 -1.79266324e+01] [-3.08545301e-03 2.11088526e-05 9.99995240e-01 -8.01616850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters Centerline goodness : 0.995306 with order 1 Centerline is valid? [True, True] Translation: X:253.31, Y:-17.94, Z:-0.80 [[ 9.98367920e-01 5.70264484e-02 3.07891811e-03 2.53311787e+02] [-5.70260972e-02 9.98372668e-01 -2.01814654e-04 -1.79351154e+01] [-3.08541646e-03 2.59065932e-05 9.99995240e-01 -8.01643832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters Centerline goodness : 0.995444 with order 1 Centerline is valid? [True, True] Translation: X:253.37, Y:-17.94, Z:-0.80 [[ 9.98104137e-01 6.14707436e-02 3.07891811e-03 2.53370737e+02] [-6.14704135e-02 9.98108886e-01 -2.01814654e-04 -1.79366782e+01] [-3.08550122e-03 1.21696716e-05 9.99995240e-01 -8.03341498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters Centerline goodness : 0.994756 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:-17.94, Z:-0.80 [[ 9.97543051e-01 6.99884360e-02 3.07892518e-03 2.53429764e+02] [-6.99881468e-02 9.97547803e-01 -2.01706776e-04 -1.79362633e+01] [-3.08549219e-03 -1.42770751e-05 9.99995240e-01 -8.00825027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters Centerline goodness : 0.994750 with order 1 Centerline is valid? [True, True] Translation: X:253.49, Y:-17.94, Z:-0.80 [[ 9.97538424e-01 7.00543590e-02 3.07893472e-03 2.53488441e+02] [-7.00540705e-02 9.97543175e-01 -2.01560949e-04 -1.79408177e+01] [-3.08549054e-03 -1.46271188e-05 9.99995240e-01 -7.98723087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters Centerline goodness : 0.993609 with order 1 Centerline is valid? [True, True] Translation: X:253.55, Y:-17.95, Z:-0.79 [[ 9.97713426e-01 6.75162190e-02 3.07893883e-03 2.53546761e+02] [-6.75159187e-02 9.97718177e-01 -2.01498168e-04 -1.79457276e+01] [-3.08551763e-03 -6.83995588e-06 9.99995240e-01 -7.94347021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters Centerline goodness : 0.994317 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:-17.95, Z:-0.80 [[ 9.97621051e-01 6.88676963e-02 3.07894240e-03 2.53606153e+02] [-6.88674026e-02 9.97625802e-01 -2.01443685e-04 -1.79486180e+01] [-3.08550534e-03 -1.10743050e-05 9.99995240e-01 -7.97352990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters Centerline goodness : 0.995202 with order 1 Centerline is valid? [True, True] Translation: X:253.66, Y:-17.95, Z:-0.80 [[ 9.97205835e-01 7.46394134e-02 3.07894721e-03 2.53664561e+02] [-7.46391474e-02 9.97210588e-01 -2.01370108e-04 -1.79521118e+01] [-3.08538890e-03 -2.90025477e-05 9.99995240e-01 -8.02031730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters Centerline goodness : 0.995141 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:-17.96, Z:-0.80 [[ 9.97002790e-01 7.73043140e-02 3.07895433e-03 2.53723953e+02] [-7.73040610e-02 9.97007543e-01 -2.01261257e-04 -1.79575557e+01] [-3.08529905e-03 -3.73576380e-05 9.99995240e-01 -8.04148456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters Centerline goodness : 0.995364 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:-17.96, Z:-0.80 [[ 9.97024379e-01 7.70253685e-02 3.07895920e-03 2.53783301e+02] [-7.70251144e-02 9.97029133e-01 -2.01186637e-04 -1.79627835e+01] [-3.08530850e-03 -3.65692027e-05 9.99995240e-01 -8.04715465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters Centerline goodness : 0.995290 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:-17.97, Z:-0.81 [[ 9.97067013e-01 7.64715047e-02 3.07896404e-03 2.53842122e+02] [-7.64712483e-02 9.97071767e-01 -2.01112561e-04 -1.79684357e+01] [-3.08532749e-03 -3.49295233e-05 9.99995240e-01 -8.06216575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters Centerline goodness : 0.995257 with order 1 Centerline is valid? [True, True] Translation: X:253.90, Y:-17.97, Z:-0.81 [[ 9.96749161e-01 8.05085752e-02 3.07896921e-03 2.53901351e+02] [-8.05083382e-02 9.96753915e-01 -2.01033330e-04 -1.79688925e+01] [-3.08515952e-03 -4.75028921e-05 9.99995240e-01 -8.07374442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters Centerline goodness : 0.995626 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:-17.97, Z:-0.81 [[ 9.96391059e-01 8.48255751e-02 3.07897826e-03 2.53959539e+02] [-8.48253592e-02 9.96395814e-01 -2.00894689e-04 -1.79689349e+01] [-3.08492206e-03 -6.10057650e-05 9.99995240e-01 -8.12093484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters Centerline goodness : 0.994368 with order 1 Centerline is valid? [True, True] Translation: X:254.02, Y:-17.97, Z:-0.81 [[ 9.96091339e-01 8.82755055e-02 3.07899072e-03 2.54017491e+02] [-8.82753066e-02 9.96096095e-01 -2.00703571e-04 -1.79680378e+01] [-3.08468784e-03 -7.18797607e-05 9.99995240e-01 -8.09241709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters Centerline goodness : 0.995195 with order 1 Centerline is valid? [True, True] Translation: X:254.08, Y:-17.97, Z:-0.81 [[ 9.96316570e-01 8.56960425e-02 3.07900183e-03 2.54076047e+02] [-8.56958318e-02 9.96321326e-01 -2.00532903e-04 -1.79697127e+01] [-3.08486006e-03 -6.40633693e-05 9.99995240e-01 -8.10616658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters Centerline goodness : 0.994193 with order 1 Centerline is valid? [True, True] Translation: X:254.13, Y:-17.97, Z:-0.81 [[ 9.96874113e-01 7.89463263e-02 3.07901153e-03 2.54133292e+02] [-7.89460839e-02 9.96878867e-01 -2.00383932e-04 -1.79734817e+01] [-3.08522110e-03 -4.33183481e-05 9.99995240e-01 -8.11002433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters Centerline goodness : 0.995227 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:-17.98, Z:-0.81 [[ 9.97366044e-01 7.24671915e-02 3.07902351e-03 2.54192304e+02] [-7.24669188e-02 9.97370796e-01 -2.00199581e-04 -1.79788096e+01] [-3.08543604e-03 -2.34550824e-05 9.99995240e-01 -8.12864724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters Centerline goodness : 0.995418 with order 1 Centerline is valid? [True, True] Translation: X:254.25, Y:-17.98, Z:-0.81 [[ 9.97550739e-01 6.98787770e-02 3.07902838e-03 2.54251819e+02] [-6.98784922e-02 9.97555490e-01 -2.00124677e-04 -1.79816580e+01] [-3.08548614e-03 -1.55233412e-05 9.99995240e-01 -8.12859977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters Centerline goodness : 0.994960 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:-17.98, Z:-0.81 [[ 9.97402943e-01 7.19575466e-02 3.07903319e-03 2.54311924e+02] [-7.19572719e-02 9.97407695e-01 -2.00050740e-04 -1.79829056e+01] [-3.08544655e-03 -2.20276314e-05 9.99995240e-01 -8.12664128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters Centerline goodness : 0.994261 with order 1 Centerline is valid? [True, True] Translation: X:254.37, Y:-17.98, Z:-0.82 [[ 9.97319495e-01 7.31050239e-02 3.07903796e-03 2.54371095e+02] [-7.31047548e-02 9.97324248e-01 -1.99977295e-04 -1.79815548e+01] [-3.08541856e-03 -2.56510602e-05 9.99995240e-01 -8.15125447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters Centerline goodness : 0.994130 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:-17.98, Z:-0.82 [[ 9.97652996e-01 6.84033530e-02 3.07904748e-03 2.54429413e+02] [-6.84030621e-02 9.97657748e-01 -1.99830493e-04 -1.79834255e+01] [-3.08550465e-03 -1.12547864e-05 9.99995240e-01 -8.18267585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:-17.99, Z:-0.82 [[ 9.98280328e-01 5.85397783e-02 3.07905370e-03 2.54488803e+02] [-5.85394407e-02 9.98285077e-01 -1.99734655e-04 -1.79878354e+01] [-3.08546578e-03 1.91450950e-05 9.99995240e-01 -8.18820654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters Centerline goodness : 0.994297 with order 1 Centerline is valid? [True, True] Translation: X:254.55, Y:-18.00, Z:-0.82 [[ 9.98831813e-01 4.82237319e-02 3.07905831e-03 2.54548251e+02] [-4.82233454e-02 9.98836558e-01 -1.99663522e-04 -1.79976668e+01] [-3.08510453e-03 5.09477854e-05 9.99995240e-01 -8.23091311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters Centerline goodness : 0.994395 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:-18.01, Z:-0.83 [[ 9.98979451e-01 4.50619069e-02 3.07906059e-03 2.54607856e+02] [-4.50615056e-02 9.98984195e-01 -1.99628468e-04 -1.80063202e+01] [-3.08492850e-03 6.06776320e-05 9.99995240e-01 -8.26613894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters Centerline goodness : 0.993539 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:-18.02, Z:-0.82 [[ 9.98767444e-01 4.95390029e-02 3.07906059e-03 2.54667319e+02] [-4.95386228e-02 9.98772189e-01 -1.99628468e-04 -1.80154432e+01] [-3.08516948e-03 4.68499940e-05 9.99995240e-01 -8.23918625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters Centerline goodness : 0.992577 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:-18.02, Z:-0.82 [[ 9.98168860e-01 6.04106489e-02 3.07906282e-03 2.54727335e+02] [-6.04103206e-02 9.98173609e-01 -1.99593964e-04 -1.80195354e+01] [-3.08549685e-03 1.32213068e-05 9.99995240e-01 -8.21252015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters Centerline goodness : 0.992846 with order 1 Centerline is valid? [True, True] Translation: X:254.79, Y:-18.02, Z:-0.83 [[ 9.97461073e-01 7.11472243e-02 3.07906502e-03 2.54785681e+02] [-7.11469473e-02 9.97465825e-01 -1.99560096e-04 -1.80197470e+01] [-3.08546028e-03 -2.00126495e-05 9.99995240e-01 -8.25278561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters Centerline goodness : 0.992586 with order 1 Centerline is valid? [True, True] Translation: X:254.84, Y:-18.02, Z:-0.83 [[ 9.97015655e-01 7.71382046e-02 3.07907598e-03 2.54844004e+02] [-7.71379566e-02 9.97020409e-01 -1.99390812e-04 -1.80199059e+01] [-3.08528224e-03 -3.87178680e-05 9.99995240e-01 -8.26008225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters Centerline goodness : 0.994140 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:-18.02, Z:-0.83 [[ 9.97048323e-01 7.67148075e-02 3.07908688e-03 2.54902904e+02] [-7.67145580e-02 9.97053076e-01 -1.99222280e-04 -1.80227968e+01] [-3.08529635e-03 -3.75765493e-05 9.99995240e-01 -8.32612462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters Centerline goodness : 0.995187 with order 1 Centerline is valid? [True, True] Translation: X:254.96, Y:-18.02, Z:-0.84 [[ 9.97349452e-01 7.26951779e-02 3.07909609e-03 2.54962764e+02] [-7.26949097e-02 9.97354205e-01 -1.99079962e-04 -1.80246096e+01] [-3.08542158e-03 -2.52823207e-05 9.99995240e-01 -8.38158492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:-18.03, Z:-0.84 [[ 9.97595580e-01 6.92356753e-02 3.07910099e-03 2.55021414e+02] [-6.92353908e-02 9.97600331e-01 -1.99004145e-04 -1.80286778e+01] [-3.08549035e-03 -1.46571045e-05 9.99995240e-01 -8.38490521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters Centerline goodness : 0.995140 with order 1 Centerline is valid? [True, True] Translation: X:255.08, Y:-18.03, Z:-0.84 [[ 9.98048519e-01 6.23672355e-02 3.07910583e-03 2.55080788e+02] [-6.23669186e-02 9.98053269e-01 -1.98929184e-04 -1.80337339e+01] [-3.08551830e-03 6.50663553e-06 9.99995240e-01 -8.40699503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters Centerline goodness : 0.994953 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:-18.04, Z:-0.84 [[ 9.98492256e-01 5.48063227e-02 3.07911060e-03 2.55139384e+02] [-5.48059701e-02 9.98497004e-01 -1.98855266e-04 -1.80425205e+01] [-3.08538124e-03 2.98017999e-05 9.99995240e-01 -8.41139464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:-18.05, Z:-0.85 [[ 9.98930721e-01 4.61295243e-02 3.07911297e-03 2.55199604e+02] [-4.61291306e-02 9.98935465e-01 -1.98818674e-04 -1.80532497e+01] [-3.08500655e-03 5.65692775e-05 9.99995240e-01 -8.46009860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:-18.06, Z:-0.85 [[ 9.99151635e-01 4.10673816e-02 3.07911297e-03 2.55260311e+02] [-4.10669638e-02 9.99156377e-01 -1.98818674e-04 -1.80629767e+01] [-3.08468032e-03 7.22001824e-05 9.99995240e-01 -8.47726082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters Centerline goodness : 0.995857 with order 1 Centerline is valid? [True, True] Translation: X:255.32, Y:-18.08, Z:-0.85 [[ 9.99312083e-01 3.69578159e-02 3.07910833e-03 2.55320383e+02] [-3.69573784e-02 9.99316823e-01 -1.98890409e-04 -1.80800035e+01] [-3.08435531e-03 8.49578171e-05 9.99995240e-01 -8.45692166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters Centerline goodness : 0.996181 with order 1 Centerline is valid? [True, True] Translation: X:255.38, Y:-18.09, Z:-0.85 [[ 9.99285875e-01 3.76597814e-02 3.07910372e-03 2.55380369e+02] [-3.76593469e-02 9.99290615e-01 -1.98961778e-04 -1.80932394e+01] [-3.08441231e-03 8.28626588e-05 9.99995240e-01 -8.50692620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters Centerline goodness : 0.996982 with order 1 Centerline is valid? [True, True] Translation: X:255.44, Y:-18.11, Z:-0.85 [[ 9.99083119e-01 4.27017732e-02 3.07910144e-03 2.55440997e+02] [-4.27013626e-02 9.99087861e-01 -1.98997012e-04 -1.81096020e+01] [-3.08479040e-03 6.73327282e-05 9.99995240e-01 -8.52334820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters Centerline goodness : 0.996797 with order 1 Centerline is valid? [True, True] Translation: X:255.50, Y:-18.12, Z:-0.86 [[ 9.98820615e-01 4.84551216e-02 3.07909686e-03 2.55501253e+02] [-4.84547381e-02 9.98825359e-01 -1.99067965e-04 -1.81236664e+01] [-3.08512589e-03 4.96363554e-05 9.99995240e-01 -8.55602237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters Centerline goodness : 0.997151 with order 1 Centerline is valid? [True, True] Translation: X:255.56, Y:-18.14, Z:-0.86 [[ 9.98531401e-01 5.40884429e-02 3.07909214e-03 2.55561476e+02] [-5.40880860e-02 9.98536148e-01 -1.99140933e-04 -1.81374101e+01] [-3.08535603e-03 3.23062751e-05 9.99995240e-01 -8.59343752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:255.62, Y:-18.14, Z:-0.86 [[ 9.98387343e-01 5.66853833e-02 3.07906153e-03 2.55622278e+02] [-5.66850372e-02 9.98392091e-01 -1.99613066e-04 -1.81435370e+01] [-3.08542582e-03 2.47544415e-05 9.99995240e-01 -8.60236161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:255.68, Y:-18.15, Z:-0.86 [[ 9.97762888e-01 6.67812702e-02 3.07903099e-03 2.55682988e+02] [-6.67809707e-02 9.97767639e-01 -2.00083077e-04 -1.81482401e+01] [-3.08551928e-03 -5.98520961e-06 9.99995240e-01 -8.57809000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters Centerline goodness : 0.996731 with order 1 Centerline is valid? [True, True] Translation: X:255.74, Y:-18.15, Z:-0.85 [[ 9.97137086e-01 7.55523026e-02 3.07902634e-03 2.55744580e+02] [-7.55520447e-02 9.97141840e-01 -2.00154570e-04 -1.81523013e+01] [-3.08534813e-03 -3.30451906e-05 9.99995240e-01 -8.54411983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters Centerline goodness : 0.996907 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:-18.15, Z:-0.86 [[ 9.96875973e-01 7.89228362e-02 3.07902167e-03 2.55804816e+02] [-7.89225941e-02 9.96880727e-01 -2.00226303e-04 -1.81545692e+01] [-3.08521979e-03 -4.34035872e-05 9.99995240e-01 -8.58775618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters Centerline goodness : 0.997041 with order 1 Centerline is valid? [True, True] Translation: X:255.87, Y:-18.16, Z:-0.86 [[ 9.97088243e-01 7.61941941e-02 3.07902167e-03 2.55867134e+02] [-7.61939390e-02 9.97092996e-01 -2.00226303e-04 -1.81579509e+01] [-3.08532703e-03 -3.49594969e-05 9.99995240e-01 -8.59502934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters Centerline goodness : 0.997291 with order 1 Centerline is valid? [True, True] Translation: X:255.93, Y:-18.16, Z:-0.86 [[ 9.97361938e-01 7.25236883e-02 3.07898960e-03 2.55928499e+02] [-7.25234142e-02 9.97366690e-01 -2.00718307e-04 -1.81638617e+01] [-3.08543850e-03 -2.31100390e-05 9.99995240e-01 -8.60115138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters Centerline goodness : 0.997505 with order 1 Centerline is valid? [True, True] Translation: X:255.99, Y:-18.17, Z:-0.86 [[ 9.97543424e-01 6.99831185e-02 3.07898492e-03 2.55989534e+02] [-6.99828321e-02 9.97548176e-01 -2.00790118e-04 -1.81704588e+01] [-3.08548771e-03 -1.51792228e-05 9.99995240e-01 -8.62252207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters Centerline goodness : 0.997300 with order 1 Centerline is valid? [True, True] Translation: X:256.05, Y:-18.18, Z:-0.86 [[ 9.97390827e-01 7.21252962e-02 3.07895468e-03 2.56050477e+02] [-7.21250186e-02 9.97395579e-01 -2.01252774e-04 -1.81781945e+01] [-3.08545120e-03 -2.13419923e-05 9.99995240e-01 -8.58719388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters Centerline goodness : 0.997496 with order 1 Centerline is valid? [True, True] Translation: X:256.11, Y:-18.19, Z:-0.86 [[ 9.97042048e-01 7.67963175e-02 3.07895000e-03 2.56111044e+02] [-7.67960619e-02 9.97046801e-01 -2.01324251e-04 -1.81867671e+01] [-3.08531821e-03 -3.57224914e-05 9.99995240e-01 -8.63439125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:256.17, Y:-18.19, Z:-0.87 [[ 9.96607510e-01 8.22434864e-02 3.07894528e-03 2.56171300e+02] [-8.22432566e-02 9.96612265e-01 -2.01396512e-04 -1.81910837e+01] [-3.08507818e-03 -5.25092103e-05 9.99995240e-01 -8.66707895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:256.23, Y:-18.20, Z:-0.86 [[ 9.96196669e-01 8.70787911e-02 3.07894295e-03 2.56232277e+02] [-8.70785842e-02 9.96201425e-01 -2.01432108e-04 -1.81950413e+01] [-3.08478782e-03 -6.74439974e-05 9.99995240e-01 -8.60118814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters Centerline goodness : 0.996684 with order 1 Centerline is valid? [True, True] Translation: X:256.29, Y:-18.20, Z:-0.86 [[ 9.96142386e-01 8.76975923e-02 3.07893819e-03 2.56292507e+02] [-8.76973882e-02 9.96147141e-01 -2.01504739e-04 -1.81952408e+01] [-3.08474696e-03 -6.92874261e-05 9.99995240e-01 -8.59134701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters Centerline goodness : 0.997089 with order 1 Centerline is valid? [True, True] Translation: X:256.35, Y:-18.20, Z:-0.86 [[ 9.96445806e-01 8.41800203e-02 3.07892734e-03 2.56354082e+02] [-8.41797989e-02 9.96450561e-01 -2.01670493e-04 -1.81993141e+01] [-3.08497550e-03 -5.82297668e-05 9.99995240e-01 -8.60411285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:-18.20, Z:-0.86 [[ 9.97010279e-01 7.72076662e-02 3.07889396e-03 2.56416480e+02] [-7.72074099e-02 9.97015032e-01 -2.02178733e-04 -1.82025728e+01] [-3.08531331e-03 -3.61391535e-05 9.99995240e-01 -8.61111905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters Centerline goodness : 0.996902 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:-18.21, Z:-0.86 [[ 9.97613334e-01 6.89793980e-02 3.07886071e-03 2.56479205e+02] [-6.89791010e-02 9.97618085e-01 -2.02683932e-04 -1.82096068e+01] [-3.08550813e-03 -1.01768506e-05 9.99995240e-01 -8.62909520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters Centerline goodness : 0.996839 with order 1 Centerline is valid? [True, True] Translation: X:256.54, Y:-18.21, Z:-0.86 [[ 9.98011743e-01 6.29530145e-02 3.07882195e-03 2.56542045e+02] [-6.29526870e-02 9.98016492e-01 -2.03270928e-04 -1.82137425e+01] [-3.08551160e-03 9.04665851e-06 9.99995240e-01 -8.64543120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:256.60, Y:-18.22, Z:-0.87 [[ 9.98093903e-01 6.16366876e-02 3.07878217e-03 2.56604575e+02] [-6.16363519e-02 9.98098652e-01 -2.03871690e-04 -1.82184111e+01] [-3.08549431e-03 1.37181891e-05 9.99995240e-01 -8.66431716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:-18.22, Z:-0.87 [[ 9.98032982e-01 6.26154055e-02 3.07874254e-03 2.56665585e+02] [-6.26150727e-02 9.98037730e-01 -2.04468348e-04 -1.82203738e+01] [-3.08550409e-03 1.12904670e-05 9.99995240e-01 -8.71459781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:-18.23, Z:-0.87 [[ 9.97883274e-01 6.49576279e-02 3.07871054e-03 2.56727924e+02] [-6.49573047e-02 9.97888023e-01 -2.04949160e-04 -1.82250519e+01] [-3.08552138e-03 4.53060027e-06 9.99995240e-01 -8.70367595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters Centerline goodness : 0.997474 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:-18.22, Z:-0.87 [[ 9.97643958e-01 6.85350574e-02 3.07867656e-03 2.56789432e+02] [-6.85347497e-02 9.97648709e-01 -2.05458281e-04 -1.82240608e+01] [-3.08551879e-03 -6.02211498e-06 9.99995240e-01 -8.68458852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters Centerline goodness : 0.997729 with order 1 Centerline is valid? [True, True] Translation: X:256.85, Y:-18.23, Z:-0.87 [[ 9.97536196e-01 7.00860907e-02 3.07864515e-03 2.56850742e+02] [-7.00857889e-02 9.97540946e-01 -2.05927811e-04 -1.82281982e+01] [-3.08550727e-03 -1.03488292e-05 9.99995240e-01 -8.72301069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:-18.23, Z:-0.87 [[ 9.97351193e-01 7.26713191e-02 3.07864033e-03 2.56911731e+02] [-7.26710295e-02 9.97355944e-01 -2.05999915e-04 -1.82288775e+01] [-3.08547052e-03 -1.82737008e-05 9.99995240e-01 -8.71801896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:-18.23, Z:-0.87 [[ 9.97279695e-01 7.36459887e-02 3.07863528e-03 2.56971878e+02] [-7.36457034e-02 9.97284447e-01 -2.06075374e-04 -1.82297125e+01] [-3.08545170e-03 -2.12134741e-05 9.99995240e-01 -8.73434583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters Centerline goodness : 0.997072 with order 1 Centerline is valid? [True, True] Translation: X:257.03, Y:-18.23, Z:-0.87 [[ 9.97368635e-01 7.24315407e-02 3.07863278e-03 2.57033288e+02] [-7.24312495e-02 9.97373386e-01 -2.06112612e-04 -1.82302586e+01] [-3.08547546e-03 -1.74189653e-05 9.99995240e-01 -8.69720646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters Centerline goodness : 0.997980 with order 1 Centerline is valid? [True, True] Translation: X:257.09, Y:-18.23, Z:-0.87 [[ 9.97511441e-01 7.04375413e-02 3.07862777e-03 2.57093888e+02] [-7.04372404e-02 9.97516192e-01 -2.06187397e-04 -1.82342972e+01] [-3.08550439e-03 -1.11757572e-05 9.99995240e-01 -8.71962339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:257.15, Y:-18.24, Z:-0.88 [[ 9.97762731e-01 6.67836471e-02 3.07861488e-03 2.57154679e+02] [-6.67833283e-02 9.97767480e-01 -2.06379826e-04 -1.82381391e+01] [-3.08552460e-03 3.17950980e-07 9.99995240e-01 -8.78616479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters Centerline goodness : 0.997582 with order 1 Centerline is valid? [True, True] Translation: X:257.22, Y:-18.24, Z:-0.88 [[ 9.97839582e-01 6.56253836e-02 3.07858329e-03 2.57216245e+02] [-6.56250578e-02 9.97844331e-01 -2.06849899e-04 -1.82444595e+01] [-3.08552149e-03 4.37081014e-06 9.99995240e-01 -8.80741614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:257.28, Y:-18.25, Z:-0.88 [[ 9.97712428e-01 6.75309884e-02 3.07854732e-03 2.57277455e+02] [-6.75306700e-02 9.97717177e-01 -2.07383895e-04 -1.82516905e+01] [-3.08552438e-03 -9.86873869e-07 9.99995240e-01 -8.83011310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:257.34, Y:-18.26, Z:-0.88 [[ 9.97644057e-01 6.85336301e-02 3.07851400e-03 2.57338582e+02] [-6.85333149e-02 9.97648807e-01 -2.07877285e-04 -1.82604615e+01] [-3.08552241e-03 -3.59323149e-06 9.99995240e-01 -8.76152314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters Centerline goodness : 0.997367 with order 1 Centerline is valid? [True, True] Translation: X:257.40, Y:-18.26, Z:-0.88 [[ 9.97643215e-01 6.85458872e-02 3.07848213e-03 2.57399709e+02] [-6.85455706e-02 9.97647965e-01 -2.08348253e-04 -1.82644987e+01] [-3.08552284e-03 -3.15909290e-06 9.99995240e-01 -8.75223935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:257.46, Y:-18.27, Z:-0.88 [[ 9.97584559e-01 6.93943162e-02 3.07847723e-03 2.57461315e+02] [-6.93940035e-02 9.97589309e-01 -2.08420528e-04 -1.82709834e+01] [-3.08551918e-03 -5.71075972e-06 9.99995240e-01 -8.81778980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:257.52, Y:-18.27, Z:-0.88 [[ 9.97454615e-01 7.12377356e-02 3.07844265e-03 2.57522704e+02] [-7.12374301e-02 9.97459365e-01 -2.08930070e-04 -1.82733415e+01] [-3.08550516e-03 -1.09020813e-05 9.99995240e-01 -8.79865065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters Centerline goodness : 0.997422 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:-18.27, Z:-0.88 [[ 9.97272796e-01 7.37393625e-02 3.07843771e-03 2.57584378e+02] [-7.37390686e-02 9.97277547e-01 -2.09002911e-04 -1.82747061e+01] [-3.08546855e-03 -1.85682120e-05 9.99995240e-01 -8.79646819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:257.65, Y:-18.28, Z:-0.88 [[ 9.97315138e-01 7.31644614e-02 3.07843272e-03 2.57645729e+02] [-7.31641645e-02 9.97319889e-01 -2.09076412e-04 -1.82779134e+01] [-3.08547914e-03 -1.67158873e-05 9.99995240e-01 -8.81397138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:257.71, Y:-18.28, Z:-0.88 [[ 9.97642746e-01 6.85527208e-02 3.07842778e-03 2.57707487e+02] [-6.85524018e-02 9.97647495e-01 -2.09149101e-04 -1.82805362e+01] [-3.08552350e-03 -2.37753420e-06 9.99995240e-01 -8.76027410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters Centerline goodness : 0.996739 with order 1 Centerline is valid? [True, True] Translation: X:257.77, Y:-18.28, Z:-0.87 [[ 9.97989582e-01 6.33033752e-02 3.07842278e-03 2.57769537e+02] [-6.33030310e-02 9.97994330e-01 -2.09222607e-04 -1.82843306e+01] [-3.08549298e-03 1.39284891e-05 9.99995240e-01 -8.71951407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters Centerline goodness : 0.997033 with order 1 Centerline is valid? [True, True] Translation: X:257.83, Y:-18.29, Z:-0.87 [[ 9.97985055e-01 6.33747046e-02 3.07838757e-03 2.57831116e+02] [-6.33743592e-02 9.97989803e-01 -2.09739452e-04 -1.82888367e+01] [-3.08549158e-03 1.42259991e-05 9.99995240e-01 -8.74678657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:257.89, Y:-18.29, Z:-0.88 [[ 9.97923515e-01 6.43364736e-02 3.07837639e-03 2.57891480e+02] [-6.43361322e-02 9.97928263e-01 -2.09903413e-04 -1.82938820e+01] [-3.08550325e-03 1.14167212e-05 9.99995240e-01 -8.75666373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters Centerline goodness : 0.997161 with order 1 Centerline is valid? [True, True] Translation: X:257.95, Y:-18.30, Z:-0.87 [[ 9.97937362e-01 6.41213384e-02 3.07837132e-03 2.57953130e+02] [-6.41209958e-02 9.97942109e-01 -2.09977686e-04 -1.83022683e+01] [-3.08550042e-03 1.21563433e-05 9.99995240e-01 -8.74225554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:-18.31, Z:-0.88 [[ 9.97944917e-01 6.40036391e-02 3.07833440e-03 2.58015091e+02] [-6.40032942e-02 9.97949665e-01 -2.10517523e-04 -1.83123207e+01] [-3.08549667e-03 1.30613492e-05 9.99995240e-01 -8.75492137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters Centerline goodness : 0.997552 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:-18.32, Z:-0.88 [[ 9.97774621e-01 6.66057800e-02 3.07829253e-03 2.58076058e+02] [-6.66054456e-02 9.97779369e-01 -2.11128010e-04 -1.83188252e+01] [-3.08551913e-03 5.62712426e-06 9.99995240e-01 -8.79013821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:258.14, Y:-18.33, Z:-0.88 [[ 9.97409879e-01 7.18613717e-02 3.07825914e-03 2.58137628e+02] [-7.18610609e-02 9.97414630e-01 -2.11613724e-04 -1.83270396e+01] [-3.08550755e-03 -1.01413486e-05 9.99995240e-01 -8.75980544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters Centerline goodness : 0.997150 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:-18.34, Z:-0.88 [[ 9.97145100e-01 7.54464950e-02 3.07822342e-03 2.58198341e+02] [-7.54461996e-02 9.97149851e-01 -2.12132126e-04 -1.83372782e+01] [-3.08545465e-03 -2.07137481e-05 9.99995240e-01 -8.78645154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters Centerline goodness : 0.997649 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:-18.34, Z:-0.88 [[ 9.96903139e-01 7.85789747e-02 3.07819048e-03 2.58260135e+02] [-7.85786928e-02 9.96907891e-01 -2.12608986e-04 -1.83421622e+01] [-3.08537898e-03 -2.99296188e-05 9.99995240e-01 -8.77907981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:258.32, Y:-18.34, Z:-0.89 [[ 9.96513926e-01 8.33697783e-02 3.07815555e-03 2.58321441e+02] [-8.33695176e-02 9.96518679e-01 -2.13113468e-04 -1.83433494e+01] [-3.08520673e-03 -4.42538053e-05 9.99995240e-01 -8.85528650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters Centerline goodness : 0.997581 with order 1 Centerline is valid? [True, True] Translation: X:258.38, Y:-18.34, Z:-0.89 [[ 9.96050518e-01 8.87349420e-02 3.07815061e-03 2.58382167e+02] [-8.87347067e-02 9.96055273e-01 -2.13184863e-04 -1.83431451e+01] [-3.08492509e-03 -6.07958986e-05 9.99995240e-01 -8.89126064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters Centerline goodness : 0.997258 with order 1 Centerline is valid? [True, True] Translation: X:258.44, Y:-18.34, Z:-0.88 [[ 9.96119512e-01 8.79570491e-02 3.07814816e-03 2.58443487e+02] [-8.79568101e-02 9.96124266e-01 -2.13220200e-04 -1.83404860e+01] [-3.08497230e-03 -5.83512914e-05 9.99995240e-01 -8.84963754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters Centerline goodness : 0.997708 with order 1 Centerline is valid? [True, True] Translation: X:258.50, Y:-18.34, Z:-0.88 [[ 9.96689568e-01 8.12430322e-02 3.07814321e-03 2.58504881e+02] [-8.12427608e-02 9.96694320e-01 -2.13291658e-04 -1.83392653e+01] [-3.08529632e-03 -3.74912819e-05 9.99995240e-01 -8.81024757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:-18.34, Z:-0.88 [[ 9.97087983e-01 7.61976293e-02 3.07811129e-03 2.58565950e+02] [-7.61973325e-02 9.97092734e-01 -2.13751346e-04 -1.83412999e+01] [-3.08544975e-03 -2.14149702e-05 9.99995240e-01 -8.79447384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:258.63, Y:-18.34, Z:-0.88 [[ 9.97263377e-01 7.38666561e-02 3.07810652e-03 2.58626303e+02] [-7.38663480e-02 9.97268127e-01 -2.13820017e-04 -1.83399926e+01] [-3.08549169e-03 -1.41336154e-05 9.99995240e-01 -8.82120845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters Centerline goodness : 0.998158 with order 1 Centerline is valid? [True, True] Translation: X:258.69, Y:-18.34, Z:-0.89 [[ 9.97259441e-01 7.39197669e-02 3.07810415e-03 2.58687301e+02] [-7.39194589e-02 9.97264192e-01 -2.13854096e-04 -1.83420445e+01] [-3.08549109e-03 -1.42637768e-05 9.99995240e-01 -8.85516298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:258.75, Y:-18.34, Z:-0.88 [[ 9.97343196e-01 7.27810030e-02 3.07810180e-03 2.58748715e+02] [-7.27806895e-02 9.97347946e-01 -2.13887876e-04 -1.83438448e+01] [-3.08550548e-03 -1.07067541e-05 9.99995240e-01 -8.78654313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:258.81, Y:-18.34, Z:-0.87 [[ 9.97296668e-01 7.34158166e-02 3.07809715e-03 2.58809864e+02] [-7.34155060e-02 9.97301418e-01 -2.13954821e-04 -1.83427014e+01] [-3.08549832e-03 -1.26036298e-05 9.99995240e-01 -8.72974394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:-18.34, Z:-0.87 [[ 9.97330620e-01 7.29531405e-02 3.07809715e-03 2.58869372e+02] [-7.29528276e-02 9.97335369e-01 -2.13954821e-04 -1.83443673e+01] [-3.08550383e-03 -1.11721967e-05 9.99995240e-01 -8.73736806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters Centerline goodness : 0.998279 with order 1 Centerline is valid? [True, True] Translation: X:258.93, Y:-18.35, Z:-0.87 [[ 9.97413127e-01 7.18162860e-02 3.07809973e-03 2.58929902e+02] [-7.18159678e-02 9.97417877e-01 -2.13917701e-04 -1.83473076e+01] [-3.08551447e-03 -7.69238747e-06 9.99995240e-01 -8.72903813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:-18.35, Z:-0.88 [[ 9.97365246e-01 7.24782073e-02 3.07809973e-03 2.58989895e+02] [-7.24778923e-02 9.97369996e-01 -2.13917701e-04 -1.83520300e+01] [-3.08550869e-03 -9.74009970e-06 9.99995240e-01 -8.79835820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters Centerline goodness : 0.997356 with order 1 Centerline is valid? [True, True] Translation: X:259.05, Y:-18.35, Z:-0.87 [[ 9.97074445e-01 7.63745804e-02 3.07809718e-03 2.59049730e+02] [-7.63742838e-02 9.97079196e-01 -2.13954435e-04 -1.83524759e+01] [-3.08544734e-03 -2.17589674e-05 9.99995240e-01 -8.71955292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters Centerline goodness : 0.997214 with order 1 Centerline is valid? [True, True] Translation: X:259.11, Y:-18.35, Z:-0.87 [[ 9.96465818e-01 8.39428282e-02 3.07809973e-03 2.59109849e+02] [-8.39425678e-02 9.96470571e-01 -2.13917678e-04 -1.83538648e+01] [-3.08519265e-03 -4.52219414e-05 9.99995240e-01 -8.71051279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters Centerline goodness : 0.997780 with order 1 Centerline is valid? [True, True] Translation: X:259.17, Y:-18.35, Z:-0.87 [[ 9.96103062e-01 8.81431488e-02 3.07810469e-03 2.59169693e+02] [-8.81429087e-02 9.96107816e-01 -2.13846228e-04 -1.83526456e+01] [-3.08497323e-03 -5.83002182e-05 9.99995240e-01 -8.73255697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:259.23, Y:-18.35, Z:-0.88 [[ 9.95961586e-01 8.97276170e-02 3.07810963e-03 2.59228222e+02] [-8.97273847e-02 9.95966340e-01 -2.13775094e-04 -1.83506103e+01] [-3.08487512e-03 -6.32789456e-05 9.99995240e-01 -8.80833860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [True, True] Translation: X:259.29, Y:-18.34, Z:-0.88 [[ 9.95908507e-01 9.03148466e-02 3.07811696e-03 2.59287995e+02] [-9.03146174e-02 9.95913261e-01 -2.13669626e-04 -1.83398902e+01] [-3.08483504e-03 -6.52035574e-05 9.99995240e-01 -8.79939560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters Centerline goodness : 0.997191 with order 1 Centerline is valid? [True, True] Translation: X:259.35, Y:-18.34, Z:-0.87 [[ 9.96284728e-01 8.60654784e-02 3.07812696e-03 2.59347723e+02] [-8.60652294e-02 9.96289481e-01 -2.13525363e-04 -1.83411911e+01] [-3.08508268e-03 -5.21876446e-05 9.99995240e-01 -8.74333890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters Centerline goodness : 0.995651 with order 1 Centerline is valid? [True, True] Translation: X:259.41, Y:-18.35, Z:-0.87 [[ 9.97228398e-01 7.43373823e-02 3.07813195e-03 2.59406728e+02] [-7.43370775e-02 9.97233149e-01 -2.13453378e-04 -1.83451078e+01] [-3.08548279e-03 -1.59575634e-05 9.99995240e-01 -8.67834374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters Centerline goodness : 0.996569 with order 1 Centerline is valid? [True, True] Translation: X:259.47, Y:-18.35, Z:-0.87 [[ 9.97787913e-01 6.64063735e-02 3.07813975e-03 2.59465990e+02] [-6.64060313e-02 9.97792661e-01 -2.13340878e-04 -1.83492992e+01] [-3.08551245e-03 8.46190507e-06 9.99995240e-01 -8.70405395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters Centerline goodness : 0.996697 with order 1 Centerline is valid? [True, True] Translation: X:259.53, Y:-18.36, Z:-0.87 [[ 9.98192653e-01 6.00162684e-02 3.07814230e-03 2.59526322e+02] [-6.00158960e-02 9.98197399e-01 -2.13304041e-04 -1.83554931e+01] [-3.08539535e-03 2.81810578e-05 9.99995240e-01 -8.69476285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters Centerline goodness : 0.996271 with order 1 Centerline is valid? [True, True] Translation: X:259.59, Y:-18.36, Z:-0.87 [[ 9.98387903e-01 5.66755639e-02 3.07814230e-03 2.59586904e+02] [-5.66751756e-02 9.98392648e-01 -2.13304041e-04 -1.83626028e+01] [-3.08528377e-03 3.85059181e-05 9.99995240e-01 -8.67620266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters Centerline goodness : 0.996399 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:-18.37, Z:-0.87 [[ 9.98298883e-01 5.82225427e-02 3.07814230e-03 2.59647341e+02] [-5.82221617e-02 9.98303628e-01 -2.13304041e-04 -1.83711965e+01] [-3.08533973e-03 3.37250864e-05 9.99995240e-01 -8.67514507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters Centerline goodness : 0.995979 with order 1 Centerline is valid? [True, True] Translation: X:259.71, Y:-18.38, Z:-0.87 [[ 9.98281695e-01 5.85165186e-02 3.07814230e-03 2.59706605e+02] [-5.85161390e-02 9.98286440e-01 -2.13304041e-04 -1.83780150e+01] [-3.08534953e-03 3.28165161e-05 9.99995240e-01 -8.66161837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters Centerline goodness : 0.996444 with order 1 Centerline is valid? [True, True] Translation: X:259.77, Y:-18.39, Z:-0.86 [[ 9.98537594e-01 5.39740528e-02 3.07814488e-03 2.59766652e+02] [-5.39736517e-02 9.98542337e-01 -2.13266876e-04 -1.83888310e+01] [-3.08516886e-03 4.68162733e-05 9.99995240e-01 -8.63900608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters Centerline goodness : 0.996774 with order 1 Centerline is valid? [True, True] Translation: X:259.83, Y:-18.40, Z:-0.87 [[ 9.98728684e-01 5.03144194e-02 3.07814488e-03 2.59826447e+02] [-5.03140010e-02 9.98733426e-01 -2.13266876e-04 -1.83966777e+01] [-3.08497658e-03 5.81219618e-05 9.99995240e-01 -8.67192262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters Centerline goodness : 0.995584 with order 1 Centerline is valid? [True, True] Translation: X:259.89, Y:-18.41, Z:-0.87 [[ 9.98638713e-01 5.20696305e-02 3.07813200e-03 2.59887329e+02] [-5.20692199e-02 9.98643455e-01 -2.13452589e-04 -1.84054525e+01] [-3.08507077e-03 5.28860871e-05 9.99995240e-01 -8.69307301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters Centerline goodness : 0.986658 with order 1 Centerline is valid? [True, True] Translation: X:259.95, Y:-18.41, Z:-0.85 [[ 9.98346958e-01 5.73923013e-02 3.07812679e-03 2.59948165e+02] [-5.73919157e-02 9.98351703e-01 -2.13527776e-04 -1.84124756e+01] [-3.08530797e-03 3.65152126e-05 9.99995240e-01 -8.52942044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters Centerline goodness : 0.996182 with order 1 Centerline is valid? [True, True] Translation: X:260.01, Y:-18.42, Z:-0.87 [[ 9.98334376e-01 5.76107446e-02 3.07812143e-03 2.60009042e+02] [-5.76103598e-02 9.98339121e-01 -2.13604911e-04 -1.84228168e+01] [-3.08531498e-03 3.59174424e-05 9.99995240e-01 -8.69319861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters Centerline goodness : 0.996256 with order 1 Centerline is valid? [True, True] Translation: X:260.07, Y:-18.43, Z:-0.87 [[ 9.98435912e-01 5.58234358e-02 3.07808679e-03 2.60070169e+02] [-5.58230409e-02 9.98440655e-01 -2.14102997e-04 -1.84348671e+01] [-3.08523895e-03 4.19399563e-05 9.99995240e-01 -8.70092129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:-18.45, Z:-0.87 [[ 9.98312165e-01 5.79943617e-02 3.07805119e-03 2.60130555e+02] [-5.79939756e-02 9.98316910e-01 -2.14613549e-04 -1.84456751e+01] [-3.08531693e-03 3.57428916e-05 9.99995240e-01 -8.69465105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-18.45, Z:-0.87 [[ 9.98064347e-01 6.21134895e-02 3.07801841e-03 2.60191367e+02] [-6.21131216e-02 9.98069093e-01 -2.15082629e-04 -1.84499492e+01] [-3.08543458e-03 2.34809717e-05 9.99995240e-01 -8.71309375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters Centerline goodness : 0.996379 with order 1 Centerline is valid? [True, True] Translation: X:260.25, Y:-18.45, Z:-0.87 [[ 9.97562208e-01 6.97148923e-02 3.07801336e-03 2.60251916e+02] [-6.97145603e-02 9.97566957e-01 -2.15154913e-04 -1.84518701e+01] [-3.08552392e-03 4.80617232e-08 9.99995240e-01 -8.71276113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters Centerline goodness : 0.989745 with order 1 Centerline is valid? [True, True] Translation: X:260.31, Y:-18.45, Z:-0.86 [[ 9.97345687e-01 7.27468595e-02 3.07800104e-03 2.60311505e+02] [-7.27465413e-02 9.97350437e-01 -2.15330991e-04 -1.84544305e+01] [-3.08551034e-03 -9.15449452e-06 9.99995240e-01 -8.59481306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters Centerline goodness : 0.995903 with order 1 Centerline is valid? [True, True] Translation: X:260.37, Y:-18.46, Z:-0.87 [[ 9.97599653e-01 6.91770066e-02 3.07800352e-03 2.60373172e+02] [-6.91766716e-02 9.97604401e-01 -2.15295476e-04 -1.84565801e+01] [-3.08552336e-03 1.85265340e-06 9.99995240e-01 -8.66082654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters Centerline goodness : 0.996728 with order 1 Centerline is valid? [True, True] Translation: X:260.43, Y:-18.46, Z:-0.87 [[ 9.97844042e-01 6.55575611e-02 3.07799841e-03 2.60433067e+02] [-6.55572087e-02 9.97848789e-01 -2.15368592e-04 -1.84627913e+01] [-3.08549602e-03 1.31192824e-05 9.99995240e-01 -8.68470271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters Centerline goodness : 0.996426 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:-18.47, Z:-0.87 [[ 9.97889353e-01 6.48641980e-02 3.07799588e-03 2.60494145e+02] [-6.48638421e-02 9.97894100e-01 -2.15404750e-04 -1.84704355e+01] [-3.08548598e-03 1.52994681e-05 9.99995240e-01 -8.67940202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters Centerline goodness : 0.995795 with order 1 Centerline is valid? [True, True] Translation: X:260.56, Y:-18.47, Z:-0.87 [[ 9.97638332e-01 6.86169462e-02 3.07799089e-03 2.60555348e+02] [-6.86166080e-02 9.97643080e-01 -2.15475952e-04 -1.84747224e+01] [-3.08552162e-03 3.76577478e-06 9.99995240e-01 -8.65942020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters Centerline goodness : 0.996438 with order 1 Centerline is valid? [True, True] Translation: X:260.62, Y:-18.48, Z:-0.86 [[ 9.97360734e-01 7.25402865e-02 3.07798563e-03 2.60615984e+02] [-7.25399667e-02 9.97365483e-01 -2.15551070e-04 -1.84823923e+01] [-3.08551276e-03 -8.29480169e-06 9.99995240e-01 -8.64364436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters Centerline goodness : 0.996456 with order 1 Centerline is valid? [True, True] Translation: X:260.68, Y:-18.49, Z:-0.87 [[ 9.97214530e-01 7.45232034e-02 3.07798041e-03 2.60675812e+02] [-7.45228928e-02 9.97219280e-01 -2.15625563e-04 -1.84878148e+01] [-3.08549052e-03 -1.43550597e-05 9.99995240e-01 -8.67995625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters Centerline goodness : 0.996891 with order 1 Centerline is valid? [True, True] Translation: X:260.74, Y:-18.49, Z:-0.86 [[ 9.96995575e-01 7.73973511e-02 3.07796667e-03 2.60736719e+02] [-7.73970536e-02 9.97000326e-01 -2.15821644e-04 -1.84905278e+01] [-3.08543779e-03 -2.30523271e-05 9.99995240e-01 -8.63868645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters Centerline goodness : 0.995937 with order 1 Centerline is valid? [True, True] Translation: X:260.80, Y:-18.49, Z:-0.86 [[ 9.96858447e-01 7.91439411e-02 3.07796667e-03 2.60797639e+02] [-7.91436519e-02 9.96863198e-01 -2.15821644e-04 -1.84934647e+01] [-3.08539267e-03 -2.84578938e-05 9.99995240e-01 -8.60091811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters Centerline goodness : 0.996641 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:-18.50, Z:-0.86 [[ 9.96798431e-01 7.98962711e-02 3.07796161e-03 2.60859029e+02] [-7.98959853e-02 9.96803183e-01 -2.15893688e-04 -1.84973470e+01] [-3.08537103e-03 -3.07142867e-05 9.99995240e-01 -8.60640448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:-18.50, Z:-0.86 [[ 9.97046502e-01 7.67385051e-02 3.07795653e-03 2.60920351e+02] [-7.67382041e-02 9.97051253e-01 -2.15966105e-04 -1.84981525e+01] [-3.08545333e-03 -2.08686070e-05 9.99995240e-01 -8.60966247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters Centerline goodness : 0.996560 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:-18.50, Z:-0.86 [[ 9.97285920e-01 7.35616760e-02 3.07795134e-03 2.60981320e+02] [-7.35613596e-02 9.97290670e-01 -2.16040092e-04 -1.85001865e+01] [-3.08550442e-03 -1.09645432e-05 9.99995240e-01 -8.63271300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:-18.50, Z:-0.87 [[ 9.97637656e-01 6.86267652e-02 3.07794615e-03 2.61042235e+02] [-6.86264250e-02 9.97642404e-01 -2.16113944e-04 -1.84994789e+01] [-3.08552080e-03 4.37496768e-06 9.99995240e-01 -8.66670781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:-18.50, Z:-0.87 [[ 9.97907751e-01 6.45805418e-02 3.07794358e-03 2.61102876e+02] [-6.45801822e-02 9.97912498e-01 -2.16150574e-04 -1.85010319e+01] [-3.08547749e-03 1.69241760e-05 9.99995240e-01 -8.66168995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters Centerline goodness : 0.996475 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:-18.50, Z:-0.87 [[ 9.98083108e-01 6.18112923e-02 3.07794106e-03 2.61163510e+02] [-6.18109195e-02 9.98087854e-01 -2.16186474e-04 -1.85031663e+01] [-3.08541835e-03 2.55217005e-05 9.99995240e-01 -8.66974358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:261.22, Y:-18.51, Z:-0.87 [[ 9.98167321e-01 6.04361246e-02 3.07794106e-03 2.61223839e+02] [-6.04357453e-02 9.98172066e-01 -2.16186474e-04 -1.85055241e+01] [-3.08538026e-03 2.97726115e-05 9.99995240e-01 -8.67088100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters Centerline goodness : 0.996289 with order 1 Centerline is valid? [True, True] Translation: X:261.28, Y:-18.51, Z:-0.87 [[ 9.98342075e-01 5.74771909e-02 3.07794106e-03 2.61284090e+02] [-5.74767975e-02 9.98346819e-01 -2.16186474e-04 -1.85109551e+01] [-3.08527846e-03 3.89178579e-05 9.99995240e-01 -8.66776661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:261.34, Y:-18.51, Z:-0.87 [[ 9.98323557e-01 5.77979436e-02 3.07792969e-03 2.61344986e+02] [-5.77975512e-02 9.98328301e-01 -2.16348214e-04 -1.85132535e+01] [-3.08528880e-03 3.80887193e-05 9.99995240e-01 -8.65858116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters Centerline goodness : 0.996984 with order 1 Centerline is valid? [True, True] Translation: X:261.40, Y:-18.52, Z:-0.86 [[ 9.98290046e-01 5.83738783e-02 3.07792438e-03 2.61404746e+02] [-5.83734885e-02 9.98294791e-01 -2.16423704e-04 -1.85183048e+01] [-3.08530937e-03 3.63844462e-05 9.99995240e-01 -8.64464197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters Centerline goodness : 0.996511 with order 1 Centerline is valid? [True, True] Translation: X:261.47, Y:-18.52, Z:-0.86 [[ 9.98354869e-01 5.72545339e-02 3.07791244e-03 2.61466144e+02] [-5.72541382e-02 9.98359613e-01 -2.16593393e-04 -1.85230901e+01] [-3.08526443e-03 4.00138443e-05 9.99995240e-01 -8.59907009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters Centerline goodness : 0.996717 with order 1 Centerline is valid? [True, True] Translation: X:261.53, Y:-18.53, Z:-0.86 [[ 9.98483905e-01 5.49583310e-02 3.07790744e-03 2.61526838e+02] [-5.49579241e-02 9.98488648e-01 -2.16664487e-04 -1.85291502e+01] [-3.08516315e-03 4.71805993e-05 9.99995240e-01 -8.62036703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters Centerline goodness : 0.996625 with order 1 Centerline is valid? [True, True] Translation: X:261.59, Y:-18.54, Z:-0.87 [[ 9.98785874e-01 4.91660808e-02 3.07790214e-03 2.61588155e+02] [-4.91656463e-02 9.98790615e-01 -2.16739668e-04 -1.85357576e+01] [-3.08483601e-03 6.51494708e-05 9.99995240e-01 -8.66818080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:261.65, Y:-18.54, Z:-0.87 [[ 9.98854823e-01 4.77448386e-02 3.07786527e-03 2.61650287e+02] [-4.77443956e-02 9.98859562e-01 -2.17262090e-04 -1.85427896e+01] [-3.08472830e-03 7.00624692e-05 9.99995240e-01 -8.66412456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [True, True] Translation: X:261.71, Y:-18.55, Z:-0.86 [[ 9.98734006e-01 5.02086796e-02 3.07782911e-03 2.61710159e+02] [-5.02082468e-02 9.98738747e-01 -2.17773145e-04 -1.85459985e+01] [-3.08488129e-03 6.29650418e-05 9.99995240e-01 -8.61492802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters Centerline goodness : 0.996762 with order 1 Centerline is valid? [True, True] Translation: X:261.77, Y:-18.55, Z:-0.87 [[ 9.98432034e-01 5.58927553e-02 3.07782656e-03 2.61771099e+02] [-5.58923493e-02 9.98436777e-01 -2.17809119e-04 -1.85510819e+01] [-3.08518918e-03 4.54406447e-05 9.99995240e-01 -8.66324627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:261.83, Y:-18.55, Z:-0.87 [[ 9.98233989e-01 5.93247943e-02 3.07782151e-03 2.61831237e+02] [-5.93244045e-02 9.98238733e-01 -2.17880507e-04 -1.85529878e+01] [-3.08532636e-03 3.49057992e-05 9.99995240e-01 -8.66666606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:261.89, Y:-18.56, Z:-0.86 [[ 9.98137938e-01 6.09194918e-02 3.07780991e-03 2.61892149e+02] [-6.09191091e-02 9.98142682e-01 -2.18044140e-04 -1.85572318e+01] [-3.08537658e-03 3.01406899e-05 9.99995240e-01 -8.61265748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters Centerline goodness : 0.996549 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:-18.56, Z:-0.87 [[ 9.98103814e-01 6.14760451e-02 3.07780474e-03 2.61952066e+02] [-6.14756648e-02 9.98108559e-01 -2.18117098e-04 -1.85636215e+01] [-3.08539223e-03 2.84934145e-05 9.99995240e-01 -8.65851931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters Centerline goodness : 0.996604 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:-18.57, Z:-0.86 [[ 9.98101775e-01 6.15091433e-02 3.07779141e-03 2.62013081e+02] [-6.15087625e-02 9.98106520e-01 -2.18305051e-04 -1.85744614e+01] [-3.08539143e-03 2.85795179e-05 9.99995240e-01 -8.62393852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:-18.59, Z:-0.87 [[ 9.98100694e-01 6.15266760e-02 3.07778625e-03 2.62073947e+02] [-6.15262951e-02 9.98105439e-01 -2.18377741e-04 -1.85885268e+01] [-3.08539126e-03 2.85981892e-05 9.99995240e-01 -8.69661343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:262.13, Y:-18.60, Z:-0.87 [[ 9.97738393e-01 6.71463071e-02 3.07775034e-03 2.62133971e+02] [-6.71459514e-02 9.97743140e-01 -2.18882683e-04 -1.86019453e+01] [-3.08550146e-03 1.17291812e-05 9.99995240e-01 -8.68095724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:-18.61, Z:-0.87 [[ 9.97180403e-01 7.49784764e-02 3.07771727e-03 2.62194569e+02] [-7.49781565e-02 9.97185152e-01 -2.19346793e-04 -1.86118536e+01] [-3.08550025e-03 -1.20332437e-05 9.99995240e-01 -8.65428971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:262.26, Y:-18.62, Z:-0.86 [[ 9.96863039e-01 7.90860914e-02 3.07771219e-03 2.62256332e+02] [-7.90857909e-02 9.96867789e-01 -2.19418047e-04 -1.86202697e+01] [-3.08542506e-03 -2.46735616e-05 9.99995240e-01 -8.64270896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters Centerline goodness : 0.997275 with order 1 Centerline is valid? [True, True] Translation: X:262.32, Y:-18.62, Z:-0.86 [[ 9.96515110e-01 8.33556461e-02 3.07767585e-03 2.62317582e+02] [-8.33553643e-02 9.96519862e-01 -2.19926543e-04 -1.86239153e+01] [-3.08529723e-03 -3.73806686e-05 9.99995240e-01 -8.64619533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters Centerline goodness : 0.997400 with order 1 Centerline is valid? [True, True] Translation: X:262.38, Y:-18.63, Z:-0.87 [[ 9.96585066e-01 8.25150487e-02 3.07767066e-03 2.62378306e+02] [-8.25147627e-02 9.96589818e-01 -2.19999215e-04 -1.86294032e+01] [-3.08532849e-03 -3.47053320e-05 9.99995240e-01 -8.70088732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:262.44, Y:-18.63, Z:-0.87 [[ 9.97227262e-01 7.43526402e-02 3.07763720e-03 2.62440561e+02] [-7.43523139e-02 9.97232012e-01 -2.20466210e-04 -1.86348594e+01] [-3.08551058e-03 -8.97453284e-06 9.99995240e-01 -8.68989567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters Centerline goodness : 0.997494 with order 1 Centerline is valid? [True, True] Translation: X:262.50, Y:-18.64, Z:-0.87 [[ 9.97717175e-01 6.74608599e-02 3.07759922e-03 2.62502033e+02] [-6.74604992e-02 9.97721921e-01 -2.20995170e-04 -1.86417481e+01] [-3.08549673e-03 1.28742969e-05 9.99995240e-01 -8.70107009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters Centerline goodness : 0.997182 with order 1 Centerline is valid? [True, True] Translation: X:262.56, Y:-18.65, Z:-0.87 [[ 9.97923715e-01 6.43334162e-02 3.07756389e-03 2.62563397e+02] [-6.43330391e-02 9.97928460e-01 -2.21486090e-04 -1.86500058e+01] [-3.08543755e-03 2.30371833e-05 9.99995240e-01 -8.71718260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters Centerline goodness : 0.997631 with order 1 Centerline is valid? [True, True] Translation: X:262.62, Y:-18.66, Z:-0.86 [[ 9.98133804e-01 6.09871932e-02 3.07752676e-03 2.62624052e+02] [-6.09867986e-02 9.98138548e-01 -2.22000825e-04 -1.86615989e+01] [-3.08533730e-03 3.38980239e-05 9.99995240e-01 -8.62059092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters Centerline goodness : 0.997358 with order 1 Centerline is valid? [True, True] Translation: X:262.69, Y:-18.67, Z:-0.86 [[ 9.98087667e-01 6.17376474e-02 3.07750658e-03 2.62686632e+02] [-6.17372555e-02 9.98092411e-01 -2.22280187e-04 -1.86713998e+01] [-3.08535902e-03 3.18583036e-05 9.99995240e-01 -8.61744954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:262.75, Y:-18.68, Z:-0.86 [[ 9.97741680e-01 6.70974560e-02 3.07746562e-03 2.62749232e+02] [-6.70970878e-02 9.97746426e-01 -2.22845813e-04 -1.86752484e+01] [-3.08548271e-03 1.58535746e-05 9.99995240e-01 -8.59798143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:262.81, Y:-18.68, Z:-0.86 [[ 9.97249881e-01 7.40486630e-02 3.07742431e-03 2.62811938e+02] [-7.40483261e-02 9.97254629e-01 -2.23414927e-04 -1.86836744e+01] [-3.08551921e-03 -5.07760968e-06 9.99995240e-01 -8.56626863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters Centerline goodness : 0.997525 with order 1 Centerline is valid? [True, True] Translation: X:262.87, Y:-18.69, Z:-0.86 [[ 9.97069795e-01 7.64352935e-02 3.07738070e-03 2.62874809e+02] [-7.64349662e-02 9.97074544e-01 -2.24013991e-04 -1.86888790e+01] [-3.08550053e-03 -1.18619052e-05 9.99995240e-01 -8.59235693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:262.94, Y:-18.69, Z:-0.86 [[ 9.96534691e-01 8.31212398e-02 3.07733608e-03 2.62937023e+02] [-8.31209424e-02 9.96539442e-01 -2.24625186e-04 -1.86949901e+01] [-3.08535791e-03 -3.19442849e-05 9.99995240e-01 -8.60026977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:263.00, Y:-18.70, Z:-0.86 [[ 9.95882740e-01 9.05985552e-02 3.07729446e-03 2.62998757e+02] [-9.05982917e-02 9.95887493e-01 -2.25193924e-04 -1.86991191e+01] [-3.08504131e-03 -5.45308792e-05 9.99995240e-01 -8.60037764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters Centerline goodness : 0.997077 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:-18.70, Z:-0.86 [[ 9.95639238e-01 9.32364672e-02 3.07725702e-03 2.63061202e+02] [-9.32362147e-02 9.95643991e-01 -2.25704498e-04 -1.87038959e+01] [-3.08489635e-03 -6.21915413e-05 9.99995240e-01 -8.58723403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters Centerline goodness : 0.996949 with order 1 Centerline is valid? [True, True] Translation: X:263.12, Y:-18.71, Z:-0.86 [[ 9.95113358e-01 9.86911094e-02 3.07721458e-03 2.63122890e+02] [-9.86908812e-02 9.95118113e-01 -2.26281539e-04 -1.87059768e+01] [-3.08452395e-03 -7.85172362e-05 9.99995240e-01 -8.58782958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:-18.70, Z:-0.86 [[ 9.94930552e-01 1.00517301e-01 3.07717596e-03 2.63184733e+02] [-1.00517080e-01 9.94935307e-01 -2.26805544e-04 -1.87042352e+01] [-3.08438889e-03 -8.36529758e-05 9.99995240e-01 -8.63633173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters Centerline goodness : 0.997658 with order 1 Centerline is valid? [True, True] Translation: X:263.25, Y:-18.71, Z:-0.86 [[ 9.95050223e-01 9.93256469e-02 3.07714053e-03 2.63246553e+02] [-9.93254186e-02 9.95054978e-01 -2.27285298e-04 -1.87064340e+01] [-3.08449926e-03 -7.94779840e-05 9.99995240e-01 -8.60790894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters Centerline goodness : 0.997656 with order 1 Centerline is valid? [True, True] Translation: X:263.31, Y:-18.71, Z:-0.86 [[ 9.95591468e-01 9.37451925e-02 3.07710202e-03 2.63309038e+02] [-9.37449359e-02 9.95596221e-01 -2.27805424e-04 -1.87086719e+01] [-3.08490681e-03 -6.16615954e-05 9.99995240e-01 -8.63036165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:-18.71, Z:-0.86 [[ 9.96053548e-01 8.87009600e-02 3.07706108e-03 2.63371469e+02] [-8.87006777e-02 9.96058300e-01 -2.28357074e-04 -1.87142107e+01] [-3.08518772e-03 -4.54815299e-05 9.99995240e-01 -8.64540621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:-18.72, Z:-0.86 [[ 9.96286492e-01 8.60450860e-02 3.07704771e-03 2.63432359e+02] [-8.60447905e-02 9.96291243e-01 -2.28537039e-04 -1.87174589e+01] [-3.08530018e-03 -3.70755605e-05 9.99995240e-01 -8.64062922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters Centerline goodness : 0.998370 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:-18.71, Z:-0.86 [[ 9.95727241e-01 9.22918979e-02 3.07701312e-03 2.63493544e+02] [-9.22916308e-02 9.95731993e-01 -2.29001867e-04 -1.87143436e+01] [-3.08501542e-03 -5.59591616e-05 9.99995240e-01 -8.62548977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:263.55, Y:-18.71, Z:-0.86 [[ 9.94997531e-01 9.98521153e-02 3.07701312e-03 2.63554636e+02] [-9.98518843e-02 9.95002286e-01 -2.29001867e-04 -1.87115878e+01] [-3.08450141e-03 -7.93892656e-05 9.99995240e-01 -8.62608595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters Centerline goodness : 0.997678 with order 1 Centerline is valid? [True, True] Translation: X:263.61, Y:-18.71, Z:-0.86 [[ 9.94998522e-01 9.98422367e-02 3.07701312e-03 2.63614930e+02] [-9.98420056e-02 9.95003277e-01 -2.29001867e-04 -1.87110397e+01] [-3.08450220e-03 -7.93586418e-05 9.99995240e-01 -8.61740566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:263.68, Y:-18.71, Z:-0.87 [[ 9.95238931e-01 9.74166468e-02 3.07701046e-03 2.63675418e+02] [-9.74164040e-02 9.95243685e-01 -2.29037536e-04 -1.87093299e+01] [-3.08468730e-03 -7.18042226e-05 9.99995240e-01 -8.65067030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters Centerline goodness : 0.998598 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:-18.71, Z:-0.86 [[ 9.95536567e-01 9.43264349e-02 3.07701046e-03 2.63736342e+02] [-9.43261774e-02 9.95541320e-01 -2.29037536e-04 -1.87087568e+01] [-3.08489535e-03 -6.22273930e-05 9.99995240e-01 -8.61434532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:-18.71, Z:-0.86 [[ 9.95829916e-01 9.11773526e-02 3.07700780e-03 2.63796907e+02] [-9.11770799e-02 9.95834669e-01 -2.29073299e-04 -1.87079498e+01] [-3.08507734e-03 -5.24345419e-05 9.99995240e-01 -8.60308490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:-18.70, Z:-0.86 [[ 9.95749224e-01 9.20544151e-02 3.07700780e-03 2.63857245e+02] [-9.20541466e-02 9.95753976e-01 -2.29073299e-04 -1.87049771e+01] [-3.08502996e-03 -5.51517675e-05 9.99995240e-01 -8.61665856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters Centerline goodness : 0.997799 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:-18.70, Z:-0.85 [[ 9.95681847e-01 9.27803451e-02 3.07701044e-03 2.63915938e+02] [-9.27800802e-02 9.95686599e-01 -2.29037876e-04 -1.87035607e+01] [-3.08498827e-03 -5.74364200e-05 9.99995240e-01 -8.54369646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:263.97, Y:-18.71, Z:-0.87 [[ 9.95845192e-01 9.10103598e-02 3.07701835e-03 2.63974456e+02] [-9.10100868e-02 9.95849944e-01 -2.28931553e-04 -1.87055551e+01] [-3.08508370e-03 -5.20593207e-05 9.99995240e-01 -8.67614770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:264.03, Y:-18.71, Z:-0.86 [[ 9.95981589e-01 8.95053394e-02 3.07702354e-03 2.64033818e+02] [-8.95050594e-02 9.95986341e-01 -2.28861836e-04 -1.87070250e+01] [-3.08515777e-03 -4.74669992e-05 9.99995240e-01 -8.61059463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters Centerline goodness : 0.998126 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:-18.71, Z:-0.86 [[ 9.95785913e-01 9.16566840e-02 3.07702875e-03 2.64093487e+02] [-9.16564145e-02 9.95790665e-01 -2.28791755e-04 -1.87087495e+01] [-3.08504680e-03 -5.42018159e-05 9.99995240e-01 -8.60403957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters Centerline goodness : 0.997434 with order 1 Centerline is valid? [True, True] Translation: X:264.15, Y:-18.71, Z:-0.86 [[ 9.95407571e-01 9.56780987e-02 3.07703419e-03 2.64152438e+02] [-9.56778486e-02 9.95412325e-01 -2.28718537e-04 -1.87054454e+01] [-3.08480111e-03 -6.67358478e-05 9.99995240e-01 -8.61333231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters Centerline goodness : 0.997423 with order 1 Centerline is valid? [True, True] Translation: X:264.21, Y:-18.70, Z:-0.86 [[ 9.95081843e-01 9.90083683e-02 3.07704494e-03 2.64211527e+02] [-9.90081345e-02 9.95086598e-01 -2.28573797e-04 -1.87021471e+01] [-3.08455690e-03 -7.72028436e-05 9.99995240e-01 -8.58893357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:264.27, Y:-18.70, Z:-0.86 [[ 9.95028883e-01 9.95392108e-02 3.07705555e-03 2.64269524e+02] [-9.95389800e-02 9.95033637e-01 -2.28430904e-04 -1.86984947e+01] [-3.08451161e-03 -7.89916235e-05 9.99995240e-01 -8.62660577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:264.33, Y:-18.69, Z:-0.86 [[ 9.95628262e-01 9.33536003e-02 3.07707025e-03 2.64328102e+02] [-9.33533406e-02 9.95633016e-01 -2.28232750e-04 -1.86929502e+01] [-3.08493908e-03 -6.00198101e-05 9.99995240e-01 -8.62178386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters Centerline goodness : 0.997667 with order 1 Centerline is valid? [True, True] Translation: X:264.39, Y:-18.69, Z:-0.86 [[ 9.96132635e-01 8.78083418e-02 3.07708318e-03 2.64387143e+02] [-8.78080562e-02 9.96137387e-01 -2.28058254e-04 -1.86941883e+01] [-3.08522301e-03 -4.30164229e-05 9.99995240e-01 -8.61405981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [True, True] Translation: X:264.45, Y:-18.69, Z:-0.86 [[ 9.96734056e-01 8.06954306e-02 3.07709348e-03 2.64446415e+02] [-8.06951115e-02 9.96738806e-01 -2.27919183e-04 -1.86903672e+01] [-3.08545052e-03 -2.11315896e-05 9.99995240e-01 -8.64858470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters Centerline goodness : 0.997108 with order 1 Centerline is valid? [True, True] Translation: X:264.51, Y:-18.69, Z:-0.86 [[ 9.97480922e-01 7.08684748e-02 3.07710465e-03 2.64505047e+02] [-7.08681094e-02 9.97485669e-01 -2.27768255e-04 -1.86906102e+01] [-3.08550938e-03 9.12590020e-06 9.99995240e-01 -8.62627316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters Centerline goodness : 0.998098 with order 1 Centerline is valid? [True, True] Translation: X:264.56, Y:-18.69, Z:-0.86 [[ 9.97798524e-01 6.62467878e-02 3.07711290e-03 2.64563872e+02] [-6.62464008e-02 9.97803268e-01 -2.27656759e-04 -1.86939961e+01] [-3.08543484e-03 2.33079238e-05 9.99995240e-01 -8.64961519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters Centerline goodness : 0.998303 with order 1 Centerline is valid? [True, True] Translation: X:264.62, Y:-18.70, Z:-0.87 [[ 9.98087923e-01 6.17335398e-02 3.07712052e-03 2.64623811e+02] [-6.17331316e-02 9.98092665e-01 -2.27553752e-04 -1.86976937e+01] [-3.08529912e-03 3.71583654e-05 9.99995240e-01 -8.67274657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:264.68, Y:-18.71, Z:-0.87 [[ 9.98459425e-01 5.54013308e-02 3.07712545e-03 2.64682454e+02] [-5.54008928e-02 9.98464165e-01 -2.27487039e-04 -1.87052806e+01] [-3.08500258e-03 5.66610810e-05 9.99995240e-01 -8.67039443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:264.74, Y:-18.71, Z:-0.87 [[ 9.98680265e-01 5.12665524e-02 3.07712789e-03 2.64741987e+02] [-5.12660948e-02 9.98685003e-01 -2.27454044e-04 -1.87145486e+01] [-3.08474226e-03 6.94015353e-05 9.99995240e-01 -8.69473637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters Centerline goodness : 0.990437 with order 1 Centerline is valid? [True, True] Translation: X:264.80, Y:-18.73, Z:-0.85 [[ 9.98817654e-01 4.85162419e-02 3.07713316e-03 2.64801921e+02] [-4.85157715e-02 9.98822391e-01 -2.27382763e-04 -1.87282320e+01] [-3.08454125e-03 7.78244290e-05 9.99995240e-01 -8.53510308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:-18.74, Z:-0.86 [[ 9.98708526e-01 5.07130272e-02 3.07713316e-03 2.64860204e+02] [-5.07125672e-02 9.98713264e-01 -2.27382763e-04 -1.87414614e+01] [-3.08470497e-03 7.10397825e-05 9.99995240e-01 -8.64677515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters Centerline goodness : 0.989186 with order 1 Centerline is valid? [True, True] Translation: X:264.92, Y:-18.75, Z:-0.85 [[ 9.98441219e-01 5.57284876e-02 3.07713582e-03 2.64918929e+02] [-5.57280515e-02 9.98445959e-01 -2.27346676e-04 -1.87514860e+01] [-3.08502351e-03 5.55095086e-05 9.99995240e-01 -8.50636554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters Centerline goodness : 0.998367 with order 1 Centerline is valid? [True, True] Translation: X:264.98, Y:-18.76, Z:-0.87 [[ 9.98081037e-01 6.18447635e-02 3.07713837e-03 2.64977785e+02] [-6.18443565e-02 9.98085780e-01 -2.27312184e-04 -1.87576644e+01] [-3.08530612e-03 3.65723375e-05 9.99995240e-01 -8.66198840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:265.04, Y:-18.76, Z:-0.86 [[ 9.97253306e-01 7.40025355e-02 3.07714374e-03 2.65037247e+02] [-7.40021866e-02 9.97258053e-01 -2.27239401e-04 -1.87599098e+01] [-3.08552267e-03 -1.10012171e-06 9.99995240e-01 -8.61063633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters Centerline goodness : 0.997776 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:-18.76, Z:-0.86 [[ 9.96382122e-01 8.49305496e-02 3.07714920e-03 2.65095869e+02] [-8.49302530e-02 9.96386873e-01 -2.27165483e-04 -1.87600336e+01] [-3.08532436e-03 -3.49994340e-05 9.99995240e-01 -8.60387551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters Centerline goodness : 0.997978 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:-18.76, Z:-0.86 [[ 9.96240109e-01 8.65804613e-02 3.07716038e-03 2.65155087e+02] [-8.65801731e-02 9.96244861e-01 -2.27013930e-04 -1.87591249e+01] [-3.08526019e-03 -4.02606958e-05 9.99995240e-01 -8.61627861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:265.21, Y:-18.76, Z:-0.86 [[ 9.96228881e-01 8.67095634e-02 3.07717151e-03 2.65214245e+02] [-8.67092763e-02 9.96233632e-01 -2.26862999e-04 -1.87622123e+01] [-3.08525294e-03 -4.08118428e-05 9.99995240e-01 -8.63693184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:265.27, Y:-18.76, Z:-0.87 [[ 9.95878871e-01 9.06410812e-02 3.07718259e-03 2.65272189e+02] [-9.06408133e-02 9.95883624e-01 -2.26712631e-04 -1.87580670e+01] [-3.08506522e-03 -5.31400134e-05 9.99995240e-01 -8.69967769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters Centerline goodness : 0.998323 with order 1 Centerline is valid? [True, True] Translation: X:265.33, Y:-18.76, Z:-0.87 [[ 9.95574652e-01 9.39235989e-02 3.07719631e-03 2.65331756e+02] [-9.39233472e-02 9.95579406e-01 -2.26526226e-04 -1.87560659e+01] [-3.08486943e-03 -6.34968088e-05 9.99995240e-01 -8.68334280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters Centerline goodness : 0.997975 with order 1 Centerline is valid? [True, True] Translation: X:265.39, Y:-18.75, Z:-0.87 [[ 9.95762847e-01 9.19069226e-02 3.07720710e-03 2.65391153e+02] [-9.19066617e-02 9.95767601e-01 -2.26379553e-04 -1.87545819e+01] [-3.08498898e-03 -5.73954840e-05 9.99995240e-01 -8.68212094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:265.45, Y:-18.75, Z:-0.87 [[ 9.96243275e-01 8.65440246e-02 3.07721795e-03 2.65448788e+02] [-8.65437386e-02 9.96248026e-01 -2.26232032e-04 -1.87542554e+01] [-3.08525134e-03 -4.09318053e-05 9.99995240e-01 -8.67514310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters Centerline goodness : 0.997336 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:-18.75, Z:-0.87 [[ 9.96527652e-01 8.32055858e-02 3.07723134e-03 2.65508067e+02] [-8.32052844e-02 9.96532403e-01 -2.26049675e-04 -1.87537138e+01] [-3.08536934e-03 -3.07771567e-05 9.99995240e-01 -8.65379290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters Centerline goodness : 0.997303 with order 1 Centerline is valid? [True, True] Translation: X:265.57, Y:-18.76, Z:-0.86 [[ 9.96724332e-01 8.08154444e-02 3.07724190e-03 2.65567078e+02] [-8.08151321e-02 9.96729082e-01 -2.25905880e-04 -1.87577916e+01] [-3.08543318e-03 -2.35218226e-05 9.99995240e-01 -8.62786537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:265.63, Y:-18.76, Z:-0.86 [[ 9.96935623e-01 7.81658128e-02 3.07725238e-03 2.65625302e+02] [-7.81654883e-02 9.96940372e-01 -2.25763056e-04 -1.87600423e+01] [-3.08548408e-03 -1.54637018e-05 9.99995240e-01 -8.62696342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters Centerline goodness : 0.997426 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-18.76, Z:-0.86 [[ 9.97072751e-01 7.63967293e-02 3.07726532e-03 2.65683684e+02] [-7.63963969e-02 9.97077499e-01 -2.25586455e-04 -1.87649278e+01] [-3.08550608e-03 -1.01658763e-05 9.99995240e-01 -8.62815227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:-18.77, Z:-0.86 [[ 9.97414651e-01 7.17951586e-02 3.07727548e-03 2.65742546e+02] [-7.17948047e-02 9.97419398e-01 -2.25447845e-04 -1.87723748e+01] [-3.08552032e-03 3.93259149e-06 9.99995240e-01 -8.62425015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters Centerline goodness : 0.997444 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:-18.78, Z:-0.86 [[ 9.97793284e-01 6.63256548e-02 3.07728557e-03 2.65802071e+02] [-6.63252754e-02 9.97798029e-01 -2.25309955e-04 -1.87804948e+01] [-3.08545331e-03 2.07109469e-05 9.99995240e-01 -8.60088247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters Centerline goodness : 0.990119 with order 1 Centerline is valid? [True, True] Translation: X:265.86, Y:-18.80, Z:-0.85 [[ 9.98454740e-01 5.54857023e-02 3.07729102e-03 2.65860801e+02] [-5.54852715e-02 9.98459480e-01 -2.25235508e-04 -1.87955354e+01] [-3.08504774e-03 5.41431328e-05 9.99995240e-01 -8.47443777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:265.92, Y:-18.81, Z:-0.86 [[ 9.98826405e-01 4.83357339e-02 3.07729370e-03 2.65919773e+02] [-4.83352694e-02 9.98831142e-01 -2.25198904e-04 -1.88117861e+01] [-3.08458194e-03 7.61927921e-05 9.99995240e-01 -8.62835241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:-18.83, Z:-0.86 [[ 9.98820412e-01 4.84594220e-02 3.07729370e-03 2.65979283e+02] [-4.84589580e-02 9.98825149e-01 -2.25198904e-04 -1.88294901e+01] [-3.08459135e-03 7.58108161e-05 9.99995240e-01 -8.62282829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:266.04, Y:-18.84, Z:-0.87 [[ 9.98670694e-01 5.14526497e-02 3.07729109e-03 2.66038712e+02] [-5.14521998e-02 9.98675433e-01 -2.25234533e-04 -1.88439299e+01] [-3.08480393e-03 6.66017308e-05 9.99995240e-01 -8.70838841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:-18.85, Z:-0.87 [[ 9.98483010e-01 5.49746144e-02 3.07729109e-03 2.66098621e+02] [-5.49741812e-02 9.98487751e-01 -2.25234533e-04 -1.88547163e+01] [-3.08501964e-03 5.57212961e-05 9.99995240e-01 -8.66061995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:266.16, Y:-18.87, Z:-0.87 [[ 9.98180267e-01 6.02219579e-02 3.07729109e-03 2.66158629e+02] [-6.02215496e-02 9.98185010e-01 -2.25234533e-04 -1.88662884e+01] [-3.08526990e-03 3.95054277e-05 9.99995240e-01 -8.67811484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:266.22, Y:-18.88, Z:-0.87 [[ 9.98061517e-01 6.21589856e-02 3.07729109e-03 2.66217905e+02] [-6.21585866e-02 9.98066260e-01 -2.25234533e-04 -1.88792627e+01] [-3.08534076e-03 3.35178543e-05 9.99995240e-01 -8.67001163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters Centerline goodness : 0.997081 with order 1 Centerline is valid? [True, True] Translation: X:266.28, Y:-18.89, Z:-0.86 [[ 9.98019259e-01 6.28338126e-02 3.07728852e-03 2.66278466e+02] [-6.28334167e-02 9.98024003e-01 -2.25269664e-04 -1.88920118e+01] [-3.08536236e-03 3.14669110e-05 9.99995240e-01 -8.60175043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters Centerline goodness : 0.991826 with order 1 Centerline is valid? [True, True] Translation: X:266.34, Y:-18.91, Z:-0.86 [[ 9.97997306e-01 6.31815489e-02 3.07728347e-03 2.66338984e+02] [-6.31811544e-02 9.98002050e-01 -2.25338709e-04 -1.89053481e+01] [-3.08537245e-03 3.04611031e-05 9.99995240e-01 -8.56195971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters Centerline goodness : 0.996986 with order 1 Centerline is valid? [True, True] Translation: X:266.40, Y:-18.92, Z:-0.87 [[ 9.97668012e-01 6.81840818e-02 3.07727847e-03 2.66400507e+02] [-6.81837109e-02 9.97672757e-01 -2.25406954e-04 -1.89157254e+01] [-3.08548606e-03 1.50610424e-05 9.99995240e-01 -8.66601241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters Centerline goodness : 0.996857 with order 1 Centerline is valid? [True, True] Translation: X:266.46, Y:-18.92, Z:-0.87 [[ 9.97039042e-01 7.68354088e-02 3.07724051e-03 2.66461807e+02] [-7.68350775e-02 9.97043790e-01 -2.25923923e-04 -1.89197874e+01] [-3.08550250e-03 -1.11850414e-05 9.99995240e-01 -8.68243381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters Centerline goodness : 0.997570 with order 1 Centerline is valid? [True, True] Translation: X:266.52, Y:-18.92, Z:-0.87 [[ 9.96652783e-01 8.16930936e-02 3.07723501e-03 2.66522317e+02] [-8.16927852e-02 9.96657533e-01 -2.25998878e-04 -1.89225560e+01] [-3.08541200e-03 -2.61454874e-05 9.99995240e-01 -8.69988635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters Centerline goodness : 0.996958 with order 1 Centerline is valid? [True, True] Translation: X:266.58, Y:-18.92, Z:-0.87 [[ 9.96183620e-01 8.72280157e-02 3.07723227e-03 2.66582794e+02] [-8.72277336e-02 9.96188371e-01 -2.26036096e-04 -1.89223093e+01] [-3.08521969e-03 -4.32465404e-05 9.99995240e-01 -8.65461233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters Centerline goodness : 0.997256 with order 1 Centerline is valid? [True, True] Translation: X:266.64, Y:-18.92, Z:-0.87 [[ 9.96137397e-01 8.77542963e-02 3.07723227e-03 2.66643111e+02] [-8.77540166e-02 9.96142149e-01 -2.26036096e-04 -1.89197342e+01] [-3.08519641e-03 -4.48764835e-05 9.99995240e-01 -8.65093185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:266.70, Y:-18.92, Z:-0.87 [[ 9.96057309e-01 8.86587150e-02 3.07722953e-03 2.66703767e+02] [-8.86584396e-02 9.96062061e-01 -2.26073417e-04 -1.89165892e+01] [-3.08515497e-03 -4.76402886e-05 9.99995240e-01 -8.65318780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters Centerline goodness : 0.997438 with order 1 Centerline is valid? [True, True] Translation: X:266.76, Y:-18.91, Z:-0.86 [[ 9.95975696e-01 8.95708868e-02 3.07722953e-03 2.66764115e+02] [-8.95706158e-02 9.95980448e-01 -2.26073417e-04 -1.89135385e+01] [-3.08511004e-03 -5.04657146e-05 9.99995240e-01 -8.62649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters Centerline goodness : 0.996954 with order 1 Centerline is valid? [True, True] Translation: X:266.82, Y:-18.91, Z:-0.86 [[ 9.96179726e-01 8.72724665e-02 3.07723219e-03 2.66824072e+02] [-8.72721845e-02 9.96184478e-01 -2.26037164e-04 -1.89108473e+01] [-3.08521777e-03 -4.33831356e-05 9.99995240e-01 -8.64752154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters Centerline goodness : 0.997087 with order 1 Centerline is valid? [True, True] Translation: X:266.88, Y:-18.91, Z:-0.87 [[ 9.96387316e-01 8.48695831e-02 3.07723767e-03 2.66883437e+02] [-8.48692899e-02 9.96392068e-01 -2.25962586e-04 -1.89106868e+01] [-3.08531256e-03 -3.60167215e-05 9.99995240e-01 -8.67755757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:266.94, Y:-18.91, Z:-0.87 [[ 9.96466809e-01 8.39311031e-02 3.07724312e-03 2.66942451e+02] [-8.39308057e-02 9.96471559e-01 -2.25888346e-04 -1.89123511e+01] [-3.08534431e-03 -3.31852552e-05 9.99995240e-01 -8.70488486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters Centerline goodness : 0.996793 with order 1 Centerline is valid? [True, True] Translation: X:267.00, Y:-18.91, Z:-0.87 [[ 9.96495670e-01 8.35877347e-02 3.07724903e-03 2.67002605e+02] [-8.35874359e-02 9.96500421e-01 -2.25807766e-04 -1.89108166e+01] [-3.08535472e-03 -3.22028953e-05 9.99995240e-01 -8.65919213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters Centerline goodness : 0.996206 with order 1 Centerline is valid? [True, True] Translation: X:267.06, Y:-18.91, Z:-0.86 [[ 9.96332830e-01 8.55068523e-02 3.07725444e-03 2.67062367e+02] [-8.55065629e-02 9.96337582e-01 -2.25734074e-04 -1.89067409e+01] [-3.08528606e-03 -3.82191813e-05 9.99995240e-01 -8.61418058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters Centerline goodness : 0.996207 with order 1 Centerline is valid? [True, True] Translation: X:267.12, Y:-18.91, Z:-0.86 [[ 9.96410916e-01 8.45920581e-02 3.07726515e-03 2.67121234e+02] [-8.45917647e-02 9.96415668e-01 -2.25587971e-04 -1.89098641e+01] [-3.08531816e-03 -3.55329726e-05 9.99995240e-01 -8.62815947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters Centerline goodness : 0.996355 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:-18.91, Z:-0.87 [[ 9.96998174e-01 7.73638890e-02 3.07727307e-03 2.67180501e+02] [-7.73635616e-02 9.97002923e-01 -2.25479928e-04 -1.89110039e+01] [-3.08549425e-03 -1.32657280e-05 9.99995240e-01 -8.70514421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters Centerline goodness : 0.996115 with order 1 Centerline is valid? [True, True] Translation: X:267.24, Y:-18.91, Z:-0.87 [[ 9.97309277e-01 7.32443668e-02 3.07727858e-03 2.67239710e+02] [-7.32440200e-02 9.97314024e-01 -2.25404695e-04 -1.89133398e+01] [-3.08552270e-03 -5.94060189e-07 9.99995240e-01 -8.70301109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:267.30, Y:-18.92, Z:-0.87 [[ 9.97354055e-01 7.26320780e-02 3.07728417e-03 2.67297749e+02] [-7.26317285e-02 9.97358803e-01 -2.25328349e-04 -1.89175145e+01] [-3.08552252e-03 1.22367400e-06 9.99995240e-01 -8.70532005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters Centerline goodness : 0.995758 with order 1 Centerline is valid? [True, True] Translation: X:267.36, Y:-18.92, Z:-0.87 [[ 9.97447355e-01 7.13393570e-02 3.07729246e-03 2.67357248e+02] [-7.13390016e-02 9.97452102e-01 -2.25214996e-04 -1.89244138e+01] [-3.08551853e-03 5.10912957e-06 9.99995240e-01 -8.71828284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:267.42, Y:-18.93, Z:-0.87 [[ 9.97326340e-01 7.30116596e-02 3.07729777e-03 2.67416300e+02] [-7.30113124e-02 9.97331087e-01 -2.25142386e-04 -1.89311390e+01] [-3.08552275e-03 -1.37117651e-07 9.99995240e-01 -8.73568366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters Centerline goodness : 0.996458 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:-18.94, Z:-0.87 [[ 9.96991882e-01 7.74449309e-02 3.07730304e-03 2.67475838e+02] [-7.74446051e-02 9.96996631e-01 -2.25070405e-04 -1.89379041e+01] [-3.08549133e-03 -1.39271522e-05 9.99995240e-01 -8.72875693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters Centerline goodness : 0.996581 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:-18.94, Z:-0.87 [[ 9.96520140e-01 8.32955008e-02 3.07730827e-03 2.67535232e+02] [-8.32952031e-02 9.96524891e-01 -2.24998847e-04 -1.89403787e+01] [-3.08535568e-03 -3.21091349e-05 9.99995240e-01 -8.68963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:267.59, Y:-18.95, Z:-0.87 [[ 9.96474631e-01 8.38381717e-02 3.07731355e-03 2.67594951e+02] [-8.38378768e-02 9.96479383e-01 -2.24926692e-04 -1.89454105e+01] [-3.08533694e-03 -3.38616912e-05 9.99995240e-01 -8.68801123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters Centerline goodness : 0.996281 with order 1 Centerline is valid? [True, True] Translation: X:267.65, Y:-18.95, Z:-0.87 [[ 9.96871924e-01 7.89740311e-02 3.07731903e-03 2.67653073e+02] [-7.89737133e-02 9.96876673e-01 -2.24851577e-04 -1.89498915e+01] [-3.08546500e-03 -1.88790868e-05 9.99995240e-01 -8.72006805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:267.71, Y:-18.96, Z:-0.87 [[ 9.97006043e-01 7.72624160e-02 3.07732716e-03 2.67712653e+02] [-7.72620903e-02 9.97010792e-01 -2.24740279e-04 -1.89553534e+01] [-3.08549237e-03 -1.36933133e-05 9.99995240e-01 -8.69370340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters Centerline goodness : 0.996577 with order 1 Centerline is valid? [True, True] Translation: X:267.77, Y:-18.96, Z:-0.87 [[ 9.97298586e-01 7.33897815e-02 3.07733253e-03 2.67771748e+02] [-7.33894376e-02 9.97303334e-01 -2.24666802e-04 -1.89604608e+01] [-3.08552224e-03 -1.78381898e-06 9.99995240e-01 -8.70316998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters Centerline goodness : 0.996458 with order 1 Centerline is valid? [True, True] Translation: X:267.83, Y:-18.97, Z:-0.87 [[ 9.97651048e-01 6.84318386e-02 3.07733518e-03 2.67832047e+02] [-6.84314713e-02 9.97655794e-01 -2.24630386e-04 -1.89694858e+01] [-3.08549315e-03 1.35161662e-05 9.99995240e-01 -8.73765812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters Centerline goodness : 0.996292 with order 1 Centerline is valid? [True, True] Translation: X:267.89, Y:-18.98, Z:-0.88 [[ 9.98030653e-01 6.26525783e-02 3.07733518e-03 2.67891943e+02] [-6.26521834e-02 9.98035397e-01 -2.24630386e-04 -1.89805488e+01] [-3.08536312e-03 3.13862428e-05 9.99995240e-01 -8.75650413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters Centerline goodness : 0.996465 with order 1 Centerline is valid? [True, True] Translation: X:267.95, Y:-18.99, Z:-0.87 [[ 9.98157768e-01 6.05937329e-02 3.07733251e-03 2.67952312e+02] [-6.05933282e-02 9.98162511e-01 -2.24667032e-04 -1.89891850e+01] [-3.08529136e-03 3.77873250e-05 9.99995240e-01 -8.73127530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters Centerline goodness : 0.997413 with order 1 Centerline is valid? [True, True] Translation: X:268.01, Y:-19.00, Z:-0.87 [[ 9.98120698e-01 6.12013260e-02 3.07732977e-03 2.68011750e+02] [-6.12009240e-02 9.98125441e-01 -2.24704612e-04 -1.90004823e+01] [-3.08531335e-03 3.59468990e-05 9.99995240e-01 -8.72965585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters Centerline goodness : 0.996696 with order 1 Centerline is valid? [True, True] Translation: X:268.07, Y:-19.01, Z:-0.87 [[ 9.98348339e-01 5.73683229e-02 3.07732704e-03 2.68072487e+02] [-5.73679027e-02 9.98353080e-01 -2.24741959e-04 -1.90122717e+01] [-3.08515200e-03 4.78309630e-05 9.99995240e-01 -8.71964431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters Centerline goodness : 0.996018 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:-19.03, Z:-0.87 [[ 9.98456337e-01 5.54569514e-02 3.07732173e-03 2.68133513e+02] [-5.54565218e-02 9.98461078e-01 -2.24814642e-04 -1.90270372e+01] [-3.08505350e-03 5.38100446e-05 9.99995240e-01 -8.71751429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters Centerline goodness : 0.996154 with order 1 Centerline is valid? [True, True] Translation: X:268.19, Y:-19.04, Z:-0.87 [[ 9.98557789e-01 5.35991907e-02 3.07728291e-03 2.68194461e+02] [-5.35987506e-02 9.98562528e-01 -2.25344740e-04 -1.90378138e+01] [-3.08493770e-03 6.00812259e-05 9.99995240e-01 -8.70890621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters Centerline goodness : 0.996513 with order 1 Centerline is valid? [True, True] Translation: X:268.25, Y:-19.06, Z:-0.87 [[ 9.98582722e-01 5.31326424e-02 3.07724704e-03 2.68254344e+02] [-5.31321987e-02 9.98587462e-01 -2.25833467e-04 -1.90556751e+01] [-3.08489944e-03 6.20124966e-05 9.99995240e-01 -8.72693771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters Centerline goodness : 0.995733 with order 1 Centerline is valid? [True, True] Translation: X:268.32, Y:-19.07, Z:-0.87 [[ 9.98582856e-01 5.31301215e-02 3.07721228e-03 2.68316630e+02] [-5.31296763e-02 9.98587596e-01 -2.26306168e-04 -1.90723150e+01] [-3.08488969e-03 6.24941672e-05 9.99995240e-01 -8.72239548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters Centerline goodness : 0.996150 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:-19.09, Z:-0.87 [[ 9.98457562e-01 5.54348940e-02 3.07716789e-03 2.68378090e+02] [-5.54344579e-02 9.98462302e-01 -2.26908091e-04 -1.90853383e+01] [-3.08501477e-03 5.59769658e-05 9.99995240e-01 -8.68094704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters Centerline goodness : 0.995511 with order 1 Centerline is valid? [True, True] Translation: X:268.44, Y:-19.10, Z:-0.87 [[ 9.98213988e-01 5.96604119e-02 3.07712645e-03 2.68440792e+02] [-5.96599942e-02 9.98218730e-01 -2.27468789e-04 -1.90955440e+01] [-3.08521613e-03 4.34811813e-05 9.99995240e-01 -8.67257446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters Centerline goodness : 0.994810 with order 1 Centerline is valid? [True, True] Translation: X:268.50, Y:-19.11, Z:-0.87 [[ 9.97846459e-01 6.55208005e-02 3.07708250e-03 2.68502720e+02] [-6.55204088e-02 9.97851203e-01 -2.28061733e-04 -1.91069005e+01] [-3.08541326e-03 2.59588896e-05 9.99995240e-01 -8.74334408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:-19.11, Z:-0.87 [[ 9.97868611e-01 6.51825686e-02 3.07704297e-03 2.68563065e+02] [-6.51821736e-02 9.97873355e-01 -2.28593873e-04 -1.91144800e+01] [-3.08539952e-03 2.75383020e-05 9.99995240e-01 -8.70383999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:-19.12, Z:-0.87 [[ 9.97796675e-01 6.62746426e-02 3.07702126e-03 2.68626003e+02] [-6.62742519e-02 9.97801419e-01 -2.28885684e-04 -1.91241334e+01] [-3.08542549e-03 2.44540923e-05 9.99995240e-01 -8.68767091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters Centerline goodness : 0.994906 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:-19.13, Z:-0.87 [[ 9.97519554e-01 7.03226296e-02 3.07697645e-03 2.68687765e+02] [-7.03222562e-02 9.97524299e-01 -2.29486551e-04 -1.91295802e+01] [-3.08549687e-03 1.25373954e-05 9.99995240e-01 -8.69086015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters Centerline goodness : 0.994617 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:-19.14, Z:-0.87 [[ 9.96952842e-01 7.79459056e-02 3.07693472e-03 2.68748273e+02] [-7.79455669e-02 9.96957590e-01 -2.30044624e-04 -1.91384905e+01] [-3.08550446e-03 -1.04897799e-05 9.99995240e-01 -8.74734700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:-19.14, Z:-0.87 [[ 9.96751317e-01 8.04819513e-02 3.07689924e-03 2.68810704e+02] [-8.04816232e-02 9.96756066e-01 -2.30518198e-04 -1.91441922e+01] [-3.08547054e-03 -1.78645280e-05 9.99995240e-01 -8.74070851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters Centerline goodness : 0.993974 with order 1 Centerline is valid? [True, True] Translation: X:268.87, Y:-19.15, Z:-0.87 [[ 9.96446571e-01 8.41710388e-02 3.07685540e-03 2.68872129e+02] [-8.41707264e-02 9.96451321e-01 -2.31101870e-04 -1.91463405e+01] [-3.08538872e-03 -2.87004884e-05 9.99995240e-01 -8.69512456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters Centerline goodness : 0.994171 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:-19.15, Z:-0.87 [[ 9.95990608e-01 8.94049295e-02 3.07683458e-03 2.68934954e+02] [-8.94046412e-02 9.95995360e-01 -2.31378706e-04 -1.91452829e+01] [-3.08519937e-03 -4.46322742e-05 9.99995240e-01 -8.67652869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters Centerline goodness : 0.994248 with order 1 Centerline is valid? [True, True] Translation: X:269.00, Y:-19.14, Z:-0.87 [[ 9.95782928e-01 9.16891153e-02 3.07679149e-03 2.68998517e+02] [-9.16888361e-02 9.95787680e-01 -2.31950319e-04 -1.91439689e+01] [-3.08509838e-03 -5.11352630e-05 9.99995240e-01 -8.67146319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters Centerline goodness : 0.993834 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:-19.15, Z:-0.87 [[ 9.95802069e-01 9.14809993e-02 3.07674856e-03 2.69060677e+02] [-9.14807174e-02 9.95806821e-01 -2.32518397e-04 -1.91474199e+01] [-3.08511822e-03 -4.99208651e-05 9.99995240e-01 -8.68542746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:269.12, Y:-19.15, Z:-0.87 [[ 9.95877234e-01 9.06590751e-02 3.07670857e-03 2.69121757e+02] [-9.06587877e-02 9.95881986e-01 -2.33046361e-04 -1.91452926e+01] [-3.08516641e-03 -4.68451039e-05 9.99995240e-01 -8.69395645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:269.18, Y:-19.14, Z:-0.86 [[ 9.95857297e-01 9.08778239e-02 3.07667440e-03 2.69183875e+02] [-9.08775361e-02 9.95862048e-01 -2.33496623e-04 -1.91417662e+01] [-3.08516293e-03 -4.70712732e-05 9.99995240e-01 -8.63967047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:-19.14, Z:-0.86 [[ 9.95942892e-01 8.99349212e-02 3.07663816e-03 2.69245896e+02] [-8.99346275e-02 9.95947643e-01 -2.33973107e-04 -1.91356336e+01] [-3.08521288e-03 -4.36724540e-05 9.99995240e-01 -8.59735249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters Centerline goodness : 0.992646 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:-19.13, Z:-0.87 [[ 9.96631664e-01 8.19503528e-02 3.07663243e-03 2.69307779e+02] [-8.19500207e-02 9.96636413e-01 -2.34048403e-04 -1.91338442e+01] [-3.08546426e-03 -1.88700423e-05 9.99995240e-01 -8.66238705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters Centerline goodness : 0.993064 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:-19.13, Z:-0.86 [[ 9.97644736e-01 6.85238272e-02 3.07659557e-03 2.69369532e+02] [-6.85234298e-02 9.97649480e-01 -2.34531991e-04 -1.91333768e+01] [-3.08543500e-03 2.31607261e-05 9.99995240e-01 -8.63949436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters Centerline goodness : 0.992854 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:-19.14, Z:-0.86 [[ 9.98238422e-01 5.92502151e-02 3.07655386e-03 2.69431741e+02] [-5.92497719e-02 9.98243161e-01 -2.35077892e-04 -1.91386206e+01] [-3.08507727e-03 5.23786699e-05 9.99995240e-01 -8.60208837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:269.49, Y:-19.14, Z:-0.86 [[ 9.98456893e-01 5.54469807e-02 3.07651416e-03 2.69493822e+02] [-5.54465179e-02 9.98461631e-01 -2.35596244e-04 -1.91413120e+01] [-3.08484445e-03 6.46506960e-05 9.99995240e-01 -8.58290196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:269.55, Y:-19.15, Z:-0.86 [[ 9.98193340e-01 6.00049331e-02 3.07647488e-03 2.69554850e+02] [-6.00044903e-02 9.98198079e-01 -2.36108078e-04 -1.91505763e+01] [-3.08509897e-03 5.10792040e-05 9.99995240e-01 -8.59391468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:269.62, Y:-19.15, Z:-0.86 [[ 9.97879365e-01 6.50177500e-02 3.07645318e-03 2.69616515e+02] [-6.50173301e-02 9.97884107e-01 -2.36390512e-04 -1.91532910e+01] [-3.08531331e-03 3.58664417e-05 9.99995240e-01 -8.59501648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:269.68, Y:-19.16, Z:-0.86 [[ 9.97413274e-01 7.18143200e-02 3.07641291e-03 2.69677798e+02] [-7.18139309e-02 9.97418018e-01 -2.36913495e-04 -1.91582450e+01] [-3.08548345e-03 1.53713611e-05 9.99995240e-01 -8.62080129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters Centerline goodness : 0.993461 with order 1 Centerline is valid? [True, True] Translation: X:269.74, Y:-19.16, Z:-0.87 [[ 9.97138516e-01 7.55335394e-02 3.07637560e-03 2.69737930e+02] [-7.55331664e-02 9.97143262e-01 -2.37396980e-04 -1.91612709e+01] [-3.08551863e-03 4.34928211e-06 9.99995240e-01 -8.66562463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:269.80, Y:-19.16, Z:-0.87 [[ 9.96688928e-01 8.12509457e-02 3.07637281e-03 2.69797856e+02] [-8.12505999e-02 9.96693676e-01 -2.37433121e-04 -1.91627413e+01] [-3.08549299e-03 -1.33101730e-05 9.99995240e-01 -8.67352824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters Centerline goodness : 0.992891 with order 1 Centerline is valid? [True, True] Translation: X:269.86, Y:-19.16, Z:-0.86 [[ 9.96104084e-01 8.81316576e-02 3.07636990e-03 2.69858263e+02] [-8.81313445e-02 9.96108834e-01 -2.37470737e-04 -1.91608820e+01] [-3.08532793e-03 -3.45790446e-05 9.99995240e-01 -8.64482680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters Centerline goodness : 0.993210 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:-19.16, Z:-0.86 [[ 9.95916470e-01 9.02270494e-02 3.07636990e-03 2.69917581e+02] [-9.02267463e-02 9.95921221e-01 -2.37470737e-04 -1.91599969e+01] [-3.08524835e-03 -4.10698285e-05 9.99995240e-01 -8.59836741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters Centerline goodness : 0.993385 with order 1 Centerline is valid? [True, True] Translation: X:269.98, Y:-19.16, Z:-0.86 [[ 9.96012219e-01 8.91638639e-02 3.07637272e-03 2.69978127e+02] [-8.91635558e-02 9.96016970e-01 -2.37434266e-04 -1.91562670e+01] [-3.08528999e-03 -3.78128997e-05 9.99995240e-01 -8.60972673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters Centerline goodness : 0.993974 with order 1 Centerline is valid? [True, True] Translation: X:270.04, Y:-19.16, Z:-0.86 [[ 9.95978458e-01 8.95401946e-02 3.07637834e-03 2.70037725e+02] [-8.95398885e-02 9.95983209e-01 -2.37361396e-04 -1.91555114e+01] [-3.08527456e-03 -3.90517366e-05 9.99995240e-01 -8.60481824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:-19.15, Z:-0.86 [[ 9.95657051e-01 9.30460823e-02 3.07638396e-03 2.70097313e+02] [-9.30457932e-02 9.95661802e-01 -2.37288499e-04 -1.91510119e+01] [-3.08511677e-03 -4.99866186e-05 9.99995240e-01 -8.55025037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters Centerline goodness : 0.994528 with order 1 Centerline is valid? [True, True] Translation: X:270.16, Y:-19.15, Z:-0.85 [[ 9.95555423e-01 9.41272357e-02 3.07639231e-03 2.70157017e+02] [-9.41269520e-02 9.95560174e-01 -2.37180294e-04 -1.91470946e+01] [-3.08505879e-03 -5.34453036e-05 9.99995240e-01 -8.54320299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters Centerline goodness : 0.993583 with order 1 Centerline is valid? [True, True] Translation: X:270.22, Y:-19.15, Z:-0.85 [[ 9.95975716e-01 8.95706909e-02 3.07640335e-03 2.70216437e+02] [-8.95703860e-02 9.95980467e-01 -2.37036912e-04 -1.91451261e+01] [-3.08526921e-03 -3.94716274e-05 9.99995240e-01 -8.54121177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters Centerline goodness : 0.994026 with order 1 Centerline is valid? [True, True] Translation: X:270.28, Y:-19.14, Z:-0.86 [[ 9.96255704e-01 8.64008604e-02 3.07641155e-03 2.70276036e+02] [-8.64005407e-02 9.96260453e-01 -2.36930423e-04 -1.91405697e+01] [-3.08537816e-03 -2.97603367e-05 9.99995240e-01 -8.55144395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters Centerline goodness : 0.993230 with order 1 Centerline is valid? [True, True] Translation: X:270.34, Y:-19.14, Z:-0.86 [[ 9.96316567e-01 8.56961673e-02 3.07642268e-03 2.70335353e+02] [-8.56958446e-02 9.96321317e-01 -2.36785843e-04 -1.91374792e+01] [-3.08539714e-03 -2.77229823e-05 9.99995240e-01 -8.60351816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters Centerline goodness : 0.992958 with order 1 Centerline is valid? [True, True] Translation: X:270.39, Y:-19.14, Z:-0.86 [[ 9.96685956e-01 8.12873913e-02 3.07643399e-03 2.70394384e+02] [-8.12870481e-02 9.96690704e-01 -2.36638897e-04 -1.91366797e+01] [-3.08548891e-03 -1.42195719e-05 9.99995240e-01 -8.59281397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters Centerline goodness : 0.992833 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:-19.14, Z:-0.86 [[ 9.96743661e-01 8.05767324e-02 3.07644520e-03 2.70451844e+02] [-8.05763863e-02 9.96748409e-01 -2.36492966e-04 -1.91380749e+01] [-3.08549769e-03 -1.21659728e-05 9.99995240e-01 -8.62406162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters Centerline goodness : 0.992132 with order 1 Centerline is valid? [True, True] Translation: X:270.51, Y:-19.14, Z:-0.86 [[ 9.96569800e-01 8.26992671e-02 3.07645899e-03 2.70510603e+02] [-8.26989317e-02 9.96574549e-01 -2.36313530e-04 -1.91382211e+01] [-3.08546368e-03 -1.89169446e-05 9.99995240e-01 -8.63805654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters Centerline goodness : 0.991924 with order 1 Centerline is valid? [True, True] Translation: X:270.57, Y:-19.14, Z:-0.86 [[ 9.96714654e-01 8.09347549e-02 3.07647012e-03 2.70569724e+02] [-8.09344115e-02 9.96719401e-01 -2.36168466e-04 -1.91418006e+01] [-3.08549170e-03 -1.35997275e-05 9.99995240e-01 -8.64664957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters Centerline goodness : 0.992146 with order 1 Centerline is valid? [True, True] Translation: X:270.63, Y:-19.15, Z:-0.86 [[ 9.97084078e-01 7.62487767e-02 3.07648148e-03 2.70627316e+02] [-7.62484115e-02 9.97088825e-01 -2.36020471e-04 -1.91481627e+01] [-3.08552157e-03 7.55427869e-07 9.99995240e-01 -8.60855823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:270.69, Y:-19.15, Z:-0.87 [[ 9.97252956e-01 7.40072814e-02 3.07649552e-03 2.70686202e+02] [-7.40069060e-02 9.97257701e-01 -2.35837265e-04 -1.91544184e+01] [-3.08551252e-03 7.50749481e-06 9.99995240e-01 -8.66016017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters Centerline goodness : 0.992184 with order 1 Centerline is valid? [True, True] Translation: X:270.74, Y:-19.16, Z:-0.86 [[ 9.97358482e-01 7.25713026e-02 3.07650686e-03 2.70744578e+02] [-7.25709208e-02 9.97363227e-01 -2.35689184e-04 -1.91605997e+01] [-3.08549908e-03 1.18016704e-05 9.99995240e-01 -8.60091668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters Centerline goodness : 0.991793 with order 1 Centerline is valid? [True, True] Translation: X:270.80, Y:-19.17, Z:-0.86 [[ 9.97449484e-01 7.13096249e-02 3.07651297e-03 2.70803856e+02] [-7.13092374e-02 9.97454228e-01 -2.35609473e-04 -1.91662175e+01] [-3.08548209e-03 1.56247536e-05 9.99995240e-01 -8.60841453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters Centerline goodness : 0.991949 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:-19.18, Z:-0.86 [[ 9.97690533e-01 6.78537796e-02 3.07651851e-03 2.70861893e+02] [-6.78533758e-02 9.97695276e-01 -2.35537138e-04 -1.91752532e+01] [-3.08541007e-03 2.62410061e-05 9.99995240e-01 -8.60715411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters Centerline goodness : 0.992253 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:-19.18, Z:-0.86 [[ 9.97971486e-01 6.35881118e-02 3.07652504e-03 2.70920086e+02] [-6.35876881e-02 9.97976227e-01 -2.35451825e-04 -1.91807628e+01] [-3.08527079e-03 3.93450937e-05 9.99995240e-01 -8.57186943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters Centerline goodness : 0.992428 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:-19.19, Z:-0.86 [[ 9.98209732e-01 5.97316236e-02 3.07653149e-03 2.70979679e+02] [-5.97311818e-02 9.98214471e-01 -2.35367516e-04 -1.91878233e+01] [-3.08509713e-03 5.11812832e-05 9.99995240e-01 -8.56895475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters Centerline goodness : 0.991401 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:-19.20, Z:-0.85 [[ 9.98362230e-01 5.71261164e-02 3.07653702e-03 2.71038962e+02] [-5.71256624e-02 9.98366968e-01 -2.35295180e-04 -1.92026357e+01] [-3.08495444e-03 5.91606054e-05 9.99995240e-01 -8.54600788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters Centerline goodness : 0.991737 with order 1 Centerline is valid? [True, True] Translation: X:271.10, Y:-19.21, Z:-0.86 [[ 9.98437923e-01 5.57875309e-02 3.07653702e-03 2.71097838e+02] [-5.57870706e-02 9.98442661e-01 -2.35295180e-04 -1.92136037e+01] [-3.08487234e-03 6.32966429e-05 9.99995240e-01 -8.58878210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters Centerline goodness : 0.992330 with order 1 Centerline is valid? [True, True] Translation: X:271.16, Y:-19.23, Z:-0.86 [[ 9.98405100e-01 5.63719040e-02 3.07653984e-03 2.71157249e+02] [-5.63714466e-02 9.98409838e-01 -2.35258283e-04 -1.92281372e+01] [-3.08490960e-03 6.14540685e-05 9.99995240e-01 -8.59365407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters Centerline goodness : 0.992259 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:-19.24, Z:-0.86 [[ 9.98034510e-01 6.25911441e-02 3.07653984e-03 2.71216641e+02] [-6.25907162e-02 9.98039251e-01 -2.35258283e-04 -1.92390660e+01] [-3.08523260e-03 4.22330536e-05 9.99995240e-01 -8.59920638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters Centerline goodness : 0.992262 with order 1 Centerline is valid? [True, True] Translation: X:271.28, Y:-19.25, Z:-0.86 [[ 9.97441167e-01 7.14258562e-02 3.07653984e-03 2.71275622e+02] [-7.14254703e-02 9.97445912e-01 -2.35258283e-04 -1.92478958e+01] [-3.08548561e-03 1.49129917e-05 9.99995240e-01 -8.58983820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters Centerline goodness : 0.992292 with order 1 Centerline is valid? [True, True] Translation: X:271.33, Y:-19.26, Z:-0.86 [[ 9.97164355e-01 7.51916524e-02 3.07653675e-03 2.71334585e+02] [-7.51912843e-02 9.97169101e-01 -2.35298742e-04 -1.92577292e+01] [-3.08551988e-03 3.30276870e-06 9.99995240e-01 -8.60150763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters Centerline goodness : 0.991922 with order 1 Centerline is valid? [True, True] Translation: X:271.39, Y:-19.27, Z:-0.86 [[ 9.97276265e-01 7.36925130e-02 3.07653952e-03 2.71394419e+02] [-7.36921378e-02 9.97281010e-01 -2.35262529e-04 -1.92654403e+01] [-3.08551152e-03 7.90496223e-06 9.99995240e-01 -8.60228599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters Centerline goodness : 0.991861 with order 1 Centerline is valid? [True, True] Translation: X:271.45, Y:-19.28, Z:-0.86 [[ 9.97555480e-01 6.98111731e-02 3.07653952e-03 2.71454965e+02] [-6.98107796e-02 9.97560224e-01 -2.35262529e-04 -1.92766467e+01] [-3.08545740e-03 1.99118031e-05 9.99995240e-01 -8.59196726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters Centerline goodness : 0.991854 with order 1 Centerline is valid? [True, True] Translation: X:271.52, Y:-19.29, Z:-0.86 [[ 9.97632658e-01 6.86994510e-02 3.07653392e-03 2.71515165e+02] [-6.86990519e-02 9.97637402e-01 -2.35335651e-04 -1.92852503e+01] [-3.08543274e-03 2.34235674e-05 9.99995240e-01 -8.56421322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters Centerline goodness : 0.991523 with order 1 Centerline is valid? [True, True] Translation: X:271.57, Y:-19.29, Z:-0.86 [[ 9.97454097e-01 7.12450606e-02 3.07653117e-03 2.71574859e+02] [-7.12446735e-02 9.97458842e-01 -2.35371675e-04 -1.92916446e+01] [-3.08548228e-03 1.55859832e-05 9.99995240e-01 -8.59433791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters Centerline goodness : 0.991827 with order 1 Centerline is valid? [True, True] Translation: X:271.64, Y:-19.30, Z:-0.86 [[ 9.97423613e-01 7.16705747e-02 3.07653117e-03 2.71635012e+02] [-7.16701897e-02 9.97428358e-01 -2.35371675e-04 -1.93012538e+01] [-3.08548865e-03 1.42696942e-05 9.99995240e-01 -8.62083981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters Centerline goodness : 0.991680 with order 1 Centerline is valid? [True, True] Translation: X:271.70, Y:-19.31, Z:-0.86 [[ 9.97549194e-01 6.99009377e-02 3.07652841e-03 2.71696559e+02] [-6.99005441e-02 9.97553938e-01 -2.35407667e-04 -1.93061249e+01] [-3.08545825e-03 1.97797179e-05 9.99995240e-01 -8.63327296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters Centerline goodness : 0.991607 with order 1 Centerline is valid? [True, True] Translation: X:271.76, Y:-19.31, Z:-0.86 [[ 9.97620043e-01 6.88824027e-02 3.07652302e-03 2.71757282e+02] [-6.88820040e-02 9.97624786e-01 -2.35478145e-04 -1.93136768e+01] [-3.08543592e-03 2.30006461e-05 9.99995240e-01 -8.61087321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters Centerline goodness : 0.992009 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:-19.32, Z:-0.86 [[ 9.97396912e-01 7.20412061e-02 3.07651749e-03 2.71817362e+02] [-7.20408222e-02 9.97401657e-01 -2.35550393e-04 -1.93165720e+01] [-3.08549297e-03 1.33023859e-05 9.99995240e-01 -8.62764951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters Centerline goodness : 0.991468 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:-19.32, Z:-0.86 [[ 9.97013958e-01 7.71602385e-02 3.07651475e-03 2.71877414e+02] [-7.71598789e-02 9.97018705e-01 -2.35586181e-04 -1.93219131e+01] [-3.08552063e-03 -2.50079470e-06 9.99995240e-01 -8.57928775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters Centerline goodness : 0.991808 with order 1 Centerline is valid? [True, True] Translation: X:271.94, Y:-19.33, Z:-0.85 [[ 9.96911142e-01 7.84774528e-02 3.07651475e-03 2.71937878e+02] [-7.84770994e-02 9.96915889e-01 -2.35586181e-04 -1.93275823e+01] [-3.08551464e-03 -6.57746515e-06 9.99995240e-01 -8.54679932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters Centerline goodness : 0.991780 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:-19.33, Z:-0.86 [[ 9.96683939e-01 8.13121211e-02 3.07651475e-03 2.71998345e+02] [-8.13117813e-02 9.96688687e-01 -2.35586181e-04 -1.93335306e+01] [-3.08548345e-03 -1.53519314e-05 9.99995240e-01 -8.61051617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:-19.33, Z:-0.86 [[ 9.95711820e-01 9.24581324e-02 3.07651194e-03 2.72059440e+02] [-9.24578456e-02 9.95716572e-01 -2.35622781e-04 -1.93337042e+01] [-3.08511917e-03 -4.98352778e-05 9.99995240e-01 -8.61589127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters Centerline goodness : 0.991898 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:-19.33, Z:-0.86 [[ 9.95221841e-01 9.75910965e-02 3.07651194e-03 2.72119195e+02] [-9.75908342e-02 9.95226594e-01 -2.35622781e-04 -1.93334060e+01] [-3.08482119e-03 -6.57424287e-05 9.99995240e-01 -8.63885912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:-19.33, Z:-0.86 [[ 9.95347441e-01 9.63016434e-02 3.07651479e-03 2.72178892e+02] [-9.63013750e-02 9.95352194e-01 -2.35585636e-04 -1.93326491e+01] [-3.08490303e-03 -6.17830442e-05 9.99995240e-01 -8.62348574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:-19.34, Z:-0.86 [[ 9.95622979e-01 9.34099528e-02 3.07651751e-03 2.72239755e+02] [-9.34096708e-02 9.95627731e-01 -2.35550044e-04 -1.93363339e+01] [-3.08506887e-03 -5.28574513e-05 9.99995240e-01 -8.62675318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters Centerline goodness : 0.992043 with order 1 Centerline is valid? [True, True] Translation: X:272.30, Y:-19.34, Z:-0.86 [[ 9.96230459e-01 8.66914502e-02 3.07651751e-03 2.72300503e+02] [-8.66911362e-02 9.96235209e-01 -2.35550044e-04 -1.93393291e+01] [-3.08535524e-03 -3.20446698e-05 9.99995240e-01 -8.63836391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:-19.35, Z:-0.86 [[ 9.97003245e-01 7.72985434e-02 3.07651466e-03 2.72361261e+02] [-7.72981844e-02 9.97007992e-01 -2.35587288e-04 -1.93483676e+01] [-3.08552026e-03 -2.92770714e-06 9.99995240e-01 -8.60331091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters Centerline goodness : 0.991897 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:-19.36, Z:-0.86 [[ 9.97462313e-01 7.11299432e-02 3.07650904e-03 2.72421906e+02] [-7.11295546e-02 9.97467058e-01 -2.35660588e-04 -1.93567038e+01] [-3.08547895e-03 1.62318374e-05 9.99995240e-01 -8.62237534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters Centerline goodness : 0.991738 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:-19.37, Z:-0.87 [[ 9.97599958e-01 6.91726812e-02 3.07650345e-03 2.72482976e+02] [-6.91722831e-02 9.97604701e-01 -2.35733602e-04 -1.93678593e+01] [-3.08544063e-03 2.23590640e-05 9.99995240e-01 -8.65662512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters Centerline goodness : 0.991036 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:-19.38, Z:-0.87 [[ 9.97498570e-01 7.06196716e-02 3.07649769e-03 2.72543631e+02] [-7.06192802e-02 9.97503314e-01 -2.35808776e-04 -1.93769972e+01] [-3.08546938e-03 1.79588647e-05 9.99995240e-01 -8.68968634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters Centerline goodness : 0.991084 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:-19.38, Z:-0.86 [[ 9.97061199e-01 7.65473706e-02 3.07646068e-03 2.72603903e+02] [-7.65470059e-02 9.97065946e-01 -2.36290563e-04 -1.93792732e+01] [-3.08552160e-03 1.02297939e-07 9.99995240e-01 -8.64458543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters Centerline goodness : 0.990977 with order 1 Centerline is valid? [True, True] Translation: X:272.66, Y:-19.38, Z:-0.86 [[ 9.96754881e-01 8.04378189e-02 3.07646068e-03 2.72664637e+02] [-8.04374727e-02 9.96759629e-01 -2.36290563e-04 -1.93815801e+01] [-3.08549851e-03 -1.19389503e-05 9.99995240e-01 -8.64672194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters Centerline goodness : 0.991877 with order 1 Centerline is valid? [True, True] Translation: X:272.73, Y:-19.39, Z:-0.87 [[ 9.96739336e-01 8.06302122e-02 3.07646068e-03 2.72725684e+02] [-8.06298669e-02 9.96744084e-01 -2.36290563e-04 -1.93853806e+01] [-3.08549614e-03 -1.25345167e-05 9.99995240e-01 -8.67395654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters Centerline goodness : 0.991944 with order 1 Centerline is valid? [True, True] Translation: X:272.79, Y:-19.39, Z:-0.87 [[ 9.96693554e-01 8.11941848e-02 3.07645511e-03 2.72785542e+02] [-8.11938420e-02 9.96698301e-01 -2.36363115e-04 -1.93885270e+01] [-3.08548889e-03 -1.42076166e-05 9.99995240e-01 -8.66086098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:272.85, Y:-19.39, Z:-0.86 [[ 9.96556600e-01 8.28581835e-02 3.07645236e-03 2.72845905e+02] [-8.28578485e-02 9.96561348e-01 -2.36398904e-04 -1.93888761e+01] [-3.08546110e-03 -1.93233354e-05 9.99995240e-01 -8.64554593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters Centerline goodness : 0.991684 with order 1 Centerline is valid? [True, True] Translation: X:272.91, Y:-19.39, Z:-0.87 [[ 9.96260903e-01 8.63408870e-02 3.07645236e-03 2.72906588e+02] [-8.63405687e-02 9.96265652e-01 -2.36398904e-04 -1.93889436e+01] [-3.08537471e-03 -3.01076604e-05 9.99995240e-01 -8.70087524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters Centerline goodness : 0.991471 with order 1 Centerline is valid? [True, True] Translation: X:272.97, Y:-19.39, Z:-0.87 [[ 9.95660923e-01 9.30046377e-02 3.07645236e-03 2.72965641e+02] [-9.30043511e-02 9.95665674e-01 -2.36398904e-04 -1.93880173e+01] [-3.08510421e-03 -5.07503042e-05 9.99995240e-01 -8.66677338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters Centerline goodness : 0.991342 with order 1 Centerline is valid? [True, True] Translation: X:273.02, Y:-19.39, Z:-0.87 [[ 9.95154060e-01 9.82798711e-02 3.07646043e-03 2.73024401e+02] [-9.82796100e-02 9.95158813e-01 -2.36293803e-04 -1.93874057e+01] [-3.08478964e-03 -6.72045944e-05 9.99995240e-01 -8.65171888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters Centerline goodness : 0.992116 with order 1 Centerline is valid? [True, True] Translation: X:273.08, Y:-19.39, Z:-0.87 [[ 9.95135242e-01 9.84702229e-02 3.07647101e-03 2.73084493e+02] [-9.84699631e-02 9.95139995e-01 -2.36156031e-04 -1.93865507e+01] [-3.08477368e-03 -6.79327975e-05 9.99995240e-01 -8.66220337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters Centerline goodness : 0.992319 with order 1 Centerline is valid? [True, True] Translation: X:273.14, Y:-19.38, Z:-0.86 [[ 9.95533422e-01 9.43596356e-02 3.07647627e-03 2.73143419e+02] [-9.43593564e-02 9.95538174e-01 -2.36087494e-04 -1.93837529e+01] [-3.08502670e-03 -5.52613295e-05 9.99995240e-01 -8.63650567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters Centerline goodness : 0.991528 with order 1 Centerline is valid? [True, True] Translation: X:273.20, Y:-19.39, Z:-0.86 [[ 9.95904139e-01 9.03630531e-02 3.07648407e-03 2.73203025e+02] [-9.03627552e-02 9.95908890e-01 -2.35985729e-04 -1.93852424e+01] [-3.08522223e-03 -4.29804127e-05 9.99995240e-01 -8.60357792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters Centerline goodness : 0.992238 with order 1 Centerline is valid? [True, True] Translation: X:273.26, Y:-19.39, Z:-0.87 [[ 9.96358862e-01 8.52030135e-02 3.07648919e-03 2.73262828e+02] [-8.52026912e-02 9.96363611e-01 -2.35919009e-04 -1.93868110e+01] [-3.08540289e-03 -2.70651630e-05 9.99995240e-01 -8.68973013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters Centerline goodness : 0.992718 with order 1 Centerline is valid? [True, True] Translation: X:273.32, Y:-19.39, Z:-0.87 [[ 9.96869310e-01 7.90070521e-02 3.07649427e-03 2.73320693e+02] [-7.90067005e-02 9.96874057e-01 -2.35852787e-04 -1.93945699e+01] [-3.08551135e-03 -7.94925635e-06 9.99995240e-01 -8.70216076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters Centerline goodness : 0.992172 with order 1 Centerline is valid? [True, True] Translation: X:273.38, Y:-19.40, Z:-0.87 [[ 9.97439192e-01 7.14534350e-02 3.07650183e-03 2.73380233e+02] [-7.14530477e-02 9.97443936e-01 -2.35754091e-04 -1.94042969e+01] [-3.08548354e-03 1.53249381e-05 9.99995240e-01 -8.69279886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters Centerline goodness : 0.992151 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:-19.41, Z:-0.87 [[ 9.97715081e-01 6.74918676e-02 3.07650183e-03 2.73439641e+02] [-6.74914614e-02 9.97719824e-01 -2.35754091e-04 -1.94141197e+01] [-3.08539835e-03 2.75778074e-05 9.99995240e-01 -8.72874673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:273.50, Y:-19.43, Z:-0.87 [[ 9.97719623e-01 6.74246907e-02 3.07650183e-03 2.73498889e+02] [-6.74242842e-02 9.97724366e-01 -2.35754091e-04 -1.94272270e+01] [-3.08539648e-03 2.77855489e-05 9.99995240e-01 -8.69974085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters Centerline goodness : 0.992056 with order 1 Centerline is valid? [True, True] Translation: X:273.56, Y:-19.44, Z:-0.87 [[ 9.97593236e-01 6.92695510e-02 3.07650183e-03 2.73558747e+02] [-6.92691533e-02 9.97597980e-01 -2.35754091e-04 -1.94383751e+01] [-3.08544259e-03 2.20800097e-05 9.99995240e-01 -8.69000346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters Centerline goodness : 0.991894 with order 1 Centerline is valid? [True, True] Translation: X:273.62, Y:-19.45, Z:-0.87 [[ 9.97448500e-01 7.13233894e-02 3.07650183e-03 2.73618815e+02] [-7.13230015e-02 9.97453244e-01 -2.35754091e-04 -1.94485349e+01] [-3.08548151e-03 1.57272197e-05 9.99995240e-01 -8.66903749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters Centerline goodness : 0.991970 with order 1 Centerline is valid? [True, True] Translation: X:273.68, Y:-19.46, Z:-0.87 [[ 9.97365755e-01 7.24712751e-02 3.07650183e-03 2.73679189e+02] [-7.24708927e-02 9.97370500e-01 -2.35754091e-04 -1.94574305e+01] [-3.08549757e-03 1.21762231e-05 9.99995240e-01 -8.68753218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters Centerline goodness : 0.992809 with order 1 Centerline is valid? [True, True] Translation: X:273.74, Y:-19.47, Z:-0.87 [[ 9.96866199e-01 7.90462936e-02 3.07649692e-03 2.73738921e+02] [-7.90459423e-02 9.96870946e-01 -2.35818140e-04 -1.94674045e+01] [-3.08551095e-03 -8.10546475e-06 9.99995240e-01 -8.68523460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters Centerline goodness : 0.992443 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:-19.47, Z:-0.87 [[ 9.96547004e-01 8.29735151e-02 3.07649692e-03 2.73798663e+02] [-8.29731825e-02 9.96551752e-01 -2.35818140e-04 -1.94746467e+01] [-3.08545506e-03 -2.02628792e-05 9.99995240e-01 -8.66674734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters Centerline goodness : 0.992873 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:-19.48, Z:-0.87 [[ 9.96209354e-01 8.69336470e-02 3.07649421e-03 2.73859197e+02] [-8.69333331e-02 9.96214103e-01 -2.35853519e-04 -1.94824722e+01] [-3.08535053e-03 -3.24904144e-05 9.99995240e-01 -8.69599424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters Centerline goodness : 0.992823 with order 1 Centerline is valid? [True, True] Translation: X:273.92, Y:-19.49, Z:-0.87 [[ 9.95564555e-01 9.40305944e-02 3.07649421e-03 2.73919625e+02] [-9.40303144e-02 9.95569307e-01 -2.35853519e-04 -1.94872824e+01] [-3.08504065e-03 -5.44763141e-05 9.99995240e-01 -8.71042685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters Centerline goodness : 0.993327 with order 1 Centerline is valid? [True, True] Translation: X:273.98, Y:-19.49, Z:-0.87 [[ 9.94896911e-01 1.00849747e-01 3.07649421e-03 2.73979199e+02] [-1.00849500e-01 9.94901665e-01 -2.35853519e-04 -1.94886307e+01] [-3.08459498e-03 -7.56129643e-05 9.99995240e-01 -8.69911704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters Centerline goodness : 0.993318 with order 1 Centerline is valid? [True, True] Translation: X:274.04, Y:-19.49, Z:-0.87 [[ 9.94564160e-01 1.04080095e-01 3.07649683e-03 2.74038869e+02] [-1.04079864e-01 9.94568915e-01 -2.35819297e-04 -1.94881093e+01] [-3.08433221e-03 -8.56639487e-05 9.99995240e-01 -8.71053409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters Centerline goodness : 0.992990 with order 1 Centerline is valid? [True, True] Translation: X:274.10, Y:-19.49, Z:-0.87 [[ 9.94843829e-01 1.01372040e-01 3.07650205e-03 2.74097971e+02] [-1.01371795e-01 9.94848583e-01 -2.35751246e-04 -1.94921368e+01] [-3.08455229e-03 -7.73348639e-05 9.99995240e-01 -8.69226624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:-19.50, Z:-0.87 [[ 9.95267388e-01 9.71254887e-02 3.07650734e-03 2.74157231e+02] [-9.71252240e-02 9.95272141e-01 -2.35682184e-04 -1.94966235e+01] [-3.08485279e-03 -6.42396728e-05 9.99995240e-01 -8.70268611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:274.22, Y:-19.50, Z:-0.87 [[ 9.95483753e-01 9.48822081e-02 3.07650436e-03 2.74216956e+02] [-9.48819326e-02 9.95488505e-01 -2.35721086e-04 -1.95032975e+01] [-3.08499046e-03 -5.72481673e-05 9.99995240e-01 -8.71827729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:274.28, Y:-19.51, Z:-0.87 [[ 9.95306242e-01 9.67265213e-02 3.07650436e-03 2.74277691e+02] [-9.67262545e-02 9.95310995e-01 -2.35721086e-04 -1.95061923e+01] [-3.08487909e-03 -6.29640748e-05 9.99995240e-01 -8.66844614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters Centerline goodness : 0.993611 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:-19.51, Z:-0.86 [[ 9.94968547e-01 1.00140531e-01 3.07650436e-03 2.74336814e+02] [-1.00140280e-01 9.94973301e-01 -2.35721086e-04 -1.95080080e+01] [-3.08464493e-03 -7.35469415e-05 9.99995240e-01 -8.62564771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters Centerline goodness : 0.993979 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:-19.50, Z:-0.86 [[ 9.94927033e-01 1.00552148e-01 3.07651218e-03 2.74396454e+02] [-1.00551900e-01 9.94931787e-01 -2.35618890e-04 -1.95049846e+01] [-3.08461175e-03 -7.49255413e-05 9.99995240e-01 -8.63179627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:274.46, Y:-19.50, Z:-0.87 [[ 9.95119674e-01 9.86274304e-02 3.07651743e-03 2.74456640e+02] [-9.86271733e-02 9.95124427e-01 -2.35550374e-04 -1.95020518e+01] [-3.08474937e-03 -6.90274058e-05 9.99995240e-01 -8.71177666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters Centerline goodness : 0.994915 with order 1 Centerline is valid? [True, True] Translation: X:274.52, Y:-19.50, Z:-0.87 [[ 9.95602396e-01 9.36290731e-02 3.07652300e-03 2.74516064e+02] [-9.36287923e-02 9.95607148e-01 -2.35477520e-04 -1.94972368e+01] [-3.08505584e-03 -5.36091498e-05 9.99995240e-01 -8.68832894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters Centerline goodness : 0.994491 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:-19.50, Z:-0.87 [[ 9.96333267e-01 8.55017865e-02 3.07653129e-03 2.74576571e+02] [-8.55014673e-02 9.96338017e-01 -2.35369280e-04 -1.95004530e+01] [-3.08538957e-03 -2.85416956e-05 9.99995240e-01 -8.70959622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:274.64, Y:-19.50, Z:-0.87 [[ 9.96977054e-01 7.76356206e-02 3.07653129e-03 2.74636216e+02] [-7.76352639e-02 9.96981800e-01 -2.35369280e-04 -1.95032678e+01] [-3.08551874e-03 -4.18954715e-06 9.99995240e-01 -8.73212186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters Centerline goodness : 0.994571 with order 1 Centerline is valid? [True, True] Translation: X:274.70, Y:-19.51, Z:-0.88 [[ 9.97245885e-01 7.41024961e-02 3.07653386e-03 2.74695842e+02] [-7.41021227e-02 9.97250631e-01 -2.35335686e-04 -1.95125081e+01] [-3.08551429e-03 6.70985553e-06 9.99995240e-01 -8.78910647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters Centerline goodness : 0.994999 with order 1 Centerline is valid? [True, True] Translation: X:274.76, Y:-19.52, Z:-0.88 [[ 9.97285315e-01 7.35699360e-02 3.07653386e-03 2.74755565e+02] [-7.35695601e-02 9.97290060e-01 -2.35335686e-04 -1.95176130e+01] [-3.08551027e-03 8.35758159e-06 9.99995240e-01 -8.79199621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters Centerline goodness : 0.995348 with order 1 Centerline is valid? [True, True] Translation: X:274.82, Y:-19.53, Z:-0.87 [[ 9.97131715e-01 7.56232673e-02 3.07653652e-03 2.74815536e+02] [-7.56229012e-02 9.97136461e-01 -2.35300864e-04 -1.95258748e+01] [-3.08552096e-03 1.96933623e-06 9.99995240e-01 -8.73591420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters Centerline goodness : 0.995441 with order 1 Centerline is valid? [True, True] Translation: X:274.88, Y:-19.53, Z:-0.87 [[ 9.96581427e-01 8.25590369e-02 3.07653652e-03 2.74875430e+02] [-8.25587038e-02 9.96586175e-01 -2.35300864e-04 -1.95305077e+01] [-3.08545998e-03 -1.94983970e-05 9.99995240e-01 -8.71452607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters Centerline goodness : 0.995451 with order 1 Centerline is valid? [True, True] Translation: X:274.94, Y:-19.53, Z:-0.88 [[ 9.95844429e-01 9.10187208e-02 3.07654197e-03 2.74935500e+02] [-9.10184283e-02 9.95849181e-01 -2.35229533e-04 -1.95309472e+01] [-3.08518209e-03 -4.57699948e-05 9.99995240e-01 -8.77208351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters Centerline goodness : 0.996267 with order 1 Centerline is valid? [True, True] Translation: X:274.99, Y:-19.53, Z:-0.87 [[ 9.95328025e-01 9.65021142e-02 3.07654755e-03 2.74994990e+02] [-9.65018481e-02 9.95332778e-01 -2.35156613e-04 -1.95284087e+01] [-3.08488172e-03 -6.28345575e-05 9.99995240e-01 -8.69609037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters Centerline goodness : 0.996016 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:-19.53, Z:-0.87 [[ 9.95457633e-01 9.51558467e-02 3.07655861e-03 2.75053907e+02] [-9.51555747e-02 9.95462386e-01 -2.35011816e-04 -1.95269131e+01] [-3.08496112e-03 -5.88073964e-05 9.99995240e-01 -8.70821369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters Centerline goodness : 0.995540 with order 1 Centerline is valid? [True, True] Translation: X:275.11, Y:-19.52, Z:-0.87 [[ 9.95769937e-01 9.18301042e-02 3.07656677e-03 2.75113600e+02] [-9.18298166e-02 9.95774688e-01 -2.34904908e-04 -1.95208529e+01] [-3.08513866e-03 -4.86093172e-05 9.99995240e-01 -8.70248546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters Centerline goodness : 0.995916 with order 1 Centerline is valid? [True, True] Translation: X:275.17, Y:-19.52, Z:-0.87 [[ 9.96050773e-01 8.87321338e-02 3.07657784e-03 2.75172506e+02] [-8.87318318e-02 9.96055524e-01 -2.34759840e-04 -1.95195474e+01] [-3.08527309e-03 -3.91576677e-05 9.99995240e-01 -8.72400511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters Centerline goodness : 0.996062 with order 1 Centerline is valid? [True, True] Translation: X:275.23, Y:-19.51, Z:-0.87 [[ 9.96678308e-01 8.13811151e-02 3.07658607e-03 2.75232621e+02] [-8.13807785e-02 9.96683056e-01 -2.34651947e-04 -1.95109368e+01] [-3.08547744e-03 -1.65024641e-05 9.99995240e-01 -8.74757385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters Centerline goodness : 0.995955 with order 1 Centerline is valid? [True, True] Translation: X:275.29, Y:-19.51, Z:-0.88 [[ 9.96811098e-01 7.97381304e-02 3.07659670e-03 2.75292012e+02] [-7.97377864e-02 9.96815846e-01 -2.34512453e-04 -1.95098390e+01] [-3.08549993e-03 -1.15563944e-05 9.99995240e-01 -8.76500668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters Centerline goodness : 0.995680 with order 1 Centerline is valid? [True, True] Translation: X:275.35, Y:-19.51, Z:-0.88 [[ 9.96925058e-01 7.83004623e-02 3.07660726e-03 2.75351326e+02] [-7.83001119e-02 9.96929806e-01 -2.34373883e-04 -1.95052208e+01] [-3.08551306e-03 -7.24549588e-06 9.99995240e-01 -8.77764443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters Centerline goodness : 0.995873 with order 1 Centerline is valid? [True, True] Translation: X:275.41, Y:-19.51, Z:-0.88 [[ 9.97262540e-01 7.38780104e-02 3.07661818e-03 2.75409761e+02] [-7.38776393e-02 9.97267286e-01 -2.34230412e-04 -1.95077019e+01] [-3.08551514e-03 6.29592777e-06 9.99995240e-01 -8.78582675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:-19.51, Z:-0.88 [[ 9.97479754e-01 7.08849441e-02 3.07662952e-03 2.75467835e+02] [-7.08845593e-02 9.97484498e-01 -2.34081409e-04 -1.95113741e+01] [-3.08548310e-03 1.54059386e-05 9.99995240e-01 -8.75838211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters Centerline goodness : 0.996376 with order 1 Centerline is valid? [True, True] Translation: X:275.53, Y:-19.52, Z:-0.87 [[ 9.97389080e-01 7.21495537e-02 3.07662751e-03 2.75526398e+02] [-7.21491748e-02 9.97393825e-01 -2.34107841e-04 -1.95154480e+01] [-3.08550005e-03 1.15204682e-05 9.99995240e-01 -8.71179762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters Centerline goodness : 0.996202 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:-19.52, Z:-0.87 [[ 9.97384075e-01 7.22187061e-02 3.07663866e-03 2.75583870e+02] [-7.22183280e-02 9.97388820e-01 -2.33961102e-04 -1.95175839e+01] [-3.08550138e-03 1.11593773e-05 9.99995240e-01 -8.74996862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:-19.52, Z:-0.87 [[ 9.97740576e-01 6.71139194e-02 3.07665245e-03 2.75642596e+02] [-6.71135176e-02 9.97745319e-01 -2.33779653e-04 -1.95241773e+01] [-3.08540545e-03 2.67664767e-05 9.99995240e-01 -8.71840259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters Centerline goodness : 0.996225 with order 1 Centerline is valid? [True, True] Translation: X:275.70, Y:-19.53, Z:-0.88 [[ 9.98175446e-01 6.03018460e-02 3.07666349e-03 2.75700649e+02] [-6.03014122e-02 9.98180187e-01 -2.33634319e-04 -1.95300412e+01] [-3.08515312e-03 4.76808869e-05 9.99995240e-01 -8.76502652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters Centerline goodness : 0.996710 with order 1 Centerline is valid? [True, True] Translation: X:275.76, Y:-19.54, Z:-0.87 [[ 9.98351575e-01 5.73120168e-02 3.07667160e-03 2.75760015e+02] [-5.73115692e-02 9.98356314e-01 -2.33527414e-04 -1.95372002e+01] [-3.08499845e-03 5.68135841e-05 9.99995240e-01 -8.72333821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:275.82, Y:-19.55, Z:-0.87 [[ 9.98342234e-01 5.74744983e-02 3.07667711e-03 2.75818032e+02] [-5.74740517e-02 9.98346973e-01 -2.33454864e-04 -1.95456593e+01] [-3.08500898e-03 5.62387516e-05 9.99995240e-01 -8.74886727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters Centerline goodness : 0.996183 with order 1 Centerline is valid? [True, True] Translation: X:275.88, Y:-19.56, Z:-0.88 [[ 9.98433606e-01 5.58647384e-02 3.07668526e-03 2.75877535e+02] [-5.58642845e-02 9.98438344e-01 -2.33347389e-04 -1.95554336e+01] [-3.08491643e-03 6.11050541e-05 9.99995240e-01 -8.79053694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters Centerline goodness : 0.995676 with order 1 Centerline is valid? [True, True] Translation: X:275.94, Y:-19.57, Z:-0.88 [[ 9.98480123e-01 5.50270726e-02 3.07669074e-03 2.75937719e+02] [-5.50266149e-02 9.98484861e-01 -2.33275074e-04 -1.95674447e+01] [-3.08486557e-03 6.36206480e-05 9.99995240e-01 -8.77618343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters Centerline goodness : 0.995985 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:-19.58, Z:-0.88 [[ 9.98408125e-01 5.63182926e-02 3.07669074e-03 2.75997712e+02] [-5.63178410e-02 9.98412864e-01 -2.33275074e-04 -1.95783180e+01] [-3.08494527e-03 5.96311494e-05 9.99995240e-01 -8.84104909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:276.06, Y:-19.59, Z:-0.88 [[ 9.98237728e-01 5.92618926e-02 3.07669074e-03 2.76056711e+02] [-5.92614550e-02 9.98242468e-01 -2.33275074e-04 -1.95914923e+01] [-3.08510768e-03 5.05348102e-05 9.99995240e-01 -8.77739568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters Centerline goodness : 0.996593 with order 1 Centerline is valid? [True, True] Translation: X:276.12, Y:-19.60, Z:-0.88 [[ 9.97987305e-01 6.33393497e-02 3.07669348e-03 2.76116593e+02] [-6.33389316e-02 9.97992047e-01 -2.33238947e-04 -1.95974326e+01] [-3.08528883e-03 3.78950303e-05 9.99995240e-01 -8.76173939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters Centerline goodness : 0.995880 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:-19.60, Z:-0.88 [[ 9.97345805e-01 7.27453004e-02 3.07669898e-03 2.76175374e+02] [-7.27449273e-02 9.97350551e-01 -2.33166347e-04 -1.96046758e+01] [-3.08550918e-03 8.73323436e-06 9.99995240e-01 -8.79998608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters Centerline goodness : 0.996343 with order 1 Centerline is valid? [True, True] Translation: X:276.23, Y:-19.61, Z:-0.88 [[ 9.96996891e-01 7.73804391e-02 3.07670446e-03 2.76234665e+02] [-7.73800882e-02 9.97001639e-01 -2.33094057e-04 -1.96059043e+01] [-3.08551631e-03 -5.68161217e-06 9.99995240e-01 -8.76770654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters Centerline goodness : 0.996165 with order 1 Centerline is valid? [True, True] Translation: X:276.29, Y:-19.61, Z:-0.87 [[ 9.96937026e-01 7.81479317e-02 3.07671015e-03 2.76292970e+02] [-7.81475847e-02 9.96941774e-01 -2.33018952e-04 -1.96102282e+01] [-3.08551082e-03 -8.13224629e-06 9.99995240e-01 -8.72527875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters Centerline goodness : 0.996220 with order 1 Centerline is valid? [True, True] Translation: X:276.35, Y:-19.62, Z:-0.87 [[ 9.97267773e-01 7.38073363e-02 3.07671857e-03 2.76352654e+02] [-7.38069690e-02 9.97272519e-01 -2.32907746e-04 -1.96155709e+01] [-3.08551717e-03 5.18811737e-06 9.99995240e-01 -8.74543539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters Centerline goodness : 0.995808 with order 1 Centerline is valid? [True, True] Translation: X:276.41, Y:-19.62, Z:-0.88 [[ 9.97488759e-01 7.07581116e-02 3.07672423e-03 2.76411334e+02] [-7.07577300e-02 9.97493503e-01 -2.32832850e-04 -1.96205626e+01] [-3.08548725e-03 1.45461275e-05 9.99995240e-01 -8.83849395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters Centerline goodness : 0.996397 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:-19.63, Z:-0.88 [[ 9.97811158e-01 6.60562321e-02 3.07673264e-03 2.76470349e+02] [-6.60558285e-02 9.97815902e-01 -2.32721746e-04 -1.96267509e+01] [-3.08538547e-03 2.89762314e-05 9.99995240e-01 -8.84745381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:276.53, Y:-19.64, Z:-0.88 [[ 9.98114325e-01 6.13052099e-02 3.07673540e-03 2.76530832e+02] [-6.13047838e-02 9.98119066e-01 -2.32685182e-04 -1.96354277e+01] [-3.08521308e-03 4.36278144e-05 9.99995240e-01 -8.81643065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters Centerline goodness : 0.996266 with order 1 Centerline is valid? [True, True] Translation: X:276.59, Y:-19.64, Z:-0.88 [[ 9.98282292e-01 5.85064093e-02 3.07673540e-03 2.76590124e+02] [-5.85059699e-02 9.98287032e-01 -2.32685182e-04 -1.96448740e+01] [-3.08507863e-03 5.22781077e-05 9.99995240e-01 -8.80621155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:276.65, Y:-19.65, Z:-0.88 [[ 9.98289275e-01 5.83871237e-02 3.07673808e-03 2.76650595e+02] [-5.83866839e-02 9.98294015e-01 -2.32649766e-04 -1.96512027e+01] [-3.08507296e-03 5.26112322e-05 9.99995240e-01 -8.79524189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:276.71, Y:-19.66, Z:-0.88 [[ 9.98049180e-01 6.23567740e-02 3.07673808e-03 2.76710832e+02] [-6.23563530e-02 9.98053922e-01 -2.32649766e-04 -1.96566177e+01] [-3.08525780e-03 4.03417420e-05 9.99995240e-01 -8.83506473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters Centerline goodness : 0.996096 with order 1 Centerline is valid? [True, True] Translation: X:276.77, Y:-19.66, Z:-0.87 [[ 9.98067772e-01 6.20584852e-02 3.07673808e-03 2.76769654e+02] [-6.20580629e-02 9.98072514e-01 -2.32649766e-04 -1.96636317e+01] [-3.08524560e-03 4.12638280e-05 9.99995240e-01 -8.73391554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters Centerline goodness : 0.996351 with order 1 Centerline is valid? [True, True] Translation: X:276.83, Y:-19.67, Z:-0.88 [[ 9.98310578e-01 5.80217493e-02 3.07674083e-03 2.76829650e+02] [-5.80213078e-02 9.98315318e-01 -2.32613357e-04 -1.96739555e+01] [-3.08505414e-03 5.37038475e-05 9.99995240e-01 -8.75562852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:276.89, Y:-19.69, Z:-0.88 [[ 9.98432884e-01 5.58776295e-02 3.07673812e-03 2.76889961e+02] [-5.58771778e-02 9.98437623e-01 -2.32649181e-04 -1.96874738e+01] [-3.08493098e-03 6.03651493e-05 9.99995240e-01 -8.78199525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters Centerline goodness : 0.996340 with order 1 Centerline is valid? [True, True] Translation: X:276.95, Y:-19.70, Z:-0.88 [[ 9.98579552e-01 5.31922164e-02 3.07673276e-03 2.76951122e+02] [-5.31917517e-02 9.98584290e-01 -2.32720118e-04 -1.97046185e+01] [-3.08475589e-03 6.87327459e-05 9.99995240e-01 -8.80357129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters Centerline goodness : 0.996351 with order 1 Centerline is valid? [True, True] Translation: X:277.01, Y:-19.72, Z:-0.88 [[ 9.98618509e-01 5.24557654e-02 3.07669473e-03 2.77012440e+02] [-5.24552957e-02 9.98623246e-01 -2.33221743e-04 -1.97197786e+01] [-3.08469271e-03 7.15106169e-05 9.99995240e-01 -8.79529954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters Centerline goodness : 0.996008 with order 1 Centerline is valid? [True, True] Translation: X:277.07, Y:-19.73, Z:-0.88 [[ 9.98389188e-01 5.66530030e-02 3.07665680e-03 2.77073851e+02] [-5.66525517e-02 9.98393927e-01 -2.33721067e-04 -1.97346105e+01] [-3.08495647e-03 5.90441275e-05 9.99995240e-01 -8.77853788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters Centerline goodness : 0.995964 with order 1 Centerline is valid? [True, True] Translation: X:277.14, Y:-19.74, Z:-0.88 [[ 9.98250179e-01 5.90517998e-02 3.07661861e-03 2.77136153e+02] [-5.90513583e-02 9.98254918e-01 -2.34222753e-04 -1.97417188e+01] [-3.08508093e-03 5.21343974e-05 9.99995240e-01 -8.82658139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters Centerline goodness : 0.996076 with order 1 Centerline is valid? [True, True] Translation: X:277.20, Y:-19.75, Z:-0.88 [[ 9.98209099e-01 5.97421930e-02 3.07659753e-03 2.77197641e+02] [-5.97417539e-02 9.98213839e-01 -2.34499345e-04 -1.97507119e+01] [-3.08511173e-03 5.02780473e-05 9.99995240e-01 -8.84330300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters Centerline goodness : 0.995549 with order 1 Centerline is valid? [True, True] Translation: X:277.26, Y:-19.76, Z:-0.88 [[ 9.98159979e-01 6.05573336e-02 3.07656992e-03 2.77259979e+02] [-6.05568972e-02 9.98164719e-01 -2.34860929e-04 -1.97605213e+01] [-3.08514611e-03 4.81212515e-05 9.99995240e-01 -8.84628470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters Centerline goodness : 0.995558 with order 1 Centerline is valid? [True, True] Translation: X:277.32, Y:-19.77, Z:-0.88 [[ 9.97842036e-01 6.55881573e-02 3.07652595e-03 2.77321912e+02] [-6.55877431e-02 9.97846778e-01 -2.35435552e-04 -1.97671158e+01] [-3.08534329e-03 3.31450966e-05 9.99995240e-01 -8.76825430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:277.38, Y:-19.77, Z:-0.88 [[ 9.97526870e-01 7.02187932e-02 3.07648707e-03 2.77384437e+02] [-7.02183995e-02 9.97531614e-01 -2.35942480e-04 -1.97726690e+01] [-3.08546071e-03 1.93329658e-05 9.99995240e-01 -8.78392388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters Centerline goodness : 0.995750 with order 1 Centerline is valid? [True, True] Translation: X:277.45, Y:-19.78, Z:-0.88 [[ 9.97422748e-01 7.16826212e-02 3.07644262e-03 2.77447326e+02] [-7.16822326e-02 9.97427492e-01 -2.36520697e-04 -1.97802748e+01] [-3.08548287e-03 1.53848481e-05 9.99995240e-01 -8.80628080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:277.51, Y:-19.79, Z:-0.88 [[ 9.97482892e-01 7.08407728e-02 3.07639792e-03 2.77510320e+02] [-7.08403785e-02 9.97487636e-01 -2.37100701e-04 -1.97856687e+01] [-3.08546528e-03 1.85707004e-05 9.99995240e-01 -8.80594353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:277.57, Y:-19.79, Z:-0.88 [[ 9.97315494e-01 7.31596958e-02 3.07635188e-03 2.77572527e+02] [-7.31593106e-02 9.97320239e-01 -2.37696547e-04 -1.97905390e+01] [-3.08549780e-03 1.19946668e-05 9.99995240e-01 -8.80288870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:277.63, Y:-19.79, Z:-0.88 [[ 9.96872651e-01 7.89648920e-02 3.07630873e-03 2.77634355e+02] [-7.89645328e-02 9.96877398e-01 -2.38253748e-04 -1.97932863e+01] [-3.08551632e-03 -5.41063622e-06 9.99995240e-01 -8.76930210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters Centerline goodness : 0.995762 with order 1 Centerline is valid? [True, True] Translation: X:277.70, Y:-19.79, Z:-0.88 [[ 9.96189813e-01 8.71572897e-02 3.07626899e-03 2.77695877e+02] [-8.71569679e-02 9.96194562e-01 -2.38765704e-04 -1.97932790e+01] [-3.08537261e-03 -3.02623152e-05 9.99995240e-01 -8.81454673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:277.76, Y:-19.79, Z:-0.88 [[ 9.95805397e-01 9.14447792e-02 3.07623239e-03 2.77757039e+02] [-9.14444764e-02 9.95810148e-01 -2.39236263e-04 -1.97913055e+01] [-3.08522034e-03 -4.30716991e-05 9.99995240e-01 -8.84785881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters Centerline goodness : 0.996300 with order 1 Centerline is valid? [True, True] Translation: X:277.82, Y:-19.79, Z:-0.88 [[ 9.96056410e-01 8.86688513e-02 3.07622685e-03 2.77819817e+02] [-8.86685351e-02 9.96061160e-01 -2.39307565e-04 -1.97905932e+01] [-3.08532921e-03 -3.44006946e-05 9.99995240e-01 -8.80430744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters Centerline goodness : 0.995910 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:-19.79, Z:-0.88 [[ 9.96577185e-01 8.26102337e-02 3.07618615e-03 2.77880478e+02] [-8.26098869e-02 9.96581933e-01 -2.39829621e-04 -1.97947667e+01] [-3.08548392e-03 -1.51146608e-05 9.99995240e-01 -8.80051576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters Centerline goodness : 0.995982 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:-19.80, Z:-0.88 [[ 9.96890402e-01 7.87404798e-02 3.07614862e-03 2.77942266e+02] [-7.87401132e-02 9.96895148e-01 -2.40310033e-04 -1.97971447e+01] [-3.08551976e-03 -2.65352489e-06 9.99995240e-01 -8.82497051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:278.00, Y:-19.80, Z:-0.88 [[ 9.96777523e-01 8.01567681e-02 3.07610838e-03 2.78003059e+02] [-8.01564066e-02 9.96782269e-01 -2.40823985e-04 -1.97987685e+01] [-3.08551396e-03 -6.52185925e-06 9.99995240e-01 -8.79808401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters Centerline goodness : 0.996188 with order 1 Centerline is valid? [True, True] Translation: X:278.06, Y:-19.80, Z:-0.88 [[ 9.96414772e-01 8.45466766e-02 3.07610554e-03 2.78062233e+02] [-8.45463359e-02 9.96419520e-01 -2.40860208e-04 -1.97987938e+01] [-3.08545554e-03 -2.00767836e-05 9.99995240e-01 -8.82350625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters Centerline goodness : 0.996159 with order 1 Centerline is valid? [True, True] Translation: X:278.12, Y:-19.80, Z:-0.88 [[ 9.96283285e-01 8.60822437e-02 3.07610835e-03 2.78122776e+02] [-8.60819104e-02 9.96288034e-01 -2.40824355e-04 -1.97998494e+01] [-3.08542064e-03 -2.48680036e-05 9.99995240e-01 -8.77498099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters Centerline goodness : 0.995516 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:-19.80, Z:-0.88 [[ 9.96030458e-01 8.89599074e-02 3.07610835e-03 2.78182419e+02] [-8.89595878e-02 9.96035207e-01 -2.40824355e-04 -1.97987784e+01] [-3.08533593e-03 -3.37809383e-05 9.99995240e-01 -8.77968368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters Centerline goodness : 0.995519 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:-19.80, Z:-0.88 [[ 9.95939560e-01 8.99718318e-02 3.07611112e-03 2.78243449e+02] [-8.99715172e-02 9.95944310e-01 -2.40788965e-04 -1.97992648e+01] [-3.08529959e-03 -3.69511284e-05 9.99995240e-01 -8.77931447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters Centerline goodness : 0.995944 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:-19.80, Z:-0.88 [[ 9.96174179e-01 8.73358075e-02 3.07611112e-03 2.78303432e+02] [-8.73354803e-02 9.96178928e-01 -2.40788965e-04 -1.98010923e+01] [-3.08538658e-03 -2.87858926e-05 9.99995240e-01 -8.75382475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters Centerline goodness : 0.995556 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:-19.80, Z:-0.88 [[ 9.96447013e-01 8.41658409e-02 3.07611386e-03 2.78363899e+02] [-8.41654987e-02 9.96451760e-01 -2.40753956e-04 -1.98047658e+01] [-3.08546233e-03 -1.90040967e-05 9.99995240e-01 -8.76756169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters Centerline goodness : 0.996324 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:-19.80, Z:-0.88 [[ 9.96603582e-01 8.22911811e-02 3.07611386e-03 2.78424626e+02] [-8.22908300e-02 9.96608329e-01 -2.40753956e-04 -1.98042678e+01] [-3.08549262e-03 -1.31997075e-05 9.99995240e-01 -8.83151652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters Centerline goodness : 0.995747 with order 1 Centerline is valid? [True, True] Translation: X:278.49, Y:-19.81, Z:-0.88 [[ 9.96569042e-01 8.27084217e-02 3.07611386e-03 2.78485470e+02] [-8.27080726e-02 9.96573789e-01 -2.40753956e-04 -1.98080870e+01] [-3.08548683e-03 -1.44915090e-05 9.99995240e-01 -8.83609217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters Centerline goodness : 0.996147 with order 1 Centerline is valid? [True, True] Translation: X:278.55, Y:-19.81, Z:-0.88 [[ 9.96474066e-01 8.38449404e-02 3.07611386e-03 2.78545179e+02] [-8.38445967e-02 9.96478813e-01 -2.40753956e-04 -1.98089289e+01] [-3.08546829e-03 -1.80104524e-05 9.99995240e-01 -8.78420557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters Centerline goodness : 0.996592 with order 1 Centerline is valid? [True, True] Translation: X:278.60, Y:-19.81, Z:-0.88 [[ 9.96477525e-01 8.38038151e-02 3.07611190e-03 2.78603589e+02] [-8.38034711e-02 9.96482273e-01 -2.40778952e-04 -1.98095072e+01] [-3.08546918e-03 -1.78580411e-05 9.99995240e-01 -8.77179201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters Centerline goodness : 0.996857 with order 1 Centerline is valid? [True, True] Translation: X:278.66, Y:-19.81, Z:-0.88 [[ 9.96668341e-01 8.15031066e-02 3.07612004e-03 2.78662940e+02] [-8.15027519e-02 9.96673088e-01 -2.40675010e-04 -1.98110381e+01] [-3.08550182e-03 -1.08390859e-05 9.99995240e-01 -8.78043983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:278.72, Y:-19.82, Z:-0.88 [[ 9.96947361e-01 7.80160094e-02 3.07612521e-03 2.78723138e+02] [-7.80156384e-02 9.96952106e-01 -2.40608904e-04 -1.98174926e+01] [-3.08552085e-03 -1.11460291e-07 9.99995240e-01 -8.76497370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters Centerline goodness : 0.996299 with order 1 Centerline is valid? [True, True] Translation: X:278.78, Y:-19.82, Z:-0.88 [[ 9.96992730e-01 7.74340578e-02 3.07612521e-03 2.78782616e+02] [-7.74336840e-02 9.96997476e-01 -2.40608904e-04 -1.98224442e+01] [-3.08552039e-03 1.68962074e-06 9.99995240e-01 -8.80017230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters Centerline goodness : 0.996515 with order 1 Centerline is valid? [True, True] Translation: X:278.84, Y:-19.83, Z:-0.87 [[ 9.96921482e-01 7.83460082e-02 3.07613117e-03 2.78841469e+02] [-7.83456390e-02 9.96926227e-01 -2.40532586e-04 -1.98304327e+01] [-3.08552062e-03 -1.20936051e-06 9.99995240e-01 -8.74420044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:-19.83, Z:-0.87 [[ 9.96926991e-01 7.82758679e-02 3.07612830e-03 2.78901288e+02] [-7.82754982e-02 9.96931737e-01 -2.40569314e-04 -1.98346082e+01] [-3.08552070e-03 -9.55433285e-07 9.99995240e-01 -8.73477719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:-19.84, Z:-0.88 [[ 9.96606426e-01 8.22567228e-02 3.07613119e-03 2.78961034e+02] [-8.22563722e-02 9.96611174e-01 -2.40532375e-04 -1.98376706e+01] [-3.08549212e-03 -1.33152814e-05 9.99995240e-01 -8.77699579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters Centerline goodness : 0.996834 with order 1 Centerline is valid? [True, True] Translation: X:279.02, Y:-19.84, Z:-0.88 [[ 9.96539237e-01 8.30667542e-02 3.07613705e-03 2.79019222e+02] [-8.30664077e-02 9.96543985e-01 -2.40457402e-04 -1.98404525e+01] [-3.08547989e-03 -1.58984184e-05 9.99995240e-01 -8.78876691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters Centerline goodness : 0.996294 with order 1 Centerline is valid? [True, True] Translation: X:279.08, Y:-19.84, Z:-0.88 [[ 9.96293443e-01 8.59646004e-02 3.07614577e-03 2.79077731e+02] [-8.59642680e-02 9.96298192e-01 -2.40345838e-04 -1.98449002e+01] [-3.08541970e-03 -2.49836367e-05 9.99995240e-01 -8.78512077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters Centerline goodness : 0.995919 with order 1 Centerline is valid? [True, True] Translation: X:279.14, Y:-19.85, Z:-0.89 [[ 9.95831059e-01 9.11648997e-02 3.07615430e-03 2.79137793e+02] [-9.11645925e-02 9.95835809e-01 -2.40236625e-04 -1.98467324e+01] [-3.08524575e-03 -4.12012603e-05 9.99995240e-01 -8.85819732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters Centerline goodness : 0.996503 with order 1 Centerline is valid? [True, True] Translation: X:279.20, Y:-19.85, Z:-0.88 [[ 9.95533357e-01 9.43603320e-02 3.07615989e-03 2.79196766e+02] [-9.43600403e-02 9.95538108e-01 -2.40165010e-04 -1.98490902e+01] [-3.08509645e-03 -5.11742919e-05 9.99995240e-01 -8.80917943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:-19.85, Z:-0.88 [[ 9.95319213e-01 9.65929647e-02 3.07617125e-03 2.79255490e+02] [-9.65926840e-02 9.95323965e-01 -2.40019406e-04 -1.98498334e+01] [-3.08497115e-03 -5.82397111e-05 9.99995240e-01 -8.79499659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters Centerline goodness : 0.996439 with order 1 Centerline is valid? [True, True] Translation: X:279.31, Y:-19.85, Z:-0.88 [[ 9.95308981e-01 9.66983401e-02 3.07618270e-03 2.79313291e+02] [-9.66980604e-02 9.95313733e-01 -2.39872607e-04 -1.98502204e+01] [-3.08496217e-03 -5.87135404e-05 9.99995240e-01 -8.79367147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters Centerline goodness : 0.996338 with order 1 Centerline is valid? [True, True] Translation: X:279.37, Y:-19.85, Z:-0.88 [[ 9.95387400e-01 9.58877507e-02 3.07619867e-03 2.79372313e+02] [-9.58874678e-02 9.95392152e-01 -2.39667601e-04 -1.98486869e+01] [-3.08500520e-03 -5.64067909e-05 9.99995240e-01 -8.79355980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters Centerline goodness : 0.996421 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:-19.85, Z:-0.88 [[ 9.95466489e-01 9.50631698e-02 3.07620972e-03 2.79431538e+02] [-9.50628834e-02 9.95471241e-01 -2.39525667e-04 -1.98502642e+01] [-3.08504838e-03 -5.39935915e-05 9.99995240e-01 -8.77960574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters Centerline goodness : 0.996501 with order 1 Centerline is valid? [True, True] Translation: X:279.49, Y:-19.85, Z:-0.88 [[ 9.95551173e-01 9.41721771e-02 3.07622076e-03 2.79490920e+02] [-9.41718868e-02 9.95555924e-01 -2.39383780e-04 -1.98489279e+01] [-3.08509310e-03 -5.13747107e-05 9.99995240e-01 -8.75370811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters Centerline goodness : 0.996306 with order 1 Centerline is valid? [True, True] Translation: X:279.55, Y:-19.85, Z:-0.88 [[ 9.95714371e-01 9.24306694e-02 3.07623217e-03 2.79549705e+02] [-9.24303713e-02 9.95719122e-01 -2.39237143e-04 -1.98535047e+01] [-3.08517604e-03 -4.61254198e-05 9.99995240e-01 -8.80699699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters Centerline goodness : 0.996194 with order 1 Centerline is valid? [True, True] Translation: X:279.61, Y:-19.86, Z:-0.88 [[ 9.96101516e-01 8.81606822e-02 3.07624348e-03 2.79607084e+02] [-8.81603642e-02 9.96106266e-01 -2.39091526e-04 -1.98583422e+01] [-3.08534388e-03 -3.30433145e-05 9.99995240e-01 -8.78636850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters Centerline goodness : 0.996679 with order 1 Centerline is valid? [True, True] Translation: X:279.67, Y:-19.86, Z:-0.88 [[ 9.96361859e-01 8.51679647e-02 3.07625749e-03 2.79665544e+02] [-8.51676330e-02 9.96366608e-01 -2.38911187e-04 -1.98636726e+01] [-3.08542782e-03 -2.39555746e-05 9.99995240e-01 -8.76819903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters Centerline goodness : 0.996826 with order 1 Centerline is valid? [True, True] Translation: X:279.72, Y:-19.87, Z:-0.88 [[ 9.96576474e-01 8.26188118e-02 3.07626896e-03 2.79723827e+02] [-8.26184684e-02 9.96581222e-01 -2.38763389e-04 -1.98692027e+01] [-3.08547823e-03 -1.62106539e-05 9.99995240e-01 -8.79447372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters Centerline goodness : 0.996874 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:-19.88, Z:-0.88 [[ 9.97093259e-01 7.61286319e-02 3.07627748e-03 2.79783075e+02] [-7.61282580e-02 9.97098005e-01 -2.38653614e-04 -1.98755240e+01] [-3.08551851e-03 3.76826429e-06 9.99995240e-01 -8.80061311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters Centerline goodness : 0.996919 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:-19.88, Z:-0.88 [[ 9.97180066e-01 7.49830105e-02 3.07628330e-03 2.79842643e+02] [-7.49826313e-02 9.97184811e-01 -2.38578502e-04 -1.98831097e+01] [-3.08551232e-03 7.23791003e-06 9.99995240e-01 -8.82564276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:-19.89, Z:-0.88 [[ 9.96925199e-01 7.82986801e-02 3.07628912e-03 2.79901874e+02] [-7.82983169e-02 9.96929946e-01 -2.38503385e-04 -1.98926207e+01] [-3.08551925e-03 -3.09822561e-06 9.99995240e-01 -8.79411449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:279.96, Y:-19.90, Z:-0.88 [[ 9.96496582e-01 8.35768999e-02 3.07629497e-03 2.79960217e+02] [-8.35765621e-02 9.96501330e-01 -2.38427987e-04 -1.98998865e+01] [-3.08545910e-03 -1.95134831e-05 9.99995240e-01 -8.81103198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters Centerline goodness : 0.996811 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:-19.91, Z:-0.88 [[ 9.95739433e-01 9.21602888e-02 3.07630366e-03 2.80018324e+02] [-9.21599922e-02 9.95744184e-01 -2.38315836e-04 -1.99078923e+01] [-3.08517473e-03 -4.62116462e-05 9.99995240e-01 -8.83531163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters Centerline goodness : 0.997207 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:-19.91, Z:-0.88 [[ 9.95112707e-01 9.86977003e-02 3.07631406e-03 2.80077284e+02] [-9.86974354e-02 9.95117460e-01 -2.38181518e-04 -1.99090499e+01] [-3.08480180e-03 -6.66068531e-05 9.99995240e-01 -8.80832771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters Centerline goodness : 0.996459 with order 1 Centerline is valid? [True, True] Translation: X:280.14, Y:-19.92, Z:-0.88 [[ 9.95269612e-01 9.71027033e-02 3.07632504e-03 2.80136154e+02] [-9.71024312e-02 9.95274365e-01 -2.38039626e-04 -1.99158897e+01] [-3.08490174e-03 -6.18050339e-05 9.99995240e-01 -8.83069506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:280.20, Y:-19.91, Z:-0.89 [[ 9.95327380e-01 9.65087745e-02 3.07633586e-03 2.80195399e+02] [-9.65085000e-02 9.95332132e-01 -2.37899660e-04 -1.99125559e+01] [-3.08493533e-03 -6.01045146e-05 9.99995240e-01 -8.85380985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters Centerline goodness : 0.996692 with order 1 Centerline is valid? [True, True] Translation: X:280.25, Y:-19.92, Z:-0.89 [[ 9.95262516e-01 9.71754078e-02 3.07634715e-03 2.80253593e+02] [-9.71751369e-02 9.95267269e-01 -2.37753550e-04 -1.99151779e+01] [-3.08489143e-03 -6.23172596e-05 9.99995240e-01 -8.86527747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters Centerline goodness : 0.996690 with order 1 Centerline is valid? [True, True] Translation: X:280.31, Y:-19.91, Z:-0.88 [[ 9.95425986e-01 9.54863466e-02 3.07636112e-03 2.80311346e+02] [-9.54860682e-02 9.95430738e-01 -2.37572668e-04 -1.99131486e+01] [-3.08498937e-03 -5.72636201e-05 9.99995240e-01 -8.84799530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters Centerline goodness : 0.996295 with order 1 Centerline is valid? [True, True] Translation: X:280.37, Y:-19.91, Z:-0.88 [[ 9.95470847e-01 9.50175151e-02 3.07637478e-03 2.80370510e+02] [-9.50172350e-02 9.95475599e-01 -2.37395604e-04 -1.99138002e+01] [-3.08501277e-03 -5.59882224e-05 9.99995240e-01 -8.83170932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters Centerline goodness : 0.996452 with order 1 Centerline is valid? [True, True] Translation: X:280.43, Y:-19.91, Z:-0.88 [[ 9.95377509e-01 9.59903619e-02 3.07638561e-03 2.80429587e+02] [-9.59900869e-02 9.95382262e-01 -2.37255270e-04 -1.99145476e+01] [-3.08495388e-03 -5.91439620e-05 9.99995240e-01 -8.82361085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters Centerline goodness : 0.996105 with order 1 Centerline is valid? [True, True] Translation: X:280.49, Y:-19.91, Z:-0.88 [[ 9.94806812e-01 1.01734672e-01 3.07639659e-03 2.80487363e+02] [-1.01734425e-01 9.94811565e-01 -2.37112777e-04 -1.99109639e+01] [-3.08455750e-03 -7.70940317e-05 9.99995240e-01 -8.82399357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters Centerline goodness : 0.996676 with order 1 Centerline is valid? [True, True] Translation: X:280.55, Y:-19.90, Z:-0.88 [[ 9.94509205e-01 1.04603907e-01 3.07641017e-03 2.80546456e+02] [-1.04603674e-01 9.94513959e-01 -2.36936486e-04 -1.99026114e+01] [-3.08431734e-03 -8.61682912e-05 9.99995240e-01 -8.83189074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:280.60, Y:-19.90, Z:-0.88 [[ 9.94749264e-01 1.02295829e-01 3.07642634e-03 2.80604740e+02] [-1.02295586e-01 9.94754018e-01 -2.36726272e-04 -1.98970494e+01] [-3.08450358e-03 -7.92215514e-05 9.99995240e-01 -8.82038269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:-19.89, Z:-0.89 [[ 9.95099316e-01 9.88326179e-02 3.07644304e-03 2.80663662e+02] [-9.88323588e-02 9.95104069e-01 -2.36509079e-04 -1.98911901e+01] [-3.08475580e-03 -6.87020997e-05 9.99995240e-01 -8.85147096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters Centerline goodness : 0.995049 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:-19.89, Z:-0.89 [[ 9.95280738e-01 9.69885984e-02 3.07645684e-03 2.80722870e+02] [-9.69883311e-02 9.95285491e-01 -2.36329421e-04 -1.98881221e+01] [-3.08487412e-03 -6.31662938e-05 9.99995240e-01 -8.88631926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters Centerline goodness : 0.994934 with order 1 Centerline is valid? [True, True] Translation: X:280.78, Y:-19.88, Z:-0.89 [[ 9.95584018e-01 9.38242926e-02 3.07646802e-03 2.80781254e+02] [-9.38240106e-02 9.95588770e-01 -2.36183753e-04 -1.98845129e+01] [-3.08505679e-03 -5.35057989e-05 9.99995240e-01 -8.87334414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters Centerline goodness : 0.994322 with order 1 Centerline is valid? [True, True] Translation: X:280.84, Y:-19.89, Z:-0.88 [[ 9.95889035e-01 9.05293616e-02 3.07648485e-03 2.80838734e+02] [-9.05290646e-02 9.95893786e-01 -2.35964311e-04 -1.98872496e+01] [-3.08521385e-03 -4.35170261e-05 9.99995240e-01 -8.83407233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:280.90, Y:-19.89, Z:-0.88 [[ 9.96054581e-01 8.86893880e-02 3.07649866e-03 2.80897107e+02] [-8.86890827e-02 9.96059331e-01 -2.35784119e-04 -1.98886627e+01] [-3.08528675e-03 -3.79979925e-05 9.99995240e-01 -8.81408952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters Centerline goodness : 0.994852 with order 1 Centerline is valid? [True, True] Translation: X:280.96, Y:-19.89, Z:-0.88 [[ 9.96006166e-01 8.92314535e-02 3.07651509e-03 2.80955278e+02] [-8.92311514e-02 9.96010917e-01 -2.35569620e-04 -1.98921753e+01] [-3.08526283e-03 -3.98921893e-05 9.99995240e-01 -8.81909421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:281.01, Y:-19.89, Z:-0.88 [[ 9.96093240e-01 8.82541344e-02 3.07653138e-03 2.81013385e+02] [-8.82538284e-02 9.96097990e-01 -2.35356619e-04 -1.98934812e+01] [-3.08529792e-03 -3.70785350e-05 9.99995240e-01 -8.83650331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters Centerline goodness : 0.993299 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:-19.90, Z:-0.88 [[ 9.96276087e-01 8.61654973e-02 3.07654856e-03 2.81070903e+02] [-8.61651820e-02 9.96280837e-01 -2.35131930e-04 -1.98995581e+01] [-3.08536663e-03 -3.08350466e-05 9.99995240e-01 -8.84520191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters Centerline goodness : 0.993313 with order 1 Centerline is valid? [True, True] Translation: X:281.13, Y:-19.91, Z:-0.89 [[ 9.96519736e-01 8.33003659e-02 3.07656273e-03 2.81128861e+02] [-8.33000375e-02 9.96524485e-01 -2.34946370e-04 -1.99050609e+01] [-3.08544120e-03 -2.21490964e-05 9.99995240e-01 -8.86858689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters Centerline goodness : 0.993526 with order 1 Centerline is valid? [True, True] Translation: X:281.19, Y:-19.91, Z:-0.88 [[ 9.96776817e-01 8.01655230e-02 3.07657963e-03 2.81185921e+02] [-8.01651803e-02 9.96781565e-01 -2.34724847e-04 -1.99114103e+01] [-3.08549470e-03 -1.26662746e-05 9.99995240e-01 -8.82924303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:281.24, Y:-19.92, Z:-0.89 [[ 9.97144936e-01 7.54487377e-02 3.07659349e-03 2.81243730e+02] [-7.54483732e-02 9.97149682e-01 -2.34542960e-04 -1.99227662e+01] [-3.08552019e-03 1.74935043e-06 9.99995240e-01 -8.86421066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters Centerline goodness : 0.992876 with order 1 Centerline is valid? [True, True] Translation: X:281.30, Y:-19.93, Z:-0.89 [[ 9.97269562e-01 7.37831639e-02 3.07660415e-03 2.81301483e+02] [-7.37827919e-02 9.97274308e-01 -2.34403103e-04 -1.99327294e+01] [-3.08551328e-03 6.76263599e-06 9.99995240e-01 -8.88811345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters Centerline goodness : 0.993409 with order 1 Centerline is valid? [True, True] Translation: X:281.36, Y:-19.95, Z:-0.89 [[ 9.96886166e-01 7.87940769e-02 3.07661504e-03 2.81359318e+02] [-7.87937291e-02 9.96890913e-01 -2.34260054e-04 -1.99475014e+01] [-3.08550788e-03 -8.88736487e-06 9.99995240e-01 -8.86974889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters Centerline goodness : 0.992945 with order 1 Centerline is valid? [True, True] Translation: X:281.42, Y:-19.95, Z:-0.89 [[ 9.96376614e-01 8.49951596e-02 3.07662596e-03 2.81417409e+02] [-8.49948419e-02 9.96381364e-01 -2.34116623e-04 -1.99549016e+01] [-3.08539155e-03 -2.82290082e-05 9.99995240e-01 -8.85888095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters Centerline goodness : 0.992913 with order 1 Centerline is valid? [True, True] Translation: X:281.48, Y:-19.96, Z:-0.89 [[ 9.95776531e-01 9.17585697e-02 3.07663733e-03 2.81475239e+02] [-9.17582846e-02 9.95781282e-01 -2.33967066e-04 -1.99608631e+01] [-3.08512635e-03 -4.93280507e-05 9.99995240e-01 -8.85310439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters Centerline goodness : 0.993398 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:-19.96, Z:-0.89 [[ 9.95462592e-01 9.51039586e-02 3.07665142e-03 2.81534432e+02] [-9.51036901e-02 9.95467344e-01 -2.33781670e-04 -1.99627927e+01] [-3.08493958e-03 -5.98799954e-05 9.99995240e-01 -8.90376674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters Centerline goodness : 0.992884 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:-19.97, Z:-0.89 [[ 9.95650078e-01 9.31206550e-02 3.07666214e-03 2.81593087e+02] [-9.31203774e-02 9.95654830e-01 -2.33640509e-04 -1.99652548e+01] [-3.08505027e-03 -5.38757480e-05 9.99995240e-01 -8.94405390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:-19.97, Z:-0.89 [[ 9.96299211e-01 8.58977072e-02 3.07667328e-03 2.81651720e+02] [-8.58973957e-02 9.96303961e-01 -2.33493677e-04 -1.99689225e+01] [-3.08535835e-03 -3.16486563e-05 9.99995240e-01 -8.89020390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:281.71, Y:-19.98, Z:-0.89 [[ 9.97139424e-01 7.55215369e-02 3.07668456e-03 2.81709268e+02] [-7.55211764e-02 9.97144171e-01 -2.33344998e-04 -1.99776945e+01] [-3.08552064e-03 3.22659851e-07 9.99995240e-01 -8.86358335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters Centerline goodness : 0.993133 with order 1 Centerline is valid? [True, True] Translation: X:281.77, Y:-19.98, Z:-0.89 [[ 9.97455428e-01 7.12264186e-02 3.07669843e-03 2.81767912e+02] [-7.12260382e-02 9.97460173e-01 -2.33161896e-04 -1.99847334e+01] [-3.08549144e-03 1.34275583e-05 9.99995240e-01 -8.90284266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters Centerline goodness : 0.993762 with order 1 Centerline is valid? [True, True] Translation: X:281.83, Y:-19.99, Z:-0.88 [[ 9.97161947e-01 7.52235644e-02 3.07670937e-03 2.81826671e+02] [-7.52232035e-02 9.97166694e-01 -2.33017441e-04 -1.99933047e+01] [-3.08552052e-03 9.16190058e-07 9.99995240e-01 -8.82477593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:281.89, Y:-20.00, Z:-0.89 [[ 9.96854316e-01 7.91960039e-02 3.07672018e-03 2.81885358e+02] [-7.91956624e-02 9.96859064e-01 -2.32874641e-04 -1.99991157e+01] [-3.08549914e-03 -1.15208013e-05 9.99995240e-01 -8.86100204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters Centerline goodness : 0.993232 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:-20.01, Z:-0.89 [[ 9.96914653e-01 7.84328255e-02 3.07673107e-03 2.81943846e+02] [-7.84324808e-02 9.96919401e-01 -2.32730742e-04 -2.00093899e+01] [-3.08550662e-03 -9.30296333e-06 9.99995240e-01 -8.87733485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters Centerline goodness : 0.993714 with order 1 Centerline is valid? [True, True] Translation: X:282.00, Y:-20.02, Z:-0.89 [[ 9.96986498e-01 7.75142382e-02 3.07674233e-03 2.82002507e+02] [-7.75138895e-02 9.96991245e-01 -2.32581733e-04 -2.00156662e+01] [-3.08551356e-03 -6.60941785e-06 9.99995240e-01 -8.86118742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters Centerline goodness : 0.993378 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:-20.03, Z:-0.89 [[ 9.97075030e-01 7.63670028e-02 3.07675346e-03 2.82059757e+02] [-7.63666492e-02 9.97079777e-01 -2.32434359e-04 -2.00265718e+01] [-3.08551897e-03 -3.20685696e-06 9.99995240e-01 -8.87084147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:-20.04, Z:-0.88 [[ 9.97065649e-01 7.64893842e-02 3.07676825e-03 2.82118213e+02] [-7.64890317e-02 9.97070396e-01 -2.32238398e-04 -2.00360172e+01] [-3.08551831e-03 -3.78209588e-06 9.99995240e-01 -8.81689479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters Centerline goodness : 0.993181 with order 1 Centerline is valid? [True, True] Translation: X:282.18, Y:-20.04, Z:-0.88 [[ 9.96742356e-01 8.05928668e-02 3.07677916e-03 2.82176221e+02] [-8.05925343e-02 9.96747104e-01 -2.32093801e-04 -2.00448132e+01] [-3.08547582e-03 -1.66277086e-05 9.99995240e-01 -8.84888997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters Centerline goodness : 0.992954 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:-20.05, Z:-0.89 [[ 9.96283883e-01 8.60753061e-02 3.07678480e-03 2.82233929e+02] [-8.60750000e-02 9.96288633e-01 -2.32019099e-04 -2.00516384e+01] [-3.08533683e-03 -3.36773624e-05 9.99995240e-01 -8.89552209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters Centerline goodness : 0.992728 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:-20.06, Z:-0.89 [[ 9.96145508e-01 8.76621971e-02 3.07679929e-03 2.82292853e+02] [-8.76618991e-02 9.96150259e-01 -2.31826668e-04 -2.00575654e+01] [-3.08527685e-03 -3.87849753e-05 9.99995240e-01 -8.90666026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters Centerline goodness : 0.992454 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:-20.06, Z:-0.89 [[ 9.95919968e-01 9.01884194e-02 3.07681001e-03 2.82351164e+02] [-9.01881339e-02 9.95924719e-01 -2.31684378e-04 -2.00631590e+01] [-3.08516639e-03 -4.67526546e-05 9.99995240e-01 -8.92728807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:-20.07, Z:-0.89 [[ 9.96187827e-01 8.71799697e-02 3.07682089e-03 2.82409428e+02] [-8.71796703e-02 9.96192578e-01 -2.31539829e-04 -2.00692383e+01] [-3.08529176e-03 -3.75790717e-05 9.99995240e-01 -8.94556922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters Centerline goodness : 0.993507 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:-20.07, Z:-0.89 [[ 9.96631115e-01 8.19570191e-02 3.07683179e-03 2.82469114e+02] [-8.19566953e-02 9.96635865e-01 -2.31394849e-04 -2.00747283e+01] [-3.08544534e-03 -2.15516594e-05 9.99995240e-01 -8.90810875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters Centerline goodness : 0.993070 with order 1 Centerline is valid? [True, True] Translation: X:282.53, Y:-20.08, Z:-0.89 [[ 9.96768282e-01 8.02715725e-02 3.07683727e-03 2.82527302e+02] [-8.02712409e-02 9.96773031e-01 -2.31321896e-04 -2.00841883e+01] [-3.08547699e-03 -1.64072173e-05 9.99995240e-01 -8.91502804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters Centerline goodness : 0.993443 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:-20.09, Z:-0.89 [[ 9.96682528e-01 8.13294066e-02 3.07684536e-03 2.82587061e+02] [-8.13290803e-02 9.96687277e-01 -2.31214282e-04 -2.00901561e+01] [-3.08545714e-03 -1.97897682e-05 9.99995240e-01 -8.85203030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters Centerline goodness : 0.993134 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:-20.10, Z:-0.88 [[ 9.96730730e-01 8.07365120e-02 3.07685058e-03 2.82646786e+02] [-8.07361831e-02 9.96735479e-01 -2.31144795e-04 -2.00958104e+01] [-3.08546796e-03 -1.80240511e-05 9.99995240e-01 -8.84305306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:-20.10, Z:-0.89 [[ 9.96828906e-01 7.95151892e-02 3.07685601e-03 2.82706078e+02] [-7.95148548e-02 9.96833654e-01 -2.31072517e-04 -2.00992515e+01] [-3.08548739e-03 -1.43159942e-05 9.99995240e-01 -8.92148538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters Centerline goodness : 0.993441 with order 1 Centerline is valid? [True, True] Translation: X:282.77, Y:-20.10, Z:-0.89 [[ 9.97062870e-01 7.65255938e-02 3.07686161e-03 2.82765059e+02] [-7.65252453e-02 9.97067617e-01 -2.30997879e-04 -2.01010134e+01] [-3.08551633e-03 -5.13818166e-06 9.99995240e-01 -8.86457877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters Centerline goodness : 0.993286 with order 1 Centerline is valid? [True, True] Translation: X:282.82, Y:-20.10, Z:-0.89 [[ 9.97271698e-01 7.37542820e-02 3.07686992e-03 2.82823989e+02] [-7.37539207e-02 9.97276444e-01 -2.30887240e-04 -2.01041325e+01] [-3.08551881e-03 3.32609009e-06 9.99995240e-01 -8.89229045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters Centerline goodness : 0.993374 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:-20.11, Z:-0.89 [[ 9.97440088e-01 7.14409049e-02 3.07686189e-03 2.82883473e+02] [-7.14405322e-02 9.97444834e-01 -2.30994131e-04 -2.01082006e+01] [-3.08550243e-03 1.05901549e-05 9.99995240e-01 -8.89578805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters Centerline goodness : 0.993032 with order 1 Centerline is valid? [True, True] Translation: X:282.94, Y:-20.11, Z:-0.89 [[ 9.97510345e-01 7.04531331e-02 3.07686711e-03 2.82943035e+02] [-7.04527560e-02 9.97515091e-01 -2.30924579e-04 -2.01113088e+01] [-3.08549073e-03 1.35758887e-05 9.99995240e-01 -8.85862790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters Centerline goodness : 0.993194 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-20.12, Z:-0.89 [[ 9.97475751e-01 7.09412383e-02 3.07687248e-03 2.83002496e+02] [-7.09408637e-02 9.97480496e-01 -2.30853051e-04 -2.01164252e+01] [-3.08549729e-03 1.19943292e-05 9.99995240e-01 -8.90205556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters Centerline goodness : 0.993757 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:-20.12, Z:-0.89 [[ 9.97543302e-01 6.99849479e-02 3.07687786e-03 2.83060308e+02] [-6.99845689e-02 9.97548047e-01 -2.30781287e-04 -2.01244134e+01] [-3.08548472e-03 1.48803565e-05 9.99995240e-01 -8.87481340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters Centerline goodness : 0.993787 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:-20.13, Z:-0.89 [[ 9.97692776e-01 6.78207697e-02 3.07688585e-03 2.83119225e+02] [-6.78203808e-02 9.97697521e-01 -2.30674658e-04 -2.01330303e+01] [-3.08544592e-03 2.14668698e-05 9.99995240e-01 -8.89763610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:-20.14, Z:-0.88 [[ 9.97783038e-01 6.64796374e-02 3.07689122e-03 2.83178882e+02] [-6.64792424e-02 9.97787782e-01 -2.30603071e-04 -2.01449001e+01] [-3.08541487e-03 2.55424353e-05 9.99995240e-01 -8.83543738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters Centerline goodness : 0.994115 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:-20.15, Z:-0.89 [[ 9.97622479e-01 6.88470935e-02 3.07689122e-03 2.83237861e+02] [-6.88467098e-02 9.97627224e-01 -2.30603071e-04 -2.01502270e+01] [-3.08546680e-03 1.82209702e-05 9.99995240e-01 -8.87450357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters Centerline goodness : 0.993971 with order 1 Centerline is valid? [True, True] Translation: X:283.30, Y:-20.16, Z:-0.90 [[ 9.97312339e-01 7.32026672e-02 3.07689394e-03 2.83296961e+02] [-7.32023043e-02 9.97317086e-01 -2.30566821e-04 -2.01587380e+01] [-3.08551700e-03 4.71140990e-06 9.99995240e-01 -8.95105064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters Centerline goodness : 0.993781 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:-20.17, Z:-0.89 [[ 9.97262727e-01 7.38754795e-02 3.07689939e-03 2.83357041e+02] [-7.38751200e-02 9.97267473e-01 -2.30494024e-04 -2.01660909e+01] [-3.08551954e-03 2.55678764e-06 9.99995240e-01 -8.92553716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:-20.17, Z:-0.89 [[ 9.97314383e-01 7.31748243e-02 3.07689939e-03 2.83417268e+02] [-7.31744614e-02 9.97319129e-01 -2.30494024e-04 -2.01745486e+01] [-3.08551698e-03 4.72454978e-06 9.99995240e-01 -8.91944160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:283.48, Y:-20.18, Z:-0.90 [[ 9.97188632e-01 7.48689849e-02 3.07689939e-03 2.83476565e+02] [-7.48686301e-02 9.97193379e-01 -2.30494024e-04 -2.01835289e+01] [-3.08552055e-03 -5.17221622e-07 9.99995240e-01 -8.96186627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters Centerline goodness : 0.993477 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:-20.19, Z:-0.90 [[ 9.97045292e-01 7.67542670e-02 3.07690219e-03 2.83536388e+02] [-7.67539213e-02 9.97050040e-01 -2.30456678e-04 -2.01901267e+01] [-3.08551398e-03 -6.38856203e-06 9.99995240e-01 -8.98326789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters Centerline goodness : 0.993492 with order 1 Centerline is valid? [True, True] Translation: X:283.60, Y:-20.20, Z:-0.90 [[ 9.96804230e-01 7.98239312e-02 3.07690219e-03 2.83596523e+02] [-7.98236001e-02 9.96808979e-01 -2.30456678e-04 -2.01950166e+01] [-3.08547968e-03 -1.58892178e-05 9.99995240e-01 -8.97190967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:283.66, Y:-20.20, Z:-0.89 [[ 9.96831715e-01 7.94799631e-02 3.07690219e-03 2.83655655e+02] [-7.94796304e-02 9.96836464e-01 -2.30456678e-04 -2.01961034e+01] [-3.08548498e-03 -1.48245226e-05 9.99995240e-01 -8.92121218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters Centerline goodness : 0.993357 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:-20.20, Z:-0.90 [[ 9.97110513e-01 7.59022876e-02 3.07690496e-03 2.83715475e+02] [-7.59019379e-02 9.97115261e-01 -2.30419597e-04 -2.02014784e+01] [-3.08551827e-03 -3.78924682e-06 9.99995240e-01 -8.96884985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters Centerline goodness : 0.993606 with order 1 Centerline is valid? [True, True] Translation: X:283.78, Y:-20.21, Z:-0.90 [[ 9.97645808e-01 6.85082104e-02 3.07690496e-03 2.83776940e+02] [-6.85078255e-02 9.97650552e-01 -2.30419597e-04 -2.02085198e+01] [-3.08546157e-03 1.90850766e-05 9.99995240e-01 -9.00088948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters Centerline goodness : 0.992668 with order 1 Centerline is valid? [True, True] Translation: X:283.84, Y:-20.22, Z:-0.89 [[ 9.98118921e-01 6.12303171e-02 3.07689954e-03 2.83837768e+02] [-6.12298974e-02 9.98123663e-01 -2.30491989e-04 -2.02176169e+01] [-3.08523934e-03 4.16601724e-05 9.99995240e-01 -8.94271513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters Centerline goodness : 0.992960 with order 1 Centerline is valid? [True, True] Translation: X:283.90, Y:-20.23, Z:-0.90 [[ 9.98208894e-01 5.97455915e-02 3.07689405e-03 2.83898158e+02] [-5.97451645e-02 9.98213636e-01 -2.30565186e-04 -2.02290611e+01] [-3.08517285e-03 4.63226781e-05 9.99995240e-01 -8.95094924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:283.96, Y:-20.24, Z:-0.90 [[ 9.98126629e-01 6.11045468e-02 3.07685884e-03 2.83959637e+02] [-6.11041249e-02 9.98131370e-01 -2.31034219e-04 -2.02408368e+01] [-3.08522657e-03 4.25926396e-05 9.99995240e-01 -8.97925535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters Centerline goodness : 0.991853 with order 1 Centerline is valid? [True, True] Translation: X:284.02, Y:-20.25, Z:-0.90 [[ 9.98063855e-01 6.21214438e-02 3.07681948e-03 2.84019876e+02] [-6.21210251e-02 9.98068597e-01 -2.31557191e-04 -2.02504183e+01] [-3.08526157e-03 3.99736830e-05 9.99995240e-01 -9.01333441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:-20.26, Z:-0.90 [[ 9.98004486e-01 6.30680478e-02 3.07678327e-03 2.84081392e+02] [-6.30676321e-02 9.98009228e-01 -2.32037330e-04 -2.02603328e+01] [-3.08529224e-03 3.75288605e-05 9.99995240e-01 -8.99393852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters Centerline goodness : 0.989738 with order 1 Centerline is valid? [True, True] Translation: X:284.14, Y:-20.27, Z:-0.89 [[ 9.97767732e-01 6.67089704e-02 3.07674561e-03 2.84143250e+02] [-6.67085705e-02 9.97772475e-01 -2.32535637e-04 -2.02720454e+01] [-3.08540429e-03 2.67712536e-05 9.99995240e-01 -8.94613189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:-20.28, Z:-0.90 [[ 9.97644551e-01 6.85265255e-02 3.07670808e-03 2.84205210e+02] [-6.85261327e-02 9.97649295e-01 -2.33031165e-04 -2.02793397e+01] [-3.08544446e-03 2.16473658e-05 9.99995240e-01 -8.95065990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters Centerline goodness : 0.989911 with order 1 Centerline is valid? [True, True] Translation: X:284.27, Y:-20.29, Z:-0.90 [[ 9.97216640e-01 7.44950195e-02 3.07666989e-03 2.84266796e+02] [-7.44946536e-02 9.97221386e-01 -2.33534203e-04 -2.02889982e+01] [-3.08551815e-03 3.68873489e-06 9.99995240e-01 -9.01658409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters Centerline goodness : 0.989492 with order 1 Centerline is valid? [True, True] Translation: X:284.33, Y:-20.30, Z:-0.90 [[ 9.96782924e-01 8.00895586e-02 3.07663182e-03 2.84328220e+02] [-8.00892177e-02 9.96787672e-01 -2.34034703e-04 -2.02972363e+01] [-3.08549240e-03 -1.31232400e-05 9.99995240e-01 -8.97134049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters Centerline goodness : 0.989405 with order 1 Centerline is valid? [True, True] Translation: X:284.39, Y:-20.30, Z:-0.90 [[ 9.96154141e-01 8.75640431e-02 3.07659189e-03 2.84390237e+02] [-8.75637363e-02 9.96158891e-01 -2.34558445e-04 -2.03029985e+01] [-3.08531325e-03 -3.57415148e-05 9.99995240e-01 -8.98988624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters Centerline goodness : 0.989317 with order 1 Centerline is valid? [True, True] Translation: X:284.45, Y:-20.30, Z:-0.90 [[ 9.95409387e-01 9.56592275e-02 3.07655204e-03 2.84450246e+02] [-9.56589576e-02 9.95414139e-01 -2.35079920e-04 -2.03040801e+01] [-3.08493097e-03 -6.02990023e-05 9.99995240e-01 -9.00349510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters Centerline goodness : 0.989882 with order 1 Centerline is valid? [True, True] Translation: X:284.51, Y:-20.30, Z:-0.90 [[ 9.94894011e-01 1.00878351e-01 3.07654924e-03 2.84510654e+02] [-1.00878106e-01 9.94898765e-01 -2.35116621e-04 -2.03027046e+01] [-3.08457322e-03 -7.64403411e-05 9.99995240e-01 -9.03684466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters Centerline goodness : 0.989910 with order 1 Centerline is valid? [True, True] Translation: X:284.57, Y:-20.30, Z:-0.90 [[ 9.94837859e-01 1.01430608e-01 3.07654924e-03 2.84571673e+02] [-1.01430365e-01 9.94842614e-01 -2.35116621e-04 -2.03005979e+01] [-3.08453031e-03 -7.81525969e-05 9.99995240e-01 -8.99031986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters Centerline goodness : 0.990414 with order 1 Centerline is valid? [True, True] Translation: X:284.63, Y:-20.30, Z:-0.90 [[ 9.95031258e-01 9.95154792e-02 3.07654653e-03 2.84632613e+02] [-9.95152275e-02 9.95036012e-01 -2.35152106e-04 -2.02955134e+01] [-3.08467586e-03 -7.21795322e-05 9.99995240e-01 -9.03929540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters Centerline goodness : 0.990510 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:-20.29, Z:-0.90 [[ 9.95435326e-01 9.53889235e-02 3.07654653e-03 2.84693501e+02] [-9.53886521e-02 9.95440078e-01 -2.35152106e-04 -2.02905540e+01] [-3.08494862e-03 -5.93889134e-05 9.99995240e-01 -9.01904317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters Centerline goodness : 0.989793 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:-20.29, Z:-0.90 [[ 9.96049959e-01 8.87412786e-02 3.07654653e-03 2.84754461e+02] [-8.87409755e-02 9.96054709e-01 -2.35152106e-04 -2.02873181e+01] [-3.08527636e-03 -3.87924948e-05 9.99995240e-01 -8.95504674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters Centerline goodness : 0.990648 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:-20.29, Z:-0.90 [[ 9.96815203e-01 7.96868043e-02 3.07654653e-03 2.84814673e+02] [-7.96864581e-02 9.96819950e-01 -2.35152106e-04 -2.02892584e+01] [-3.08550148e-03 -1.07559021e-05 9.99995240e-01 -9.03174824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters Centerline goodness : 0.990503 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:-20.29, Z:-0.90 [[ 9.97576320e-01 6.95127333e-02 3.07653337e-03 2.84876059e+02] [-6.95123381e-02 9.97581064e-01 -2.35324148e-04 -2.02945047e+01] [-3.08544946e-03 2.08967700e-05 9.99995240e-01 -9.00665582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters Centerline goodness : 0.990547 with order 1 Centerline is valid? [True, True] Translation: X:284.94, Y:-20.30, Z:-0.90 [[ 9.97887035e-01 6.48999222e-02 3.07652781e-03 2.84936500e+02] [-6.48995048e-02 9.97891777e-01 -2.35396833e-04 -2.03028103e+01] [-3.08531904e-03 3.52343166e-05 9.99995240e-01 -9.01438232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters Centerline goodness : 0.990823 with order 1 Centerline is valid? [True, True] Translation: X:285.00, Y:-20.32, Z:-0.90 [[ 9.97859063e-01 6.53285910e-02 3.07652211e-03 2.84997208e+02] [-6.53281754e-02 9.97863805e-01 -2.35471312e-04 -2.03156217e+01] [-3.08533306e-03 3.39836071e-05 9.99995240e-01 -9.03170531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters Centerline goodness : 0.991001 with order 1 Centerline is valid? [True, True] Translation: X:285.06, Y:-20.32, Z:-0.91 [[ 9.97364042e-01 7.24948490e-02 3.07648549e-03 2.85057767e+02] [-7.24944660e-02 9.97368787e-01 -2.35948777e-04 -2.03212515e+01] [-3.08549567e-03 1.22986530e-05 9.99995240e-01 -9.06749961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters Centerline goodness : 0.991128 with order 1 Centerline is valid? [True, True] Translation: X:285.12, Y:-20.33, Z:-0.91 [[ 9.96999844e-01 7.73423958e-02 3.07648549e-03 2.85117875e+02] [-7.73420359e-02 9.97004591e-01 -2.35948777e-04 -2.03269829e+01] [-3.08551900e-03 -2.70075753e-06 9.99995240e-01 -9.09630560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters Centerline goodness : 0.990808 with order 1 Centerline is valid? [True, True] Translation: X:285.18, Y:-20.33, Z:-0.91 [[ 9.96967813e-01 7.77541980e-02 3.07648549e-03 2.85178806e+02] [-7.77538401e-02 9.96972560e-01 -2.35948777e-04 -2.03326448e+01] [-3.08551762e-03 -3.97522475e-06 9.99995240e-01 -9.12067349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters Centerline goodness : 0.991573 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:-20.34, Z:-0.91 [[ 9.97056634e-01 7.66068097e-02 3.07647980e-03 2.85239216e+02] [-7.66064461e-02 9.97061381e-01 -2.36022865e-04 -2.03351683e+01] [-3.08552016e-03 -3.50020979e-07 9.99995240e-01 -9.11670946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters Centerline goodness : 0.991627 with order 1 Centerline is valid? [True, True] Translation: X:285.30, Y:-20.34, Z:-0.91 [[ 9.97047457e-01 7.67261651e-02 3.07647700e-03 2.85299600e+02] [-7.67258020e-02 9.97052203e-01 -2.36059434e-04 -2.03388212e+01] [-3.08552010e-03 -6.82706406e-07 9.99995240e-01 -9.08150458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters Centerline goodness : 0.992132 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:-20.34, Z:-0.90 [[ 9.96981806e-01 7.75745680e-02 3.07647425e-03 2.85360348e+02] [-7.75742088e-02 9.96986553e-01 -2.36095287e-04 -2.03409248e+01] [-3.08551844e-03 -3.27234970e-06 9.99995240e-01 -8.99615789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters Centerline goodness : 0.991518 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:-20.35, Z:-0.90 [[ 9.97292555e-01 7.34717261e-02 3.07647425e-03 2.85421545e+02] [-7.34713473e-02 9.97297300e-01 -2.36095287e-04 -2.03469565e+01] [-3.08550579e-03 9.42336418e-06 9.99995240e-01 -9.00203718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters Centerline goodness : 0.991927 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:-20.35, Z:-0.91 [[ 9.97872440e-01 6.51239529e-02 3.07646863e-03 2.85482885e+02] [-6.51235343e-02 9.97877182e-01 -2.36168407e-04 -2.03538874e+01] [-3.08531807e-03 3.53154345e-05 9.99995240e-01 -9.06479333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters Centerline goodness : 0.992612 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:-20.36, Z:-0.91 [[ 9.98083638e-01 6.18027991e-02 3.07646302e-03 2.85543820e+02] [-6.18023644e-02 9.98088379e-01 -2.36241507e-04 -2.03637980e+01] [-3.08518237e-03 4.56560944e-05 9.99995240e-01 -9.05995060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters Centerline goodness : 0.992450 with order 1 Centerline is valid? [True, True] Translation: X:285.60, Y:-20.37, Z:-0.90 [[ 9.97843898e-01 6.55598198e-02 3.07642688e-03 2.85604472e+02] [-6.55594015e-02 9.97848640e-01 -2.36711185e-04 -2.03734796e+01] [-3.08532712e-03 3.45121069e-05 9.99995240e-01 -9.04256887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters Centerline goodness : 0.992717 with order 1 Centerline is valid? [True, True] Translation: X:285.67, Y:-20.38, Z:-0.91 [[ 9.97190992e-01 7.48375637e-02 3.07642142e-03 2.85665763e+02] [-7.48371894e-02 9.97195738e-01 -2.36782100e-04 -2.03791766e+01] [-3.08551452e-03 5.88624497e-06 9.99995240e-01 -9.05224486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters Centerline goodness : 0.993257 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:-20.38, Z:-0.90 [[ 9.96877801e-01 7.88998462e-02 3.07641589e-03 2.85725433e+02] [-7.88994909e-02 9.96882548e-01 -2.36853920e-04 -2.03841522e+01] [-3.08551305e-03 -6.61323269e-06 9.99995240e-01 -9.04203789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters Centerline goodness : 0.992321 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:-20.39, Z:-0.91 [[ 9.97057259e-01 7.65986760e-02 3.07640321e-03 2.85787211e+02] [-7.65983093e-02 9.97062006e-01 -2.37018502e-04 -2.03872448e+01] [-3.08552006e-03 6.73732988e-07 9.99995240e-01 -9.10323373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters Centerline goodness : 0.992682 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:-20.39, Z:-0.91 [[ 9.97203177e-01 7.46750328e-02 3.07639504e-03 2.85847387e+02] [-7.46746567e-02 9.97207922e-01 -2.37124575e-04 -2.03880105e+01] [-3.08551279e-03 6.73263623e-06 9.99995240e-01 -9.12269907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters Centerline goodness : 0.993452 with order 1 Centerline is valid? [True, True] Translation: X:285.91, Y:-20.39, Z:-0.91 [[ 9.97564185e-01 6.96866728e-02 3.07639234e-03 2.85909354e+02] [-6.96862728e-02 9.97568929e-01 -2.37159524e-04 -2.03894379e+01] [-3.08544027e-03 2.21995317e-05 9.99995240e-01 -9.06535031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters Centerline goodness : 0.993314 with order 1 Centerline is valid? [True, True] Translation: X:285.97, Y:-20.40, Z:-0.91 [[ 9.98051560e-01 6.23187016e-02 3.07635475e-03 2.85970484e+02] [-6.23182651e-02 9.98056300e-01 -2.37646156e-04 -2.03999826e+01] [-3.08518504e-03 4.54700255e-05 9.99995240e-01 -9.05375583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters Centerline goodness : 0.992431 with order 1 Centerline is valid? [True, True] Translation: X:286.03, Y:-20.41, Z:-0.90 [[ 9.98574647e-01 5.32842371e-02 3.07631603e-03 2.86032120e+02] [-5.32837562e-02 9.98579383e-01 -2.38146310e-04 -2.04131560e+01] [-3.08463521e-03 7.38891943e-05 9.99995240e-01 -9.00229395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters Centerline goodness : 0.993188 with order 1 Centerline is valid? [True, True] Translation: X:286.10, Y:-20.42, Z:-0.90 [[ 9.98730348e-01 5.02814995e-02 3.07627497e-03 2.86095003e+02] [-5.02810026e-02 9.98735082e-01 -2.38675587e-04 -2.04233323e+01] [-3.08438470e-03 8.36943626e-05 9.99995240e-01 -8.98835481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters Centerline goodness : 0.992910 with order 1 Centerline is valid? [True, True] Translation: X:286.16, Y:-20.44, Z:-0.91 [[ 9.98612922e-01 5.25620449e-02 3.07623131e-03 2.86156286e+02] [-5.25615571e-02 9.98617657e-01 -2.39236954e-04 -2.04419100e+01] [-3.08455369e-03 7.72136060e-05 9.99995240e-01 -9.05139315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters Centerline goodness : 0.993247 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:-20.45, Z:-0.91 [[ 9.98043291e-01 6.24509905e-02 3.07619329e-03 2.86217470e+02] [-6.24505482e-02 9.98048031e-01 -2.39724823e-04 -2.04535782e+01] [-3.08515971e-03 4.71457942e-05 9.99995240e-01 -9.05388191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters Centerline goodness : 0.993444 with order 1 Centerline is valid? [True, True] Translation: X:286.28, Y:-20.46, Z:-0.91 [[ 9.96581195e-01 8.25618527e-02 3.07616633e-03 2.86278065e+02] [-8.25615050e-02 9.96585942e-01 -2.40070233e-04 -2.04614906e+01] [-3.08548477e-03 -1.47234427e-05 9.99995240e-01 -9.08832275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters Centerline goodness : 0.991001 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:-20.47, Z:-0.90 [[ 9.95947363e-01 8.98854131e-02 3.07616089e-03 2.86339446e+02] [-8.98851001e-02 9.95952113e-01 -2.40140035e-04 -2.04709166e+01] [-3.08529402e-03 -3.73341940e-05 9.99995240e-01 -8.97188980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters Centerline goodness : 0.993406 with order 1 Centerline is valid? [True, True] Translation: X:286.40, Y:-20.48, Z:-0.91 [[ 9.95775006e-01 9.17751345e-02 3.07612137e-03 2.86400654e+02] [-9.17748290e-02 9.95779756e-01 -2.40645162e-04 -2.04790471e+01] [-3.08522463e-03 -4.26820745e-05 9.99995240e-01 -9.07008070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters Centerline goodness : 0.993571 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:-20.49, Z:-0.91 [[ 9.95852501e-01 9.09303766e-02 3.07609350e-03 2.86463687e+02] [-9.09300659e-02 9.95857251e-01 -2.41000941e-04 -2.04851747e+01] [-3.08526432e-03 -3.97079947e-05 9.99995240e-01 -9.07665501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:286.53, Y:-20.49, Z:-0.90 [[ 9.95726342e-01 9.23016224e-02 3.07604694e-03 2.86525072e+02] [-9.23013164e-02 9.95731093e-01 -2.41593685e-04 -2.04915487e+01] [-3.08521507e-03 -4.33619857e-05 9.99995240e-01 -9.02537215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:286.59, Y:-20.50, Z:-0.90 [[ 9.95801113e-01 9.14914239e-02 3.07600376e-03 2.86587806e+02] [-9.14911124e-02 9.95805863e-01 -2.42142228e-04 -2.04976901e+01] [-3.08525652e-03 -4.03015058e-05 9.99995240e-01 -9.03601487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:286.65, Y:-20.50, Z:-0.90 [[ 9.96099805e-01 8.81800295e-02 3.07595858e-03 2.86650926e+02] [-8.81797004e-02 9.96104554e-01 -2.42714837e-04 -2.05028955e+01] [-3.08537895e-03 -2.94689036e-05 9.99995240e-01 -9.01485666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters Centerline goodness : 0.994642 with order 1 Centerline is valid? [True, True] Translation: X:286.71, Y:-20.50, Z:-0.90 [[ 9.96032472e-01 8.89373555e-02 3.07591233e-03 2.86712804e+02] [-8.89370282e-02 9.96037221e-01 -2.43299487e-04 -2.05045703e+01] [-3.08536158e-03 -3.12283127e-05 9.99995240e-01 -8.99988256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters Centerline goodness : 0.994633 with order 1 Centerline is valid? [True, True] Translation: X:286.78, Y:-20.51, Z:-0.90 [[ 9.95650854e-01 9.31123852e-02 3.07586922e-03 2.86775018e+02] [-9.31120761e-02 9.95655604e-01 -2.43843300e-04 -2.05053421e+01] [-3.08521126e-03 -4.36177789e-05 9.99995240e-01 -9.04326699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:-20.50, Z:-0.90 [[ 9.95332056e-01 9.64605519e-02 3.07584108e-03 2.86837407e+02] [-9.64602577e-02 9.95336807e-01 -2.44197796e-04 -2.05040305e+01] [-3.08505329e-03 -5.36385282e-05 9.99995240e-01 -9.03795805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters Centerline goodness : 0.994500 with order 1 Centerline is valid? [True, True] Translation: X:286.90, Y:-20.50, Z:-0.90 [[ 9.95171920e-01 9.80988786e-02 3.07580033e-03 2.86898610e+02] [-9.80985906e-02 9.95176671e-01 -2.44709984e-04 -2.05033591e+01] [-3.08497051e-03 -5.82031730e-05 9.99995240e-01 -9.04372900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters Centerline goodness : 0.994707 with order 1 Centerline is valid? [True, True] Translation: X:286.96, Y:-20.50, Z:-0.91 [[ 9.95115849e-01 9.86660365e-02 3.07576276e-03 2.86960512e+02] [-9.86657498e-02 9.95120601e-01 -2.45181252e-04 -2.05019476e+01] [-3.08494595e-03 -5.94886896e-05 9.99995240e-01 -9.06069101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters Centerline goodness : 0.994361 with order 1 Centerline is valid? [True, True] Translation: X:287.02, Y:-20.51, Z:-0.91 [[ 9.95244579e-01 9.73589589e-02 3.07575722e-03 2.87022853e+02] [-9.73586657e-02 9.95249331e-01 -2.45250684e-04 -2.05079475e+01] [-3.08502267e-03 -5.53672054e-05 9.99995240e-01 -9.05699337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters Centerline goodness : 0.995082 with order 1 Centerline is valid? [True, True] Translation: X:287.09, Y:-20.51, Z:-0.91 [[ 9.95250284e-01 9.73006303e-02 3.07571683e-03 2.87085445e+02] [-9.73003353e-02 9.95255035e-01 -2.45756198e-04 -2.05094342e+01] [-3.08503490e-03 -5.46793535e-05 9.99995240e-01 -9.08292248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:287.15, Y:-20.51, Z:-0.91 [[ 9.95203856e-01 9.77743597e-02 3.07567571e-03 2.87147240e+02] [-9.77740654e-02 9.95208607e-01 -2.46269764e-04 -2.05142485e+01] [-3.08501781e-03 -5.56326989e-05 9.99995240e-01 -9.08085169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:-20.51, Z:-0.90 [[ 9.94705622e-01 1.02719358e-01 3.07563411e-03 2.87208997e+02] [-1.02719085e-01 9.94710374e-01 -2.46788207e-04 -2.05147851e+01] [-3.08471508e-03 -7.04447056e-05 9.99995240e-01 -9.04932776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters Centerline goodness : 0.995365 with order 1 Centerline is valid? [True, True] Translation: X:287.27, Y:-20.52, Z:-0.91 [[ 9.94143583e-01 1.08023506e-01 3.07562814e-03 2.87268948e+02] [-1.08023259e-01 9.94148336e-01 -2.46862659e-04 -2.05161138e+01] [-3.08429756e-03 -8.68224454e-05 9.99995240e-01 -9.05627415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters Centerline goodness : 0.995333 with order 1 Centerline is valid? [True, True] Translation: X:287.33, Y:-20.52, Z:-0.91 [[ 9.93614860e-01 1.12783204e-01 3.07563109e-03 2.87328425e+02] [-1.12782979e-01 9.93619615e-01 -2.46825841e-04 -2.05153549e+01] [-3.08384519e-03 -1.01629014e-04 9.99995240e-01 -9.09884141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters Centerline goodness : 0.996066 with order 1 Centerline is valid? [True, True] Translation: X:287.39, Y:-20.51, Z:-0.91 [[ 9.93546193e-01 1.13386520e-01 3.07563691e-03 2.87387577e+02] [-1.13386299e-01 9.93550948e-01 -2.46753311e-04 -2.05114610e+01] [-3.08378047e-03 -1.03574272e-04 9.99995240e-01 -9.10258998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters Centerline goodness : 0.996049 with order 1 Centerline is valid? [True, True] Translation: X:287.45, Y:-20.51, Z:-0.91 [[ 9.93677158e-01 1.12232995e-01 3.07564552e-03 2.87447536e+02] [-1.12232769e-01 9.93681913e-01 -2.46645901e-04 -2.05085280e+01] [-3.08389514e-03 -1.00101815e-04 9.99995240e-01 -9.05483279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters Centerline goodness : 0.996331 with order 1 Centerline is valid? [True, True] Translation: X:287.51, Y:-20.50, Z:-0.90 [[ 9.93767857e-01 1.11427050e-01 3.07565131e-03 2.87507527e+02] [-1.11426820e-01 9.93772611e-01 -2.46573716e-04 -2.05008573e+01] [-3.08397302e-03 -9.76730120e-05 9.99995240e-01 -9.03884160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters Centerline goodness : 0.996193 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:-20.49, Z:-0.91 [[ 9.94189296e-01 1.07601971e-01 3.07566279e-03 2.87566752e+02] [-1.07601723e-01 9.94194050e-01 -2.46430379e-04 -2.04935255e+01] [-3.08432204e-03 -8.59481719e-05 9.99995240e-01 -9.05001770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters Centerline goodness : 0.996192 with order 1 Centerline is valid? [True, True] Translation: X:287.63, Y:-20.49, Z:-0.91 [[ 9.94912426e-01 1.00696594e-01 3.07567418e-03 2.87625194e+02] [-1.00696313e-01 9.94917178e-01 -2.46288180e-04 -2.04877729e+01] [-3.08484146e-03 -6.46738799e-05 9.99995240e-01 -9.07052983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:287.68, Y:-20.49, Z:-0.90 [[ 9.96131518e-01 8.78210660e-02 3.07568826e-03 2.87684093e+02] [-8.78207247e-02 9.96136266e-01 -2.46112180e-04 -2.04892250e+01] [-3.08541846e-03 -2.49490732e-05 9.99995240e-01 -9.04349751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:287.74, Y:-20.49, Z:-0.91 [[ 9.97058363e-01 7.65843432e-02 3.07569666e-03 2.87743499e+02] [-7.65839487e-02 9.97063106e-01 -2.46007168e-04 -2.04934627e+01] [-3.08550397e-03 9.73450800e-06 9.99995240e-01 -9.07355969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters Centerline goodness : 0.996771 with order 1 Centerline is valid? [True, True] Translation: X:287.80, Y:-20.50, Z:-0.91 [[ 9.97413973e-01 7.18046465e-02 3.07570225e-03 2.87801913e+02] [-7.18042294e-02 9.97418715e-01 -2.45937303e-04 -2.05032879e+01] [-3.08542243e-03 2.44528727e-05 9.99995240e-01 -9.08616497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:287.86, Y:-20.51, Z:-0.91 [[ 9.97455138e-01 7.12305270e-02 3.07570499e-03 2.87860592e+02] [-7.12301074e-02 9.97459880e-01 -2.45902994e-04 -2.05120701e+01] [-3.08540813e-03 2.61944082e-05 9.99995240e-01 -9.05876008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters Centerline goodness : 0.996940 with order 1 Centerline is valid? [True, True] Translation: X:287.92, Y:-20.53, Z:-0.91 [[ 9.97327751e-01 7.29924471e-02 3.07570768e-03 2.87920085e+02] [-7.29920360e-02 9.97332493e-01 -2.45869345e-04 -2.05251909e+01] [-3.08544982e-03 2.07101551e-05 9.99995240e-01 -9.10502455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters Centerline goodness : 0.997460 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:-20.54, Z:-0.91 [[ 9.97126855e-01 7.56873533e-02 3.07570768e-03 2.87979029e+02] [-7.56869549e-02 9.97131598e-01 -2.45869345e-04 -2.05374201e+01] [-3.08549452e-03 1.23719780e-05 9.99995240e-01 -9.09350053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters Centerline goodness : 0.997296 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:-20.55, Z:-0.91 [[ 9.96962653e-01 7.78203618e-02 3.07571065e-03 2.88038410e+02] [-7.78199737e-02 9.96967397e-01 -2.45832276e-04 -2.05494474e+01] [-3.08551399e-03 5.73387585e-06 9.99995240e-01 -9.08353627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:288.10, Y:-20.56, Z:-0.91 [[ 9.97025547e-01 7.70103815e-02 3.07571065e-03 2.88097791e+02] [-7.70099896e-02 9.97030291e-01 -2.45832276e-04 -2.05604582e+01] [-3.08550832e-03 8.24061403e-06 9.99995240e-01 -9.10612192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters Centerline goodness : 0.997188 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:-20.57, Z:-0.91 [[ 9.97008241e-01 7.72341039e-02 3.07570772e-03 2.88157919e+02] [-7.72337129e-02 9.97012985e-01 -2.45868933e-04 -2.05694551e+01] [-3.08551000e-03 7.58502591e-06 9.99995240e-01 -9.11600688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:-20.58, Z:-0.91 [[ 9.96581927e-01 8.25530325e-02 3.07570772e-03 2.88217824e+02] [-8.25526669e-02 9.96586673e-01 -2.45868933e-04 -2.05766067e+01] [-3.08550655e-03 -8.87933945e-06 9.99995240e-01 -9.10584015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters Centerline goodness : 0.997389 with order 1 Centerline is valid? [True, True] Translation: X:288.28, Y:-20.58, Z:-0.91 [[ 9.95489070e-01 9.48264263e-02 3.07570772e-03 2.88277402e+02] [-9.48261191e-02 9.95493821e-01 -2.45868933e-04 -2.05814631e+01] [-3.08516290e-03 -4.68975907e-05 9.99995240e-01 -9.12767797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters Centerline goodness : 0.997086 with order 1 Centerline is valid? [True, True] Translation: X:288.34, Y:-20.58, Z:-0.91 [[ 9.95025286e-01 9.95752010e-02 3.07571068e-03 2.88336808e+02] [-9.95749166e-02 9.95030038e-01 -2.45831795e-04 -2.05832508e+01] [-3.08490327e-03 -6.16547826e-05 9.99995240e-01 -9.11520407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:288.40, Y:-20.59, Z:-0.91 [[ 9.94687571e-01 1.02894000e-01 3.07571653e-03 2.88396139e+02] [-1.02893732e-01 9.94692324e-01 -2.45758609e-04 -2.05857229e+01] [-3.08467871e-03 -7.20189191e-05 9.99995240e-01 -9.09814365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters Centerline goodness : 0.997038 with order 1 Centerline is valid? [True, True] Translation: X:288.46, Y:-20.59, Z:-0.91 [[ 9.94714370e-01 1.02634600e-01 3.07572234e-03 2.88456240e+02] [-1.02634331e-01 9.94719123e-01 -2.45685905e-04 -2.05872955e+01] [-3.08469570e-03 -7.12874031e-05 9.99995240e-01 -9.08696409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters Centerline goodness : 0.997189 with order 1 Centerline is valid? [True, True] Translation: X:288.52, Y:-20.59, Z:-0.91 [[ 9.94932088e-01 1.00502140e-01 3.07572813e-03 2.88515786e+02] [-1.00501861e-01 9.94936840e-01 -2.45613393e-04 -2.05874807e+01] [-3.08483990e-03 -6.47477533e-05 9.99995240e-01 -9.06190659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters Centerline goodness : 0.997101 with order 1 Centerline is valid? [True, True] Translation: X:288.57, Y:-20.59, Z:-0.91 [[ 9.95173850e-01 9.80792993e-02 3.07573390e-03 2.88574081e+02] [-9.80790087e-02 9.95178601e-01 -2.45541121e-04 -2.05914601e+01] [-3.08498706e-03 -5.73088289e-05 9.99995240e-01 -9.08039396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:-20.59, Z:-0.91 [[ 9.95453416e-01 9.51999859e-02 3.07574245e-03 2.88634112e+02] [-9.51996819e-02 9.95458166e-01 -2.45433958e-04 -2.05948020e+01] [-3.08513825e-03 -4.84916314e-05 9.99995240e-01 -9.11511146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:288.69, Y:-20.60, Z:-0.91 [[ 9.95104345e-01 9.87819926e-02 3.07574816e-03 2.88693286e+02] [-9.87817059e-02 9.95109097e-01 -2.45362412e-04 -2.05973107e+01] [-3.08494236e-03 -5.96664481e-05 9.99995240e-01 -9.13582141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters Centerline goodness : 0.997629 with order 1 Centerline is valid? [True, True] Translation: X:288.75, Y:-20.60, Z:-0.91 [[ 9.94684296e-01 1.02925660e-01 3.07575407e-03 2.88752783e+02] [-1.02925393e-01 9.94689049e-01 -2.45288255e-04 -2.05962339e+01] [-3.08466535e-03 -7.25888229e-05 9.99995240e-01 -9.13609154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters Centerline goodness : 0.994808 with order 1 Centerline is valid? [True, True] Translation: X:288.81, Y:-20.60, Z:-0.90 [[ 9.94833166e-01 1.01476650e-01 3.07576579e-03 2.88811161e+02] [-1.01476377e-01 9.94837919e-01 -2.45141207e-04 -2.06008868e+01] [-3.08476455e-03 -6.82429652e-05 9.99995240e-01 -9.01341001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:288.87, Y:-20.60, Z:-0.91 [[ 9.95269167e-01 9.71072820e-02 3.07577445e-03 2.88871342e+02] [-9.71069884e-02 9.95273918e-01 -2.45032499e-04 -2.06018265e+01] [-3.08503253e-03 -5.48059025e-05 9.99995240e-01 -9.09510746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:288.93, Y:-20.61, Z:-0.91 [[ 9.95515988e-01 9.45434124e-02 3.07578018e-03 2.88930549e+02] [-9.45431067e-02 9.95520739e-01 -2.44960638e-04 -2.06063353e+01] [-3.08516237e-03 -4.69315819e-05 9.99995240e-01 -9.13322641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:288.99, Y:-20.61, Z:-0.91 [[ 9.95581867e-01 9.38471412e-02 3.07578586e-03 2.88990220e+02] [-9.38468324e-02 9.95586617e-01 -2.44889286e-04 -2.06116788e+01] [-3.08519340e-03 -4.48454273e-05 9.99995240e-01 -9.06771683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters Centerline goodness : 0.996276 with order 1 Centerline is valid? [True, True] Translation: X:289.05, Y:-20.61, Z:-0.91 [[ 9.95244698e-01 9.73577417e-02 3.07579182e-03 2.89048632e+02] [-9.73574499e-02 9.95249450e-01 -2.44814326e-04 -2.06141870e+01] [-3.08501469e-03 -5.58010881e-05 9.99995240e-01 -9.06387329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters Centerline goodness : 0.996562 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:-20.61, Z:-0.91 [[ 9.95149655e-01 9.83244825e-02 3.07580065e-03 2.89107701e+02] [-9.83241956e-02 9.95154406e-01 -2.44703327e-04 -2.06138149e+01] [-3.08495690e-03 -5.89091941e-05 9.99995240e-01 -9.09516056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters Centerline goodness : 0.996266 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:-20.62, Z:-0.91 [[ 9.95297518e-01 9.68162647e-02 3.07581209e-03 2.89167114e+02] [-9.68159711e-02 9.95302270e-01 -2.44559549e-04 -2.06174068e+01] [-3.08504009e-03 -5.43782212e-05 9.99995240e-01 -9.08516162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters Centerline goodness : 0.996083 with order 1 Centerline is valid? [True, True] Translation: X:289.23, Y:-20.62, Z:-0.91 [[ 9.95248073e-01 9.73232383e-02 3.07581788e-03 2.89225653e+02] [-9.73229473e-02 9.95252824e-01 -2.44486641e-04 -2.06165714e+01] [-3.08501066e-03 -5.60228029e-05 9.99995240e-01 -9.06819447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters Centerline goodness : 0.996784 with order 1 Centerline is valid? [True, True] Translation: X:289.29, Y:-20.62, Z:-0.91 [[ 9.95399905e-01 9.57578659e-02 3.07583222e-03 2.89285150e+02] [-9.57575680e-02 9.95404656e-01 -2.44306116e-04 -2.06159838e+01] [-3.08509194e-03 -5.13519286e-05 9.99995240e-01 -9.10811469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters Centerline goodness : 0.996651 with order 1 Centerline is valid? [True, True] Translation: X:289.34, Y:-20.62, Z:-0.91 [[ 9.95568091e-01 9.39931626e-02 3.07584354e-03 2.89342741e+02] [-9.39928568e-02 9.95572842e-01 -2.44163444e-04 -2.06194272e+01] [-3.08517599e-03 -4.60259877e-05 9.99995240e-01 -9.14236321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters Centerline goodness : 0.997140 with order 1 Centerline is valid? [True, True] Translation: X:289.40, Y:-20.63, Z:-0.92 [[ 9.96032476e-01 8.89373147e-02 3.07585756e-03 2.89402106e+02] [-8.89369852e-02 9.96037225e-01 -2.43986721e-04 -2.06256399e+01] [-3.08536815e-03 -3.05388013e-05 9.99995240e-01 -9.15036026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters Centerline goodness : 0.996545 with order 1 Centerline is valid? [True, True] Translation: X:289.46, Y:-20.63, Z:-0.91 [[ 9.96447563e-01 8.41593348e-02 3.07586318e-03 2.89460147e+02] [-8.41589828e-02 9.96452310e-01 -2.43915869e-04 -2.06304669e+01] [-3.08547877e-03 -1.58121434e-05 9.99995240e-01 -9.11807408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters Centerline goodness : 0.996355 with order 1 Centerline is valid? [True, True] Translation: X:289.52, Y:-20.64, Z:-0.91 [[ 9.96206818e-01 8.69627221e-02 3.07587151e-03 2.89518359e+02] [-8.69623838e-02 9.96211566e-01 -2.43810759e-04 -2.06381498e+01] [-3.08542122e-03 -2.45991781e-05 9.99995240e-01 -9.14446034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters Centerline goodness : 0.996507 with order 1 Centerline is valid? [True, True] Translation: X:289.58, Y:-20.64, Z:-0.92 [[ 9.95555331e-01 9.41282248e-02 3.07588239e-03 2.89576873e+02] [-9.41279211e-02 9.95560081e-01 -2.43673403e-04 -2.06413595e+01] [-3.08516227e-03 -4.69360601e-05 9.99995240e-01 -9.15996793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters Centerline goodness : 0.997075 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:-20.65, Z:-0.91 [[ 9.95495114e-01 9.47629544e-02 3.07589322e-03 2.89635194e+02] [-9.47626542e-02 9.95499864e-01 -2.43536665e-04 -2.06489458e+01] [-3.08512954e-03 -4.90402457e-05 9.99995240e-01 -9.12486261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:-20.66, Z:-0.91 [[ 9.95988458e-01 8.94289151e-02 3.07590403e-03 2.89693655e+02] [-8.94285899e-02 9.95993207e-01 -2.43400123e-04 -2.06576180e+01] [-3.08534652e-03 -3.26500469e-05 9.99995240e-01 -9.14847457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters Centerline goodness : 0.996568 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:-20.67, Z:-0.91 [[ 9.95883174e-01 9.05938364e-02 3.07590968e-03 2.89752143e+02] [-9.05935169e-02 9.95887923e-01 -2.43328682e-04 -2.06652494e+01] [-3.08530538e-03 -3.63305351e-05 9.99995240e-01 -9.10146027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:289.81, Y:-20.67, Z:-0.91 [[ 9.95051156e-01 9.93163377e-02 3.07591759e-03 2.89810430e+02] [-9.93160602e-02 9.95055908e-01 -2.43228590e-04 -2.06683781e+01] [-3.08486655e-03 -6.34631273e-05 9.99995240e-01 -9.09475000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters Centerline goodness : 0.996235 with order 1 Centerline is valid? [True, True] Translation: X:289.87, Y:-20.67, Z:-0.91 [[ 9.94149324e-01 1.07970645e-01 3.07592895e-03 2.89869637e+02] [-1.07970410e-01 9.94154078e-01 -2.43084896e-04 -2.06720880e+01] [-3.08419334e-03 -9.04466239e-05 9.99995240e-01 -9.07972478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters Centerline goodness : 0.996407 with order 1 Centerline is valid? [True, True] Translation: X:289.93, Y:-20.68, Z:-0.91 [[ 9.94003556e-01 1.09304478e-01 3.07594016e-03 2.89928530e+02] [-1.09304249e-01 9.94008311e-01 -2.42942974e-04 -2.06757266e+01] [-3.08406483e-03 -9.47271488e-05 9.99995240e-01 -9.07864597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters Centerline goodness : 0.996762 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:-20.68, Z:-0.91 [[ 9.93937171e-01 1.09906498e-01 3.07595158e-03 2.89986894e+02] [-1.09906272e-01 9.93941926e-01 -2.42798246e-04 -2.06774596e+01] [-3.08400234e-03 -9.67401704e-05 9.99995240e-01 -9.10814653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters Centerline goodness : 0.997129 with order 1 Centerline is valid? [True, True] Translation: X:290.04, Y:-20.68, Z:-0.91 [[ 9.93957106e-01 1.09726071e-01 3.07596284e-03 2.90044709e+02] [-1.09725845e-01 9.93961860e-01 -2.42655520e-04 -2.06819885e+01] [-3.08401538e-03 -9.63234445e-05 9.99995240e-01 -9.10436914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters Centerline goodness : 0.996997 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:-20.68, Z:-0.92 [[ 9.93948478e-01 1.09804196e-01 3.07597643e-03 2.90103435e+02] [-1.09803971e-01 9.93953233e-01 -2.42483178e-04 -2.06826085e+01] [-3.08400238e-03 -9.67386413e-05 9.99995240e-01 -9.15413880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters Centerline goodness : 0.996661 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:-20.69, Z:-0.91 [[ 9.94135535e-01 1.08097533e-01 3.07598738e-03 2.90162597e+02] [-1.08097300e-01 9.94140289e-01 -2.42344156e-04 -2.06864393e+01] [-3.08415979e-03 -9.15829928e-05 9.99995240e-01 -9.08122423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:-20.69, Z:-0.91 [[ 9.94534495e-01 1.04363197e-01 3.07599861e-03 2.90222032e+02] [-1.04362947e-01 9.94539248e-01 -2.42201526e-04 -2.06851797e+01] [-3.08447827e-03 -8.01425064e-05 9.99995240e-01 -9.14522256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:290.28, Y:-20.69, Z:-0.91 [[ 9.95281519e-01 9.69805992e-02 3.07601029e-03 2.90280165e+02] [-9.69803141e-02 9.95286270e-01 -2.42053154e-04 -2.06875358e+01] [-3.08498526e-03 -5.74014131e-05 9.99995240e-01 -9.14700643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters Centerline goodness : 0.996927 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-20.69, Z:-0.91 [[ 9.95960643e-01 8.97381479e-02 3.07602581e-03 2.90339123e+02] [-8.97378289e-02 9.95965393e-01 -2.41855685e-04 -2.06923002e+01] [-3.08531894e-03 -3.51571346e-05 9.99995240e-01 -9.10169524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters Centerline goodness : 0.997407 with order 1 Centerline is valid? [True, True] Translation: X:290.40, Y:-20.70, Z:-0.91 [[ 9.96170728e-01 8.73751657e-02 3.07603193e-03 2.90397869e+02] [-8.73748357e-02 9.96175476e-01 -2.41777792e-04 -2.06965907e+01] [-3.08539295e-03 -2.79158262e-05 9.99995240e-01 -9.12844425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters Centerline goodness : 0.997231 with order 1 Centerline is valid? [True, True] Translation: X:290.46, Y:-20.70, Z:-0.92 [[ 9.96016797e-01 8.91127319e-02 3.07604324e-03 2.90455584e+02] [-8.91124106e-02 9.96021546e-01 -2.41633924e-04 -2.07014532e+01] [-3.08533800e-03 -3.34421806e-05 9.99995240e-01 -9.18358688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:290.51, Y:-20.71, Z:-0.92 [[ 9.95806879e-01 9.14286442e-02 3.07605720e-03 2.90514537e+02] [-9.14283344e-02 9.95811629e-01 -2.41455988e-04 -2.07053788e+01] [-3.08524953e-03 -4.07952529e-05 9.99995240e-01 -9.16496017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:290.57, Y:-20.71, Z:-0.92 [[ 9.95768383e-01 9.18469703e-02 3.07606893e-03 2.90572669e+02] [-9.18466630e-02 9.95773133e-01 -2.41306554e-04 -2.07096199e+01] [-3.08523007e-03 -4.22412290e-05 9.99995240e-01 -9.16448939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters Centerline goodness : 0.997589 with order 1 Centerline is valid? [True, True] Translation: X:290.63, Y:-20.71, Z:-0.92 [[ 9.95923382e-01 9.01507299e-02 3.07608344e-03 2.90631287e+02] [-9.01504151e-02 9.95928132e-01 -2.41121363e-04 -2.07143829e+01] [-3.08529530e-03 -3.71717955e-05 9.99995240e-01 -9.15242787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters Centerline goodness : 0.997068 with order 1 Centerline is valid? [True, True] Translation: X:290.69, Y:-20.72, Z:-0.91 [[ 9.96181166e-01 8.72560727e-02 3.07609503e-03 2.90690159e+02] [-8.72557446e-02 9.96185915e-01 -2.40973438e-04 -2.07192190e+01] [-3.08538894e-03 -2.83537620e-05 9.99995240e-01 -9.13387310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters Centerline goodness : 0.996847 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:-20.72, Z:-0.92 [[ 9.96492155e-01 8.36296704e-02 3.07610649e-03 2.90749066e+02] [-8.36293255e-02 9.96496903e-01 -2.40827042e-04 -2.07243821e+01] [-3.08547088e-03 -1.72704523e-05 9.99995240e-01 -9.15489868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:290.81, Y:-20.73, Z:-0.91 [[ 9.96705389e-01 8.10487792e-02 3.07611496e-03 2.90808537e+02] [-8.10484222e-02 9.96710136e-01 -2.40718779e-04 -2.07293655e+01] [-3.08550493e-03 -9.38855956e-06 9.99995240e-01 -9.14830612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:-20.74, Z:-0.91 [[ 9.96981809e-01 7.75745498e-02 3.07612059e-03 2.90868374e+02] [-7.75741766e-02 9.96986554e-01 -2.40646821e-04 -2.07350507e+01] [-3.08551894e-03 1.29298130e-06 9.99995240e-01 -9.13986167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters Centerline goodness : 0.996614 with order 1 Centerline is valid? [True, True] Translation: X:290.93, Y:-20.74, Z:-0.91 [[ 9.97291093e-01 7.34915826e-02 3.07612625e-03 2.90926723e+02] [-7.34911901e-02 9.97295837e-01 -2.40574475e-04 -2.07418495e+01] [-3.08548810e-03 1.38546025e-05 9.99995240e-01 -9.13577056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters Centerline goodness : 0.992728 with order 1 Centerline is valid? [True, True] Translation: X:290.99, Y:-20.75, Z:-0.91 [[ 9.97657574e-01 6.83366809e-02 3.07613462e-03 2.90987077e+02] [-6.83362642e-02 9.97662316e-01 -2.40467458e-04 -2.07504552e+01] [-3.08537633e-03 2.96926334e-05 9.99995240e-01 -9.07778210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters Centerline goodness : 0.997143 with order 1 Centerline is valid? [True, True] Translation: X:291.05, Y:-20.76, Z:-0.92 [[ 9.97872405e-01 6.51244946e-02 3.07613462e-03 2.91047308e+02] [-6.51240627e-02 9.97877146e-01 -2.40467458e-04 -2.07593963e+01] [-3.08526475e-03 3.96254576e-05 9.99995240e-01 -9.20968519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters Centerline goodness : 0.996229 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:-20.77, Z:-0.92 [[ 9.98033078e-01 6.26139969e-02 3.07613462e-03 2.91107249e+02] [-6.26135530e-02 9.98037817e-01 -2.40467458e-04 -2.07716601e+01] [-3.08515531e-03 4.73867599e-05 9.99995240e-01 -9.17996000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters Centerline goodness : 0.996865 with order 1 Centerline is valid? [True, True] Translation: X:291.17, Y:-20.78, Z:-0.92 [[ 9.98116345e-01 6.12723434e-02 3.07613462e-03 2.91166730e+02] [-6.12718932e-02 9.98121083e-01 -2.40467458e-04 -2.07789493e+01] [-3.08508882e-03 5.15339091e-05 9.99995240e-01 -9.18585682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:291.23, Y:-20.79, Z:-0.92 [[ 9.98082422e-01 6.18224623e-02 3.07613744e-03 2.91226666e+02] [-6.18220148e-02 9.98087161e-01 -2.40431380e-04 -2.07862548e+01] [-3.08511734e-03 4.97973202e-05 9.99995240e-01 -9.17813464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters Centerline goodness : 0.996705 with order 1 Centerline is valid? [True, True] Translation: X:291.29, Y:-20.79, Z:-0.92 [[ 9.98183812e-01 6.01632397e-02 3.07613744e-03 2.91287385e+02] [-6.01627843e-02 9.98188550e-01 -2.40431380e-04 -2.07948042e+01] [-3.08503030e-03 5.49257187e-05 9.99995240e-01 -9.19374824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters Centerline goodness : 0.996690 with order 1 Centerline is valid? [True, True] Translation: X:291.35, Y:-20.81, Z:-0.92 [[ 9.98324519e-01 5.77814227e-02 3.07613156e-03 2.91348172e+02] [-5.77809558e-02 9.98329256e-01 -2.40506475e-04 -2.08057022e+01] [-3.08488894e-03 6.23616889e-05 9.99995240e-01 -9.22080432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters Centerline goodness : 0.996722 with order 1 Centerline is valid? [True, True] Translation: X:291.41, Y:-20.81, Z:-0.92 [[ 9.98402074e-01 5.64254847e-02 3.07610876e-03 2.91409158e+02] [-5.64250105e-02 9.98406811e-01 -2.40797786e-04 -2.08139559e+01] [-3.08479507e-03 6.68435394e-05 9.99995240e-01 -9.17816092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:291.47, Y:-20.83, Z:-0.91 [[ 9.98521707e-01 5.42672848e-02 3.07610322e-03 2.91470952e+02] [-5.42668001e-02 9.98526443e-01 -2.40868483e-04 -2.08250634e+01] [-3.08464169e-03 7.35821297e-05 9.99995240e-01 -9.09545054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters Centerline goodness : 0.996351 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:-20.83, Z:-0.92 [[ 9.98509542e-01 5.44906690e-02 3.07606203e-03 2.91531284e+02] [-5.44901838e-02 9.98514277e-01 -2.41393435e-04 -2.08342856e+01] [-3.08464554e-03 7.34184632e-05 9.99995240e-01 -9.20923350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:291.59, Y:-20.84, Z:-0.92 [[ 9.98394323e-01 5.65624688e-02 3.07603915e-03 2.91592526e+02] [-5.65619925e-02 9.98399060e-01 -2.41684583e-04 -2.08426875e+01] [-3.08478488e-03 6.73096118e-05 9.99995240e-01 -9.17628781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters Centerline goodness : 0.995972 with order 1 Centerline is valid? [True, True] Translation: X:291.65, Y:-20.85, Z:-0.91 [[ 9.98383534e-01 5.67525917e-02 3.07599864e-03 2.91654350e+02] [-5.67521147e-02 9.98388271e-01 -2.42199063e-04 -2.08512573e+01] [-3.08478639e-03 6.72381286e-05 9.99995240e-01 -9.14512374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters Centerline goodness : 0.995895 with order 1 Centerline is valid? [True, True] Translation: X:291.72, Y:-20.87, Z:-0.92 [[ 9.98410361e-01 5.62786778e-02 3.07595817e-03 2.91715891e+02] [-5.62781970e-02 9.98415097e-01 -2.42712054e-04 -2.08663050e+01] [-3.08474258e-03 6.92168501e-05 9.99995240e-01 -9.21830209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters Centerline goodness : 0.995869 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:-20.88, Z:-0.93 [[ 9.98233273e-01 5.93369344e-02 3.07591664e-03 2.91776536e+02] [-5.93364665e-02 9.98238010e-01 -2.43237144e-04 -2.08761973e+01] [-3.08492986e-03 6.02933861e-05 9.99995240e-01 -9.25586996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters Centerline goodness : 0.995769 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:-20.89, Z:-0.93 [[ 9.97999442e-01 6.31478703e-02 3.07587847e-03 2.91837073e+02] [-6.31474190e-02 9.98004180e-01 -2.43718909e-04 -2.08864162e+01] [-3.08512990e-03 4.89975485e-05 9.99995240e-01 -9.25796553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters Centerline goodness : 0.995983 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:-20.90, Z:-0.93 [[ 9.97621988e-01 6.88542599e-02 3.07584188e-03 2.91898488e+02] [-6.88538343e-02 9.97626729e-01 -2.44179813e-04 -2.08974301e+01] [-3.08535489e-03 3.18156438e-05 9.99995240e-01 -9.27233225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters Centerline goodness : 0.996400 with order 1 Centerline is valid? [True, True] Translation: X:291.96, Y:-20.91, Z:-0.93 [[ 9.97229275e-01 7.43257156e-02 3.07579997e-03 2.91961294e+02] [-7.43253144e-02 9.97234019e-01 -2.44706620e-04 -2.09068480e+01] [-3.08548036e-03 1.54188056e-05 9.99995240e-01 -9.25004458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters Centerline goodness : 0.996255 with order 1 Centerline is valid? [True, True] Translation: X:292.02, Y:-20.91, Z:-0.92 [[ 9.96592822e-01 8.24214021e-02 3.07575412e-03 2.92023189e+02] [-8.24210376e-02 9.96597568e-01 -2.45281611e-04 -2.09133000e+01] [-3.08550552e-03 -9.06095266e-06 9.99995240e-01 -9.22403437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters Centerline goodness : 0.996384 with order 1 Centerline is valid? [True, True] Translation: X:292.08, Y:-20.91, Z:-0.92 [[ 9.95838763e-01 9.10807222e-02 3.07571389e-03 2.92084164e+02] [-9.10803975e-02 9.95843512e-01 -2.45785016e-04 -2.09143993e+01] [-3.08531600e-03 -3.53749966e-05 9.99995240e-01 -9.20572639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters Centerline goodness : 0.995938 with order 1 Centerline is valid? [True, True] Translation: X:292.14, Y:-20.92, Z:-0.92 [[ 9.95492299e-01 9.47925258e-02 3.07570806e-03 2.92144445e+02] [-9.47922185e-02 9.95497049e-01 -2.45857925e-04 -2.09155960e+01] [-3.08516379e-03 -4.68035195e-05 9.99995240e-01 -9.19639200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters Centerline goodness : 0.996300 with order 1 Centerline is valid? [True, True] Translation: X:292.21, Y:-20.92, Z:-0.92 [[ 9.95795921e-01 9.15479338e-02 3.07569462e-03 2.92206694e+02] [-9.15476105e-02 9.95800670e-01 -2.46025952e-04 -2.09181322e+01] [-3.08530193e-03 -3.65808533e-05 9.99995240e-01 -9.24582687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters Centerline goodness : 0.995996 with order 1 Centerline is valid? [True, True] Translation: X:292.27, Y:-20.93, Z:-0.92 [[ 9.96714089e-01 8.09417346e-02 3.07565600e-03 2.92269232e+02] [-8.09413593e-02 9.96718835e-01 -2.46507760e-04 -2.09255411e+01] [-3.08551703e-03 -3.25002006e-06 9.99995240e-01 -9.22650132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:292.33, Y:-20.93, Z:-0.92 [[ 9.97179451e-01 7.49912170e-02 3.07560826e-03 2.92331042e+02] [-7.49908115e-02 9.97184194e-01 -2.47101960e-04 -2.09302329e+01] [-3.08547842e-03 1.57626371e-05 9.99995240e-01 -9.23346435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters Centerline goodness : 0.996390 with order 1 Centerline is valid? [True, True] Translation: X:292.39, Y:-20.94, Z:-0.92 [[ 9.97328956e-01 7.29759826e-02 3.07556049e-03 2.92393009e+02] [-7.29755657e-02 9.97333698e-01 -2.47695156e-04 -2.09421704e+01] [-3.08543591e-03 2.25927852e-05 9.99995240e-01 -9.22192933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters Centerline goodness : 0.996568 with order 1 Centerline is valid? [True, True] Translation: X:292.45, Y:-20.95, Z:-0.93 [[ 9.97139113e-01 7.55257011e-02 3.07551268e-03 2.92454378e+02] [-7.55252945e-02 9.97143855e-01 -2.48287353e-04 -2.09482866e+01] [-3.08548065e-03 1.52980297e-05 9.99995240e-01 -9.26441131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters Centerline goodness : 0.995959 with order 1 Centerline is valid? [True, True] Translation: X:292.52, Y:-20.96, Z:-0.92 [[ 9.96860097e-01 7.91232465e-02 3.07546907e-03 2.92516531e+02] [-7.91228554e-02 9.96864841e-01 -2.48826411e-04 -2.09569124e+01] [-3.08551494e-03 4.70522646e-06 9.99995240e-01 -9.24878809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters Centerline goodness : 0.996399 with order 1 Centerline is valid? [True, True] Translation: X:292.58, Y:-20.96, Z:-0.92 [[ 9.96603924e-01 8.22870607e-02 3.07542233e-03 2.92579709e+02] [-8.22866829e-02 9.96608669e-01 -2.49402695e-04 -2.09618318e+01] [-3.08551517e-03 -4.51059779e-06 9.99995240e-01 -9.23817226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:292.64, Y:-20.97, Z:-0.93 [[ 9.96628816e-01 8.19850317e-02 3.07537532e-03 2.92641572e+02] [-8.19846507e-02 9.96633561e-01 -2.49981040e-04 -2.09704238e+01] [-3.08551696e-03 -2.99526384e-06 9.99995240e-01 -9.27445151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters Centerline goodness : 0.996812 with order 1 Centerline is valid? [True, True] Translation: X:292.70, Y:-20.98, Z:-0.92 [[ 9.96446265e-01 8.41747145e-02 3.07533162e-03 2.92704722e+02] [-8.41743422e-02 9.96451011e-01 -2.50517512e-04 -2.09771396e+01] [-3.08550454e-03 -9.23677713e-06 9.99995240e-01 -9.22528822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters Centerline goodness : 0.996281 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:-20.98, Z:-0.92 [[ 9.96003516e-01 8.92610742e-02 3.07528510e-03 2.92766287e+02] [-8.92607244e-02 9.96008263e-01 -2.51087329e-04 -2.09841509e+01] [-3.08542169e-03 -2.44183131e-05 9.99995240e-01 -9.23023513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:-20.99, Z:-0.92 [[ 9.95583437e-01 9.38305001e-02 3.07525627e-03 2.92828171e+02] [-9.38301710e-02 9.95588186e-01 -2.51439895e-04 -2.09902911e+01] [-3.08528154e-03 -3.82224267e-05 9.99995240e-01 -9.22274954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters Centerline goodness : 0.995925 with order 1 Centerline is valid? [True, True] Translation: X:292.89, Y:-21.00, Z:-0.92 [[ 9.95347362e-01 9.63025003e-02 3.07521656e-03 2.92890504e+02] [-9.63021815e-02 9.95352112e-01 -2.51924603e-04 -2.09964698e+01] [-3.08518427e-03 -4.53975743e-05 9.99995240e-01 -9.19567141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters Centerline goodness : 0.996585 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:-21.00, Z:-0.92 [[ 9.95501876e-01 9.46919094e-02 3.07517712e-03 2.92951890e+02] [-9.46915815e-02 9.95506625e-01 -2.52405103e-04 -2.10004817e+01] [-3.08525992e-03 -3.99236312e-05 9.99995240e-01 -9.22996199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters Centerline goodness : 0.995846 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:-21.01, Z:-0.93 [[ 9.95770633e-01 9.18226000e-02 3.07513527e-03 2.93013726e+02] [-9.18222568e-02 9.95775381e-01 -2.52914037e-04 -2.10065373e+01] [-3.08536722e-03 -3.05214890e-05 9.99995240e-01 -9.27539427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters Centerline goodness : 0.995625 with order 1 Centerline is valid? [True, True] Translation: X:293.08, Y:-21.01, Z:-0.93 [[ 9.96074788e-01 8.84621982e-02 3.07509382e-03 2.93076597e+02] [-8.84618374e-02 9.96079535e-01 -2.53416955e-04 -2.10148148e+01] [-3.08545584e-03 -1.96062098e-05 9.99995240e-01 -9.27949636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters Centerline goodness : 0.996371 with order 1 Centerline is valid? [True, True] Translation: X:293.14, Y:-21.02, Z:-0.93 [[ 9.96326373e-01 8.55821386e-02 3.07504434e-03 2.93136856e+02] [-8.55817622e-02 9.96331118e-01 -2.54016020e-04 -2.10244664e+01] [-3.08550160e-03 -1.00848533e-05 9.99995240e-01 -9.31389303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters Centerline goodness : 0.996184 with order 1 Centerline is valid? [True, True] Translation: X:293.20, Y:-21.03, Z:-0.93 [[ 9.96469779e-01 8.38959087e-02 3.07502015e-03 2.93197430e+02] [-8.38955234e-02 9.96474524e-01 -2.54308439e-04 -2.10328851e+01] [-3.08551468e-03 -4.56975135e-06 9.99995240e-01 -9.26031778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters Centerline goodness : 0.995915 with order 1 Centerline is valid? [True, True] Translation: X:293.26, Y:-21.04, Z:-0.93 [[ 9.96210664e-01 8.69186848e-02 3.07498475e-03 2.93259522e+02] [-8.69183126e-02 9.96215409e-01 -2.54735780e-04 -2.10409406e+01] [-3.08548849e-03 -1.35019854e-05 9.99995240e-01 -9.31210134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters Centerline goodness : 0.995873 with order 1 Centerline is valid? [True, True] Translation: X:293.32, Y:-21.04, Z:-0.93 [[ 9.96160268e-01 8.74943736e-02 3.07494530e-03 2.93321072e+02] [-8.74940026e-02 9.96165014e-01 -2.55211109e-04 -2.10449555e+01] [-3.08548246e-03 -1.48081050e-05 9.99995240e-01 -9.27270703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters Centerline goodness : 0.995935 with order 1 Centerline is valid? [True, True] Translation: X:293.38, Y:-21.05, Z:-0.92 [[ 9.96339191e-01 8.54327828e-02 3.07492312e-03 2.93383616e+02] [-8.54324012e-02 9.96343936e-01 -2.55478084e-04 -2.10500661e+01] [-3.08550721e-03 -8.15523758e-06 9.99995240e-01 -9.21648498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters Centerline goodness : 0.995418 with order 1 Centerline is valid? [True, True] Translation: X:293.45, Y:-21.06, Z:-0.93 [[ 9.96763722e-01 8.03282519e-02 3.07487547e-03 2.93446467e+02] [-8.03278442e-02 9.96768465e-01 -2.56050264e-04 -2.10559684e+01] [-3.08550697e-03 8.22349585e-06 9.99995240e-01 -9.26462979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters Centerline goodness : 0.996437 with order 1 Centerline is valid? [True, True] Translation: X:293.51, Y:-21.06, Z:-0.92 [[ 9.97022868e-01 7.70450887e-02 3.07482499e-03 2.93509463e+02] [-7.70446635e-02 9.97027609e-01 -2.56655014e-04 -2.10619902e+01] [-3.08545942e-03 1.89920615e-05 9.99995240e-01 -9.22571062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters Centerline goodness : 0.995993 with order 1 Centerline is valid? [True, True] Translation: X:293.57, Y:-21.07, Z:-0.92 [[ 9.96787417e-01 8.00336894e-02 3.07477415e-03 2.93571903e+02] [-8.00332765e-02 9.96792159e-01 -2.57262713e-04 -2.10684878e+01] [-3.08550045e-03 1.03519857e-05 9.99995240e-01 -9.24829563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:293.63, Y:-21.07, Z:-0.93 [[ 9.96616298e-01 8.21370820e-02 3.07472365e-03 2.93633496e+02] [-8.21366773e-02 9.96621041e-01 -2.57864824e-04 -2.10719281e+01] [-3.08551455e-03 4.44470205e-06 9.99995240e-01 -9.25593955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters Centerline goodness : 0.996058 with order 1 Centerline is valid? [True, True] Translation: X:293.70, Y:-21.08, Z:-0.93 [[ 9.96582575e-01 8.25452476e-02 3.07469235e-03 2.93696688e+02] [-8.25448438e-02 9.96587318e-01 -2.58237567e-04 -2.10782297e+01] [-3.08551568e-03 3.55506045e-06 9.99995240e-01 -9.25592806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters Centerline goodness : 0.996097 with order 1 Centerline is valid? [True, True] Translation: X:293.76, Y:-21.09, Z:-0.93 [[ 9.96708680e-01 8.10083558e-02 3.07464311e-03 2.93759087e+02] [-8.10079428e-02 9.96713422e-01 -2.58822506e-04 -2.10855300e+01] [-3.08550484e-03 8.90012577e-06 9.99995240e-01 -9.28415512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters Centerline goodness : 0.996155 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:-21.09, Z:-0.93 [[ 9.96870456e-01 7.89926572e-02 3.07459372e-03 2.93820778e+02] [-7.89922328e-02 9.96875198e-01 -2.59407870e-04 -2.10949474e+01] [-3.08547754e-03 1.57270192e-05 9.99995240e-01 -9.26372219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters Centerline goodness : 0.995878 with order 1 Centerline is valid? [True, True] Translation: X:293.88, Y:-21.10, Z:-0.93 [[ 9.96741242e-01 8.06067277e-02 3.07456302e-03 2.93882562e+02] [-8.06063099e-02 9.96745983e-01 -2.59771176e-04 -2.11046177e+01] [-3.08549765e-03 1.10954647e-05 9.99995240e-01 -9.27325310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:293.94, Y:-21.11, Z:-0.93 [[ 9.96111915e-01 8.80431749e-02 3.07451749e-03 2.93943817e+02] [-8.80427908e-02 9.96116659e-01 -2.60308940e-04 -2.11141359e+01] [-3.08549652e-03 -1.13922642e-05 9.99995240e-01 -9.30978676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters Centerline goodness : 0.995339 with order 1 Centerline is valid? [True, True] Translation: X:294.01, Y:-21.12, Z:-0.93 [[ 9.95221820e-01 9.75913780e-02 3.07447480e-03 2.94005753e+02] [-9.75910379e-02 9.95226568e-01 -2.60812142e-04 -2.11204347e+01] [-3.08525202e-03 -4.04752525e-05 9.99995240e-01 -9.29574825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:294.07, Y:-21.12, Z:-0.93 [[ 9.94520131e-01 1.04500033e-01 3.07442960e-03 2.94068765e+02] [-1.04499724e-01 9.94524881e-01 -2.61343898e-04 -2.11220422e+01] [-3.08490718e-03 -6.13652777e-05 9.99995240e-01 -9.25114939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:294.13, Y:-21.12, Z:-0.92 [[ 9.93888197e-01 1.10348537e-01 3.07438020e-03 2.94131873e+02] [-1.10348255e-01 9.93892949e-01 -2.61923713e-04 -2.11182451e+01] [-3.08450771e-03 -7.89296032e-05 9.99995240e-01 -9.23032621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters Centerline goodness : 0.995478 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:-21.12, Z:-0.93 [[ 9.93601739e-01 1.12898770e-01 3.07433105e-03 2.94194211e+02] [-1.12898498e-01 9.93606492e-01 -2.62499371e-04 -2.11152132e+01] [-3.08431115e-03 -8.62675259e-05 9.99995240e-01 -9.25124128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters Centerline goodness : 0.995226 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:-21.11, Z:-0.93 [[ 9.93561938e-01 1.13248509e-01 3.07428540e-03 2.94256942e+02] [-1.13248237e-01 9.93566690e-01 -2.63032982e-04 -2.11121915e+01] [-3.08429566e-03 -8.68178425e-05 9.99995240e-01 -9.28610092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters Centerline goodness : 0.995649 with order 1 Centerline is valid? [True, True] Translation: X:294.32, Y:-21.11, Z:-0.93 [[ 9.94067405e-01 1.08722321e-01 3.07424208e-03 2.94319817e+02] [-1.08722026e-01 9.94072156e-01 -2.63538254e-04 -2.11051165e+01] [-3.08467095e-03 -7.22630396e-05 9.99995240e-01 -9.25471381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters Centerline goodness : 0.995575 with order 1 Centerline is valid? [True, True] Translation: X:294.38, Y:-21.10, Z:-0.92 [[ 9.94315004e-01 1.06434118e-01 3.07419833e-03 2.94380152e+02] [-1.06433810e-01 9.94319755e-01 -2.64047706e-04 -2.11043077e+01] [-3.08483981e-03 -6.46520437e-05 9.99995240e-01 -9.23872695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:294.44, Y:-21.10, Z:-0.93 [[ 9.94457943e-01 1.05090199e-01 3.07419523e-03 2.94442126e+02] [-1.05089884e-01 9.94462692e-01 -2.64083712e-04 -2.11018418e+01] [-3.08492508e-03 -6.04466760e-05 9.99995240e-01 -9.28044477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters Centerline goodness : 0.995900 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:-21.10, Z:-0.93 [[ 9.94450517e-01 1.05160438e-01 3.07418921e-03 2.94502147e+02] [-1.05160123e-01 9.94455267e-01 -2.64153854e-04 -2.10989658e+01] [-3.08492218e-03 -6.05941799e-05 9.99995240e-01 -9.33520398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters Centerline goodness : 0.994960 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:-21.10, Z:-0.93 [[ 9.94570966e-01 1.04015111e-01 3.07419219e-03 2.94562958e+02] [-1.04014792e-01 9.94575715e-01 -2.64119097e-04 -2.10982655e+01] [-3.08498927e-03 -5.70762749e-05 9.99995240e-01 -9.30684997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters Centerline goodness : 0.995250 with order 1 Centerline is valid? [True, True] Translation: X:294.62, Y:-21.10, Z:-0.93 [[ 9.94793242e-01 1.01867340e-01 3.07419219e-03 2.94622775e+02] [-1.01867010e-01 9.94797991e-01 -2.64119097e-04 -2.10985021e+01] [-3.08510533e-03 -5.04148728e-05 9.99995240e-01 -9.33658157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters Centerline goodness : 0.994683 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:-21.10, Z:-0.93 [[ 9.94955342e-01 1.00271719e-01 3.07419523e-03 2.94683219e+02] [-1.00271381e-01 9.94960090e-01 -2.64083707e-04 -2.11017785e+01] [-3.08518169e-03 -4.55023067e-05 9.99995240e-01 -9.30266823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters Centerline goodness : 0.995080 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:-21.10, Z:-0.93 [[ 9.95136385e-01 9.84587474e-02 3.07419523e-03 2.94742931e+02] [-9.84584014e-02 9.95141132e-01 -2.64083707e-04 -2.11023151e+01] [-3.08525947e-03 -3.98810420e-05 9.99995240e-01 -9.28446913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:-21.10, Z:-0.93 [[ 9.95189832e-01 9.79170491e-02 3.07419183e-03 2.94801215e+02] [-9.79167003e-02 9.95194579e-01 -2.64123352e-04 -2.11035892e+01] [-3.08528122e-03 -3.81618453e-05 9.99995240e-01 -9.30247362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters Centerline goodness : 0.994296 with order 1 Centerline is valid? [True, True] Translation: X:294.86, Y:-21.11, Z:-0.93 [[ 9.95309162e-01 9.66965476e-02 3.07420082e-03 2.94860647e+02] [-9.66961933e-02 9.95313909e-01 -2.64018601e-04 -2.11068610e+01] [-3.08532452e-03 -3.44833842e-05 9.99995240e-01 -9.29250348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters Centerline goodness : 0.994624 with order 1 Centerline is valid? [True, True] Translation: X:294.92, Y:-21.11, Z:-0.93 [[ 9.95563406e-01 9.40428278e-02 3.07420679e-03 2.94920591e+02] [-9.40424611e-02 9.95568152e-01 -2.63949133e-04 -2.11103878e+01] [-3.08540489e-03 -2.63278744e-05 9.99995240e-01 -9.30410695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters Centerline goodness : 0.994598 with order 1 Centerline is valid? [True, True] Translation: X:294.98, Y:-21.11, Z:-0.93 [[ 9.95510527e-01 9.46009469e-02 3.07421288e-03 2.94980265e+02] [-9.46005831e-02 9.95515274e-01 -2.63878108e-04 -2.11119688e+01] [-3.08538900e-03 -2.81288970e-05 9.99995240e-01 -9.32274398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters Centerline goodness : 0.994964 with order 1 Centerline is valid? [True, True] Translation: X:295.04, Y:-21.11, Z:-0.93 [[ 9.94999348e-01 9.98340999e-02 3.07421907e-03 2.95039707e+02] [-9.98337612e-02 9.95004096e-01 -2.63806026e-04 -2.11094920e+01] [-3.08519740e-03 -4.44240290e-05 9.99995240e-01 -9.34230873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:295.10, Y:-21.11, Z:-0.93 [[ 9.94379339e-01 1.05831374e-01 3.07423155e-03 2.95099134e+02] [-1.05831064e-01 9.94384089e-01 -2.63660503e-04 -2.11062908e+01] [-3.08487049e-03 -6.31706390e-05 9.99995240e-01 -9.31343881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters Centerline goodness : 0.994946 with order 1 Centerline is valid? [True, True] Translation: X:295.16, Y:-21.10, Z:-0.94 [[ 9.94601876e-01 1.03719122e-01 3.07424437e-03 2.95157551e+02] [-1.03718803e-01 9.94606626e-01 -2.63510934e-04 -2.11028286e+01] [-3.08499494e-03 -5.67684775e-05 9.99995240e-01 -9.36314224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters Centerline goodness : 0.994714 with order 1 Centerline is valid? [True, True] Translation: X:295.22, Y:-21.10, Z:-0.93 [[ 9.95030502e-01 9.95231094e-02 3.07426008e-03 2.95216422e+02] [-9.95227707e-02 9.95035250e-01 -2.63327540e-04 -2.11018978e+01] [-3.08520432e-03 -4.39399467e-05 9.99995240e-01 -9.29884580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:295.27, Y:-21.10, Z:-0.93 [[ 9.95765985e-01 9.18730195e-02 3.07427244e-03 2.95274444e+02] [-9.18726448e-02 9.95770731e-01 -2.63183101e-04 -2.11003098e+01] [-3.08544994e-03 -2.03727606e-05 9.99995240e-01 -9.26132309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters Centerline goodness : 0.993998 with order 1 Centerline is valid? [True, True] Translation: X:295.33, Y:-21.10, Z:-0.93 [[ 9.96278118e-01 8.61420976e-02 3.07428774e-03 2.95333416e+02] [-8.61416961e-02 9.96282861e-01 -2.63004269e-04 -2.11007289e+01] [-3.08551593e-03 -2.79896205e-06 9.99995240e-01 -9.30241205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:295.39, Y:-21.10, Z:-0.93 [[ 9.96549025e-01 8.29493190e-02 3.07430007e-03 2.95392702e+02] [-8.29489028e-02 9.96553767e-01 -2.62860137e-04 -2.11010711e+01] [-3.08550938e-03 6.94319601e-06 9.99995240e-01 -9.26782810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters Centerline goodness : 0.994802 with order 1 Centerline is valid? [True, True] Translation: X:295.45, Y:-21.11, Z:-0.93 [[ 9.96890487e-01 7.87394746e-02 3.07431281e-03 2.95451251e+02] [-7.87390388e-02 9.96895228e-01 -2.62710980e-04 -2.11051605e+01] [-3.08545349e-03 1.98256409e-05 9.99995240e-01 -9.27173567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters Centerline goodness : 0.994184 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:-21.11, Z:-0.93 [[ 9.97173425e-01 7.50713601e-02 3.07432223e-03 2.95510657e+02] [-7.50709072e-02 9.97178164e-01 -2.62600735e-04 -2.11094374e+01] [-3.08536079e-03 3.10663159e-05 9.99995240e-01 -9.28179285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters Centerline goodness : 0.995012 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:-21.11, Z:-0.93 [[ 9.97137432e-01 7.55479358e-02 3.07432845e-03 2.95569240e+02] [-7.55474854e-02 9.97142171e-01 -2.62527908e-04 -2.11141465e+01] [-3.08537598e-03 2.95186205e-05 9.99995240e-01 -9.30952228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:-21.12, Z:-0.93 [[ 9.97191044e-01 7.48369640e-02 3.07433447e-03 2.95627638e+02] [-7.48365105e-02 9.97195782e-01 -2.62457361e-04 -2.11187700e+01] [-3.08535488e-03 3.16476661e-05 9.99995240e-01 -9.31748970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters Centerline goodness : 0.994057 with order 1 Centerline is valid? [True, True] Translation: X:295.69, Y:-21.13, Z:-0.93 [[ 9.97253624e-01 7.39983636e-02 3.07434667e-03 2.95685570e+02] [-7.39979065e-02 9.97258362e-01 -2.62314340e-04 -2.11258313e+01] [-3.08532876e-03 3.40987083e-05 9.99995240e-01 -9.31463052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:295.74, Y:-21.13, Z:-0.93 [[ 9.97360779e-01 7.25398223e-02 3.07435570e-03 2.95744911e+02] [-7.25393586e-02 9.97365516e-01 -2.62208545e-04 -2.11296706e+01] [-3.08527692e-03 3.85047287e-05 9.99995240e-01 -9.27694190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters Centerline goodness : 0.994376 with order 1 Centerline is valid? [True, True] Translation: X:295.80, Y:-21.14, Z:-0.93 [[ 9.97377221e-01 7.23133960e-02 3.07436181e-03 2.95803055e+02] [-7.23129314e-02 9.97381959e-01 -2.62136845e-04 -2.11369468e+01] [-3.08526901e-03 3.91332035e-05 9.99995240e-01 -9.32514842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:295.86, Y:-21.14, Z:-0.94 [[ 9.97397112e-01 7.20385230e-02 3.07437087e-03 2.95862982e+02] [-7.20380575e-02 9.97401850e-01 -2.62030549e-04 -2.11413599e+01] [-3.08525949e-03 3.98768073e-05 9.99995240e-01 -9.35529380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters Centerline goodness : 0.994660 with order 1 Centerline is valid? [True, True] Translation: X:295.92, Y:-21.15, Z:-0.93 [[ 9.97730876e-01 6.72580677e-02 3.07437687e-03 2.95921990e+02] [-6.72575797e-02 9.97735611e-01 -2.61960142e-04 -2.11517643e+01] [-3.08503422e-03 5.45905742e-05 9.99995240e-01 -9.33986121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters Centerline goodness : 0.994348 with order 1 Centerline is valid? [True, True] Translation: X:295.98, Y:-21.16, Z:-0.93 [[ 9.97871225e-01 6.51426646e-02 3.07438282e-03 2.95979784e+02] [-6.51421668e-02 9.97875959e-01 -2.61890307e-04 -2.11618509e+01] [-3.08491293e-03 6.10608436e-05 9.99995240e-01 -9.26760159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters Centerline goodness : 0.994566 with order 1 Centerline is valid? [True, True] Translation: X:296.04, Y:-21.17, Z:-0.92 [[ 9.97709052e-01 6.75810356e-02 3.07439163e-03 2.96037903e+02] [-6.75805496e-02 9.97713787e-01 -2.61786869e-04 -2.11715214e+01] [-3.08505474e-03 5.34180527e-05 9.99995240e-01 -9.24556904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters Centerline goodness : 0.994527 with order 1 Centerline is valid? [True, True] Translation: X:296.10, Y:-21.18, Z:-0.93 [[ 9.97370044e-01 7.24123089e-02 3.07440028e-03 2.96096942e+02] [-7.24118462e-02 9.97374782e-01 -2.61685199e-04 -2.11839758e+01] [-3.08527854e-03 3.83739782e-05 9.99995240e-01 -9.28908334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters Centerline goodness : 0.994080 with order 1 Centerline is valid? [True, True] Translation: X:296.15, Y:-21.19, Z:-0.93 [[ 9.96975034e-01 7.76616394e-02 3.07440639e-03 2.96154980e+02] [-7.76612019e-02 9.96979774e-01 -2.61613345e-04 -2.11932189e+01] [-3.08543831e-03 2.20598781e-05 9.99995240e-01 -9.30284862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters Centerline goodness : 0.993930 with order 1 Centerline is valid? [True, True] Translation: X:296.21, Y:-21.20, Z:-0.93 [[ 9.96940643e-01 7.81018725e-02 3.07441552e-03 2.96214902e+02] [-7.81014374e-02 9.96945383e-01 -2.61506074e-04 -2.12021795e+01] [-3.08544847e-03 2.05897621e-05 9.99995240e-01 -9.30459348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:-21.21, Z:-0.93 [[ 9.96996798e-01 7.73817342e-02 3.07441552e-03 2.96275426e+02] [-7.73812957e-02 9.97001538e-01 -2.61506074e-04 -2.12071435e+01] [-3.08543279e-03 2.28184619e-05 9.99995240e-01 -9.30615092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters Centerline goodness : 0.993491 with order 1 Centerline is valid? [True, True] Translation: X:296.33, Y:-21.22, Z:-0.94 [[ 9.96868923e-01 7.90120165e-02 3.07441552e-03 2.96333129e+02] [-7.90115857e-02 9.96873663e-01 -2.61506074e-04 -2.12169430e+01] [-3.08546598e-03 1.77728327e-05 9.99995240e-01 -9.40261537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters Centerline goodness : 0.993503 with order 1 Centerline is valid? [True, True] Translation: X:296.39, Y:-21.22, Z:-0.94 [[ 9.96810411e-01 7.97468017e-02 3.07442449e-03 2.96393061e+02] [-7.97463747e-02 9.96815152e-01 -2.61400519e-04 -2.12220363e+01] [-3.08547877e-03 1.53925512e-05 9.99995240e-01 -9.39394365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters Centerline goodness : 0.992812 with order 1 Centerline is valid? [True, True] Translation: X:296.45, Y:-21.23, Z:-0.93 [[ 9.96420694e-01 8.44769090e-02 3.07442449e-03 2.96452512e+02] [-8.44765046e-02 9.96425437e-01 -2.61400519e-04 -2.12257869e+01] [-3.08551708e-03 7.48251861e-07 9.99995240e-01 -9.33044910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:296.51, Y:-21.23, Z:-0.93 [[ 9.96034361e-01 8.89162492e-02 3.07443076e-03 2.96510919e+02] [-8.89158661e-02 9.96039106e-01 -2.61326828e-04 -2.12301803e+01] [-3.08548946e-03 -1.30751739e-05 9.99995240e-01 -9.33981772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:296.57, Y:-21.24, Z:-0.93 [[ 9.96237922e-01 8.66057204e-02 3.07444008e-03 2.96569425e+02] [-8.66053267e-02 9.96242666e-01 -2.61217149e-04 -2.12379427e+01] [-3.08551128e-03 -6.02845757e-06 9.99995240e-01 -9.28108930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters Centerline goodness : 0.992789 with order 1 Centerline is valid? [True, True] Translation: X:296.63, Y:-21.24, Z:-0.93 [[ 9.96577319e-01 8.26086872e-02 3.07444924e-03 2.96629125e+02] [-8.26082748e-02 9.96582061e-01 -2.61109264e-04 -2.12440705e+01] [-3.08551085e-03 6.24062313e-06 9.99995240e-01 -9.27583536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters Centerline goodness : 0.993679 with order 1 Centerline is valid? [True, True] Translation: X:296.69, Y:-21.25, Z:-0.93 [[ 9.96256951e-01 8.63865452e-02 3.07444924e-03 2.96687623e+02] [-8.63861508e-02 9.96261695e-01 -2.61109264e-04 -2.12464094e+01] [-3.08551234e-03 -5.45791577e-06 9.99995240e-01 -9.30547505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:-21.25, Z:-0.94 [[ 9.95665684e-01 9.29537141e-02 3.07445832e-03 2.96746718e+02] [-9.29533513e-02 9.95670431e-01 -2.61002240e-04 -2.12512154e+01] [-3.08540837e-03 -2.59102304e-05 9.99995240e-01 -9.36158173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters Centerline goodness : 0.992896 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:-21.25, Z:-0.94 [[ 9.95225350e-01 9.75553731e-02 3.07446448e-03 2.96805844e+02] [-9.75550325e-02 9.95230098e-01 -2.60929693e-04 -2.12547303e+01] [-3.08525468e-03 -4.02456375e-05 9.99995240e-01 -9.35452799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:296.86, Y:-21.26, Z:-0.93 [[ 9.94810534e-01 1.01698324e-01 3.07447693e-03 2.96863512e+02] [-1.01698003e-01 9.94815283e-01 -2.60782872e-04 -2.12566336e+01] [-3.08505782e-03 -5.32386174e-05 9.99995240e-01 -9.33965443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters Centerline goodness : 0.993389 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:-21.26, Z:-0.93 [[ 9.94533596e-01 1.04371806e-01 3.07449228e-03 2.96922729e+02] [-1.04371499e-01 9.94538346e-01 -2.60601776e-04 -2.12565649e+01] [-3.08489995e-03 -6.17121465e-05 9.99995240e-01 -9.31108296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters Centerline goodness : 0.993296 with order 1 Centerline is valid? [True, True] Translation: X:296.98, Y:-21.25, Z:-0.93 [[ 9.94330426e-01 1.06289943e-01 3.07450461e-03 2.96982000e+02] [-1.06289645e-01 9.94335177e-01 -2.60456331e-04 -2.12529421e+01] [-3.08477197e-03 -6.78083496e-05 9.99995240e-01 -9.32512697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters Centerline goodness : 0.994127 with order 1 Centerline is valid? [True, True] Translation: X:297.04, Y:-21.25, Z:-0.93 [[ 9.94631375e-01 1.03435849e-01 3.07451686e-03 2.97041230e+02] [-1.03435539e-01 9.94636125e-01 -2.60311541e-04 -2.12511979e+01] [-3.08495109e-03 -5.91002825e-05 9.99995240e-01 -9.33668199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters Centerline goodness : 0.993806 with order 1 Centerline is valid? [True, True] Translation: X:297.10, Y:-21.25, Z:-0.93 [[ 9.94721079e-01 1.02569593e-01 3.07452913e-03 2.97100658e+02] [-1.02569279e-01 9.94725829e-01 -2.60166538e-04 -2.12500496e+01] [-3.08499872e-03 -5.65590958e-05 9.99995240e-01 -9.31837793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters Centerline goodness : 0.994033 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:-21.24, Z:-0.93 [[ 9.94402914e-01 1.05609621e-01 3.07454165e-03 2.97159402e+02] [-1.05609321e-01 9.94407665e-01 -2.60018500e-04 -2.12442577e+01] [-3.08480824e-03 -6.61371036e-05 9.99995240e-01 -9.32421652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters Centerline goodness : 0.994352 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:-21.24, Z:-0.94 [[ 9.93957860e-01 1.09719275e-01 3.07455717e-03 2.97217691e+02] [-1.09718995e-01 9.93962612e-01 -2.59834921e-04 -2.12357740e+01] [-3.08450377e-03 -7.90723618e-05 9.99995240e-01 -9.37347565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters Centerline goodness : 0.993828 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:-21.23, Z:-0.93 [[ 9.94137847e-01 1.08076303e-01 3.07457210e-03 2.97277441e+02] [-1.08076017e-01 9.94142599e-01 -2.59658116e-04 -2.12291494e+01] [-3.08462599e-03 -7.41515459e-05 9.99995240e-01 -9.29257381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:-21.22, Z:-0.94 [[ 9.94953618e-01 1.00288804e-01 3.07458420e-03 2.97336506e+02] [-1.00288481e-01 9.94958368e-01 -2.59514741e-04 -2.12241174e+01] [-3.08510970e-03 -5.01402487e-05 9.99995240e-01 -9.37741769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters Centerline goodness : 0.993961 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:-21.22, Z:-0.94 [[ 9.95734533e-01 9.22132647e-02 3.07459624e-03 2.97395296e+02] [-9.22129034e-02 9.95739280e-01 -2.59372079e-04 -2.12245525e+01] [-3.08541379e-03 -2.52517103e-05 9.99995240e-01 -9.39313177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters Centerline goodness : 0.994088 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:-21.22, Z:-0.93 [[ 9.96732139e-01 8.07192070e-02 3.07460879e-03 2.97454604e+02] [-8.07187914e-02 9.96736881e-01 -2.59223215e-04 -2.12229447e+01] [-3.08550027e-03 1.01974042e-05 9.99995240e-01 -9.34273832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:297.51, Y:-21.23, Z:-0.94 [[ 9.97505788e-01 7.05177252e-02 3.07462116e-03 2.97512224e+02] [-7.05172616e-02 9.97510526e-01 -2.59076357e-04 -2.12297792e+01] [-3.08523645e-03 4.16163006e-05 9.99995240e-01 -9.36327436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters Centerline goodness : 0.993362 with order 1 Centerline is valid? [True, True] Translation: X:297.57, Y:-21.24, Z:-0.94 [[ 9.97920498e-01 6.43834295e-02 3.07463634e-03 2.97570945e+02] [-6.43829373e-02 9.97925233e-01 -2.58896113e-04 -2.12369704e+01] [-3.08492581e-03 6.04036191e-05 9.99995240e-01 -9.37888178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters Centerline goodness : 0.994139 with order 1 Centerline is valid? [True, True] Translation: X:297.63, Y:-21.25, Z:-0.94 [[ 9.98122649e-01 6.11696271e-02 3.07464870e-03 2.97627840e+02] [-6.11691201e-02 9.98127383e-01 -2.58749243e-04 -2.12463223e+01] [-3.08471865e-03 7.01899242e-05 9.99995240e-01 -9.39210804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters Centerline goodness : 0.994356 with order 1 Centerline is valid? [True, True] Translation: X:297.69, Y:-21.26, Z:-0.94 [[ 9.98218842e-01 5.95792818e-02 3.07466394e-03 2.97686047e+02] [-5.95787678e-02 9.98223574e-01 -2.58568074e-04 -2.12588610e+01] [-3.08460732e-03 7.49228342e-05 9.99995240e-01 -9.37334528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters Centerline goodness : 0.990530 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:-21.27, Z:-0.93 [[ 9.98332709e-01 5.76398095e-02 3.07467282e-03 2.97745003e+02] [-5.76392866e-02 9.98337441e-01 -2.58462447e-04 -2.12741951e+01] [-3.08445872e-03 8.08095670e-05 9.99995240e-01 -9.31682628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters Centerline goodness : 0.994061 with order 1 Centerline is valid? [True, True] Translation: X:297.80, Y:-21.29, Z:-0.94 [[ 9.98338156e-01 5.75454021e-02 3.07467913e-03 2.97802592e+02] [-5.75448791e-02 9.98342887e-01 -2.58387304e-04 -2.12863874e+01] [-3.08445304e-03 8.10258660e-05 9.99995240e-01 -9.38534728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:297.86, Y:-21.30, Z:-0.94 [[ 9.98249745e-01 5.90592335e-02 3.07468850e-03 2.97861038e+02] [-5.90587179e-02 9.98254477e-01 -2.58275761e-04 -2.12979426e+01] [-3.08457513e-03 7.62365520e-05 9.99995240e-01 -9.35855117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters Centerline goodness : 0.993770 with order 1 Centerline is valid? [True, True] Translation: X:297.92, Y:-21.31, Z:-0.93 [[ 9.97985570e-01 6.33667819e-02 3.07469431e-03 2.97919263e+02] [-6.33662870e-02 9.97990304e-01 -2.58206621e-04 -2.13065118e+01] [-3.08487683e-03 6.28545204e-05 9.99995240e-01 -9.34448363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters Centerline goodness : 0.994398 with order 1 Centerline is valid? [True, True] Translation: X:297.98, Y:-21.31, Z:-0.93 [[ 9.97831592e-01 6.57469428e-02 3.07470655e-03 2.97978029e+02] [-6.57464597e-02 9.97836327e-01 -2.58060722e-04 -2.13121121e+01] [-3.08502060e-03 5.53500704e-05 9.99995240e-01 -9.34955544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:298.04, Y:-21.32, Z:-0.93 [[ 9.98047387e-01 6.23855640e-02 3.07471883e-03 2.98036838e+02] [-6.23850654e-02 9.98052121e-01 -2.57914392e-04 -2.13187529e+01] [-3.08481978e-03 6.55942505e-05 9.99995240e-01 -9.34900739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters Centerline goodness : 0.993662 with order 1 Centerline is valid? [True, True] Translation: X:298.10, Y:-21.33, Z:-0.94 [[ 9.98406243e-01 5.63517530e-02 3.07472794e-03 2.98095908e+02] [-5.63512261e-02 9.98410974e-01 -2.57805721e-04 -2.13303774e+01] [-3.08436992e-03 8.41301523e-05 9.99995240e-01 -9.36449656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters Centerline goodness : 0.994501 with order 1 Centerline is valid? [True, True] Translation: X:298.15, Y:-21.34, Z:-0.94 [[ 9.98436621e-01 5.58109250e-02 3.07473387e-03 2.98154329e+02] [-5.58103957e-02 9.98441352e-01 -2.57734896e-04 -2.13405268e+01] [-3.08432587e-03 8.57298442e-05 9.99995240e-01 -9.36886078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters Centerline goodness : 0.994287 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:-21.35, Z:-0.94 [[ 9.98436249e-01 5.58175880e-02 3.07473679e-03 2.98213997e+02] [-5.58170589e-02 9.98440979e-01 -2.57700073e-04 -2.13509931e+01] [-3.08432741e-03 8.56743292e-05 9.99995240e-01 -9.36643593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters Centerline goodness : 0.994374 with order 1 Centerline is valid? [True, True] Translation: X:298.27, Y:-21.37, Z:-0.94 [[ 9.98244261e-01 5.91518506e-02 3.07473679e-03 2.98271950e+02] [-5.91513372e-02 9.98248993e-01 -2.57700073e-04 -2.13660056e+01] [-3.08459634e-03 7.53728255e-05 9.99995240e-01 -9.40185480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:298.33, Y:-21.38, Z:-0.94 [[ 9.98157214e-01 6.06029831e-02 3.07473985e-03 2.98330480e+02] [-6.06024767e-02 9.98161947e-01 -2.57663553e-04 -2.13813419e+01] [-3.08470350e-03 7.08518837e-05 9.99995240e-01 -9.39430961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters Centerline goodness : 0.994495 with order 1 Centerline is valid? [True, True] Translation: X:298.39, Y:-21.40, Z:-0.93 [[ 9.97987926e-01 6.33296512e-02 3.07474286e-03 2.98389703e+02] [-6.33291579e-02 9.97992661e-01 -2.57627716e-04 -2.13952063e+01] [-3.08488628e-03 6.23884741e-05 9.99995240e-01 -9.33839072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:298.45, Y:-21.41, Z:-0.93 [[ 9.97693342e-01 6.78125428e-02 3.07474286e-03 2.98448089e+02] [-6.78120708e-02 9.97698079e-01 -2.57627716e-04 -2.14055862e+01] [-3.08513543e-03 4.85287766e-05 9.99995240e-01 -9.33296913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:298.51, Y:-21.42, Z:-0.93 [[ 9.97541980e-01 7.00038833e-02 3.07474008e-03 2.98507660e+02] [-7.00034215e-02 9.97546718e-01 -2.57660877e-04 -2.14212022e+01] [-3.08523413e-03 4.17852158e-05 9.99995240e-01 -9.33666148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters Centerline goodness : 0.994658 with order 1 Centerline is valid? [True, True] Translation: X:298.57, Y:-21.44, Z:-0.93 [[ 9.97530579e-01 7.01661531e-02 3.07473720e-03 2.98568905e+02] [-7.01656920e-02 9.97535317e-01 -2.57695259e-04 -2.14388885e+01] [-3.08524043e-03 4.13178382e-05 9.99995240e-01 -9.34578947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters Centerline goodness : 0.994507 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:-21.45, Z:-0.94 [[ 9.97243905e-01 7.41292107e-02 3.07469358e-03 2.98628665e+02] [-7.41287668e-02 9.97248645e-01 -2.58214658e-04 -2.14544523e+01] [-3.08537525e-03 2.95797502e-05 9.99995240e-01 -9.35262045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:298.69, Y:-21.47, Z:-0.94 [[ 9.96645444e-01 8.17826755e-02 3.07465343e-03 2.98688862e+02] [-8.17822666e-02 9.96650186e-01 -2.58691770e-04 -2.14663709e+01] [-3.08551042e-03 6.37184741e-06 9.99995240e-01 -9.40991367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters Centerline goodness : 0.993991 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:-21.48, Z:-0.94 [[ 9.96076208e-01 8.84462205e-02 3.07461401e-03 2.98749714e+02] [-8.84458419e-02 9.96080953e-01 -2.59159428e-04 -2.14763949e+01] [-3.08548613e-03 -1.37942842e-05 9.99995240e-01 -9.43525839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters Centerline goodness : 0.994766 with order 1 Centerline is valid? [True, True] Translation: X:298.81, Y:-21.48, Z:-0.94 [[ 9.95013523e-01 9.96927044e-02 3.07460793e-03 2.98810847e+02] [-9.96923792e-02 9.95018272e-01 -2.59231637e-04 -2.14813005e+01] [-3.08513457e-03 -4.85759950e-05 9.99995240e-01 -9.39974537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters Centerline goodness : 0.994320 with order 1 Centerline is valid? [True, True] Translation: X:298.87, Y:-21.48, Z:-0.94 [[ 9.94315009e-01 1.06434065e-01 3.07460155e-03 2.98871144e+02] [-1.06433772e-01 9.94319760e-01 -2.59307182e-04 -2.14817550e+01] [-3.08473620e-03 -6.94084164e-05 9.99995240e-01 -9.40947878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters Centerline goodness : 0.994098 with order 1 Centerline is valid? [True, True] Translation: X:298.93, Y:-21.47, Z:-0.94 [[ 9.93107432e-01 1.17167295e-01 3.07459842e-03 2.98931349e+02] [-1.17167053e-01 9.93112186e-01 -2.59344358e-04 -2.14723847e+01] [-3.08380783e-03 -1.02684826e-04 9.99995240e-01 -9.38990134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters Centerline goodness : 0.994227 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:-21.46, Z:-0.94 [[ 9.92430925e-01 1.22765651e-01 3.07460449e-03 2.98990949e+02] [-1.22765436e-01 9.92435681e-01 -2.59272395e-04 -2.14628680e+01] [-3.08317694e-03 -1.20145216e-04 9.99995240e-01 -9.39305697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:-21.46, Z:-0.94 [[ 9.93116025e-01 1.17094436e-01 3.07461652e-03 2.99050865e+02] [-1.17094194e-01 9.93120779e-01 -2.59129576e-04 -2.14556138e+01] [-3.08380819e-03 -1.02674010e-04 9.99995240e-01 -9.41577054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters Centerline goodness : 0.993825 with order 1 Centerline is valid? [True, True] Translation: X:299.11, Y:-21.45, Z:-0.94 [[ 9.94394939e-01 1.05684683e-01 3.07462877e-03 2.99110330e+02] [-1.05684387e-01 9.94399690e-01 -2.58984176e-04 -2.14505198e+01] [-3.08478056e-03 -6.74077033e-05 9.99995240e-01 -9.44472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters Centerline goodness : 0.994544 with order 1 Centerline is valid? [True, True] Translation: X:299.17, Y:-21.45, Z:-0.94 [[ 9.94852004e-01 1.01291835e-01 3.07463791e-03 2.99169747e+02] [-1.01291519e-01 9.94856754e-01 -2.58875673e-04 -2.14497388e+01] [-3.08504628e-03 -5.38917617e-05 9.99995240e-01 -9.40408450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:299.23, Y:-21.45, Z:-0.94 [[ 9.94820955e-01 1.01596330e-01 3.07465003e-03 2.99227903e+02] [-1.01596016e-01 9.94825705e-01 -2.58731614e-04 -2.14466719e+01] [-3.08502707e-03 -5.49805618e-05 9.99995240e-01 -9.38235839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters Centerline goodness : 0.993672 with order 1 Centerline is valid? [True, True] Translation: X:299.29, Y:-21.45, Z:-0.94 [[ 9.95278660e-01 9.70099781e-02 3.07466508e-03 2.99287284e+02] [-9.70096422e-02 9.95283408e-01 -2.58552590e-04 -2.14460810e+01] [-3.08524532e-03 -4.09402849e-05 9.99995240e-01 -9.39690407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:299.35, Y:-21.45, Z:-0.94 [[ 9.95769416e-01 9.18358130e-02 3.07467750e-03 2.99346304e+02] [-9.18354529e-02 9.95774163e-01 -2.58404868e-04 -2.14476205e+01] [-3.08541523e-03 -2.50527361e-05 9.99995240e-01 -9.40175899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters Centerline goodness : 0.993819 with order 1 Centerline is valid? [True, True] Translation: X:299.41, Y:-21.45, Z:-0.95 [[ 9.96360484e-01 8.51841065e-02 3.07468674e-03 2.99405216e+02] [-8.51837150e-02 9.96365228e-01 -2.58294919e-04 -2.14496062e+01] [-3.08551357e-03 -4.55838799e-06 9.99995240e-01 -9.45259397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:299.46, Y:-21.45, Z:-0.94 [[ 9.96585906e-01 8.25050136e-02 3.07469577e-03 2.99464442e+02] [-8.25046097e-02 9.96590650e-01 -2.58187314e-04 -2.14528011e+01] [-3.08551480e-03 3.62926407e-06 9.99995240e-01 -9.42337328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters Centerline goodness : 0.993969 with order 1 Centerline is valid? [True, True] Translation: X:299.52, Y:-21.46, Z:-0.94 [[ 9.96755382e-01 8.04316793e-02 3.07470796e-03 2.99522704e+02] [-8.04312659e-02 9.96760124e-01 -2.58042073e-04 -2.14568176e+01] [-3.08550105e-03 9.90217115e-06 9.99995240e-01 -9.39418912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:299.58, Y:-21.46, Z:-0.94 [[ 9.97106135e-01 7.59598684e-02 3.07471699e-03 2.99581763e+02] [-7.59594342e-02 9.97110875e-01 -2.57934474e-04 -2.14648066e+01] [-3.08542642e-03 2.36342844e-05 9.99995240e-01 -9.35235057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters Centerline goodness : 0.992507 with order 1 Centerline is valid? [True, True] Translation: X:299.64, Y:-21.47, Z:-0.94 [[ 9.97477817e-01 7.09122736e-02 3.07472303e-03 2.99641101e+02] [-7.09118156e-02 9.97482555e-01 -2.57862465e-04 -2.14722398e+01] [-3.08526819e-03 3.91778964e-05 9.99995240e-01 -9.35167221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:299.70, Y:-21.48, Z:-0.94 [[ 9.97617240e-01 6.89230679e-02 3.07472901e-03 2.99700223e+02] [-6.89226007e-02 9.97621977e-01 -2.57791074e-04 -2.14789731e+01] [-3.08518499e-03 4.52585000e-05 9.99995240e-01 -9.39360280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters Centerline goodness : 0.991898 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:-21.49, Z:-0.94 [[ 9.97380428e-01 7.22691344e-02 3.07473503e-03 2.99758176e+02] [-7.22686833e-02 9.97385167e-01 -2.57719301e-04 -2.14850723e+01] [-3.08532026e-03 3.48371351e-05 9.99995240e-01 -9.41299116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters Centerline goodness : 0.991773 with order 1 Centerline is valid? [True, True] Translation: X:299.82, Y:-21.49, Z:-0.94 [[ 9.97462293e-01 7.11303042e-02 3.07474398e-03 2.99817101e+02] [-7.11298480e-02 9.97467031e-01 -2.57612493e-04 -2.14926583e+01] [-3.08527980e-03 3.82526763e-05 9.99995240e-01 -9.40470364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters Centerline goodness : 0.992027 with order 1 Centerline is valid? [True, True] Translation: X:299.88, Y:-21.50, Z:-0.94 [[ 9.97677111e-01 6.80509227e-02 3.07474077e-03 2.99875342e+02] [-6.80504518e-02 9.97681848e-01 -2.57650762e-04 -2.15041664e+01] [-3.08514642e-03 4.78147696e-05 9.99995240e-01 -9.40437024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters Centerline goodness : 0.991607 with order 1 Centerline is valid? [True, True] Translation: X:299.94, Y:-21.51, Z:-0.94 [[ 9.97699571e-01 6.77208391e-02 3.07473208e-03 2.99935224e+02] [-6.77203663e-02 9.97704308e-01 -2.57754368e-04 -2.15132573e+01] [-3.08512879e-03 4.89394398e-05 9.99995240e-01 -9.40950438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters Centerline goodness : 0.990111 with order 1 Centerline is valid? [True, True] Translation: X:300.00, Y:-21.52, Z:-0.95 [[ 9.97450526e-01 7.12951203e-02 3.07473208e-03 2.99995138e+02] [-7.12946644e-02 9.97455264e-01 -2.57754368e-04 -2.15217991e+01] [-3.08528433e-03 3.78852382e-05 9.99995240e-01 -9.45760180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters Centerline goodness : 0.990330 with order 1 Centerline is valid? [True, True] Translation: X:300.06, Y:-21.53, Z:-0.94 [[ 9.97023239e-01 7.70403004e-02 3.07473208e-03 3.00055322e+02] [-7.70398719e-02 9.97027979e-01 -2.57754368e-04 -2.15302063e+01] [-3.08545139e-03 2.01101293e-05 9.99995240e-01 -9.43651330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters Centerline goodness : 0.990556 with order 1 Centerline is valid? [True, True] Translation: X:300.11, Y:-21.54, Z:-0.94 [[ 9.97067984e-01 7.64590216e-02 3.07473208e-03 3.00114836e+02] [-7.64585903e-02 9.97072724e-01 -2.57754368e-04 -2.15373170e+01] [-3.08543914e-03 2.19089477e-05 9.99995240e-01 -9.42543002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters Centerline goodness : 0.990233 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:-21.55, Z:-0.94 [[ 9.97477286e-01 7.09197410e-02 3.07472893e-03 3.00175888e+02] [-7.09192833e-02 9.97482024e-01 -2.57791971e-04 -2.15475793e+01] [-3.08526938e-03 3.90840634e-05 9.99995240e-01 -9.39700419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters Centerline goodness : 0.990823 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:-21.56, Z:-0.94 [[ 9.97786325e-01 6.64303767e-02 3.07472284e-03 3.00235614e+02] [-6.64298973e-02 9.97791061e-01 -2.57864654e-04 -2.15635987e+01] [-3.08506101e-03 5.30403030e-05 9.99995240e-01 -9.35104548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters Centerline goodness : 0.990253 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:-21.58, Z:-0.94 [[ 9.97952472e-01 6.38859141e-02 3.07471681e-03 3.00295668e+02] [-6.38854225e-02 9.97957207e-01 -2.57936434e-04 -2.15762034e+01] [-3.08491431e-03 6.09787191e-05 9.99995240e-01 -9.38630906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters Centerline goodness : 0.990717 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:-21.59, Z:-0.94 [[ 9.97892894e-01 6.48098555e-02 3.07471079e-03 3.00355538e+02] [-6.48093681e-02 9.97897630e-01 -2.58008258e-04 -2.15909964e+01] [-3.08496808e-03 5.81945445e-05 9.99995240e-01 -9.42441204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters Centerline goodness : 0.989145 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:-21.60, Z:-0.93 [[ 9.97653061e-01 6.84026005e-02 3.07467195e-03 3.00416716e+02] [-6.84021287e-02 9.97657798e-01 -2.58470208e-04 -2.16030326e+01] [-3.08515049e-03 4.75494876e-05 9.99995240e-01 -9.33766933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters Centerline goodness : 0.991536 with order 1 Centerline is valid? [True, True] Translation: X:300.48, Y:-21.61, Z:-0.94 [[ 9.97422501e-01 7.16861251e-02 3.07463090e-03 3.00477703e+02] [-7.16856673e-02 9.97427239e-01 -2.58957619e-04 -2.16121574e+01] [-3.08528428e-03 3.78831884e-05 9.99995240e-01 -9.41704527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters Centerline goodness : 0.991956 with order 1 Centerline is valid? [True, True] Translation: X:300.54, Y:-21.62, Z:-0.94 [[ 9.97079022e-01 7.63149464e-02 3.07459293e-03 3.00538041e+02] [-7.63145093e-02 9.97083762e-01 -2.59407637e-04 -2.16217066e+01] [-3.08542337e-03 2.40138616e-05 9.99995240e-01 -9.43841018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters Centerline goodness : 0.991136 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:-21.63, Z:-0.94 [[ 9.96951758e-01 7.79598537e-02 3.07455548e-03 3.00599906e+02] [-7.79594230e-02 9.96956499e-01 -2.59850787e-04 -2.16322939e+01] [-3.08545600e-03 1.93681280e-05 9.99995240e-01 -9.43927034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters Centerline goodness : 0.990973 with order 1 Centerline is valid? [True, True] Translation: X:300.66, Y:-21.64, Z:-0.94 [[ 9.96849825e-01 7.92525917e-02 3.07450554e-03 3.00662997e+02] [-7.92521654e-02 9.96854566e-01 -2.60440279e-04 -2.16388422e+01] [-3.08547546e-03 1.59586244e-05 9.99995240e-01 -9.40409063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters Centerline goodness : 0.991309 with order 1 Centerline is valid? [True, True] Translation: X:300.72, Y:-21.65, Z:-0.94 [[ 9.96486223e-01 8.37003857e-02 3.07445562e-03 3.00724493e+02] [-8.36999788e-02 9.96490966e-01 -2.61028289e-04 -2.16459245e+01] [-3.08551542e-03 2.77922361e-06 9.99995240e-01 -9.42469990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:300.79, Y:-21.65, Z:-0.95 [[ 9.96209791e-01 8.69287089e-02 3.07440908e-03 3.00786935e+02] [-8.69283156e-02 9.96214535e-01 -2.61575292e-04 -2.16502511e+01] [-3.08550942e-03 -6.66933563e-06 9.99995240e-01 -9.45454745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters Centerline goodness : 0.991219 with order 1 Centerline is valid? [True, True] Translation: X:300.85, Y:-21.65, Z:-0.94 [[ 9.95770882e-01 9.18199248e-02 3.07436492e-03 3.00848297e+02] [-9.18195532e-02 9.95775628e-01 -2.62093282e-04 -2.16521540e+01] [-3.08544305e-03 -2.13019552e-05 9.99995240e-01 -9.37240497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters Centerline goodness : 0.990489 with order 1 Centerline is valid? [True, True] Translation: X:300.91, Y:-21.65, Z:-0.94 [[ 9.95318632e-01 9.65990156e-02 3.07432431e-03 3.00909806e+02] [-9.65986653e-02 9.95323379e-01 -2.62568743e-04 -2.16532221e+01] [-3.08531075e-03 -3.56360630e-05 9.99995240e-01 -9.38287128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters Centerline goodness : 0.990583 with order 1 Centerline is valid? [True, True] Translation: X:300.97, Y:-21.66, Z:-0.94 [[ 9.95414762e-01 9.56033470e-02 3.07431815e-03 3.00970842e+02] [-9.56029918e-02 9.95419509e-01 -2.62640876e-04 -2.16560663e+01] [-3.08534561e-03 -3.24774082e-05 9.99995240e-01 -9.44727741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters Centerline goodness : 0.990821 with order 1 Centerline is valid? [True, True] Translation: X:301.03, Y:-21.66, Z:-0.95 [[ 9.96043283e-01 8.88162502e-02 3.07431196e-03 3.01033258e+02] [-8.88158624e-02 9.96048028e-01 -2.62713353e-04 -2.16591896e+01] [-3.08549558e-03 -1.13737975e-05 9.99995240e-01 -9.45211025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters Centerline goodness : 0.988354 with order 1 Centerline is valid? [True, True] Translation: X:301.09, Y:-21.67, Z:-0.94 [[ 9.96351358e-01 8.52908005e-02 3.07426869e-03 3.01094592e+02] [-8.52903943e-02 9.96356101e-01 -2.63218703e-04 -2.16665905e+01] [-3.08551650e-03 5.27236661e-08 9.99995240e-01 -9.37211632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters Centerline goodness : 0.990687 with order 1 Centerline is valid? [True, True] Translation: X:301.16, Y:-21.67, Z:-0.95 [[ 9.96559880e-01 8.28188010e-02 3.07422531e-03 3.01156348e+02] [-8.28183815e-02 9.96564622e-01 -2.63724350e-04 -2.16698941e+01] [-3.08550552e-03 8.21474187e-06 9.99995240e-01 -9.48616287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters Centerline goodness : 0.991646 with order 1 Centerline is valid? [True, True] Translation: X:301.22, Y:-21.68, Z:-0.94 [[ 9.96857771e-01 7.91525992e-02 3.07418120e-03 3.01218204e+02] [-7.91521607e-02 9.96862511e-01 -2.64237589e-04 -2.16789091e+01] [-3.08545108e-03 2.00792103e-05 9.99995240e-01 -9.44314006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters Centerline goodness : 0.991198 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:-21.69, Z:-0.95 [[ 9.97316836e-01 7.31414945e-02 3.07413422e-03 3.01280067e+02] [-7.31410257e-02 9.97321573e-01 -2.64783061e-04 -2.16892959e+01] [-3.08526700e-03 3.92272750e-05 9.99995240e-01 -9.47582290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters Centerline goodness : 0.991220 with order 1 Centerline is valid? [True, True] Translation: X:301.34, Y:-21.70, Z:-0.95 [[ 9.97399517e-01 7.20052281e-02 3.07408475e-03 3.01342434e+02] [-7.20047522e-02 9.97404254e-01 -2.65356112e-04 -2.16975249e+01] [-3.08521223e-03 4.33173471e-05 9.99995240e-01 -9.48292280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters Centerline goodness : 0.991674 with order 1 Centerline is valid? [True, True] Translation: X:301.41, Y:-21.71, Z:-0.94 [[ 9.97452513e-01 7.12673461e-02 3.07403511e-03 3.01405051e+02] [-7.12668649e-02 9.97457249e-01 -2.65929893e-04 -2.17098668e+01] [-3.08517072e-03 4.61755953e-05 9.99995240e-01 -9.42234794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters Centerline goodness : 0.991301 with order 1 Centerline is valid? [True, True] Translation: X:301.46, Y:-21.73, Z:-0.95 [[ 9.97435397e-01 7.15064932e-02 3.07398580e-03 3.01464743e+02] [-7.15060114e-02 9.97440133e-01 -2.66498689e-04 -2.17258475e+01] [-3.08517319e-03 4.60067625e-05 9.99995240e-01 -9.50153916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters Centerline goodness : 0.991323 with order 1 Centerline is valid? [True, True] Translation: X:301.53, Y:-21.74, Z:-0.95 [[ 9.97056817e-01 7.66045377e-02 3.07394624e-03 3.01526754e+02] [-7.66040787e-02 9.97061555e-01 -2.66954219e-04 -2.17381755e+01] [-3.08536352e-03 3.06917045e-05 9.99995240e-01 -9.47942946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters Centerline goodness : 0.991587 with order 1 Centerline is valid? [True, True] Translation: X:301.59, Y:-21.75, Z:-0.94 [[ 9.96149453e-01 8.76174570e-02 3.07389712e-03 3.01588442e+02] [-8.76170486e-02 9.96154196e-01 -2.67518603e-04 -2.17472043e+01] [-3.08551482e-03 -2.83728403e-06 9.99995240e-01 -9.44945963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters Centerline goodness : 0.991666 with order 1 Centerline is valid? [True, True] Translation: X:301.65, Y:-21.75, Z:-0.94 [[ 9.95479021e-01 9.49319228e-02 3.07385129e-03 3.01651464e+02] [-9.49315477e-02 9.95483767e-01 -2.68044239e-04 -2.17518873e+01] [-3.08541501e-03 -2.49730438e-05 9.99995240e-01 -9.44505924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters Centerline goodness : 0.991652 with order 1 Centerline is valid? [True, True] Translation: X:301.71, Y:-21.76, Z:-0.95 [[ 9.95562990e-01 9.40472420e-02 3.07380044e-03 3.01712764e+02] [-9.40468609e-02 9.95567735e-01 -2.68626040e-04 -2.17581992e+01] [-3.08544008e-03 -2.16471389e-05 9.99995240e-01 -9.46685438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters Centerline goodness : 0.991881 with order 1 Centerline is valid? [True, True] Translation: X:301.77, Y:-21.76, Z:-0.94 [[ 9.95909384e-01 9.03053180e-02 3.07375330e-03 3.01774549e+02] [-9.03049173e-02 9.95914128e-01 -2.69164401e-04 -2.17623603e+01] [-3.08550131e-03 -9.51168434e-06 9.99995240e-01 -9.43513528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters Centerline goodness : 0.992412 with order 1 Centerline is valid? [True, True] Translation: X:301.84, Y:-21.76, Z:-0.94 [[ 9.95732113e-01 9.22394259e-02 3.07370862e-03 3.01837606e+02] [-9.22390329e-02 9.95736857e-01 -2.69673679e-04 -2.17638838e+01] [-3.08547950e-03 -1.49931681e-05 9.99995240e-01 -9.41330301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters Centerline goodness : 0.991995 with order 1 Centerline is valid? [True, True] Translation: X:301.90, Y:-21.77, Z:-0.94 [[ 9.95371975e-01 9.60478201e-02 3.07365789e-03 3.01901026e+02] [-9.60474435e-02 9.95376720e-01 -2.70250664e-04 -2.17656127e+01] [-3.08540449e-03 -2.62170445e-05 9.99995240e-01 -9.43510237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters Centerline goodness : 0.991879 with order 1 Centerline is valid? [True, True] Translation: X:301.96, Y:-21.77, Z:-0.95 [[ 9.95080226e-01 9.90247306e-02 3.07360534e-03 3.01963171e+02] [-9.90243664e-02 9.95084972e-01 -2.70846980e-04 -2.17685305e+01] [-3.08531903e-03 -3.48473467e-05 9.99995240e-01 -9.45500347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters Centerline goodness : 0.993081 with order 1 Centerline is valid? [True, True] Translation: X:302.02, Y:-21.77, Z:-0.95 [[ 9.94967784e-01 1.00148198e-01 3.07355651e-03 3.02024689e+02] [-1.00147837e-01 9.94972531e-01 -2.71399933e-04 -2.17709478e+01] [-3.08528451e-03 -3.77758468e-05 9.99995240e-01 -9.46937999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters Centerline goodness : 0.989925 with order 1 Centerline is valid? [True, True] Translation: X:302.09, Y:-21.78, Z:-0.94 [[ 9.95325671e-01 9.65264845e-02 3.07351496e-03 3.02086787e+02] [-9.65261051e-02 9.95330416e-01 -2.71869653e-04 -2.17802783e+01] [-3.08540555e-03 -2.60755834e-05 9.99995240e-01 -9.37007323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters Centerline goodness : 0.992417 with order 1 Centerline is valid? [True, True] Translation: X:302.15, Y:-21.79, Z:-0.95 [[ 9.95790463e-01 9.16073511e-02 3.07346241e-03 3.02148699e+02] [-9.16069465e-02 9.95795206e-01 -2.72462445e-04 -2.17868348e+01] [-3.08549870e-03 -1.02350023e-05 9.99995240e-01 -9.48671530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters Centerline goodness : 0.991950 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:-21.80, Z:-0.94 [[ 9.95987730e-01 8.94371032e-02 3.07341352e-03 3.02210966e+02] [-8.94366865e-02 9.95992472e-01 -2.73012850e-04 -2.17977941e+01] [-3.08551421e-03 -2.95847263e-06 9.99995240e-01 -9.43775167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters Centerline goodness : 0.992171 with order 1 Centerline is valid? [True, True] Translation: X:302.27, Y:-21.80, Z:-0.94 [[ 9.95932600e-01 9.00489404e-02 3.07336160e-03 3.02273631e+02] [-9.00485249e-02 9.95937342e-01 -2.73596053e-04 -2.18047373e+01] [-3.08551262e-03 -4.26845024e-06 9.99995240e-01 -9.43988584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters Centerline goodness : 0.992329 with order 1 Centerline is valid? [True, True] Translation: X:302.34, Y:-21.81, Z:-0.95 [[ 9.95584712e-01 9.38170358e-02 3.07330985e-03 3.02336358e+02] [-9.38166365e-02 9.95589455e-01 -2.74176093e-04 -2.18137224e+01] [-3.08547727e-03 -1.53620671e-05 9.99995240e-01 -9.48814028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters Centerline goodness : 0.992250 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:-21.82, Z:-0.95 [[ 9.95295549e-01 9.68365933e-02 3.07325726e-03 3.02398767e+02] [-9.68362065e-02 9.95300293e-01 -2.74764411e-04 -2.18189274e+01] [-3.08542110e-03 -2.41307791e-05 9.99995240e-01 -9.48832081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters Centerline goodness : 0.992997 with order 1 Centerline is valid? [True, True] Translation: X:302.46, Y:-21.83, Z:-0.95 [[ 9.94711516e-01 1.02662338e-01 3.07320441e-03 3.02460273e+02] [-1.02661977e-01 9.94716262e-01 -2.75354193e-04 -2.18252659e+01] [-3.08523491e-03 -4.16032549e-05 9.99995240e-01 -9.45248926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters Centerline goodness : 0.992226 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:-21.83, Z:-0.95 [[ 9.94109812e-01 1.08333920e-01 3.07317183e-03 3.02522603e+02] [-1.08333585e-01 9.94114560e-01 -2.75717334e-04 -2.18283862e+01] [-3.08495440e-03 -5.88344139e-05 9.99995240e-01 -9.46559257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters Centerline goodness : 0.992562 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:-21.83, Z:-0.95 [[ 9.93758517e-01 1.11510382e-01 3.07312769e-03 3.02584057e+02] [-1.11510060e-01 9.93763267e-01 -2.76208401e-04 -2.18335370e+01] [-3.08476152e-03 -6.82002033e-05 9.99995240e-01 -9.47869397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters Centerline goodness : 0.992726 with order 1 Centerline is valid? [True, True] Translation: X:302.65, Y:-21.84, Z:-0.95 [[ 9.93264869e-01 1.15825112e-01 3.07308418e-03 3.02646304e+02] [-1.15824810e-01 9.93269619e-01 -2.76691735e-04 -2.18376639e+01] [-3.08444900e-03 -8.11112107e-05 9.99995240e-01 -9.47437435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters Centerline goodness : 0.993127 with order 1 Centerline is valid? [True, True] Translation: X:302.71, Y:-21.84, Z:-0.94 [[ 9.93062726e-01 1.17545649e-01 3.07303913e-03 3.02709035e+02] [-1.17545354e-01 9.93067477e-01 -2.77191134e-04 -2.18397251e+01] [-3.08431783e-03 -8.59532880e-05 9.99995240e-01 -9.44062766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters Centerline goodness : 0.992967 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:-21.84, Z:-0.95 [[ 9.93303186e-01 1.15496052e-01 3.07299400e-03 3.02769917e+02] [-1.15495746e-01 9.93307936e-01 -2.77690526e-04 -2.18412608e+01] [-3.08450149e-03 -7.90868501e-05 9.99995240e-01 -9.48762134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters Centerline goodness : 0.993008 with order 1 Centerline is valid? [True, True] Translation: X:302.83, Y:-21.84, Z:-0.95 [[ 9.93718057e-01 1.11870372e-01 3.07295253e-03 3.02832480e+02] [-1.11870046e-01 9.93722806e-01 -2.78148702e-04 -2.18414462e+01] [-3.08477961e-03 -6.73699544e-05 9.99995240e-01 -9.45421580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters Centerline goodness : 0.992932 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:-21.84, Z:-0.95 [[ 9.93844210e-01 1.10744045e-01 3.07290564e-03 3.02893768e+02] [-1.10743712e-01 9.93848959e-01 -2.78665812e-04 -2.18428033e+01] [-3.08486465e-03 -6.33545742e-05 9.99995240e-01 -9.45296925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters Centerline goodness : 0.993972 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:-21.84, Z:-0.95 [[ 9.94260070e-01 1.06946111e-01 3.07286240e-03 3.02954888e+02] [-1.06945759e-01 9.94264817e-01 -2.79141779e-04 -2.18433176e+01] [-3.08509210e-03 -5.10900780e-05 9.99995240e-01 -9.48265148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:303.02, Y:-21.85, Z:-0.95 [[ 9.94928313e-01 1.00539588e-01 3.07285616e-03 3.03016237e+02] [-1.00539205e-01 9.94933058e-01 -2.79210449e-04 -2.18467739e+01] [-3.08535788e-03 -3.11481335e-05 9.99995240e-01 -9.51254503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters Centerline goodness : 0.994212 with order 1 Centerline is valid? [True, True] Translation: X:303.08, Y:-21.85, Z:-0.95 [[ 9.95313419e-01 9.66527626e-02 3.07281584e-03 3.03077957e+02] [-9.66523599e-02 9.95318162e-01 -2.79653465e-04 -2.18508078e+01] [-3.08545870e-03 -1.86520562e-05 9.99995240e-01 -9.52621816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters Centerline goodness : 0.994203 with order 1 Centerline is valid? [True, True] Translation: X:303.14, Y:-21.86, Z:-0.95 [[ 9.95672171e-01 9.28842647e-02 3.07280657e-03 3.03139789e+02] [-9.28838437e-02 9.95676912e-01 -2.79755295e-04 -2.18568882e+01] [-3.08550742e-03 -6.86952355e-06 9.99995240e-01 -9.49195236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters Centerline goodness : 0.994206 with order 1 Centerline is valid? [True, True] Translation: X:303.20, Y:-21.87, Z:-0.95 [[ 9.96081392e-01 8.83878873e-02 3.07275865e-03 3.03201068e+02] [-8.83874432e-02 9.96086131e-01 -2.80280662e-04 -2.18702061e+01] [-3.08550569e-03 7.58907145e-06 9.99995240e-01 -9.52061116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters Centerline goodness : 0.994168 with order 1 Centerline is valid? [True, True] Translation: X:303.26, Y:-21.88, Z:-0.95 [[ 9.96187941e-01 8.71788038e-02 3.07270747e-03 3.03263569e+02] [-8.71783522e-02 9.96192680e-01 -2.80840646e-04 -2.18821214e+01] [-3.08549204e-03 1.18964907e-05 9.99995240e-01 -9.52336361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters Centerline goodness : 0.994094 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:-21.89, Z:-0.95 [[ 9.95643813e-01 9.31877480e-02 3.07265429e-03 3.03325330e+02] [-9.31873233e-02 9.95648554e-01 -2.81421277e-04 -2.18882359e+01] [-3.08550882e-03 -6.13707539e-06 9.99995240e-01 -9.50098758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters Centerline goodness : 0.994214 with order 1 Centerline is valid? [True, True] Translation: X:303.39, Y:-21.89, Z:-0.95 [[ 9.95346830e-01 9.63080834e-02 3.07260740e-03 3.03387599e+02] [-9.63076720e-02 9.95351572e-01 -2.81932314e-04 -2.18939231e+01] [-3.08547697e-03 -1.52952304e-05 9.99995240e-01 -9.50975808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:303.45, Y:-21.90, Z:-0.95 [[ 9.94820033e-01 1.01605421e-01 3.07256047e-03 3.03449542e+02] [-1.01605033e-01 9.94824777e-01 -2.82442803e-04 -2.19028920e+01] [-3.08535701e-03 -3.12078503e-05 9.99995240e-01 -9.47154109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:303.51, Y:-21.91, Z:-0.95 [[ 9.94998297e-01 9.98446224e-02 3.07251179e-03 3.03511118e+02] [-9.98442246e-02 9.95003041e-01 -2.82971417e-04 -2.19101426e+01] [-3.08541175e-03 -2.52164787e-05 9.99995240e-01 -9.48561856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters Centerline goodness : 0.994444 with order 1 Centerline is valid? [True, True] Translation: X:303.57, Y:-21.91, Z:-0.95 [[ 9.94787529e-01 1.01923165e-01 3.07246024e-03 3.03573569e+02] [-1.01922775e-01 9.94792274e-01 -2.83529982e-04 -2.19123742e+01] [-3.08535798e-03 -3.11015842e-05 9.99995240e-01 -9.52150016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters Centerline goodness : 0.994407 with order 1 Centerline is valid? [True, True] Translation: X:303.64, Y:-21.91, Z:-0.95 [[ 9.94312993e-01 1.06452958e-01 3.07241265e-03 3.03635543e+02] [-1.06452588e-01 9.94317739e-01 -2.84044724e-04 -2.19140824e+01] [-3.08519180e-03 -4.46369191e-05 9.99995240e-01 -9.51536489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters Centerline goodness : 0.992362 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:-21.92, Z:-0.94 [[ 9.94239082e-01 1.07141065e-01 3.07236481e-03 3.03697278e+02] [-1.07140698e-01 9.94243828e-01 -2.84561348e-04 -2.19181086e+01] [-3.08516795e-03 -4.62532950e-05 9.99995240e-01 -9.36670091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters Centerline goodness : 0.995017 with order 1 Centerline is valid? [True, True] Translation: X:303.76, Y:-21.92, Z:-0.95 [[ 9.94980136e-01 1.00025444e-01 3.07231716e-03 3.03759467e+02] [-1.00025041e-01 9.94984879e-01 -2.85074821e-04 -2.19228725e+01] [-3.08542385e-03 -2.36648639e-05 9.99995240e-01 -9.48130053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters Centerline goodness : 0.994656 with order 1 Centerline is valid? [True, True] Translation: X:303.82, Y:-21.93, Z:-0.95 [[ 9.95784045e-01 9.16771300e-02 3.07228331e-03 3.03821727e+02] [-9.16766856e-02 9.95788785e-01 -2.85439174e-04 -2.19319591e+01] [-3.08551351e-03 2.57902394e-06 9.99995240e-01 -9.54793524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters Centerline goodness : 0.994676 with order 1 Centerline is valid? [True, True] Translation: X:303.88, Y:-21.94, Z:-0.96 [[ 9.95994912e-01 8.93571258e-02 3.07223003e-03 3.03884550e+02] [-8.93566687e-02 9.95999651e-01 -2.86011463e-04 -2.19411988e+01] [-3.08549720e-03 1.03417206e-05 9.99995240e-01 -9.55655252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:303.95, Y:-21.95, Z:-0.95 [[ 9.95420079e-01 9.55480403e-02 3.07217602e-03 3.03945787e+02] [-9.55476109e-02 9.95424820e-01 -2.86590436e-04 -2.19452708e+01] [-3.08550342e-03 -8.26120446e-06 9.99995240e-01 -9.52483240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters Centerline goodness : 0.994573 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:-21.95, Z:-0.95 [[ 9.94848860e-01 1.01322786e-01 3.07216929e-03 3.04007180e+02] [-1.01322384e-01 9.94853603e-01 -2.86662603e-04 -2.19486559e+01] [-3.08540414e-03 -2.60935527e-05 9.99995240e-01 -9.45382767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters Centerline goodness : 0.994270 with order 1 Centerline is valid? [True, True] Translation: X:304.07, Y:-21.95, Z:-0.95 [[ 9.94191170e-01 1.07584753e-01 3.07214253e-03 3.04067745e+02] [-1.07584380e-01 9.94195916e-01 -2.86949108e-04 -2.19490908e+01] [-3.08518290e-03 -4.52322788e-05 9.99995240e-01 -9.49057388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:304.13, Y:-21.95, Z:-0.95 [[ 9.93915937e-01 1.10098468e-01 3.07214253e-03 3.04128583e+02] [-1.10098107e-01 9.93920683e-01 -2.86949108e-04 -2.19459592e+01] [-3.08505866e-03 -5.30337856e-05 9.99995240e-01 -9.53459609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters Centerline goodness : 0.994241 with order 1 Centerline is valid? [True, True] Translation: X:304.19, Y:-21.95, Z:-0.95 [[ 9.94376054e-01 1.05862293e-01 3.07214253e-03 3.04189312e+02] [-1.05861911e-01 9.94380799e-01 -2.86949108e-04 -2.19461309e+01] [-3.08525663e-03 -3.98875586e-05 9.99995240e-01 -9.54234896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:-21.95, Z:-0.95 [[ 9.94625334e-01 1.03493998e-01 3.07213908e-03 3.04250720e+02] [-1.03493605e-01 9.94630078e-01 -2.86985960e-04 -2.19464471e+01] [-3.08534326e-03 -3.25032422e-05 9.99995240e-01 -9.53078427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters Centerline goodness : 0.994082 with order 1 Centerline is valid? [True, True] Translation: X:304.31, Y:-21.95, Z:-0.95 [[ 9.94568556e-01 1.04038213e-01 3.07213228e-03 3.04310827e+02] [-1.04037823e-01 9.94573300e-01 -2.87058779e-04 -2.19450539e+01] [-3.08532582e-03 -3.41183182e-05 9.99995240e-01 -9.52156757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters Centerline goodness : 0.994757 with order 1 Centerline is valid? [True, True] Translation: X:304.37, Y:-21.94, Z:-0.95 [[ 9.94257157e-01 1.06973207e-01 3.07213565e-03 3.04370611e+02] [-1.06972830e-01 9.94261903e-01 -2.87022686e-04 -2.19434425e+01] [-3.08521118e-03 -4.32606859e-05 9.99995240e-01 -9.49357128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters Centerline goodness : 0.994849 with order 1 Centerline is valid? [True, True] Translation: X:304.43, Y:-21.94, Z:-0.95 [[ 9.94149749e-01 1.07966844e-01 3.07214235e-03 3.04430352e+02] [-1.07966473e-01 9.94154494e-01 -2.86951013e-04 -2.19416050e+01] [-3.08516532e-03 -4.64160956e-05 9.99995240e-01 -9.47715369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters Centerline goodness : 0.995176 with order 1 Centerline is valid? [True, True] Translation: X:304.49, Y:-21.94, Z:-0.95 [[ 9.94176484e-01 1.07720381e-01 3.07214906e-03 3.04489583e+02] [-1.07720009e-01 9.94181230e-01 -2.86879084e-04 -2.19410390e+01] [-3.08517566e-03 -4.57234861e-05 9.99995240e-01 -9.47721731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:304.55, Y:-21.93, Z:-0.95 [[ 9.93700352e-01 1.12027551e-01 3.07215902e-03 3.04548450e+02] [-1.12027199e-01 9.93705099e-01 -2.86772423e-04 -2.19320095e+01] [-3.08494650e-03 -5.91995129e-05 9.99995240e-01 -9.49594692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters Centerline goodness : 0.994746 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:-21.92, Z:-0.95 [[ 9.92860002e-01 1.19245875e-01 3.07217546e-03 3.04608277e+02] [-1.19245559e-01 9.92864751e-01 -2.86596162e-04 -2.19197932e+01] [-3.08443014e-03 -8.17934148e-05 9.99995240e-01 -9.52710640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters Centerline goodness : 0.995340 with order 1 Centerline is valid? [True, True] Translation: X:304.67, Y:-21.91, Z:-0.95 [[ 9.92946570e-01 1.18522874e-01 3.07218912e-03 3.04668065e+02] [-1.18522555e-01 9.92951319e-01 -2.86449727e-04 -2.19070362e+01] [-3.08448508e-03 -7.96944284e-05 9.99995240e-01 -9.53253697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters Centerline goodness : 0.995281 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:-21.90, Z:-0.95 [[ 9.94344195e-01 1.06161116e-01 3.07220281e-03 3.04727171e+02] [-1.06160738e-01 9.94348941e-01 -2.86302748e-04 -2.18993381e+01] [-3.08523583e-03 -4.14638427e-05 9.99995240e-01 -9.50358982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:-21.90, Z:-0.95 [[ 9.95603759e-01 9.36147193e-02 3.07221974e-03 3.04786258e+02] [-9.36142821e-02 9.95608500e-01 -2.86121017e-04 -2.18978729e+01] [-3.08551322e-03 -2.74048479e-06 9.99995240e-01 -9.54334628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters Centerline goodness : 0.994851 with order 1 Centerline is valid? [True, True] Translation: X:304.84, Y:-21.90, Z:-0.95 [[ 9.96188580e-01 8.71715276e-02 3.07223315e-03 3.04844885e+02] [-8.71710602e-02 9.96193317e-01 -2.85976902e-04 -2.18975314e+01] [-3.08546718e-03 1.70771029e-05 9.99995240e-01 -9.54986228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:304.90, Y:-21.91, Z:-0.95 [[ 9.96889265e-01 7.87550281e-02 3.07224633e-03 3.04903534e+02] [-7.87545211e-02 9.96893998e-01 -2.85835314e-04 -2.19064620e+01] [-3.08521489e-03 4.29928683e-05 9.99995240e-01 -9.52334256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:304.96, Y:-21.92, Z:-0.94 [[ 9.97663994e-01 6.82430656e-02 3.07225957e-03 3.04961046e+02] [-6.82425092e-02 9.97668722e-01 -2.85692887e-04 -2.19202295e+01] [-3.08459384e-03 7.53668049e-05 9.99995240e-01 -9.39541428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters Centerline goodness : 0.995703 with order 1 Centerline is valid? [True, True] Translation: X:305.02, Y:-21.93, Z:-0.95 [[ 9.98007199e-01 6.30253276e-02 3.07227284e-03 3.05018713e+02] [-6.30247469e-02 9.98011924e-01 -2.85550167e-04 -2.19312913e+01] [-3.08416182e-03 9.13519047e-05 9.99995240e-01 -9.50323609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters Centerline goodness : 0.995742 with order 1 Centerline is valid? [True, True] Translation: X:305.08, Y:-21.95, Z:-0.96 [[ 9.98107926e-01 6.14095153e-02 3.07228265e-03 3.05077482e+02] [-6.14089274e-02 9.98112650e-01 -2.85444594e-04 -2.19480739e+01] [-3.08401319e-03 9.62389300e-05 9.99995240e-01 -9.58423895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters Centerline goodness : 0.995801 with order 1 Centerline is valid? [True, True] Translation: X:305.14, Y:-21.96, Z:-0.95 [[ 9.97920652e-01 6.43811568e-02 3.07228914e-03 3.05136212e+02] [-6.43805831e-02 9.97925378e-01 -2.85374625e-04 -2.19643311e+01] [-3.08428805e-03 8.69854655e-05 9.99995240e-01 -9.54922117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters Centerline goodness : 0.996055 with order 1 Centerline is valid? [True, True] Translation: X:305.19, Y:-21.98, Z:-0.96 [[ 9.97469452e-01 7.10299431e-02 3.07229561e-03 3.05193623e+02] [-7.10294011e-02 9.97474182e-01 -2.85305001e-04 -2.19812796e+01] [-3.08480075e-03 6.63597057e-05 9.99995240e-01 -9.56736775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters Centerline goodness : 0.995242 with order 1 Centerline is valid? [True, True] Translation: X:305.25, Y:-21.99, Z:-0.96 [[ 9.97329719e-01 7.29656927e-02 3.07230237e-03 3.05252852e+02] [-7.29651601e-02 9.97334449e-01 -2.85232181e-04 -2.19896028e+01] [-3.08492516e-03 6.02994969e-05 9.99995240e-01 -9.59467423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters Centerline goodness : 0.994813 with order 1 Centerline is valid? [True, True] Translation: X:305.31, Y:-22.01, Z:-0.96 [[ 9.96851213e-01 7.92352163e-02 3.07230877e-03 3.05310184e+02] [-7.92347136e-02 9.96855947e-01 -2.85163273e-04 -2.20050975e+01] [-3.08524424e-03 4.08318490e-05 9.99995240e-01 -9.61583064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters Centerline goodness : 0.995503 with order 1 Centerline is valid? [True, True] Translation: X:305.37, Y:-22.02, Z:-0.96 [[ 9.96113953e-01 8.80201861e-02 3.07231828e-03 3.05368919e+02] [-8.80197256e-02 9.96118691e-01 -2.85060688e-04 -2.20151532e+01] [-3.08548476e-03 1.35283168e-05 9.99995240e-01 -9.55342316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters Centerline goodness : 0.995799 with order 1 Centerline is valid? [True, True] Translation: X:305.43, Y:-22.02, Z:-0.95 [[ 9.95419253e-01 9.55566452e-02 3.07232457e-03 3.05427678e+02] [-9.55562207e-02 9.95423994e-01 -2.84992936e-04 -2.20222192e+01] [-3.08549856e-03 -9.89226924e-06 9.99995240e-01 -9.54513828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters Centerline goodness : 0.995373 with order 1 Centerline is valid? [True, True] Translation: X:305.49, Y:-22.03, Z:-0.95 [[ 9.95218869e-01 9.76215298e-02 3.07233182e-03 3.05487522e+02] [-9.76211154e-02 9.95223611e-01 -2.84914698e-04 -2.20265549e+01] [-3.08547098e-03 -1.63719764e-05 9.99995240e-01 -9.51515333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters Centerline goodness : 0.995441 with order 1 Centerline is valid? [True, True] Translation: X:305.55, Y:-22.03, Z:-0.96 [[ 9.95242778e-01 9.73774782e-02 3.07233802e-03 3.05547295e+02] [-9.73770628e-02 9.95247520e-01 -2.84847829e-04 -2.20284077e+01] [-3.08547456e-03 -1.56825082e-05 9.99995240e-01 -9.57668735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters Centerline goodness : 0.995750 with order 1 Centerline is valid? [True, True] Translation: X:305.61, Y:-22.03, Z:-0.96 [[ 9.95771158e-01 9.18169998e-02 3.07234436e-03 3.05607153e+02] [-9.18165582e-02 9.95775898e-01 -2.84779523e-04 -2.20337118e+01] [-3.08551406e-03 1.48315074e-06 9.99995240e-01 -9.55582955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters Centerline goodness : 0.995453 with order 1 Centerline is valid? [True, True] Translation: X:305.67, Y:-22.04, Z:-0.95 [[ 9.96119319e-01 8.79594392e-02 3.07235065e-03 3.05666705e+02] [-8.79589794e-02 9.96124057e-01 -2.84711598e-04 -2.20407385e+01] [-3.08548547e-03 1.33658956e-05 9.99995240e-01 -9.54909123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:305.73, Y:-22.05, Z:-0.96 [[ 9.95897089e-01 9.04408566e-02 3.07235749e-03 3.05725623e+02] [-9.04404089e-02 9.95901828e-01 -2.84637748e-04 -2.20450717e+01] [-3.08550933e-03 5.60463708e-06 9.99995240e-01 -9.55708029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters Centerline goodness : 0.995305 with order 1 Centerline is valid? [True, True] Translation: X:305.78, Y:-22.04, Z:-0.96 [[ 9.95184324e-01 9.79730637e-02 3.07236766e-03 3.05783401e+02] [-9.79726522e-02 9.95189067e-01 -2.84527944e-04 -2.20440145e+01] [-3.08546278e-03 -1.78502584e-05 9.99995240e-01 -9.59802361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters Centerline goodness : 0.995059 with order 1 Centerline is valid? [True, True] Translation: X:305.84, Y:-22.05, Z:-0.96 [[ 9.95122439e-01 9.85996558e-02 3.07238509e-03 3.05842107e+02] [-9.85992479e-02 9.95127182e-01 -2.84339570e-04 -2.20489190e+01] [-3.08544970e-03 -1.99821728e-05 9.99995240e-01 -9.57205441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters Centerline goodness : 0.995123 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:-22.06, Z:-0.96 [[ 9.95551300e-01 9.41709536e-02 3.07239843e-03 3.05900584e+02] [-9.41705250e-02 9.95556041e-01 -2.84195398e-04 -2.20554462e+01] [-3.08550777e-03 -6.39827497e-06 9.99995240e-01 -9.58347171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:305.96, Y:-22.06, Z:-0.95 [[ 9.95580711e-01 9.38595117e-02 3.07240832e-03 3.05959316e+02] [-9.38590819e-02 9.95585452e-01 -2.84088445e-04 -2.20586317e+01] [-3.08550943e-03 -5.54044759e-06 9.99995240e-01 -9.49225188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters Centerline goodness : 0.995183 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:-22.06, Z:-0.95 [[ 9.95330388e-01 9.64778709e-02 3.07242176e-03 3.06017252e+02] [-9.64774541e-02 9.95335130e-01 -2.83943009e-04 -2.20627202e+01] [-3.08548353e-03 -1.38023243e-05 9.99995240e-01 -9.47021914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:306.08, Y:-22.06, Z:-0.95 [[ 9.95216310e-01 9.76476105e-02 3.07243841e-03 3.06075798e+02] [-9.76471998e-02 9.95221053e-01 -2.83762682e-04 -2.20635028e+01] [-3.08546414e-03 -1.76097580e-05 9.99995240e-01 -9.50739157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters Centerline goodness : 0.995500 with order 1 Centerline is valid? [True, True] Translation: X:306.13, Y:-22.07, Z:-0.95 [[ 9.95256017e-01 9.72420693e-02 3.07245181e-03 3.06134461e+02] [-9.72416571e-02 9.95260760e-01 -2.83617547e-04 -2.20675532e+01] [-3.08547028e-03 -1.64982351e-05 9.99995240e-01 -9.52070649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:306.19, Y:-22.07, Z:-0.95 [[ 9.95340167e-01 9.63769284e-02 3.07246594e-03 3.06192521e+02] [-9.63765126e-02 9.95344909e-01 -2.83464453e-04 -2.20685833e+01] [-3.08548276e-03 -1.39699960e-05 9.99995240e-01 -9.48826011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:306.25, Y:-22.07, Z:-0.95 [[ 9.95326228e-01 9.65207730e-02 3.07248367e-03 3.06250747e+02] [-9.65203585e-02 9.95330970e-01 -2.83272140e-04 -2.20731955e+01] [-3.08547980e-03 -1.46090343e-05 9.99995240e-01 -9.52236829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:-22.08, Z:-0.96 [[ 9.95371825e-01 9.60494150e-02 3.07249700e-03 3.06309667e+02] [-9.60489986e-02 9.95376567e-01 -2.83127444e-04 -2.20783592e+01] [-3.08548574e-03 -1.32931792e-05 9.99995240e-01 -9.55537171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:306.37, Y:-22.09, Z:-0.96 [[ 9.95744157e-01 9.21093512e-02 3.07251055e-03 3.06369154e+02] [-9.21089166e-02 9.95748898e-01 -2.82980284e-04 -2.20865924e+01] [-3.08551413e-03 -1.22965400e-06 9.99995240e-01 -9.56174617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters Centerline goodness : 0.994739 with order 1 Centerline is valid? [True, True] Translation: X:306.43, Y:-22.10, Z:-0.96 [[ 9.96182440e-01 8.72416533e-02 3.07251730e-03 3.06426595e+02] [-8.72411957e-02 9.96187178e-01 -2.82907040e-04 -2.20971568e+01] [-3.08548361e-03 1.37769430e-05 9.99995240e-01 -9.56268061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters Centerline goodness : 0.994920 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:-22.11, Z:-0.96 [[ 9.96570153e-01 8.26951646e-02 3.07252728e-03 3.06484983e+02] [-8.26946857e-02 9.96574889e-01 -2.82798552e-04 -2.21117707e+01] [-3.08538961e-03 2.77469179e-05 9.99995240e-01 -9.55320307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters Centerline goodness : 0.994654 with order 1 Centerline is valid? [True, True] Translation: X:306.54, Y:-22.13, Z:-0.95 [[ 9.96909313e-01 7.85008371e-02 3.07253387e-03 3.06544100e+02] [-7.85003385e-02 9.96914047e-01 -2.82726978e-04 -2.21288049e+01] [-3.08524648e-03 4.06582082e-05 9.99995240e-01 -9.51913609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:306.60, Y:-22.15, Z:-0.95 [[ 9.96963570e-01 7.78087415e-02 3.07253387e-03 3.06602920e+02] [-7.78082396e-02 9.96968303e-01 -2.82726978e-04 -2.21474133e+01] [-3.08521751e-03 4.28000454e-05 9.99995240e-01 -9.50569467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters Centerline goodness : 0.995070 with order 1 Centerline is valid? [True, True] Translation: X:306.66, Y:-22.16, Z:-0.95 [[ 9.96780042e-01 8.01255669e-02 3.07253387e-03 3.06661910e+02] [-8.01250760e-02 9.96784777e-01 -2.82726978e-04 -2.21616685e+01] [-3.08530865e-03 3.56295989e-05 9.99995240e-01 -9.50542646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters Centerline goodness : 0.994608 with order 1 Centerline is valid? [True, True] Translation: X:306.72, Y:-22.18, Z:-0.95 [[ 9.95838955e-01 9.10787261e-02 3.07253048e-03 3.06719372e+02] [-9.10782871e-02 9.95843695e-01 -2.82763856e-04 -2.21811069e+01] [-3.08551388e-03 1.74644976e-06 9.99995240e-01 -9.54162086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters Centerline goodness : 0.993995 with order 1 Centerline is valid? [True, True] Translation: X:306.78, Y:-22.19, Z:-0.95 [[ 9.95359369e-01 9.61784067e-02 3.07253370e-03 3.06780632e+02] [-9.61779922e-02 9.95364111e-01 -2.82728815e-04 -2.21896983e+01] [-3.08548218e-03 -1.40933474e-05 9.99995240e-01 -9.49633501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters Centerline goodness : 0.993830 with order 1 Centerline is valid? [True, True] Translation: X:306.84, Y:-22.20, Z:-0.95 [[ 9.95335157e-01 9.64286487e-02 3.07252700e-03 3.06842176e+02] [-9.64282351e-02 9.95339899e-01 -2.82801582e-04 -2.22005981e+01] [-3.08547889e-03 -1.47959988e-05 9.99995240e-01 -9.50166712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters Centerline goodness : 0.993905 with order 1 Centerline is valid? [True, True] Translation: X:306.90, Y:-22.21, Z:-0.96 [[ 9.95402468e-01 9.57313242e-02 3.07248036e-03 3.06903975e+02] [-9.57309058e-02 9.95407210e-01 -2.83307396e-04 -2.22064828e+01] [-3.08549050e-03 -1.21264470e-05 9.99995240e-01 -9.55738113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters Centerline goodness : 0.993467 with order 1 Centerline is valid? [True, True] Translation: X:306.96, Y:-22.21, Z:-0.95 [[ 9.95564941e-01 9.40266388e-02 3.07243379e-03 3.06964525e+02] [-9.40262107e-02 9.95569682e-01 -2.83811616e-04 -2.22135348e+01] [-3.08550778e-03 -6.33641241e-06 9.99995240e-01 -9.52731866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters Centerline goodness : 0.992583 with order 1 Centerline is valid? [True, True] Translation: X:307.03, Y:-22.22, Z:-0.95 [[ 9.95497065e-01 9.47425715e-02 3.07239095e-03 3.07026132e+02] [-9.47421454e-02 9.95501806e-01 -2.84274576e-04 -2.22227547e+01] [-3.08550364e-03 -8.09040453e-06 9.99995240e-01 -9.51555715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters Centerline goodness : 0.992246 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:-22.23, Z:-0.95 [[ 9.95242858e-01 9.73766580e-02 3.07234479e-03 3.07086699e+02] [-9.73762428e-02 9.95247600e-01 -2.84772610e-04 -2.22316462e+01] [-3.08547398e-03 -1.57554858e-05 9.99995240e-01 -9.54504996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:307.15, Y:-22.24, Z:-0.95 [[ 9.94936641e-01 1.00457161e-01 3.07230230e-03 3.07147569e+02] [-1.00456759e-01 9.94941384e-01 -2.85230288e-04 -2.22376051e+01] [-3.08541413e-03 -2.48474684e-05 9.99995240e-01 -9.49113236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:307.21, Y:-22.24, Z:-0.95 [[ 9.94215641e-01 1.07358374e-01 3.07229573e-03 3.07208394e+02] [-1.07358005e-01 9.94220387e-01 -2.85301041e-04 -2.22437735e+01] [-3.08516850e-03 -4.61847834e-05 9.99995240e-01 -9.48338862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters Centerline goodness : 0.992006 with order 1 Centerline is valid? [True, True] Translation: X:307.27, Y:-22.25, Z:-0.95 [[ 9.93769790e-01 1.11409899e-01 3.07228897e-03 3.07269369e+02] [-1.11409549e-01 9.93774537e-01 -2.85373803e-04 -2.22467953e+01] [-3.08495601e-03 -5.86864631e-05 9.99995240e-01 -9.48813704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters Centerline goodness : 0.991711 with order 1 Centerline is valid? [True, True] Translation: X:307.33, Y:-22.25, Z:-0.95 [[ 9.93618190e-01 1.12753954e-01 3.07228222e-03 3.07331365e+02] [-1.12753611e-01 9.93622937e-01 -2.85446412e-04 -2.22459533e+01] [-3.08487530e-03 -6.27861655e-05 9.99995240e-01 -9.49692476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters Centerline goodness : 0.991321 with order 1 Centerline is valid? [True, True] Translation: X:307.39, Y:-22.24, Z:-0.95 [[ 9.93932157e-01 1.09951936e-01 3.07227552e-03 3.07393113e+02] [-1.09951578e-01 9.93936904e-01 -2.85518517e-04 -2.22447915e+01] [-3.08504133e-03 -5.40155075e-05 9.99995240e-01 -9.49530130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters Centerline goodness : 0.991239 with order 1 Centerline is valid? [True, True] Translation: X:307.45, Y:-22.24, Z:-0.95 [[ 9.94771084e-01 1.02083554e-01 3.07226874e-03 3.07454861e+02] [-1.02083159e-01 9.94775828e-01 -2.85591455e-04 -2.22440026e+01] [-3.08537287e-03 -2.95287774e-05 9.99995240e-01 -9.48860153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters Centerline goodness : 0.990944 with order 1 Centerline is valid? [True, True] Translation: X:307.51, Y:-22.25, Z:-0.95 [[ 9.95540725e-01 9.42826961e-02 3.07226198e-03 3.07514845e+02] [-9.42822634e-02 9.95545465e-01 -2.85664146e-04 -2.22490499e+01] [-3.08550967e-03 -5.26952282e-06 9.99995240e-01 -9.46852959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters Centerline goodness : 0.990584 with order 1 Centerline is valid? [True, True] Translation: X:307.58, Y:-22.25, Z:-0.95 [[ 9.95609648e-01 9.35520726e-02 3.07225861e-03 3.07575730e+02] [-9.35516364e-02 9.95614388e-01 -2.85700367e-04 -2.22533455e+01] [-3.08551274e-03 -2.96877959e-06 9.99995240e-01 -9.47761460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters Centerline goodness : 0.990828 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:-22.26, Z:-0.95 [[ 9.95551211e-01 9.41719002e-02 3.07225206e-03 3.07636731e+02] [-9.41714667e-02 9.95555952e-01 -2.85770875e-04 -2.22615992e+01] [-3.08551041e-03 -4.81894127e-06 9.99995240e-01 -9.46079330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters Centerline goodness : 0.989769 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:-22.27, Z:-0.95 [[ 9.95123160e-01 9.85923847e-02 3.07224549e-03 3.07695878e+02] [-9.85919721e-02 9.95127902e-01 -2.85841402e-04 -2.22670199e+01] [-3.08545900e-03 -1.84513424e-05 9.99995240e-01 -9.50502353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters Centerline goodness : 0.989766 with order 1 Centerline is valid? [True, True] Translation: X:307.76, Y:-22.27, Z:-0.95 [[ 9.94705607e-01 1.02719602e-01 3.07224874e-03 3.07756076e+02] [-1.02719209e-01 9.94710351e-01 -2.85806559e-04 -2.22707640e+01] [-3.08535555e-03 -3.12855735e-05 9.99995240e-01 -9.51350942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters Centerline goodness : 0.990084 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:-22.28, Z:-0.95 [[ 9.94462499e-01 1.05047128e-01 3.07224874e-03 3.07816539e+02] [-1.05046747e-01 9.94467244e-01 -2.85806559e-04 -2.22761170e+01] [-3.08527389e-03 -3.85058297e-05 9.99995240e-01 -9.52281205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters Centerline goodness : 0.990094 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:-22.28, Z:-0.95 [[ 9.94365722e-01 1.05959296e-01 3.07224874e-03 3.07875922e+02] [-1.05958919e-01 9.94370467e-01 -2.85806559e-04 -2.22832296e+01] [-3.08523727e-03 -4.13359088e-05 9.99995240e-01 -9.50169739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters Centerline goodness : 0.989707 with order 1 Centerline is valid? [True, True] Translation: X:307.94, Y:-22.29, Z:-0.95 [[ 9.94712836e-01 1.02649577e-01 3.07225204e-03 3.07935762e+02] [-1.02649184e-01 9.94717580e-01 -2.85771036e-04 -2.22896377e+01] [-3.08535739e-03 -3.11040467e-05 9.99995240e-01 -9.48992277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters Centerline goodness : 0.989216 with order 1 Centerline is valid? [True, True] Translation: X:308.00, Y:-22.30, Z:-0.95 [[ 9.94783469e-01 1.01962794e-01 3.07225204e-03 3.07996292e+02] [-1.01962398e-01 9.94788213e-01 -2.85771036e-04 -2.22960760e+01] [-3.08537813e-03 -2.89738828e-05 9.99995240e-01 -9.54983185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters Centerline goodness : 0.989032 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:-22.30, Z:-0.95 [[ 9.94615913e-01 1.03584496e-01 3.07225204e-03 3.08056590e+02] [-1.03584107e-01 9.94620657e-01 -2.85771036e-04 -2.23028031e+01] [-3.08532679e-03 -3.40040653e-05 9.99995240e-01 -9.49685848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters Centerline goodness : 0.989016 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:-22.31, Z:-0.95 [[ 9.94750601e-01 1.02282961e-01 3.07225204e-03 3.08117786e+02] [-1.02282566e-01 9.94755344e-01 -2.85771036e-04 -2.23113559e+01] [-3.08536864e-03 -2.99669121e-05 9.99995240e-01 -9.45660576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters Centerline goodness : 0.988889 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:-22.32, Z:-0.95 [[ 9.94674208e-01 1.03023204e-01 3.07224540e-03 3.08178484e+02] [-1.03022813e-01 9.94678952e-01 -2.85842357e-04 -2.23207553e+01] [-3.08534624e-03 -3.21913432e-05 9.99995240e-01 -9.50711848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters Centerline goodness : 0.988962 with order 1 Centerline is valid? [True, True] Translation: X:308.24, Y:-22.33, Z:-0.94 [[ 9.94120015e-01 1.08240272e-01 3.07223875e-03 3.08237389e+02] [-1.08239905e-01 9.94124761e-01 -2.85913868e-04 -2.23259118e+01] [-3.08513601e-03 -4.83061319e-05 9.99995240e-01 -9.44205353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters Centerline goodness : 0.988658 with order 1 Centerline is valid? [True, True] Translation: X:308.30, Y:-22.33, Z:-0.94 [[ 9.93592039e-01 1.12984165e-01 3.07224205e-03 3.08298111e+02] [-1.12983821e-01 9.93596787e-01 -2.85878441e-04 -2.23308494e+01] [-3.08486956e-03 -6.30671034e-05 9.99995240e-01 -9.44776931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters Centerline goodness : 0.989204 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:-22.33, Z:-0.95 [[ 9.93492419e-01 1.13856813e-01 3.07224205e-03 3.08358597e+02] [-1.13856474e-01 9.93497167e-01 -2.85878441e-04 -2.23332784e+01] [-3.08481298e-03 -6.57765809e-05 9.99995240e-01 -9.53762412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters Centerline goodness : 0.988381 with order 1 Centerline is valid? [True, True] Translation: X:308.42, Y:-22.34, Z:-0.96 [[ 9.93805353e-01 1.11092220e-01 3.07224205e-03 3.08419101e+02] [-1.11091867e-01 9.93810100e-01 -2.85878441e-04 -2.23384957e+01] [-3.08498405e-03 -5.71935788e-05 9.99995240e-01 -9.56145860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters Centerline goodness : 0.989148 with order 1 Centerline is valid? [True, True] Translation: X:308.48, Y:-22.34, Z:-0.96 [[ 9.94244216e-01 1.07093415e-01 3.07224205e-03 3.08478917e+02] [-1.07093043e-01 9.94248962e-01 -2.85878441e-04 -2.23442653e+01] [-3.08518916e-03 -4.47827622e-05 9.99995240e-01 -9.55665012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters Centerline goodness : 0.989030 with order 1 Centerline is valid? [True, True] Translation: X:308.54, Y:-22.35, Z:-0.96 [[ 9.94373343e-01 1.05887755e-01 3.07223874e-03 3.08538953e+02] [-1.05887377e-01 9.94378088e-01 -2.85913926e-04 -2.23465600e+01] [-3.08524167e-03 -4.10061158e-05 9.99995240e-01 -9.57859121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters Centerline goodness : 0.988864 with order 1 Centerline is valid? [True, True] Translation: X:308.60, Y:-22.35, Z:-0.95 [[ 9.94209089e-01 1.07419034e-01 3.07223874e-03 3.08599686e+02] [-1.07418663e-01 9.94213835e-01 -2.85913926e-04 -2.23480317e+01] [-3.08517486e-03 -4.57575551e-05 9.99995240e-01 -9.54761512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters Centerline goodness : 0.989042 with order 1 Centerline is valid? [True, True] Translation: X:308.66, Y:-22.35, Z:-0.95 [[ 9.93668043e-01 1.12313768e-01 3.07223874e-03 3.08658185e+02] [-1.12313421e-01 9.93672790e-01 -2.85913926e-04 -2.23475635e+01] [-3.08491211e-03 -6.09501102e-05 9.99995240e-01 -9.51401938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters Centerline goodness : 0.989529 with order 1 Centerline is valid? [True, True] Translation: X:308.72, Y:-22.35, Z:-0.95 [[ 9.93595508e-01 1.12953650e-01 3.07224880e-03 3.08717127e+02] [-1.12953306e-01 9.93600256e-01 -2.85805837e-04 -2.23451699e+01] [-3.08487001e-03 -6.30452631e-05 9.99995240e-01 -9.51348849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters Centerline goodness : 0.989202 with order 1 Centerline is valid? [True, True] Translation: X:308.78, Y:-22.35, Z:-0.95 [[ 9.94421300e-01 1.05436423e-01 3.07226146e-03 3.08777469e+02] [-1.05436044e-01 9.94426045e-01 -2.85669687e-04 -2.23479437e+01] [-3.08525680e-03 -3.98510719e-05 9.99995240e-01 -9.49364887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters Centerline goodness : 0.988525 with order 1 Centerline is valid? [True, True] Translation: X:308.84, Y:-22.35, Z:-0.95 [[ 9.95264951e-01 9.71505969e-02 3.07226146e-03 3.08836474e+02] [-9.71501779e-02 9.95269693e-01 -2.85669687e-04 -2.23527736e+01] [-3.08548170e-03 -1.41537203e-05 9.99995240e-01 -9.51843494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters Centerline goodness : 0.988064 with order 1 Centerline is valid? [True, True] Translation: X:308.90, Y:-22.36, Z:-0.95 [[ 9.95618386e-01 9.34590336e-02 3.07226483e-03 3.08895360e+02] [-9.34585971e-02 9.95623126e-01 -2.85633459e-04 -2.23585270e+01] [-3.08551294e-03 -2.74763696e-06 9.99995240e-01 -9.52065571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters Centerline goodness : 0.988058 with order 1 Centerline is valid? [True, True] Translation: X:308.96, Y:-22.36, Z:-0.96 [[ 9.95561385e-01 9.40642901e-02 3.07227133e-03 3.08956052e+02] [-9.40638568e-02 9.95566125e-01 -2.85563529e-04 -2.23626936e+01] [-3.08551059e-03 -4.69366821e-06 9.99995240e-01 -9.60319998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters Centerline goodness : 0.988909 with order 1 Centerline is valid? [True, True] Translation: X:309.01, Y:-22.37, Z:-0.96 [[ 9.95550412e-01 9.41803498e-02 3.07227133e-03 3.09014802e+02] [-9.41799170e-02 9.95555153e-01 -2.85563529e-04 -2.23684624e+01] [-3.08551002e-03 -5.05336998e-06 9.99995240e-01 -9.64768800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters Centerline goodness : 0.989646 with order 1 Centerline is valid? [True, True] Translation: X:309.07, Y:-22.37, Z:-0.96 [[ 9.95557021e-01 9.41104649e-02 3.07227467e-03 3.09073197e+02] [-9.41100319e-02 9.95561761e-01 -2.85527528e-04 -2.23728107e+01] [-3.08551031e-03 -4.87293214e-06 9.99995240e-01 -9.63907384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters Centerline goodness : 0.989353 with order 1 Centerline is valid? [True, True] Translation: X:309.13, Y:-22.38, Z:-0.96 [[ 9.95728821e-01 9.22750048e-02 3.07228417e-03 3.09133585e+02] [-9.22745634e-02 9.95733560e-01 -2.85425239e-04 -2.23805132e+01] [-3.08551408e-03 7.12455774e-07 9.99995240e-01 -9.59299680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters Centerline goodness : 0.989096 with order 1 Centerline is valid? [True, True] Translation: X:309.19, Y:-22.39, Z:-0.96 [[ 9.95935871e-01 9.00127823e-02 3.07228417e-03 3.09192704e+02] [-9.00123301e-02 9.95940610e-01 -2.85425239e-04 -2.23880442e+01] [-3.08550450e-03 7.72177703e-06 9.99995240e-01 -9.63049505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters Centerline goodness : 0.988596 with order 1 Centerline is valid? [True, True] Translation: X:309.25, Y:-22.39, Z:-0.96 [[ 9.95826310e-01 9.12168948e-02 3.07228741e-03 3.09252566e+02] [-9.12164485e-02 9.95831049e-01 -2.85390444e-04 -2.23940335e+01] [-3.08551162e-03 3.95616639e-06 9.99995240e-01 -9.58446982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters Centerline goodness : 0.989571 with order 1 Centerline is valid? [True, True] Translation: X:309.31, Y:-22.40, Z:-0.96 [[ 9.95409539e-01 9.56577776e-02 3.07228741e-03 3.09312215e+02] [-9.56573523e-02 9.95414280e-01 -2.85390444e-04 -2.23996969e+01] [-3.08549857e-03 -9.80650902e-06 9.99995240e-01 -9.56972004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters Centerline goodness : 0.989949 with order 1 Centerline is valid? [True, True] Translation: X:309.37, Y:-22.40, Z:-0.96 [[ 9.94992221e-01 9.99051634e-02 3.07229077e-03 3.09370987e+02] [-9.99047586e-02 9.94996964e-01 -2.85354238e-04 -2.24035205e+01] [-3.08542835e-03 -2.30112201e-05 9.99995240e-01 -9.62546888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:309.43, Y:-22.41, Z:-0.95 [[ 9.94839703e-01 1.01412649e-01 3.07230073e-03 3.09430748e+02] [-1.01412252e-01 9.94844447e-01 -2.85246916e-04 -2.24094869e+01] [-3.08538897e-03 -2.77939787e-05 9.99995240e-01 -9.54986119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters Centerline goodness : 0.990276 with order 1 Centerline is valid? [True, True] Translation: X:309.49, Y:-22.42, Z:-0.96 [[ 9.95113408e-01 9.86907559e-02 3.07230718e-03 3.09489879e+02] [-9.86903458e-02 9.95118151e-01 -2.85177426e-04 -2.24167062e+01] [-3.08545302e-03 -1.94231780e-05 9.99995240e-01 -9.56353769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters Centerline goodness : 0.989653 with order 1 Centerline is valid? [True, True] Translation: X:309.55, Y:-22.43, Z:-0.97 [[ 9.95681895e-01 9.27799851e-02 3.07231364e-03 3.09549640e+02] [-9.27795470e-02 9.95686635e-01 -2.85107857e-04 -2.24280769e+01] [-3.08551393e-03 -1.17113654e-06 9.99995240e-01 -9.67311697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters Centerline goodness : 0.990346 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:-22.44, Z:-0.96 [[ 9.95653900e-01 9.30799221e-02 3.07231364e-03 3.09610402e+02] [-9.30794855e-02 9.95658640e-01 -2.85107857e-04 -2.24380256e+01] [-3.08551344e-03 -2.10062290e-06 9.99995240e-01 -9.62115227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters Centerline goodness : 0.989789 with order 1 Centerline is valid? [True, True] Translation: X:309.67, Y:-22.45, Z:-0.96 [[ 9.95017624e-01 9.96518397e-02 3.07230703e-03 3.09669532e+02] [-9.96514341e-02 9.95022367e-01 -2.85179068e-04 -2.24477140e+01] [-3.08543283e-03 -2.24016028e-05 9.99995240e-01 -9.56632719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters Centerline goodness : 0.990241 with order 1 Centerline is valid? [True, True] Translation: X:309.73, Y:-22.45, Z:-0.96 [[ 9.94690230e-01 1.02868402e-01 3.07231029e-03 3.09730020e+02] [-1.02868012e-01 9.94694974e-01 -2.85143950e-04 -2.24523189e+01] [-3.08534391e-03 -3.24125513e-05 9.99995240e-01 -9.58174725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters Centerline goodness : 0.989847 with order 1 Centerline is valid? [True, True] Translation: X:309.79, Y:-22.46, Z:-0.96 [[ 9.94929041e-01 1.00532407e-01 3.07231029e-03 3.09790901e+02] [-1.00532006e-01 9.94933784e-01 -2.85143950e-04 -2.24579432e+01] [-3.08541151e-03 -2.51675183e-05 9.99995240e-01 -9.63929674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters Centerline goodness : 0.989471 with order 1 Centerline is valid? [True, True] Translation: X:309.85, Y:-22.46, Z:-0.96 [[ 9.95239019e-01 9.74158953e-02 3.07230350e-03 3.09851349e+02] [-9.74154790e-02 9.95243761e-01 -2.85217130e-04 -2.24614209e+01] [-3.08547557e-03 -1.54307004e-05 9.99995240e-01 -9.62141778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters Centerline goodness : 0.990039 with order 1 Centerline is valid? [True, True] Translation: X:309.91, Y:-22.46, Z:-0.96 [[ 9.95594224e-01 9.37160706e-02 3.07230012e-03 3.09911531e+02] [-9.37156366e-02 9.95598964e-01 -2.85253462e-04 -2.24640534e+01] [-3.08551165e-03 -3.92586313e-06 9.99995240e-01 -9.59833229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters Centerline goodness : 0.990137 with order 1 Centerline is valid? [True, True] Translation: X:309.97, Y:-22.47, Z:-0.96 [[ 9.95569288e-01 9.39806007e-02 3.07229679e-03 3.09970818e+02] [-9.39801678e-02 9.95574029e-01 -2.85289381e-04 -2.24684041e+01] [-3.08551056e-03 -4.70962130e-06 9.99995240e-01 -9.57031049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters Centerline goodness : 0.990073 with order 1 Centerline is valid? [True, True] Translation: X:310.03, Y:-22.48, Z:-0.96 [[ 9.95303575e-01 9.67540932e-02 3.07229981e-03 3.10030370e+02] [-9.67536736e-02 9.95308317e-01 -2.85256786e-04 -2.24772790e+01] [-3.08548532e-03 -1.33391946e-05 9.99995240e-01 -9.59251093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters Centerline goodness : 0.990270 with order 1 Centerline is valid? [True, True] Translation: X:310.09, Y:-22.49, Z:-0.96 [[ 9.94824916e-01 1.01557606e-01 3.07229981e-03 3.10089754e+02] [-1.01557210e-01 9.94829660e-01 -2.85256786e-04 -2.24852823e+01] [-3.08538497e-03 -2.82336379e-05 9.99995240e-01 -9.58516036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters Centerline goodness : 0.989930 with order 1 Centerline is valid? [True, True] Translation: X:310.15, Y:-22.49, Z:-0.96 [[ 9.94520018e-01 1.04501172e-01 3.07230304e-03 3.10149625e+02] [-1.04500789e-01 9.94524763e-01 -2.85222011e-04 -2.24922920e+01] [-3.08528749e-03 -3.73990934e-05 9.99995240e-01 -9.59569167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters Centerline goodness : 0.989341 with order 1 Centerline is valid? [True, True] Translation: X:310.21, Y:-22.50, Z:-0.96 [[ 9.94354727e-01 1.06062429e-01 3.07230304e-03 3.10209524e+02] [-1.06062054e-01 9.94359472e-01 -2.85222011e-04 -2.24971903e+01] [-3.08522497e-03 -4.22429158e-05 9.99995240e-01 -9.62089020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters Centerline goodness : 0.989979 with order 1 Centerline is valid? [True, True] Translation: X:310.27, Y:-22.50, Z:-0.96 [[ 9.94075928e-01 1.08644422e-01 3.07230304e-03 3.10269261e+02] [-1.08644059e-01 9.94080674e-01 -2.85222011e-04 -2.25002724e+01] [-3.08510486e-03 -5.02551392e-05 9.99995240e-01 -9.64333088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters Centerline goodness : 0.989438 with order 1 Centerline is valid? [True, True] Translation: X:310.33, Y:-22.50, Z:-0.97 [[ 9.93488149e-01 1.13894071e-01 3.07230971e-03 3.10328662e+02] [-1.13893733e-01 9.93492897e-01 -2.85150122e-04 -2.24983624e+01] [-3.08479479e-03 -6.66235556e-05 9.99995240e-01 -9.68261627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters Centerline goodness : 0.990149 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:-22.49, Z:-0.97 [[ 9.93088936e-01 1.17324025e-01 3.07231962e-03 3.10387378e+02] [-1.17323704e-01 9.93093685e-01 -2.85043333e-04 -2.24929518e+01] [-3.08454365e-03 -7.73825377e-05 9.99995240e-01 -9.65210925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters Centerline goodness : 0.990391 with order 1 Centerline is valid? [True, True] Translation: X:310.45, Y:-22.49, Z:-0.96 [[ 9.93432855e-01 1.14375360e-01 3.07233588e-03 3.10446579e+02] [-1.14375026e-01 9.93437604e-01 -2.84868031e-04 -2.24891976e+01] [-3.08475587e-03 -6.84012327e-05 9.99995240e-01 -9.61593790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters Centerline goodness : 0.990341 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:-22.49, Z:-0.96 [[ 9.94080965e-01 1.08598324e-01 3.07234867e-03 3.10506370e+02] [-1.08597962e-01 9.94085711e-01 -2.84730009e-04 -2.24850286e+01] [-3.08509911e-03 -5.06061229e-05 9.99995240e-01 -9.64845513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters Centerline goodness : 0.989861 with order 1 Centerline is valid? [True, True] Translation: X:310.57, Y:-22.49, Z:-0.96 [[ 9.94919552e-01 1.00626271e-01 3.07236143e-03 3.10565794e+02] [-1.00625872e-01 9.94924295e-01 -2.84592213e-04 -2.24864124e+01] [-3.08540448e-03 -2.60126905e-05 9.99995240e-01 -9.64335277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters Centerline goodness : 0.990569 with order 1 Centerline is valid? [True, True] Translation: X:310.62, Y:-22.49, Z:-0.96 [[ 9.95617491e-01 9.34685620e-02 3.07237415e-03 3.10624291e+02] [-9.34681292e-02 9.95622232e-01 -2.84454815e-04 -2.24917477e+01] [-3.08551159e-03 -3.96087525e-06 9.99995240e-01 -9.59310918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters Centerline goodness : 0.990427 with order 1 Centerline is valid? [True, True] Translation: X:310.68, Y:-22.50, Z:-0.96 [[ 9.96043977e-01 8.88085380e-02 3.07238360e-03 3.10682861e+02] [-8.88080834e-02 9.96048715e-01 -2.84352696e-04 -2.25036374e+01] [-3.08549669e-03 1.03752905e-05 9.99995240e-01 -9.63699267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters Centerline goodness : 0.990994 with order 1 Centerline is valid? [True, True] Translation: X:310.74, Y:-22.52, Z:-0.97 [[ 9.96114288e-01 8.80163951e-02 3.07238980e-03 3.10741753e+02] [-8.80159369e-02 9.96119026e-01 -2.84285680e-04 -2.25151493e+01] [-3.08548774e-03 1.27617604e-05 9.99995240e-01 -9.65493541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:310.80, Y:-22.53, Z:-0.97 [[ 9.96085840e-01 8.83377631e-02 3.07239599e-03 3.10799831e+02] [-8.83373066e-02 9.96090578e-01 -2.84218771e-04 -2.25262665e+01] [-3.08549195e-03 1.16991065e-05 9.99995240e-01 -9.65871624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters Centerline goodness : 0.990137 with order 1 Centerline is valid? [True, True] Translation: X:310.86, Y:-22.54, Z:-0.96 [[ 9.96034207e-01 8.89180422e-02 3.07240517e-03 3.10859260e+02] [-8.89175888e-02 9.96038946e-01 -2.84119590e-04 -2.25381303e+01] [-3.08549856e-03 9.80197121e-06 9.99995240e-01 -9.63541633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters Centerline goodness : 0.990684 with order 1 Centerline is valid? [True, True] Translation: X:310.92, Y:-22.54, Z:-0.97 [[ 9.95760949e-01 9.19276469e-02 3.07240517e-03 3.10918188e+02] [-9.19272079e-02 9.95765689e-01 -2.84119590e-04 -2.25444017e+01] [-3.08551409e-03 4.77564258e-07 9.99995240e-01 -9.65083650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters Centerline goodness : 0.990276 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:-22.55, Z:-0.96 [[ 9.95289813e-01 9.68955515e-02 3.07241156e-03 3.10977738e+02] [-9.68951363e-02 9.95294555e-01 -2.84050378e-04 -2.25491719e+01] [-3.08547772e-03 -1.49892896e-05 9.99995240e-01 -9.64359410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters Centerline goodness : 0.990525 with order 1 Centerline is valid? [True, True] Translation: X:311.04, Y:-22.55, Z:-0.96 [[ 9.94419762e-01 1.05450921e-01 3.07241792e-03 3.11036550e+02] [-1.05450547e-01 9.94424508e-01 -2.83981562e-04 -2.25480196e+01] [-3.08523380e-03 -4.15912737e-05 9.99995240e-01 -9.64504515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters Centerline goodness : 0.991242 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:-22.55, Z:-0.96 [[ 9.93519137e-01 1.13623429e-01 3.07243053e-03 3.11096140e+02] [-1.13623095e-01 9.93523886e-01 -2.83845130e-04 -2.25474945e+01] [-3.08478458e-03 -6.70934964e-05 9.99995240e-01 -9.62824239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters Centerline goodness : 0.990525 with order 1 Centerline is valid? [True, True] Translation: X:311.15, Y:-22.55, Z:-0.96 [[ 9.92866853e-01 1.19188811e-01 3.07244355e-03 3.11154062e+02] [-1.19188504e-01 9.92871603e-01 -2.83704115e-04 -2.25452296e+01] [-3.08435631e-03 -8.45195375e-05 9.99995240e-01 -9.64339271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters Centerline goodness : 0.990862 with order 1 Centerline is valid? [True, True] Translation: X:311.21, Y:-22.53, Z:-0.97 [[ 9.91291506e-01 1.31649953e-01 3.07245955e-03 3.11213715e+02] [-1.31649705e-01 9.91296260e-01 -2.83530725e-04 -2.25286838e+01] [-3.08304447e-03 -1.23426794e-04 9.99995240e-01 -9.66006074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters Centerline goodness : 0.990846 with order 1 Centerline is valid? [True, True] Translation: X:311.27, Y:-22.52, Z:-0.96 [[ 9.91027194e-01 1.33625075e-01 3.07247874e-03 3.11271230e+02] [-1.33624838e-01 9.91031948e-01 -2.83322605e-04 -2.25233829e+01] [-3.08278360e-03 -1.29779068e-04 9.99995240e-01 -9.63790519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters Centerline goodness : 0.990819 with order 1 Centerline is valid? [True, True] Translation: X:311.33, Y:-22.51, Z:-0.96 [[ 9.91323925e-01 1.31405612e-01 3.07250077e-03 3.11329939e+02] [-1.31405365e-01 9.91328679e-01 -2.83083498e-04 -2.25131674e+01] [-3.08305689e-03 -1.23115642e-04 9.99995240e-01 -9.61287078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters Centerline goodness : 0.990745 with order 1 Centerline is valid? [True, True] Translation: X:311.39, Y:-22.50, Z:-0.96 [[ 9.92587886e-01 1.21490116e-01 3.07251966e-03 3.11387617e+02] [-1.21489822e-01 9.92592637e-01 -2.82878383e-04 -2.25047874e+01] [-3.08412732e-03 -9.24982107e-05 9.99995240e-01 -9.62421295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters Centerline goodness : 0.991478 with order 1 Centerline is valid? [True, True] Translation: X:311.45, Y:-22.50, Z:-0.97 [[ 9.93843642e-01 1.10749154e-01 3.07254146e-03 3.11445749e+02] [-1.10748810e-01 9.93848389e-01 -2.82641347e-04 -2.25048256e+01] [-3.08494267e-03 -5.93790032e-05 9.99995240e-01 -9.66991165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters Centerline goodness : 0.990577 with order 1 Centerline is valid? [True, True] Translation: X:311.50, Y:-22.51, Z:-0.96 [[ 9.94645820e-01 1.03296915e-01 3.07256047e-03 3.11504723e+02] [-1.03296535e-01 9.94650565e-01 -2.82434605e-04 -2.25050302e+01] [-3.08529863e-03 -3.64624505e-05 9.99995240e-01 -9.62829888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters Centerline goodness : 0.990168 with order 1 Centerline is valid? [True, True] Translation: X:311.56, Y:-22.51, Z:-0.96 [[ 9.95019125e-01 9.96368373e-02 3.07257354e-03 3.11562741e+02] [-9.96364406e-02 9.95023869e-01 -2.82292298e-04 -2.25102430e+01] [-3.08541072e-03 -2.52540553e-05 9.99995240e-01 -9.60959254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters Centerline goodness : 0.990085 with order 1 Centerline is valid? [True, True] Translation: X:311.62, Y:-22.52, Z:-0.96 [[ 9.95687153e-01 9.27235251e-02 3.07258657e-03 3.11621544e+02] [-9.27230959e-02 9.95691894e-01 -2.82150445e-04 -2.25155516e+01] [-3.08551152e-03 -3.96616537e-06 9.99995240e-01 -9.61998382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters Centerline goodness : 0.990273 with order 1 Centerline is valid? [True, True] Translation: X:311.68, Y:-22.53, Z:-0.96 [[ 9.96053893e-01 8.86972504e-02 3.07259904e-03 3.11679663e+02] [-8.86968024e-02 9.96058632e-01 -2.82014502e-04 -2.25261075e+01] [-3.08550271e-03 8.37193204e-06 9.99995240e-01 -9.61667975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters Centerline goodness : 0.990297 with order 1 Centerline is valid? [True, True] Translation: X:311.74, Y:-22.53, Z:-0.97 [[ 9.96178141e-01 8.72907186e-02 3.07261103e-03 3.11738418e+02] [-8.72902644e-02 9.96182880e-01 -2.81883858e-04 -2.25335137e+01] [-3.08548835e-03 1.25975083e-05 9.99995240e-01 -9.67978206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters Centerline goodness : 0.990814 with order 1 Centerline is valid? [True, True] Translation: X:311.80, Y:-22.55, Z:-0.97 [[ 9.95901928e-01 9.03875477e-02 3.07262297e-03 3.11796271e+02] [-9.03871086e-02 9.95906668e-01 -2.81753603e-04 -2.25463487e+01] [-3.08551272e-03 2.87345023e-06 9.99995240e-01 -9.72606903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:311.85, Y:-22.56, Z:-0.97 [[ 9.95759286e-01 9.19456533e-02 3.07263489e-03 3.11853196e+02] [-9.19452220e-02 9.95764027e-01 -2.81623559e-04 -2.25551225e+01] [-3.08551335e-03 -2.08482339e-06 9.99995240e-01 -9.73570883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters Centerline goodness : 0.990481 with order 1 Centerline is valid? [True, True] Translation: X:311.91, Y:-22.57, Z:-0.97 [[ 9.95693943e-01 9.26505838e-02 3.07264999e-03 3.11911337e+02] [-9.26501564e-02 9.95698684e-01 -2.81458747e-04 -2.25690728e+01] [-3.08551087e-03 -4.43473250e-06 9.99995240e-01 -9.71784694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters Centerline goodness : 0.989323 with order 1 Centerline is valid? [True, True] Translation: X:311.97, Y:-22.58, Z:-0.97 [[ 9.95571830e-01 9.39536607e-02 3.07266169e-03 3.11969609e+02] [-9.39532399e-02 9.95576571e-01 -2.81330981e-04 -2.25780454e+01] [-3.08550206e-03 -8.60132068e-06 9.99995240e-01 -9.68746448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters Centerline goodness : 0.989674 with order 1 Centerline is valid? [True, True] Translation: X:312.03, Y:-22.58, Z:-0.97 [[ 9.95105401e-01 9.87714494e-02 3.07267495e-03 3.12027019e+02] [-9.87710520e-02 9.95110145e-01 -2.81186107e-04 -2.25831405e+01] [-3.08542317e-03 -2.36815232e-05 9.99995240e-01 -9.67398667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters Centerline goodness : 0.989207 with order 1 Centerline is valid? [True, True] Translation: X:312.09, Y:-22.59, Z:-0.97 [[ 9.94702232e-01 1.02752265e-01 3.07269142e-03 3.12086043e+02] [-1.02751888e-01 9.94706977e-01 -2.81005927e-04 -2.25863918e+01] [-3.08530159e-03 -3.62076208e-05 9.99995240e-01 -9.65847613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters Centerline goodness : 0.989624 with order 1 Centerline is valid? [True, True] Translation: X:312.14, Y:-22.59, Z:-0.97 [[ 9.94655258e-01 1.03205989e-01 3.07270453e-03 3.12143582e+02] [-1.03205613e-01 9.94660003e-01 -2.80862551e-04 -2.25880956e+01] [-3.08528299e-03 -3.77589421e-05 9.99995240e-01 -9.66930438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters Centerline goodness : 0.989639 with order 1 Centerline is valid? [True, True] Translation: X:312.20, Y:-22.59, Z:-0.97 [[ 9.94894095e-01 1.00877641e-01 3.07272080e-03 3.12201366e+02] [-1.00877255e-01 9.94898839e-01 -2.80684384e-04 -2.25894760e+01] [-3.08536114e-03 -3.07164055e-05 9.99995240e-01 -9.66373657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters Centerline goodness : 0.988955 with order 1 Centerline is valid? [True, True] Translation: X:312.26, Y:-22.59, Z:-0.97 [[ 9.94984251e-01 9.99844937e-02 3.07273679e-03 3.12259772e+02] [-9.99841041e-02 9.94988995e-01 -2.80509318e-04 -2.25918815e+01] [-3.08538587e-03 -2.81224814e-05 9.99995240e-01 -9.69611243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters Centerline goodness : 0.989087 with order 1 Centerline is valid? [True, True] Translation: X:312.32, Y:-22.59, Z:-0.97 [[ 9.95006870e-01 9.97591427e-02 3.07274952e-03 3.12318748e+02] [-9.97587526e-02 9.95011614e-01 -2.80369794e-04 -2.25937310e+01] [-3.08539091e-03 -2.75637870e-05 9.99995240e-01 -9.68633590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters Centerline goodness : 0.989992 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:-22.60, Z:-0.97 [[ 9.95069649e-01 9.91309827e-02 3.07276212e-03 3.12377128e+02] [-9.91305899e-02 9.95074393e-01 -2.80231589e-04 -2.25963282e+01] [-3.08540653e-03 -2.57547727e-05 9.99995240e-01 -9.67642537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters Centerline goodness : 0.989675 with order 1 Centerline is valid? [True, True] Translation: X:312.43, Y:-22.60, Z:-0.97 [[ 9.94996607e-01 9.98614515e-02 3.07277457e-03 3.12434376e+02] [-9.98610626e-02 9.95001352e-01 -2.80095026e-04 -2.26003122e+01] [-3.08538554e-03 -2.81569335e-05 9.99995240e-01 -9.67315310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters Centerline goodness : 0.989560 with order 1 Centerline is valid? [True, True] Translation: X:312.49, Y:-22.60, Z:-0.97 [[ 9.94861087e-01 1.01202643e-01 3.07278992e-03 3.12492398e+02] [-1.01202261e-01 9.94865832e-01 -2.79926469e-04 -2.26038734e+01] [-3.08534300e-03 -3.24853378e-05 9.99995240e-01 -9.71819632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters Centerline goodness : 0.989356 with order 1 Centerline is valid? [True, True] Translation: X:312.55, Y:-22.61, Z:-0.97 [[ 9.95041033e-01 9.94178058e-02 3.07280518e-03 3.12551332e+02] [-9.94174159e-02 9.95045777e-01 -2.79758938e-04 -2.26064729e+01] [-3.08539484e-03 -2.71187276e-05 9.99995240e-01 -9.73942845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters Centerline goodness : 0.989363 with order 1 Centerline is valid? [True, True] Translation: X:312.61, Y:-22.61, Z:-0.98 [[ 9.95063958e-01 9.91880907e-02 3.07281809e-03 3.12609929e+02] [-9.91877002e-02 9.95068702e-01 -2.79616997e-04 -2.26144226e+01] [-3.08539979e-03 -2.65489642e-05 9.99995240e-01 -9.76134440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters Centerline goodness : 0.989424 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:-22.62, Z:-0.98 [[ 9.95121412e-01 9.86100057e-02 3.07283090e-03 3.12667946e+02] [-9.86096128e-02 9.95126156e-01 -2.79476173e-04 -2.26183053e+01] [-3.08541355e-03 -2.48979414e-05 9.99995240e-01 -9.75072665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:-22.62, Z:-0.97 [[ 9.95169700e-01 9.81214817e-02 3.07284678e-03 3.12726608e+02] [-9.81210870e-02 9.95174444e-01 -2.79301510e-04 -2.26235416e+01] [-3.08542406e-03 -2.35586661e-05 9.99995240e-01 -9.71319492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters Centerline goodness : 0.989609 with order 1 Centerline is valid? [True, True] Translation: X:312.78, Y:-22.63, Z:-0.97 [[ 9.95167714e-01 9.81416261e-02 3.07285940e-03 3.12784495e+02] [-9.81412319e-02 9.95172458e-01 -2.79162501e-04 -2.26301689e+01] [-3.08542251e-03 -2.37606996e-05 9.99995240e-01 -9.72979150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters Centerline goodness : 0.989549 with order 1 Centerline is valid? [True, True] Translation: X:312.84, Y:-22.64, Z:-0.97 [[ 9.95137978e-01 9.84426842e-02 3.07287505e-03 3.12842365e+02] [-9.84422920e-02 9.95142722e-01 -2.78990185e-04 -2.26359193e+01] [-3.08541378e-03 -2.48671347e-05 9.99995240e-01 -9.74843617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters Centerline goodness : 0.989607 with order 1 Centerline is valid? [True, True] Translation: X:312.90, Y:-22.64, Z:-0.97 [[ 9.95013145e-01 9.96965373e-02 3.07289364e-03 3.12899586e+02] [-9.96961517e-02 9.95017889e-01 -2.78785272e-04 -2.26422458e+01] [-3.08537807e-03 -2.89606602e-05 9.99995240e-01 -9.69907615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters Centerline goodness : 0.989802 with order 1 Centerline is valid? [True, True] Translation: X:312.96, Y:-22.65, Z:-0.97 [[ 9.95011826e-01 9.97096927e-02 3.07290894e-03 3.12957595e+02] [-9.97093077e-02 9.95016571e-01 -2.78616514e-04 -2.26482982e+01] [-3.08537608e-03 -2.91708970e-05 9.99995240e-01 -9.73021513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters Centerline goodness : 0.989752 with order 1 Centerline is valid? [True, True] Translation: X:313.02, Y:-22.65, Z:-0.97 [[ 9.95195167e-01 9.78628417e-02 3.07292103e-03 3.13016437e+02] [-9.78624483e-02 9.95199911e-01 -2.78483080e-04 -2.26543177e+01] [-3.08542389e-03 -2.35785602e-05 9.99995240e-01 -9.74092420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters Centerline goodness : 0.989821 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:-22.66, Z:-0.97 [[ 9.95573101e-01 9.39401840e-02 3.07293297e-03 3.13074551e+02] [-9.39397723e-02 9.95577843e-01 -2.78351327e-04 -2.26622807e+01] [-3.08549235e-03 -1.15515297e-05 9.99995240e-01 -9.73174069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters Centerline goodness : 0.989913 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:-22.68, Z:-0.97 [[ 9.96579968e-01 8.25767778e-02 3.07294562e-03 3.13132732e+02] [-8.25763125e-02 9.96584705e-01 -2.78211599e-04 -2.26753647e+01] [-3.08542442e-03 2.35075886e-05 9.99995240e-01 -9.71363934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters Centerline goodness : 0.990186 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:-22.69, Z:-0.97 [[ 9.97248240e-01 7.40709425e-02 3.07295818e-03 3.13190097e+02] [-7.40704372e-02 9.97252973e-01 -2.78072834e-04 -2.26885616e+01] [-3.08511379e-03 4.96922890e-05 9.99995240e-01 -9.71054840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters Centerline goodness : 0.989567 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:-22.70, Z:-0.97 [[ 9.97636464e-01 6.86443150e-02 3.07296746e-03 3.13249214e+02] [-6.86437843e-02 9.97641195e-01 -2.77970147e-04 -2.27021459e+01] [-3.08480000e-03 6.63730391e-05 9.99995240e-01 -9.74099655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters Centerline goodness : 0.989809 with order 1 Centerline is valid? [True, True] Translation: X:313.31, Y:-22.72, Z:-0.97 [[ 9.97864278e-01 6.52490641e-02 3.07297387e-03 3.13307226e+02] [-6.52485175e-02 9.97869006e-01 -2.77899257e-04 -2.27170005e+01] [-3.08455805e-03 7.67987514e-05 9.99995240e-01 -9.71173874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters Centerline goodness : 0.989932 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:-22.73, Z:-0.97 [[ 9.97931440e-01 6.42136914e-02 3.07297704e-03 3.13366006e+02] [-6.42131400e-02 9.97936168e-01 -2.77864284e-04 -2.27279727e+01] [-3.08447762e-03 7.99639998e-05 9.99995240e-01 -9.70458039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:313.42, Y:-22.74, Z:-0.97 [[ 9.97890928e-01 6.48402149e-02 3.07298333e-03 3.13424165e+02] [-6.48396667e-02 9.97895656e-01 -2.77794662e-04 -2.27428314e+01] [-3.08452898e-03 7.79575583e-05 9.99995240e-01 -9.72499993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters Centerline goodness : 0.990052 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:-22.75, Z:-0.97 [[ 9.97825460e-01 6.58400154e-02 3.07298645e-03 3.13484312e+02] [-6.58394720e-02 9.97830189e-01 -2.77760187e-04 -2.27522566e+01] [-3.08460638e-03 7.48323815e-05 9.99995240e-01 -9.74585827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters Centerline goodness : 0.990209 with order 1 Centerline is valid? [True, True] Translation: X:313.54, Y:-22.77, Z:-0.98 [[ 9.97749520e-01 6.69809824e-02 3.07298645e-03 3.13543554e+02] [-6.69804444e-02 9.97754250e-01 -2.77760187e-04 -2.27663132e+01] [-3.08468994e-03 7.13050955e-05 9.99995240e-01 -9.75287984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters Centerline goodness : 0.990592 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:-22.78, Z:-0.97 [[ 9.97570668e-01 6.95939533e-02 3.07298645e-03 3.13602573e+02] [-6.95934278e-02 9.97575399e-01 -2.77760187e-04 -2.27756610e+01] [-3.08486611e-03 6.32257553e-05 9.99995240e-01 -9.73982899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters Centerline goodness : 0.990046 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:-22.78, Z:-0.97 [[ 9.97257244e-01 7.39496202e-02 3.07298966e-03 3.13662242e+02] [-7.39491154e-02 9.97261977e-01 -2.77724614e-04 -2.27832979e+01] [-3.08511338e-03 4.97180163e-05 9.99995240e-01 -9.74454850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters Centerline goodness : 0.990385 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:-22.79, Z:-0.98 [[ 9.96435204e-01 8.43056356e-02 3.07298966e-03 3.13721378e+02] [-8.43051800e-02 9.96439943e-01 -2.77724614e-04 -2.27882861e+01] [-3.08546339e-03 1.76656363e-05 9.99995240e-01 -9.78866046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters Centerline goodness : 0.990375 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:-22.79, Z:-0.97 [[ 9.96037529e-01 8.88808063e-02 3.07299291e-03 3.13781311e+02] [-8.88803726e-02 9.96042269e-01 -2.77688692e-04 -2.27913401e+01] [-3.08551202e-03 3.45960404e-06 9.99995240e-01 -9.73324987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters Centerline goodness : 0.990190 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:-22.79, Z:-0.97 [[ 9.95532779e-01 9.43665298e-02 3.07299926e-03 3.13840613e+02] [-9.43661224e-02 9.95537522e-01 -2.77618401e-04 -2.27918984e+01] [-3.08548395e-03 -1.36088057e-05 9.99995240e-01 -9.74707799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters Centerline goodness : 0.990218 with order 1 Centerline is valid? [True, True] Translation: X:313.90, Y:-22.79, Z:-0.97 [[ 9.95617502e-01 9.34684291e-02 3.07300870e-03 3.13900972e+02] [-9.34680178e-02 9.95622244e-01 -2.77513844e-04 -2.27922056e+01] [-3.08549460e-03 -1.09303914e-05 9.99995240e-01 -9.73955709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters Centerline goodness : 0.990715 with order 1 Centerline is valid? [True, True] Translation: X:313.96, Y:-22.80, Z:-0.97 [[ 9.95895374e-01 9.04597187e-02 3.07301528e-03 3.13960784e+02] [-9.04592933e-02 9.95900115e-01 -2.77440962e-04 -2.27950476e+01] [-3.08551350e-03 -1.68061983e-06 9.99995240e-01 -9.72362403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters Centerline goodness : 0.990537 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:-22.80, Z:-0.98 [[ 9.96397881e-01 8.47456207e-02 3.07302187e-03 3.14020087e+02] [-8.47451683e-02 9.96402619e-01 -2.77367993e-04 -2.27996364e+01] [-3.08547276e-03 1.59451250e-05 9.99995240e-01 -9.77982379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters Centerline goodness : 0.990666 with order 1 Centerline is valid? [True, True] Translation: X:314.08, Y:-22.81, Z:-0.97 [[ 9.96775102e-01 8.01869793e-02 3.07302837e-03 3.14079898e+02] [-8.01865054e-02 9.96779839e-01 -2.77295939e-04 -2.28089167e+01] [-3.08536825e-03 2.99862818e-05 9.99995240e-01 -9.71384204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters Centerline goodness : 0.991216 with order 1 Centerline is valid? [True, True] Translation: X:314.14, Y:-22.82, Z:-0.97 [[ 9.97171905e-01 7.50916042e-02 3.07302837e-03 3.14138954e+02] [-7.50911062e-02 9.97176639e-01 -2.77295939e-04 -2.28184998e+01] [-3.08517470e-03 4.57546198e-05 9.99995240e-01 -9.73074098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters Centerline goodness : 0.991445 with order 1 Centerline is valid? [True, True] Translation: X:314.20, Y:-22.83, Z:-0.98 [[ 9.97422241e-01 7.16898156e-02 3.07302486e-03 3.14199017e+02] [-7.16893013e-02 9.97426973e-01 -2.77334858e-04 -2.28292766e+01] [-3.08499997e-03 5.63169510e-05 9.99995240e-01 -9.77747583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters Centerline goodness : 0.990978 with order 1 Centerline is valid? [True, True] Translation: X:314.26, Y:-22.84, Z:-0.98 [[ 9.97508751e-01 7.04758690e-02 3.07302486e-03 3.14259119e+02] [-7.04753489e-02 9.97513483e-01 -2.77334858e-04 -2.28397423e+01] [-3.08492914e-03 6.00714493e-05 9.99995240e-01 -9.77213460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters Centerline goodness : 0.990587 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:-22.85, Z:-0.98 [[ 9.97402571e-01 7.19629601e-02 3.07302173e-03 3.14319416e+02] [-7.19624469e-02 9.97407304e-01 -2.77369517e-04 -2.28497143e+01] [-3.08501465e-03 5.55069069e-05 9.99995240e-01 -9.78472673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters Centerline goodness : 0.991050 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:-22.86, Z:-0.97 [[ 9.97209794e-01 7.45867490e-02 3.07302173e-03 3.14378621e+02] [-7.45862483e-02 9.97214528e-01 -2.77369517e-04 -2.28576562e+01] [-3.08515000e-03 4.73904377e-05 9.99995240e-01 -9.73090797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters Centerline goodness : 0.990487 with order 1 Centerline is valid? [True, True] Translation: X:314.44, Y:-22.87, Z:-0.97 [[ 9.97158961e-01 7.52632876e-02 3.07302482e-03 3.14437894e+02] [-7.52627903e-02 9.97163695e-01 -2.77335268e-04 -2.28688858e+01] [-3.08518195e-03 4.52629250e-05 9.99995240e-01 -9.71428850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters Centerline goodness : 0.990143 with order 1 Centerline is valid? [True, True] Translation: X:314.50, Y:-22.88, Z:-0.97 [[ 9.97218987e-01 7.44637342e-02 3.07301060e-03 3.14499193e+02] [-7.44632326e-02 9.97223721e-01 -2.77492690e-04 -2.28770174e+01] [-3.08514221e-03 4.78946759e-05 9.99995240e-01 -9.73670748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters Centerline goodness : 0.990473 with order 1 Centerline is valid? [True, True] Translation: X:314.56, Y:-22.89, Z:-0.98 [[ 9.97361666e-01 7.25276737e-02 3.07300450e-03 3.14560997e+02] [-7.25271627e-02 9.97366399e-01 -2.77560250e-04 -2.28887278e+01] [-3.08504223e-03 5.39516560e-05 9.99995240e-01 -9.75337184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters Centerline goodness : 0.990900 with order 1 Centerline is valid? [True, True] Translation: X:314.62, Y:-22.90, Z:-0.98 [[ 9.97495766e-01 7.06594187e-02 3.07296195e-03 3.14622658e+02] [-7.06588974e-02 9.97500498e-01 -2.78030512e-04 -2.29006161e+01] [-3.08492655e-03 6.02021557e-05 9.99995240e-01 -9.75902993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters Centerline goodness : 0.990522 with order 1 Centerline is valid? [True, True] Translation: X:314.68, Y:-22.91, Z:-0.98 [[ 9.97493862e-01 7.06862977e-02 3.07291636e-03 3.14683569e+02] [-7.06857749e-02 9.97498593e-01 -2.78533534e-04 -2.29072775e+01] [-3.08491825e-03 6.06240168e-05 9.99995240e-01 -9.75012166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters Centerline goodness : 0.990314 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:-22.92, Z:-0.97 [[ 9.97511152e-01 7.04418798e-02 3.07289117e-03 3.14744726e+02] [-7.04413550e-02 9.97515883e-01 -2.78811114e-04 -2.29180795e+01] [-3.08489773e-03 6.16585775e-05 9.99995240e-01 -9.74984803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters Centerline goodness : 0.990179 with order 1 Centerline is valid? [True, True] Translation: X:314.81, Y:-22.93, Z:-0.98 [[ 9.97555983e-01 6.98041438e-02 3.07284695e-03 3.14806673e+02] [-6.98036145e-02 9.97560714e-01 -2.79297610e-04 -2.29311615e+01] [-3.08484753e-03 6.41191778e-05 9.99995240e-01 -9.79717685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters Centerline goodness : 0.990400 with order 1 Centerline is valid? [True, True] Translation: X:314.87, Y:-22.94, Z:-0.98 [[ 9.97278321e-01 7.36648447e-02 3.07279472e-03 3.14867534e+02] [-7.36643319e-02 9.97283053e-01 -2.79871160e-04 -2.29441892e+01] [-3.08506276e-03 5.27540710e-05 9.99995240e-01 -9.76717251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters Centerline goodness : 0.990169 with order 1 Centerline is valid? [True, True] Translation: X:314.93, Y:-22.95, Z:-0.98 [[ 9.96825285e-01 7.95607300e-02 3.07274597e-03 3.14929014e+02] [-7.95602436e-02 9.96830020e-01 -2.80405366e-04 -2.29529215e+01] [-3.08531468e-03 3.50467414e-05 9.99995240e-01 -9.79707914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters Centerline goodness : 0.990084 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:-22.96, Z:-0.98 [[ 9.96667788e-01 8.15099887e-02 3.07270158e-03 3.14991243e+02] [-8.15095100e-02 9.96672524e-01 -2.80890931e-04 -2.29625333e+01] [-3.08537266e-03 2.95005425e-05 9.99995240e-01 -9.82178250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters Centerline goodness : 0.989638 with order 1 Centerline is valid? [True, True] Translation: X:315.05, Y:-22.97, Z:-0.98 [[ 9.96771517e-01 8.02315480e-02 3.07265055e-03 3.15053714e+02] [-8.02310615e-02 9.96776253e-01 -2.81448068e-04 -2.29741659e+01] [-3.08532611e-03 3.40174024e-05 9.99995240e-01 -9.81631038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters Centerline goodness : 0.990435 with order 1 Centerline is valid? [True, True] Translation: X:315.12, Y:-22.99, Z:-0.98 [[ 9.96968938e-01 7.77399231e-02 3.07259651e-03 3.15115054e+02] [-7.77394230e-02 9.96973672e-01 -2.82036798e-04 -2.29854134e+01] [-3.08522334e-03 4.23200473e-05 9.99995240e-01 -9.82800582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters Centerline goodness : 0.990493 with order 1 Centerline is valid? [True, True] Translation: X:315.18, Y:-22.99, Z:-0.98 [[ 9.96759695e-01 8.03782947e-02 3.07254613e-03 3.15176641e+02] [-8.03778055e-02 9.96764430e-01 -2.82584549e-04 -2.29949115e+01] [-3.08531835e-03 3.47043740e-05 9.99995240e-01 -9.80990305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters Centerline goodness : 0.990583 with order 1 Centerline is valid? [True, True] Translation: X:315.24, Y:-23.00, Z:-0.98 [[ 9.96417131e-01 8.45189981e-02 3.07249692e-03 3.15239851e+02] [-8.45185269e-02 9.96421868e-01 -2.83118629e-04 -2.30008375e+01] [-3.08543202e-03 2.24213388e-05 9.99995240e-01 -9.75254967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters Centerline goodness : 0.991129 with order 1 Centerline is valid? [True, True] Translation: X:315.30, Y:-23.01, Z:-0.97 [[ 9.96417925e-01 8.45096345e-02 3.07244759e-03 3.15301773e+02] [-8.45091616e-02 9.96422662e-01 -2.83652938e-04 -2.30101580e+01] [-3.08542781e-03 2.29869025e-05 9.99995240e-01 -9.73938970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters Centerline goodness : 0.991286 with order 1 Centerline is valid? [True, True] Translation: X:315.36, Y:-23.02, Z:-0.97 [[ 9.96783462e-01 8.00830159e-02 3.07239521e-03 3.15364496e+02] [-8.00825202e-02 9.96788197e-01 -2.84219122e-04 -2.30161129e+01] [-3.08528841e-03 3.72597693e-05 9.99995240e-01 -9.74161568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters Centerline goodness : 0.991564 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:-23.03, Z:-0.97 [[ 9.97237183e-01 7.42196795e-02 3.07234135e-03 3.15425770e+02] [-7.42191542e-02 9.97241915e-01 -2.84800122e-04 -2.30261226e+01] [-3.08500535e-03 5.59866953e-05 9.99995240e-01 -9.73634870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters Centerline goodness : 0.991008 with order 1 Centerline is valid? [True, True] Translation: X:315.49, Y:-23.04, Z:-0.98 [[ 9.97148005e-01 7.54083426e-02 3.07229121e-03 3.15488499e+02] [-7.54078213e-02 9.97152736e-01 -2.85340070e-04 -2.30367636e+01] [-3.08506060e-03 5.28514952e-05 9.99995240e-01 -9.77667941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters Centerline goodness : 0.991186 with order 1 Centerline is valid? [True, True] Translation: X:315.55, Y:-23.04, Z:-0.98 [[ 9.96772792e-01 8.02157236e-02 3.07223832e-03 3.15549788e+02] [-8.02152233e-02 9.96777526e-01 -2.85908317e-04 -2.30442417e+01] [-3.08527246e-03 3.85453481e-05 9.99995240e-01 -9.82773438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters Centerline goodness : 0.991394 with order 1 Centerline is valid? [True, True] Translation: X:315.61, Y:-23.05, Z:-0.98 [[ 9.96177367e-01 8.72995679e-02 3.07219244e-03 3.15611391e+02] [-8.72990998e-02 9.96182104e-01 -2.86400522e-04 -2.30520410e+01] [-3.08546577e-03 1.71060838e-05 9.99995240e-01 -9.80186617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters Centerline goodness : 0.992029 with order 1 Centerline is valid? [True, True] Translation: X:315.67, Y:-23.06, Z:-0.98 [[ 9.95840423e-01 9.10626965e-02 3.07214345e-03 3.15673712e+02] [-9.10622447e-02 9.95845161e-01 -2.86925032e-04 -2.30625047e+01] [-3.08550736e-03 5.97526676e-06 9.99995240e-01 -9.78199907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:315.73, Y:-23.06, Z:-0.98 [[ 9.95424879e-01 9.54980275e-02 3.07209127e-03 3.15734528e+02] [-9.54975951e-02 9.95429619e-01 -2.87482639e-04 -2.30644286e+01] [-3.08550467e-03 -7.20995714e-06 9.99995240e-01 -9.83421347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters Centerline goodness : 0.991615 with order 1 Centerline is valid? [True, True] Translation: X:315.80, Y:-23.07, Z:-0.98 [[ 9.95210657e-01 9.77052250e-02 3.07204921e-03 3.15796127e+02] [-9.77048017e-02 9.95215398e-01 -2.87931452e-04 -2.30686837e+01] [-3.08548308e-03 -1.36015086e-05 9.99995240e-01 -9.79607265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters Centerline goodness : 0.992297 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:-23.07, Z:-0.98 [[ 9.94937087e-01 1.00452753e-01 3.07200135e-03 3.15858439e+02] [-1.00452341e-01 9.94941829e-01 -2.88441081e-04 -2.30681209e+01] [-3.08543735e-03 -2.16089989e-05 9.99995240e-01 -9.80517110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters Centerline goodness : 0.991220 with order 1 Centerline is valid? [True, True] Translation: X:315.92, Y:-23.07, Z:-0.98 [[ 9.95136404e-01 9.84586276e-02 3.07197003e-03 3.15921333e+02] [-9.84582053e-02 9.95141145e-01 -2.88774300e-04 -2.30678039e+01] [-3.08547610e-03 -1.50908381e-05 9.99995240e-01 -9.80216413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:315.98, Y:-23.07, Z:-0.98 [[ 9.95446959e-01 9.52675925e-02 3.07192025e-03 3.15982850e+02] [-9.52671533e-02 9.95451699e-01 -2.89302927e-04 -2.30712803e+01] [-3.08550942e-03 -4.66737762e-06 9.99995240e-01 -9.76889315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters Centerline goodness : 0.992661 with order 1 Centerline is valid? [True, True] Translation: X:316.05, Y:-23.08, Z:-0.98 [[ 9.95817199e-01 9.13163129e-02 3.07188924e-03 3.16045214e+02] [-9.13158539e-02 9.95821937e-01 -2.89631777e-04 -2.30760031e+01] [-3.08550280e-03 7.90811565e-06 9.99995240e-01 -9.80946019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters Centerline goodness : 0.992633 with order 1 Centerline is valid? [True, True] Translation: X:316.11, Y:-23.08, Z:-0.98 [[ 9.96002744e-01 8.92698011e-02 3.07183515e-03 3.16107118e+02] [-8.92693306e-02 9.96007481e-01 -2.90204315e-04 -2.30827640e+01] [-3.08547727e-03 1.48236260e-05 9.99995240e-01 -9.77514170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters Centerline goodness : 0.992770 with order 1 Centerline is valid? [True, True] Translation: X:316.17, Y:-23.09, Z:-0.98 [[ 9.96044492e-01 8.88027788e-02 3.07178466e-03 3.16168839e+02] [-8.88023044e-02 9.96049229e-01 -2.90737798e-04 -2.30916935e+01] [-3.08546707e-03 1.68062260e-05 9.99995240e-01 -9.77063166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:-23.10, Z:-0.98 [[ 9.96004924e-01 8.92454823e-02 3.07173210e-03 3.16230854e+02] [-8.92450084e-02 9.96009660e-01 -2.91292065e-04 -2.31017667e+01] [-3.08547134e-03 1.59915744e-05 9.99995240e-01 -9.81326440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters Centerline goodness : 0.992527 with order 1 Centerline is valid? [True, True] Translation: X:316.29, Y:-23.11, Z:-0.98 [[ 9.95898373e-01 9.04267416e-02 3.07167699e-03 3.16293634e+02] [-9.04262715e-02 9.95903110e-01 -2.91871988e-04 -2.31101705e+01] [-3.08548570e-03 1.29145406e-05 9.99995240e-01 -9.82362950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters Centerline goodness : 0.994454 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:-23.12, Z:-0.99 [[ 9.95818397e-01 9.13032565e-02 3.07162163e-03 3.16354799e+02] [-9.13027888e-02 9.95823135e-01 -2.92453474e-04 -2.31164646e+01] [-3.08549383e-03 1.07829288e-05 9.99995240e-01 -9.89315735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters Centerline goodness : 0.992828 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:-23.12, Z:-0.98 [[ 9.95430914e-01 9.54351163e-02 3.07157353e-03 3.16417017e+02] [-9.54346667e-02 9.95435653e-01 -2.92957779e-04 -2.31218471e+01] [-3.08551226e-03 -1.51536637e-06 9.99995240e-01 -9.82272733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters Centerline goodness : 0.992154 with order 1 Centerline is valid? [True, True] Translation: X:316.48, Y:-23.13, Z:-0.98 [[ 9.95379326e-01 9.59716837e-02 3.07152609e-03 3.16479832e+02] [-9.59712351e-02 9.95384065e-01 -2.93454363e-04 -2.31278262e+01] [-3.08551143e-03 -2.67974609e-06 9.99995240e-01 -9.84965564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters Centerline goodness : 0.992436 with order 1 Centerline is valid? [True, True] Translation: X:316.54, Y:-23.13, Z:-0.98 [[ 9.95192220e-01 9.78928562e-02 3.07147109e-03 3.16542651e+02] [-9.78924150e-02 9.95196960e-01 -2.94028878e-04 -2.31326657e+01] [-3.08550202e-03 -8.05847038e-06 9.99995240e-01 -9.79446693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters Centerline goodness : 0.992058 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:-23.14, Z:-0.98 [[ 9.95029412e-01 9.95340974e-02 3.07141514e-03 3.16605032e+02] [-9.95336622e-02 9.95034152e-01 -2.94612143e-04 -2.31383467e+01] [-3.08548691e-03 -1.25614495e-05 9.99995240e-01 -9.76167975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters Centerline goodness : 0.992272 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:-23.14, Z:-0.98 [[ 9.94823686e-01 1.01569685e-01 3.07135908e-03 3.16668338e+02] [-1.01569258e-01 9.94828427e-01 -2.95195398e-04 -2.31417551e+01] [-3.08545823e-03 -1.82882899e-05 9.99995240e-01 -9.79912713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters Centerline goodness : 0.991886 with order 1 Centerline is valid? [True, True] Translation: X:316.73, Y:-23.15, Z:-0.98 [[ 9.94896356e-01 1.00855386e-01 3.07130236e-03 3.16730144e+02] [-1.00854954e-01 9.94901096e-01 -2.95784419e-04 -2.31476080e+01] [-3.08547353e-03 -1.54812166e-05 9.99995240e-01 -9.79934476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters Centerline goodness : 0.992551 with order 1 Centerline is valid? [True, True] Translation: X:316.79, Y:-23.16, Z:-0.98 [[ 9.94763416e-01 1.02158276e-01 3.07124995e-03 3.16792605e+02] [-1.02157848e-01 9.94768157e-01 -2.96327587e-04 -2.31551316e+01] [-3.08545397e-03 -1.89764435e-05 9.99995240e-01 -9.76563173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:-23.16, Z:-0.98 [[ 9.94544487e-01 1.04268070e-01 3.07119467e-03 3.16853766e+02] [-1.04267650e-01 9.94549229e-01 -2.96899403e-04 -2.31620412e+01] [-3.08541142e-03 -2.49465880e-05 9.99995240e-01 -9.75508437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters Centerline goodness : 0.992335 with order 1 Centerline is valid? [True, True] Translation: X:316.92, Y:-23.17, Z:-0.98 [[ 9.94451720e-01 1.05149152e-01 3.07114341e-03 3.16916284e+02] [-1.05148735e-01 9.94456462e-01 -2.97428725e-04 -2.31681923e+01] [-3.08539279e-03 -2.71483373e-05 9.99995240e-01 -9.78420965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters Centerline goodness : 0.991596 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:-23.18, Z:-0.98 [[ 9.94360938e-01 1.06004211e-01 3.07108903e-03 3.16978748e+02] [-1.06003796e-01 9.94365680e-01 -2.97989153e-04 -2.31770177e+01] [-3.08537364e-03 -2.92383205e-05 9.99995240e-01 -9.80735696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters Centerline goodness : 0.992409 with order 1 Centerline is valid? [True, True] Translation: X:317.04, Y:-23.18, Z:-0.98 [[ 9.94279329e-01 1.06766967e-01 3.07103489e-03 3.17040872e+02] [-1.06766555e-01 9.94284071e-01 -2.98546086e-04 -2.31846433e+01] [-3.08535593e-03 -3.10456122e-05 9.99995240e-01 -9.82149445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters Centerline goodness : 0.992529 with order 1 Centerline is valid? [True, True] Translation: X:317.10, Y:-23.19, Z:-0.98 [[ 9.94242652e-01 1.07107975e-01 3.07098118e-03 3.17103949e+02] [-1.07107562e-01 9.94247394e-01 -2.99097541e-04 -2.31914735e+01] [-3.08535077e-03 -3.15497753e-05 9.99995240e-01 -9.82274202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:317.17, Y:-23.20, Z:-0.98 [[ 9.94255389e-01 1.06989679e-01 3.07092661e-03 3.17166617e+02] [-1.06989263e-01 9.94260131e-01 -2.99656786e-04 -2.31994376e+01] [-3.08536008e-03 -3.06208011e-05 9.99995240e-01 -9.78185947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters Centerline goodness : 0.992503 with order 1 Centerline is valid? [True, True] Translation: X:317.23, Y:-23.21, Z:-0.98 [[ 9.94309798e-01 1.06482840e-01 3.07087015e-03 3.17228592e+02] [-1.06482421e-01 9.94314540e-01 -3.00234284e-04 -2.32056168e+01] [-3.08538064e-03 -2.84677975e-05 9.99995240e-01 -9.77099754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters Centerline goodness : 0.992827 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:-23.21, Z:-0.98 [[ 9.94653060e-01 1.03227228e-01 3.07081763e-03 3.17290960e+02] [-1.03226791e-01 9.94657800e-01 -3.00770445e-04 -2.32118383e+01] [-3.08546041e-03 -1.78284073e-05 9.99995240e-01 -9.79554667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters Centerline goodness : 0.993145 with order 1 Centerline is valid? [True, True] Translation: X:317.35, Y:-23.22, Z:-0.98 [[ 9.94682128e-01 1.02946752e-01 3.07076089e-03 3.17353648e+02] [-1.02946312e-01 9.94686868e-01 -3.01348632e-04 -2.32159630e+01] [-3.08546840e-03 -1.63774109e-05 9.99995240e-01 -9.81442983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters Centerline goodness : 0.992546 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:-23.22, Z:-0.98 [[ 9.94785432e-01 1.01943683e-01 3.07070375e-03 3.17416106e+02] [-1.01943236e-01 9.94790172e-01 -3.01929847e-04 -2.32176486e+01] [-3.08548575e-03 -1.26820649e-05 9.99995240e-01 -9.82902573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters Centerline goodness : 0.992177 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:-23.22, Z:-0.98 [[ 9.95246268e-01 9.73418526e-02 3.07065063e-03 3.17479509e+02] [-9.73413827e-02 9.95251005e-01 -3.02469024e-04 -2.32196883e+01] [-3.08551103e-03 2.12978844e-06 9.99995240e-01 -9.84582032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters Centerline goodness : 0.992070 with order 1 Centerline is valid? [True, True] Translation: X:317.54, Y:-23.22, Z:-0.99 [[ 9.95712880e-01 9.24469183e-02 3.07059407e-03 3.17542589e+02] [-9.24464233e-02 9.95717614e-01 -3.03042163e-04 -2.32223851e+01] [-3.08545992e-03 1.78775456e-05 9.99995240e-01 -9.86165753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters Centerline goodness : 0.992223 with order 1 Centerline is valid? [True, True] Translation: X:317.60, Y:-23.22, Z:-0.99 [[ 9.95640957e-01 9.32183250e-02 3.07053649e-03 3.17604733e+02] [-9.32178319e-02 9.95645692e-01 -3.03624496e-04 -2.32239701e+01] [-3.08546979e-03 1.60722295e-05 9.99995240e-01 -9.87800247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters Centerline goodness : 0.993849 with order 1 Centerline is valid? [True, True] Translation: X:317.67, Y:-23.22, Z:-0.98 [[ 9.94951058e-01 1.00314324e-01 3.07050092e-03 3.17666483e+02] [-1.00313864e-01 9.94955796e-01 -3.03983754e-04 -2.32231575e+01] [-3.08550661e-03 -5.56485238e-06 9.99995240e-01 -9.81222799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:317.73, Y:-23.22, Z:-0.98 [[ 9.94451269e-01 1.05153439e-01 3.07049389e-03 3.17727632e+02] [-1.05153002e-01 9.94456009e-01 -3.04054797e-04 -2.32239928e+01] [-3.08544350e-03 -2.05039690e-05 9.99995240e-01 -9.81062087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters Centerline goodness : 0.993511 with order 1 Centerline is valid? [True, True] Translation: X:317.79, Y:-23.22, Z:-0.98 [[ 9.94143772e-01 1.08021906e-01 3.07048677e-03 3.17788970e+02] [-1.08021482e-01 9.94148513e-01 -3.04126671e-04 -2.32230329e+01] [-3.08537220e-03 -2.93328958e-05 9.99995240e-01 -9.84816272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters Centerline goodness : 0.993534 with order 1 Centerline is valid? [True, True] Translation: X:317.85, Y:-23.23, Z:-0.98 [[ 9.94348645e-01 1.06119477e-01 3.07047969e-03 3.17850247e+02] [-1.06119044e-01 9.94353386e-01 -3.04198142e-04 -2.32252617e+01] [-3.08542322e-03 -2.33573585e-05 9.99995240e-01 -9.82136564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters Centerline goodness : 0.993428 with order 1 Centerline is valid? [True, True] Translation: X:317.91, Y:-23.23, Z:-0.98 [[ 9.94721658e-01 1.02564105e-01 3.07047269e-03 3.17911206e+02] [-1.02563655e-01 9.94726397e-01 -3.04268733e-04 -2.32276763e+01] [-3.08548729e-03 -1.22562020e-05 9.99995240e-01 -9.81885754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters Centerline goodness : 0.993690 with order 1 Centerline is valid? [True, True] Translation: X:317.97, Y:-23.23, Z:-0.98 [[ 9.94799607e-01 1.01805278e-01 3.07046573e-03 3.17971444e+02] [-1.01804824e-01 9.94804345e-01 -3.04338969e-04 -2.32298906e+01] [-3.08549596e-03 -9.83193598e-06 9.99995240e-01 -9.84986034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters Centerline goodness : 0.993359 with order 1 Centerline is valid? [True, True] Translation: X:318.03, Y:-23.23, Z:-0.99 [[ 9.94936906e-01 1.00454591e-01 3.07046573e-03 3.18031854e+02] [-1.00454130e-01 9.94941644e-01 -3.04338969e-04 -2.32341569e+01] [-3.08550647e-03 -5.64289089e-06 9.99995240e-01 -9.85862879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:318.09, Y:-23.24, Z:-0.99 [[ 9.95292647e-01 9.68665039e-02 3.07046231e-03 3.18092225e+02] [-9.68660259e-02 9.95297383e-01 -3.04373459e-04 -2.32421707e+01] [-3.08550669e-03 5.51718446e-06 9.99995240e-01 -9.86100002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:-23.25, Z:-0.99 [[ 9.95514440e-01 9.45598829e-02 3.07045552e-03 3.18153461e+02] [-9.45593936e-02 9.95519175e-01 -3.04441923e-04 -2.32468808e+01] [-3.08548534e-03 1.27359183e-05 9.99995240e-01 -9.85836140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters Centerline goodness : 0.993600 with order 1 Centerline is valid? [True, True] Translation: X:318.21, Y:-23.25, Z:-0.99 [[ 9.95670865e-01 9.28983328e-02 3.07044872e-03 3.18213412e+02] [-9.28978354e-02 9.95675600e-01 -3.04510481e-04 -2.32540498e+01] [-3.08545939e-03 1.79541741e-05 9.99995240e-01 -9.86396128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters Centerline goodness : 0.993706 with order 1 Centerline is valid? [True, True] Translation: X:318.27, Y:-23.26, Z:-0.99 [[ 9.95563915e-01 9.40375668e-02 3.07043227e-03 3.18274115e+02] [-9.40370743e-02 9.95568649e-01 -3.04676328e-04 -2.32597560e+01] [-3.08547712e-03 1.45902903e-05 9.99995240e-01 -9.87437779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters Centerline goodness : 0.994254 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:-23.27, Z:-0.99 [[ 9.95429759e-01 9.54471998e-02 3.07042568e-03 3.18334958e+02] [-9.54467138e-02 9.95434494e-01 -3.04742699e-04 -2.32650121e+01] [-3.08549447e-03 1.02879102e-05 9.99995240e-01 -9.89235545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters Centerline goodness : 0.993830 with order 1 Centerline is valid? [True, True] Translation: X:318.40, Y:-23.27, Z:-0.99 [[ 9.95752429e-01 9.20199626e-02 3.07041900e-03 3.18395595e+02] [-9.20194601e-02 9.95757162e-01 -3.04809941e-04 -2.32719184e+01] [-3.08544031e-03 2.09769401e-05 9.99995240e-01 -9.89274296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters Centerline goodness : 0.993574 with order 1 Centerline is valid? [True, True] Translation: X:318.46, Y:-23.28, Z:-0.99 [[ 9.96112643e-01 8.80350803e-02 3.07041222e-03 3.18456068e+02] [-8.80345587e-02 9.96117374e-01 -3.04878229e-04 -2.32826859e+01] [-3.08533094e-03 3.33906737e-05 9.99995240e-01 -9.91452306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters Centerline goodness : 0.994060 with order 1 Centerline is valid? [True, True] Translation: X:318.52, Y:-23.29, Z:-0.99 [[ 9.96057350e-01 8.86584893e-02 3.07040546e-03 3.18517123e+02] [-8.86579704e-02 9.96062082e-01 -3.04946308e-04 -2.32879718e+01] [-3.08535053e-03 3.15280950e-05 9.99995240e-01 -9.90449342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:-23.29, Z:-0.99 [[ 9.95683746e-01 9.27601809e-02 3.07039831e-03 3.18577435e+02] [-9.27596813e-02 9.95688480e-01 -3.05018284e-04 -2.32935549e+01] [-3.08545378e-03 1.88925786e-05 9.99995240e-01 -9.87753961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters Centerline goodness : 0.994390 with order 1 Centerline is valid? [True, True] Translation: X:318.64, Y:-23.30, Z:-0.99 [[ 9.95341425e-01 9.63639989e-02 3.07038187e-03 3.18639092e+02] [-9.63635159e-02 9.95346161e-01 -3.05183696e-04 -2.32979320e+01] [-3.08550153e-03 7.88918306e-06 9.99995240e-01 -9.87586789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:318.70, Y:-23.30, Z:-0.99 [[ 9.95363748e-01 9.61331471e-02 3.07037457e-03 3.18699314e+02] [-9.61326629e-02 9.95368484e-01 -3.05257144e-04 -2.33036733e+01] [-3.08549941e-03 8.67861141e-06 9.99995240e-01 -9.85974513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters Centerline goodness : 0.994712 with order 1 Centerline is valid? [True, True] Translation: X:318.76, Y:-23.31, Z:-0.99 [[ 9.95623238e-01 9.34073886e-02 3.07037094e-03 3.18760136e+02] [-9.34068913e-02 9.95627972e-01 -3.05293574e-04 -2.33118267e+01] [-3.08546387e-03 1.71635719e-05 9.99995240e-01 -9.85845809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:318.82, Y:-23.32, Z:-0.99 [[ 9.95984528e-01 8.94728663e-02 3.07036404e-03 3.18821071e+02] [-8.94723501e-02 9.95989260e-01 -3.05363042e-04 -2.33216460e+01] [-3.08537131e-03 2.94241788e-05 9.99995240e-01 -9.90524091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:318.88, Y:-23.33, Z:-0.99 [[ 9.95745246e-01 9.20976530e-02 3.07031951e-03 3.18882173e+02] [-9.20971478e-02 9.95749980e-01 -3.05810126e-04 -2.33305713e+01] [-3.08543498e-03 2.17413099e-05 9.99995240e-01 -9.90223914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters Centerline goodness : 0.994525 with order 1 Centerline is valid? [True, True] Translation: X:318.94, Y:-23.34, Z:-0.99 [[ 9.94822342e-01 1.01582877e-01 3.07027030e-03 3.18942366e+02] [-1.01582415e-01 9.94827080e-01 -3.06303388e-04 -2.33360812e+01] [-3.08550321e-03 -7.16801711e-06 9.99995240e-01 -9.87173191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters Centerline goodness : 0.994094 with order 1 Centerline is valid? [True, True] Translation: X:319.00, Y:-23.34, Z:-0.99 [[ 9.94000627e-01 1.09331270e-01 3.07026681e-03 3.19003107e+02] [-1.09330845e-01 9.94005368e-01 -3.06338299e-04 -2.33375219e+01] [-3.08535405e-03 -3.11744041e-05 9.99995240e-01 -9.89323755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters Centerline goodness : 0.994513 with order 1 Centerline is valid? [True, True] Translation: X:319.06, Y:-23.34, Z:-0.99 [[ 9.93404653e-01 1.14620108e-01 3.07026681e-03 3.19061894e+02] [-1.14619708e-01 9.93409396e-01 -3.06338299e-04 -2.33369829e+01] [-3.08514443e-03 -4.75951949e-05 9.99995240e-01 -9.91831640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters Centerline goodness : 0.994420 with order 1 Centerline is valid? [True, True] Translation: X:319.12, Y:-23.34, Z:-0.99 [[ 9.93594767e-01 1.12960225e-01 3.07027703e-03 3.19121636e+02] [-1.12959818e-01 9.93599510e-01 -3.06235843e-04 -2.33369457e+01] [-3.08521822e-03 -4.25436038e-05 9.99995240e-01 -9.92776476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:319.18, Y:-23.34, Z:-0.99 [[ 9.94140646e-01 1.08050676e-01 3.07027386e-03 3.19181364e+02] [-1.08050246e-01 9.94145387e-01 -3.06267650e-04 -2.33352056e+01] [-3.08539102e-03 -2.72707257e-05 9.99995240e-01 -9.92906099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters Centerline goodness : 0.994579 with order 1 Centerline is valid? [True, True] Translation: X:319.24, Y:-23.34, Z:-0.99 [[ 9.94325285e-01 1.06338144e-01 3.07028049e-03 3.19241687e+02] [-1.06337706e-01 9.94330025e-01 -3.06201137e-04 -2.33364026e+01] [-3.08543294e-03 -2.20230516e-05 9.99995240e-01 -9.92345543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters Centerline goodness : 0.994900 with order 1 Centerline is valid? [True, True] Translation: X:319.30, Y:-23.34, Z:-0.99 [[ 9.94563605e-01 1.04085586e-01 3.07028712e-03 3.19301098e+02] [-1.04085137e-01 9.94568344e-01 -3.06134665e-04 -2.33369677e+01] [-3.08547458e-03 -1.51008585e-05 9.99995240e-01 -9.89322411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters Centerline goodness : 0.994770 with order 1 Centerline is valid? [True, True] Translation: X:319.36, Y:-23.34, Z:-0.99 [[ 9.94788916e-01 1.01909698e-01 3.07029367e-03 3.19360260e+02] [-1.01909238e-01 9.94793654e-01 -3.06068913e-04 -2.33366156e+01] [-3.08550005e-03 -8.41732736e-06 9.99995240e-01 -9.90984285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:319.42, Y:-23.34, Z:-1.00 [[ 9.95403847e-01 9.57170563e-02 3.07030666e-03 3.19420114e+02] [-9.57165680e-02 9.95408582e-01 -3.05938586e-04 -2.33351222e+01] [-3.08549314e-03 1.06532296e-05 9.99995240e-01 -9.96108719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters Centerline goodness : 0.995376 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:-23.34, Z:-0.99 [[ 9.96055362e-01 8.86808269e-02 3.07031307e-03 3.19480020e+02] [-8.86803054e-02 9.96060094e-01 -3.05874243e-04 -2.33364125e+01] [-3.08534151e-03 3.23913792e-05 9.99995240e-01 -9.91204654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters Centerline goodness : 0.995730 with order 1 Centerline is valid? [True, True] Translation: X:319.54, Y:-23.34, Z:-0.99 [[ 9.96723196e-01 8.08297205e-02 3.07032013e-03 3.19539040e+02] [-8.08291619e-02 9.96727923e-01 -3.05803371e-04 -2.33396532e+01] [-3.08499181e-03 5.66299101e-05 9.99995240e-01 -9.91673916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters Centerline goodness : 0.995216 with order 1 Centerline is valid? [True, True] Translation: X:319.60, Y:-23.35, Z:-0.99 [[ 9.97130557e-01 7.56387887e-02 3.07032361e-03 3.19597736e+02] [-7.56382056e-02 9.97135281e-01 -3.05768397e-04 -2.33467577e+01] [-3.08465595e-03 7.26572435e-05 9.99995240e-01 -9.91271042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters Centerline goodness : 0.995586 with order 1 Centerline is valid? [True, True] Translation: X:319.66, Y:-23.36, Z:-0.99 [[ 9.97484208e-01 7.08225158e-02 3.07032704e-03 3.19657845e+02] [-7.08219100e-02 9.97488929e-01 -3.05733993e-04 -2.33568376e+01] [-3.08427008e-03 8.75184043e-05 9.99995240e-01 -9.89152104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters Centerline goodness : 0.995802 with order 1 Centerline is valid? [True, True] Translation: X:319.72, Y:-23.37, Z:-0.99 [[ 9.97455391e-01 7.12272140e-02 3.07032704e-03 3.19717400e+02] [-7.12266101e-02 9.97460113e-01 -3.05733993e-04 -2.33688763e+01] [-3.08430533e-03 8.62670324e-05 9.99995240e-01 -9.91390766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters Centerline goodness : 0.995439 with order 1 Centerline is valid? [True, True] Translation: X:319.78, Y:-23.38, Z:-0.99 [[ 9.97212597e-01 7.45493794e-02 3.07032704e-03 3.19776899e+02] [-7.45487912e-02 9.97217320e-01 -3.05733993e-04 -2.33821569e+01] [-3.08457558e-03 7.59926193e-05 9.99995240e-01 -9.89588871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters Centerline goodness : 0.995740 with order 1 Centerline is valid? [True, True] Translation: X:319.84, Y:-23.39, Z:-0.99 [[ 9.97052050e-01 7.66666935e-02 3.07032704e-03 3.19836657e+02] [-7.66661154e-02 9.97056775e-01 -3.05733993e-04 -2.33928423e+01] [-3.08472999e-03 6.94426573e-05 9.99995240e-01 -9.92055979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters Centerline goodness : 0.996024 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:-23.41, Z:-1.00 [[ 9.96946404e-01 7.80284654e-02 3.07032704e-03 3.19895980e+02] [-7.80278937e-02 9.96951129e-01 -3.05733993e-04 -2.34095422e+01] [-3.08482196e-03 6.52292528e-05 9.99995240e-01 -9.96631523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters Centerline goodness : 0.995634 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:-23.43, Z:-0.99 [[ 9.97026656e-01 7.69962426e-02 3.07031176e-03 3.19955722e+02] [-7.69956655e-02 9.97031381e-01 -3.05887326e-04 -2.34256694e+01] [-3.08474935e-03 6.85771206e-05 9.99995240e-01 -9.92706923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters Centerline goodness : 0.995013 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:-23.44, Z:-0.99 [[ 9.96992500e-01 7.74372530e-02 3.07030488e-03 3.20016272e+02] [-7.74366778e-02 9.96997225e-01 -3.05956357e-04 -2.34392981e+01] [-3.08477787e-03 6.72819829e-05 9.99995240e-01 -9.92087200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters Centerline goodness : 0.995885 with order 1 Centerline is valid? [True, True] Translation: X:320.08, Y:-23.46, Z:-1.00 [[ 9.96842275e-01 7.93476602e-02 3.07029804e-03 3.20077402e+02] [-7.93470938e-02 9.96847002e-01 -3.06024970e-04 -2.34576446e+01] [-3.08489977e-03 6.14394000e-05 9.99995240e-01 -9.98474312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters Centerline goodness : 0.995938 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:-23.47, Z:-1.00 [[ 9.96385486e-01 8.48913191e-02 3.07025052e-03 3.20138603e+02] [-8.48907775e-02 9.96390216e-01 -3.06501047e-04 -2.34730729e+01] [-3.08518685e-03 4.47572407e-05 9.99995240e-01 -9.99185981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters Centerline goodness : 0.995766 with order 1 Centerline is valid? [True, True] Translation: X:320.20, Y:-23.49, Z:-1.00 [[ 9.96165102e-01 8.74394838e-02 3.07019972e-03 3.20200560e+02] [-8.74389529e-02 9.96169833e-01 -3.07009089e-04 -2.34913585e+01] [-3.08528505e-03 3.73766920e-05 9.99995240e-01 -9.95134141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters Centerline goodness : 0.995684 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:-23.51, Z:-0.99 [[ 9.96239440e-01 8.65884105e-02 3.07014835e-03 3.20261992e+02] [-8.65878739e-02 9.96244170e-01 -3.07521898e-04 -2.35057027e+01] [-3.08524523e-03 4.05278254e-05 9.99995240e-01 -9.93402136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters Centerline goodness : 0.995154 with order 1 Centerline is valid? [True, True] Translation: X:320.32, Y:-23.53, Z:-1.00 [[ 9.96308651e-01 8.57883777e-02 3.07009483e-03 3.20323145e+02] [-8.57878357e-02 9.96313381e-01 -3.08055274e-04 -2.35265318e+01] [-3.08520412e-03 4.35413440e-05 9.99995240e-01 -9.96379466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:320.38, Y:-23.54, Z:-1.00 [[ 9.95882306e-01 9.06035713e-02 3.07004135e-03 3.20384890e+02] [-9.06030505e-02 9.95887038e-01 -3.08587317e-04 -2.35441366e+01] [-3.08537350e-03 2.91615373e-05 9.99995240e-01 -9.95076894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters Centerline goodness : 0.996377 with order 1 Centerline is valid? [True, True] Translation: X:320.45, Y:-23.55, Z:-1.00 [[ 9.94508051e-01 1.04615067e-01 3.06998273e-03 3.20446116e+02] [-1.04614611e-01 9.94512789e-01 -3.09169448e-04 -2.35544258e+01] [-3.08548087e-03 -1.36935444e-05 9.99995240e-01 -9.98348929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters Centerline goodness : 0.995895 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:-23.56, Z:-1.00 [[ 9.93924549e-01 1.10020758e-01 3.06994635e-03 3.20508869e+02] [-1.10020326e-01 9.93929289e-01 -3.09530254e-04 -2.35603468e+01] [-3.08536435e-03 -3.01067813e-05 9.99995240e-01 -9.98160152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:320.57, Y:-23.56, Z:-1.00 [[ 9.92406801e-01 1.22960636e-01 3.06989011e-03 3.20571554e+02] [-1.22960265e-01 9.92411546e-01 -3.10087067e-04 -2.35636514e+01] [-3.08472289e-03 -6.97419861e-05 9.99995240e-01 -9.96919641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters Centerline goodness : 0.996364 with order 1 Centerline is valid? [True, True] Translation: X:320.63, Y:-23.57, Z:-1.00 [[ 9.91915485e-01 1.26863102e-01 3.06983258e-03 3.20633401e+02] [-1.26862747e-01 9.91920232e-01 -3.10655505e-04 -2.35653519e+01] [-3.08443977e-03 -8.13033893e-05 9.99995240e-01 -9.97875436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters Centerline goodness : 0.995493 with order 1 Centerline is valid? [True, True] Translation: X:320.70, Y:-23.57, Z:-1.00 [[ 9.91849155e-01 1.27380647e-01 3.06977951e-03 3.20696412e+02] [-1.27380294e-01 9.91853903e-01 -3.11179077e-04 -2.35660644e+01] [-3.08441098e-03 -8.23867111e-05 9.99995240e-01 -9.97945146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:320.76, Y:-23.56, Z:-1.00 [[ 9.91994693e-01 1.26242247e-01 3.06972367e-03 3.20760073e+02] [-1.26241887e-01 9.91999440e-01 -3.11728892e-04 -2.35644593e+01] [-3.08451752e-03 -7.82943023e-05 9.99995240e-01 -9.97831661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:320.82, Y:-23.56, Z:-1.00 [[ 9.92183988e-01 1.24745790e-01 3.06966763e-03 3.20823868e+02] [-1.24745420e-01 9.92188733e-01 -3.12279764e-04 -2.35620578e+01] [-3.08464523e-03 -7.30879965e-05 9.99995240e-01 -9.96137421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters Centerline goodness : 0.995378 with order 1 Centerline is valid? [True, True] Translation: X:320.89, Y:-23.56, Z:-0.99 [[ 9.92714959e-01 1.20447449e-01 3.06960964e-03 3.20886486e+02] [-1.20447057e-01 9.92719703e-01 -3.12848756e-04 -2.35646234e+01] [-3.08494381e-03 -5.91558077e-05 9.99995240e-01 -9.94631184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters Centerline goodness : 0.995719 with order 1 Centerline is valid? [True, True] Translation: X:320.95, Y:-23.57, Z:-1.00 [[ 9.93445682e-01 1.14263973e-01 3.06955084e-03 3.20949706e+02] [-1.14263550e-01 9.93450423e-01 -3.13424644e-04 -2.35687069e+01] [-3.08525973e-03 -3.93674174e-05 9.99995240e-01 -9.97489644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:321.01, Y:-23.58, Z:-1.00 [[ 9.94705865e-01 1.02717185e-01 3.06949242e-03 3.21010993e+02] [-1.02716706e-01 9.94710601e-01 -3.13995728e-04 -2.35802671e+01] [-3.08550941e-03 -2.95475656e-06 9.99995240e-01 -9.98472218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters Centerline goodness : 0.996001 with order 1 Centerline is valid? [True, True] Translation: X:321.07, Y:-23.59, Z:-1.00 [[ 9.95299797e-01 9.67930429e-02 3.06943792e-03 3.21071963e+02] [-9.67925332e-02 9.95304530e-01 -3.14527558e-04 -2.35887606e+01] [-3.08546955e-03 1.59505423e-05 9.99995240e-01 -1.00389149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters Centerline goodness : 0.995692 with order 1 Centerline is valid? [True, True] Translation: X:321.13, Y:-23.60, Z:-1.00 [[ 9.95246032e-01 9.73443083e-02 3.06938396e-03 3.21134560e+02] [-9.73437995e-02 9.95250765e-01 -3.15053346e-04 -2.35964771e+01] [-3.08547538e-03 1.47700958e-05 9.99995240e-01 -1.00112277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters Centerline goodness : 0.995860 with order 1 Centerline is valid? [True, True] Translation: X:321.20, Y:-23.60, Z:-1.00 [[ 9.95131648e-01 9.85067654e-02 3.06932461e-03 3.21197310e+02] [-9.85062605e-02 9.95136381e-01 -3.15630458e-04 -2.36034809e+01] [-3.08548832e-03 1.17461680e-05 9.99995240e-01 -9.99623363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters Centerline goodness : 0.995633 with order 1 Centerline is valid? [True, True] Translation: X:321.26, Y:-23.62, Z:-1.00 [[ 9.95399034e-01 9.57671236e-02 3.06926556e-03 3.21259375e+02] [-9.57666039e-02 9.95403766e-01 -3.16203630e-04 -2.36160399e+01] [-3.08544041e-03 2.08156492e-05 9.99995240e-01 -1.00111002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters Centerline goodness : 0.995527 with order 1 Centerline is valid? [True, True] Translation: X:321.32, Y:-23.62, Z:-1.01 [[ 9.95095009e-01 9.88762045e-02 3.06920495e-03 3.21320982e+02] [-9.88756977e-02 9.95099742e-01 -3.16790833e-04 -2.36247002e+01] [-3.08548813e-03 1.17671957e-05 9.99995240e-01 -1.00572616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters Centerline goodness : 0.995461 with order 1 Centerline is valid? [True, True] Translation: X:321.38, Y:-23.63, Z:-1.01 [[ 9.94520875e-01 1.04493104e-01 3.06914864e-03 3.21383266e+02] [-1.04492622e-01 9.94525611e-01 -3.17335420e-04 -2.36334707e+01] [-3.08550629e-03 -5.10669022e-06 9.99995240e-01 -1.00569749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:321.45, Y:-23.64, Z:-1.00 [[ 9.93506549e-01 1.13733540e-01 3.06908805e-03 3.21445975e+02] [-1.13733100e-01 9.93511289e-01 -3.17920365e-04 -2.36405229e+01] [-3.08533183e-03 -3.32009345e-05 9.99995240e-01 -1.00416484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:321.51, Y:-23.65, Z:-1.00 [[ 9.92926079e-01 1.18694495e-01 3.06902805e-03 3.21507617e+02] [-1.18694077e-01 9.92930821e-01 -3.18498554e-04 -2.36504019e+01] [-3.08513656e-03 -4.80299317e-05 9.99995240e-01 -1.00244649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters Centerline goodness : 0.995040 with order 1 Centerline is valid? [True, True] Translation: X:321.57, Y:-23.66, Z:-1.00 [[ 9.92042669e-01 1.25864709e-01 3.06899107e-03 3.21570411e+02] [-1.25864324e-01 9.92047413e-01 -3.18854454e-04 -2.36568822e+01] [-3.08471717e-03 -6.99592639e-05 9.99995240e-01 -1.00416678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters Centerline goodness : 0.994844 with order 1 Centerline is valid? [True, True] Translation: X:321.63, Y:-23.66, Z:-1.00 [[ 9.91073118e-01 1.33284120e-01 3.06893197e-03 3.21632827e+02] [-1.33283769e-01 9.91077865e-01 -3.19422223e-04 -2.36614444e+01] [-3.08412446e-03 -9.24680412e-05 9.99995240e-01 -9.99644808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:-23.66, Z:-1.00 [[ 9.89862343e-01 1.41996914e-01 3.06887344e-03 3.21694372e+02] [-1.41996603e-01 9.89867093e-01 -3.19983625e-04 -2.36641038e+01] [-3.08321352e-03 -1.19029863e-04 9.99995240e-01 -1.00158762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters Centerline goodness : 0.995269 with order 1 Centerline is valid? [True, True] Translation: X:321.76, Y:-23.67, Z:-1.00 [[ 9.89157093e-01 1.46829247e-01 3.06882645e-03 3.21756039e+02] [-1.46828958e-01 9.89161844e-01 -3.20433633e-04 -2.36680930e+01] [-3.08261506e-03 -1.33633390e-04 9.99995240e-01 -1.00379305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:321.82, Y:-23.67, Z:-1.00 [[ 9.88352214e-01 1.52152827e-01 3.06881927e-03 3.21816337e+02] [-1.52152563e-01 9.88356967e-01 -3.20502430e-04 -2.36673691e+01] [-3.08185425e-03 -1.50159431e-04 9.99995240e-01 -1.00103783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters Centerline goodness : 0.994774 with order 1 Centerline is valid? [True, True] Translation: X:321.88, Y:-23.67, Z:-1.00 [[ 9.88159942e-01 1.53396581e-01 3.06881573e-03 3.21877285e+02] [-1.53396324e-01 9.88164695e-01 -3.20536322e-04 -2.36668903e+01] [-3.08166453e-03 -1.54003897e-04 9.99995240e-01 -1.00388898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters Centerline goodness : 0.995497 with order 1 Centerline is valid? [True, True] Translation: X:321.94, Y:-23.67, Z:-1.00 [[ 9.88300444e-01 1.52488737e-01 3.06881573e-03 3.21936849e+02] [-1.52488475e-01 9.88305197e-01 -3.20536322e-04 -2.36689922e+01] [-3.08180471e-03 -1.51172840e-04 9.99995240e-01 -1.00431267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:322.00, Y:-23.67, Z:-1.00 [[ 9.89371275e-01 1.45379030e-01 3.06881921e-03 3.21997772e+02] [-1.45378734e-01 9.89376026e-01 -3.20502963e-04 -2.36719305e+01] [-3.08281056e-03 -1.29044626e-04 9.99995240e-01 -1.00232910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters Centerline goodness : 0.995193 with order 1 Centerline is valid? [True, True] Translation: X:322.06, Y:-23.68, Z:-1.00 [[ 9.89651490e-01 1.43459089e-01 3.06881198e-03 3.22058298e+02] [-1.43458783e-01 9.89656241e-01 -3.20572133e-04 -2.36762641e+01] [-3.08305792e-03 -1.22993344e-04 9.99995240e-01 -1.00053727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:322.12, Y:-23.68, Z:-1.00 [[ 9.89160293e-01 1.46807689e-01 3.06881198e-03 3.22117966e+02] [-1.46807400e-01 9.89165044e-01 -3.20572133e-04 -2.36795821e+01] [-3.08262400e-03 -1.33427083e-04 9.99995240e-01 -9.98823916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:322.18, Y:-23.68, Z:-1.00 [[ 9.88952804e-01 1.48198968e-01 3.06881555e-03 3.22177592e+02] [-1.48198685e-01 9.88957556e-01 -3.20538008e-04 -2.36846173e+01] [-3.08243173e-03 -1.37797468e-04 9.99995240e-01 -9.99730188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters Centerline goodness : 0.994967 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:-23.69, Z:-1.00 [[ 9.89368387e-01 1.45398681e-01 3.06882265e-03 3.22238276e+02] [-1.45398385e-01 9.89373138e-01 -3.20470029e-04 -2.36894361e+01] [-3.08280661e-03 -1.29138942e-04 9.99995240e-01 -1.00148747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters Centerline goodness : 0.995179 with order 1 Centerline is valid? [True, True] Translation: X:322.30, Y:-23.69, Z:-1.00 [[ 9.89815226e-01 1.42324984e-01 3.06882265e-03 3.22297287e+02] [-1.42324673e-01 9.89819976e-01 -3.20470029e-04 -2.36936515e+01] [-3.08319285e-03 -1.19563065e-04 9.99995240e-01 -1.00424951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters Centerline goodness : 0.995207 with order 1 Centerline is valid? [True, True] Translation: X:322.36, Y:-23.70, Z:-1.01 [[ 9.90502918e-01 1.37457453e-01 3.06882627e-03 3.22357146e+02] [-1.37457119e-01 9.90507667e-01 -3.20435354e-04 -2.36988976e+01] [-3.08374217e-03 -1.04439864e-04 9.99995240e-01 -1.00889854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters Centerline goodness : 0.995612 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:-23.70, Z:-1.00 [[ 9.91139812e-01 1.32787256e-01 3.06882627e-03 3.22417679e+02] [-1.32786899e-01 9.91144559e-01 -3.20435354e-04 -2.37035078e+01] [-3.08420019e-03 -8.99036886e-05 9.99995240e-01 -1.00280566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters Centerline goodness : 0.995551 with order 1 Centerline is valid? [True, True] Translation: X:322.48, Y:-23.71, Z:-1.00 [[ 9.91386517e-01 1.30932644e-01 3.06882627e-03 3.22478301e+02] [-1.30932278e-01 9.91391263e-01 -3.20435354e-04 -2.37094380e+01] [-3.08436300e-03 -8.41331265e-05 9.99995240e-01 -1.00328016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:322.54, Y:-23.72, Z:-1.00 [[ 9.92157970e-01 1.24952572e-01 3.06882627e-03 3.22539556e+02] [-1.24952178e-01 9.92162714e-01 -3.20435354e-04 -2.37169445e+01] [-3.08481422e-03 -6.55340364e-05 9.99995240e-01 -1.00339886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters Centerline goodness : 0.995287 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:-23.72, Z:-1.00 [[ 9.92747414e-01 1.20179679e-01 3.06881906e-03 3.22601020e+02] [-1.20179263e-01 9.92752155e-01 -3.20504332e-04 -2.37234132e+01] [-3.08509485e-03 -5.06285656e-05 9.99995240e-01 -9.99254162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters Centerline goodness : 0.995311 with order 1 Centerline is valid? [True, True] Translation: X:322.66, Y:-23.73, Z:-1.00 [[ 9.93111489e-01 1.17133058e-01 3.06880809e-03 3.22660909e+02] [-1.17132626e-01 9.93116229e-01 -3.20609342e-04 -2.37298602e+01] [-3.08523707e-03 -4.10567309e-05 9.99995240e-01 -1.00274645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:322.72, Y:-23.73, Z:-1.00 [[ 9.93052791e-01 1.17629657e-01 3.06880443e-03 3.22721182e+02] [-1.17629228e-01 9.93057532e-01 -3.20644367e-04 -2.37327042e+01] [-3.08521664e-03 -4.25643131e-05 9.99995240e-01 -9.99340543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters Centerline goodness : 0.995473 with order 1 Centerline is valid? [True, True] Translation: X:322.78, Y:-23.74, Z:-1.00 [[ 9.92666303e-01 1.20847810e-01 3.06880084e-03 3.22780860e+02] [-1.20847396e-01 9.92671045e-01 -3.20678804e-04 -2.37367361e+01] [-3.08506306e-03 -5.25295469e-05 9.99995240e-01 -9.98207233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters Centerline goodness : 0.995489 with order 1 Centerline is valid? [True, True] Translation: X:322.84, Y:-23.74, Z:-1.01 [[ 9.92679240e-01 1.20741499e-01 3.06880444e-03 3.22840090e+02] [-1.20741085e-01 9.92683982e-01 -3.20644346e-04 -2.37407333e+01] [-3.08506809e-03 -5.22337915e-05 9.99995240e-01 -1.00636489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters Centerline goodness : 0.995272 with order 1 Centerline is valid? [True, True] Translation: X:322.90, Y:-23.75, Z:-1.01 [[ 9.93257561e-01 1.15887877e-01 3.06880792e-03 3.22900855e+02] [-1.15887440e-01 9.93262301e-01 -3.20610957e-04 -2.37485239e+01] [-3.08528614e-03 -3.71870365e-05 9.99995240e-01 -1.00774496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters Centerline goodness : 0.995707 with order 1 Centerline is valid? [True, True] Translation: X:322.96, Y:-23.76, Z:-1.01 [[ 9.94053031e-01 1.08853817e-01 3.06880033e-03 3.22962724e+02] [-1.08853346e-01 9.94057768e-01 -3.20683656e-04 -2.37572934e+01] [-3.08547244e-03 -1.52726228e-05 9.99995240e-01 -1.00771632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters Centerline goodness : 0.995924 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:-23.76, Z:-1.01 [[ 9.93970192e-01 1.09607666e-01 3.06874749e-03 3.23023055e+02] [-1.09607197e-01 9.93974929e-01 -3.21188477e-04 -2.37637865e+01] [-3.08546279e-03 -1.71050371e-05 9.99995240e-01 -1.00828465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters Centerline goodness : 0.995379 with order 1 Centerline is valid? [True, True] Translation: X:323.08, Y:-23.77, Z:-1.00 [[ 9.93886943e-01 1.10359990e-01 3.06872888e-03 3.23083921e+02] [-1.10359524e-01 9.93891680e-01 -3.21366142e-04 -2.37691902e+01] [-3.08545007e-03 -1.92618459e-05 9.99995240e-01 -1.00301578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters Centerline goodness : 0.994917 with order 1 Centerline is valid? [True, True] Translation: X:323.15, Y:-23.78, Z:-1.00 [[ 9.94627475e-01 1.03473516e-01 3.06872133e-03 3.23145101e+02] [-1.03473016e-01 9.94632209e-01 -3.21438297e-04 -2.37825373e+01] [-3.08550942e-03 2.18150991e-06 9.99995240e-01 -1.00251671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [True, True] Translation: X:323.21, Y:-23.79, Z:-1.00 [[ 9.95301750e-01 9.67729806e-02 3.06866839e-03 3.23207453e+02] [-9.67724479e-02 9.95306480e-01 -3.21942878e-04 -2.37939193e+01] [-3.08542091e-03 2.34677577e-05 9.99995240e-01 -1.00277094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters Centerline goodness : 0.995335 with order 1 Centerline is valid? [True, True] Translation: X:323.27, Y:-23.81, Z:-1.00 [[ 9.95925404e-01 9.01286462e-02 3.06860772e-03 3.23268867e+02] [-9.01280802e-02 9.95930131e-01 -3.22520140e-04 -2.38092305e+01] [-3.08518719e-03 4.46382783e-05 9.99995240e-01 -9.99582474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:323.33, Y:-23.82, Z:-1.00 [[ 9.95868802e-01 9.07519352e-02 3.06854694e-03 3.23330010e+02] [-9.07513704e-02 9.95873528e-01 -3.23097391e-04 -2.38229204e+01] [-3.08520638e-03 4.32877716e-05 9.99995240e-01 -1.00347541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters Centerline goodness : 0.995097 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:-23.84, Z:-1.00 [[ 9.95458071e-01 9.51515235e-02 3.06849078e-03 3.23391379e+02] [-9.51509779e-02 9.95462800e-01 -3.23629831e-04 -2.38360130e+01] [-3.08536230e-03 3.01900289e-05 9.99995240e-01 -1.00229834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters Centerline goodness : 0.996254 with order 1 Centerline is valid? [True, True] Translation: X:323.45, Y:-23.85, Z:-1.01 [[ 9.95236056e-01 9.74462848e-02 3.06843574e-03 3.23453995e+02] [-9.74457486e-02 9.95240785e-01 -3.24150831e-04 -2.38458764e+01] [-3.08541969e-03 2.36005769e-05 9.99995240e-01 -1.00575019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters Centerline goodness : 0.995855 with order 1 Centerline is valid? [True, True] Translation: X:323.52, Y:-23.86, Z:-1.00 [[ 9.95355684e-01 9.62166700e-02 3.06837715e-03 3.23516118e+02] [-9.62161262e-02 9.95360413e-01 -3.24704493e-04 -2.38580500e+01] [-3.08538313e-03 2.79690994e-05 9.99995240e-01 -1.00371118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters Centerline goodness : 0.995548 with order 1 Centerline is valid? [True, True] Translation: X:323.58, Y:-23.87, Z:-1.00 [[ 9.95216954e-01 9.76411817e-02 3.06831715e-03 3.23578655e+02] [-9.76406429e-02 9.95221683e-01 -3.25270515e-04 -2.38680468e+01] [-3.08541556e-03 2.41222720e-05 9.99995240e-01 -9.99562830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters Centerline goodness : 0.995191 with order 1 Centerline is valid? [True, True] Translation: X:323.64, Y:-23.87, Z:-1.00 [[ 9.94698981e-01 1.02783868e-01 3.06825693e-03 3.23641368e+02] [-1.02783352e-01 9.94703713e-01 -3.25837525e-04 -2.38749046e+01] [-3.08549741e-03 8.74452016e-06 9.99995240e-01 -1.00217602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters Centerline goodness : 0.995772 with order 1 Centerline is valid? [True, True] Translation: X:323.70, Y:-23.88, Z:-1.01 [[ 9.94083846e-01 1.08572066e-01 3.06819691e-03 3.23703391e+02] [-1.08571575e-01 9.94088581e-01 -3.26401760e-04 -2.38786506e+01] [-3.08549762e-03 -8.64825521e-06 9.99995240e-01 -1.00550056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters Centerline goodness : 0.995361 with order 1 Centerline is valid? [True, True] Translation: X:323.77, Y:-23.88, Z:-1.01 [[ 9.94152794e-01 1.07938915e-01 3.06814122e-03 3.23766718e+02] [-1.07938421e-01 9.94157528e-01 -3.26924439e-04 -2.38828838e+01] [-3.08550356e-03 -6.15747230e-06 9.99995240e-01 -1.00702824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters Centerline goodness : 0.995989 with order 1 Centerline is valid? [True, True] Translation: X:323.83, Y:-23.89, Z:-1.01 [[ 9.94612412e-01 1.03618225e-01 3.06808025e-03 3.23828536e+02] [-1.03617708e-01 9.94617144e-01 -3.27495582e-04 -2.38880624e+01] [-3.08549973e-03 7.82372901e-06 9.99995240e-01 -1.00642805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:323.89, Y:-23.89, Z:-1.00 [[ 9.95221353e-01 9.75963419e-02 3.06802363e-03 3.23890926e+02] [-9.75957944e-02 9.95226082e-01 -3.28025134e-04 -2.38929272e+01] [-3.08539119e-03 2.70314137e-05 9.99995240e-01 -1.00128126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:323.95, Y:-23.90, Z:-1.00 [[ 9.95430160e-01 9.54430918e-02 3.06796303e-03 3.23953695e+02] [-9.54425323e-02 9.95434887e-01 -3.28590999e-04 -2.39003726e+01] [-3.08531917e-03 3.42752304e-05 9.99995240e-01 -1.00378868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters Centerline goodness : 0.995696 with order 1 Centerline is valid? [True, True] Translation: X:324.01, Y:-23.91, Z:-1.01 [[ 9.95458502e-01 9.51470369e-02 3.06790247e-03 3.24014772e+02] [-9.51464743e-02 9.95463229e-01 -3.29155453e-04 -2.39111004e+01] [-3.08530226e-03 3.57604909e-05 9.99995240e-01 -1.00711603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:324.08, Y:-23.92, Z:-1.00 [[ 9.95611697e-01 9.35304120e-02 3.06786508e-03 3.24076803e+02] [-9.35298406e-02 9.95616422e-01 -3.29503513e-04 -2.39246852e+01] [-3.08523546e-03 4.11206196e-05 9.99995240e-01 -1.00446446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters Centerline goodness : 0.996218 with order 1 Centerline is valid? [True, True] Translation: X:324.14, Y:-23.94, Z:-1.01 [[ 9.95420521e-01 9.55435736e-02 3.06780203e-03 3.24137833e+02] [-9.55430100e-02 9.95425248e-01 -3.30089475e-04 -2.39385675e+01] [-3.08530553e-03 3.54707971e-05 9.99995240e-01 -1.00684774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters Centerline goodness : 0.996100 with order 1 Centerline is valid? [True, True] Translation: X:324.20, Y:-23.95, Z:-1.01 [[ 9.94890740e-01 1.00910872e-01 3.06773918e-03 3.24199843e+02] [-1.00910333e-01 9.94895470e-01 -3.30672571e-04 -2.39486064e+01] [-3.08544827e-03 1.94164978e-05 9.99995240e-01 -1.00964633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:324.26, Y:-23.96, Z:-1.01 [[ 9.94334692e-01 1.06250221e-01 3.06767698e-03 3.24260446e+02] [-1.06249705e-01 9.94339424e-01 -3.31248623e-04 -2.39638561e+01] [-3.08550740e-03 3.43222430e-06 9.99995240e-01 -1.00819205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters Centerline goodness : 0.996560 with order 1 Centerline is valid? [True, True] Translation: X:324.32, Y:-23.97, Z:-1.01 [[ 9.94041147e-01 1.08962322e-01 3.06762005e-03 3.24322807e+02] [-1.08961817e-01 9.94045880e-01 -3.31775027e-04 -2.39724886e+01] [-3.08550605e-03 -4.45542621e-06 9.99995240e-01 -1.00860031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters Centerline goodness : 0.995793 with order 1 Centerline is valid? [True, True] Translation: X:324.38, Y:-23.98, Z:-1.00 [[ 9.93339384e-01 1.15184453e-01 3.06756236e-03 3.24384957e+02] [-1.15183976e-01 9.93344120e-01 -3.32307522e-04 -2.39837088e+01] [-3.08542170e-03 -2.32398814e-05 9.99995240e-01 -1.00430901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters Centerline goodness : 0.995904 with order 1 Centerline is valid? [True, True] Translation: X:324.45, Y:-23.99, Z:-1.00 [[ 9.92620809e-01 1.21220953e-01 3.06750090e-03 3.24447469e+02] [-1.21220503e-01 9.92625548e-01 -3.32873892e-04 -2.39856509e+01] [-3.08523105e-03 -4.14264490e-05 9.99995240e-01 -1.00245387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters Centerline goodness : 0.996137 with order 1 Centerline is valid? [True, True] Translation: X:324.51, Y:-23.99, Z:-1.00 [[ 9.91080931e-01 1.33226042e-01 3.06746296e-03 3.24510962e+02] [-1.33225648e-01 9.91085675e-01 -3.33223118e-04 -2.39863671e+01] [-3.08451260e-03 -7.84136648e-05 9.99995240e-01 -9.98824414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters Centerline goodness : 0.996052 with order 1 Centerline is valid? [True, True] Translation: X:324.57, Y:-23.99, Z:-1.00 [[ 9.90361739e-01 1.38470994e-01 3.06740281e-03 3.24574106e+02] [-1.38470624e-01 9.90366485e-01 -3.33775952e-04 -2.39873297e+01] [-3.08407123e-03 -9.41862488e-05 9.99995240e-01 -9.97175753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters Centerline goodness : 0.996229 with order 1 Centerline is valid? [True, True] Translation: X:324.64, Y:-23.99, Z:-1.00 [[ 9.90206649e-01 1.39575731e-01 3.06734335e-03 3.24636350e+02] [-1.39575364e-01 9.90211395e-01 -3.34321438e-04 -2.39863692e+01] [-3.08398150e-03 -9.70782551e-05 9.99995240e-01 -1.00466677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters Centerline goodness : 0.996017 with order 1 Centerline is valid? [True, True] Translation: X:324.70, Y:-23.99, Z:-1.01 [[ 9.90736619e-01 1.35762822e-01 3.06730647e-03 3.24698786e+02] [-1.35762436e-01 9.90741363e-01 -3.34659473e-04 -2.39869442e+01] [-3.08434171e-03 -8.48656046e-05 9.99995240e-01 -1.00830559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters Centerline goodness : 0.996900 with order 1 Centerline is valid? [True, True] Translation: X:324.76, Y:-23.99, Z:-1.00 [[ 9.90851585e-01 1.34921191e-01 3.06725216e-03 3.24759961e+02] [-1.34920799e-01 9.90856329e-01 -3.35156536e-04 -2.39879213e+01] [-3.08442593e-03 -8.17457273e-05 9.99995240e-01 -1.00425441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:324.82, Y:-23.99, Z:-1.01 [[ 9.90775295e-01 1.35480286e-01 3.06722228e-03 3.24820737e+02] [-1.35479896e-01 9.90780039e-01 -3.35429782e-04 -2.39904806e+01] [-3.08438673e-03 -8.32114147e-05 9.99995240e-01 -1.00760695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters Centerline goodness : 0.996356 with order 1 Centerline is valid? [True, True] Translation: X:324.88, Y:-23.99, Z:-1.01 [[ 9.91120834e-01 1.32928870e-01 3.06717263e-03 3.24882550e+02] [-1.32928466e-01 9.91125577e-01 -3.35883124e-04 -2.39921002e+01] [-3.08460181e-03 -7.48137922e-05 9.99995240e-01 -1.00640374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:324.94, Y:-24.00, Z:-1.01 [[ 9.91463483e-01 1.30348586e-01 3.06714329e-03 3.24943291e+02] [-1.30348170e-01 9.91468225e-01 -3.36150821e-04 -2.39960492e+01] [-3.08479190e-03 -6.65152500e-05 9.99995240e-01 -1.00961664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters Centerline goodness : 0.997043 with order 1 Centerline is valid? [True, True] Translation: X:325.01, Y:-23.99, Z:-1.01 [[ 9.91822946e-01 1.27584623e-01 3.06712382e-03 3.25005527e+02] [-1.27584193e-01 9.91827687e-01 -3.36328396e-04 -2.39948282e+01] [-3.08496866e-03 -5.77382973e-05 9.99995240e-01 -1.00854551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:325.07, Y:-23.99, Z:-1.00 [[ 9.91866660e-01 1.27244336e-01 3.06711637e-03 3.25065576e+02] [-1.27243904e-01 9.91871401e-01 -3.36396287e-04 -2.39920266e+01] [-3.08498954e-03 -5.66115989e-05 9.99995240e-01 -1.00291088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters Centerline goodness : 0.997303 with order 1 Centerline is valid? [True, True] Translation: X:325.13, Y:-23.99, Z:-1.00 [[ 9.92127185e-01 1.25196811e-01 3.06712006e-03 3.25126296e+02] [-1.25196369e-01 9.92131925e-01 -3.36362638e-04 -2.39912045e+01] [-3.08509926e-03 -5.02777773e-05 9.99995240e-01 -1.00327744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters Centerline goodness : 0.996744 with order 1 Centerline is valid? [True, True] Translation: X:325.19, Y:-24.00, Z:-1.01 [[ 9.92585916e-01 1.21506345e-01 3.06712006e-03 3.25186894e+02] [-1.21505885e-01 9.92590654e-01 -3.36362638e-04 -2.39975904e+01] [-3.08526491e-03 -3.88043209e-05 9.99995240e-01 -1.00601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters Centerline goodness : 0.997304 with order 1 Centerline is valid? [True, True] Translation: X:325.25, Y:-24.00, Z:-1.01 [[ 9.93116762e-01 1.17088386e-01 3.06712006e-03 3.25247097e+02] [-1.17087906e-01 9.93121498e-01 -3.36362638e-04 -2.40044398e+01] [-3.08540703e-03 -2.50752903e-05 9.99995240e-01 -1.01241942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:325.31, Y:-24.01, Z:-1.01 [[ 9.92757410e-01 1.20097116e-01 3.06709983e-03 3.25307211e+02] [-1.20096650e-01 9.92762147e-01 -3.36547028e-04 -2.40123672e+01] [-3.08531894e-03 -3.42388584e-05 9.99995240e-01 -1.00876488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters Centerline goodness : 0.996815 with order 1 Centerline is valid? [True, True] Translation: X:325.37, Y:-24.02, Z:-1.00 [[ 9.92031877e-01 1.25949780e-01 3.06709983e-03 3.25366299e+02] [-1.25949341e-01 9.92036617e-01 -3.36547028e-04 -2.40154799e+01] [-3.08506337e-03 -5.24338235e-05 9.99995240e-01 -1.00446696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters Centerline goodness : 0.996611 with order 1 Centerline is valid? [True, True] Translation: X:325.43, Y:-24.02, Z:-1.01 [[ 9.91646007e-01 1.28952663e-01 3.06711044e-03 3.25426982e+02] [-1.28952239e-01 9.91650748e-01 -3.36450323e-04 -2.40212436e+01] [-3.08488853e-03 -6.18711395e-05 9.99995240e-01 -1.01095726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters Centerline goodness : 0.996872 with order 1 Centerline is valid? [True, True] Translation: X:325.49, Y:-24.03, Z:-1.01 [[ 9.91471104e-01 1.30290609e-01 3.06711044e-03 3.25486115e+02] [-1.30290192e-01 9.91475846e-01 -3.36450323e-04 -2.40250941e+01] [-3.08480224e-03 -6.60336342e-05 9.99995240e-01 -1.01223974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters Centerline goodness : 0.996431 with order 1 Centerline is valid? [True, True] Translation: X:325.54, Y:-24.03, Z:-1.01 [[ 9.91013741e-01 1.33724936e-01 3.06711431e-03 3.25544547e+02] [-1.33724535e-01 9.91018484e-01 -3.36415068e-04 -2.40279957e+01] [-3.08455405e-03 -7.67564793e-05 9.99995240e-01 -1.01343810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters Centerline goodness : 0.996688 with order 1 Centerline is valid? [True, True] Translation: X:325.60, Y:-24.03, Z:-1.01 [[ 9.90549810e-01 1.37119169e-01 3.06712977e-03 3.25602285e+02] [-1.37118785e-01 9.90554555e-01 -3.36274050e-04 -2.40281696e+01] [-3.08426898e-03 -8.74649111e-05 9.99995240e-01 -1.01052600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters Centerline goodness : 0.996842 with order 1 Centerline is valid? [True, True] Translation: X:325.66, Y:-24.03, Z:-1.01 [[ 9.90243395e-01 1.39314791e-01 3.06714884e-03 3.25660947e+02] [-1.39314417e-01 9.90248141e-01 -3.36100013e-04 -2.40323316e+01] [-3.08406214e-03 -9.44772361e-05 9.99995240e-01 -1.00793715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters Centerline goodness : 0.996886 with order 1 Centerline is valid? [True, True] Translation: X:325.72, Y:-24.03, Z:-1.01 [[ 9.90609341e-01 1.36688426e-01 3.06716444e-03 3.25718694e+02] [-1.36688041e-01 9.90614086e-01 -3.35957578e-04 -2.40331831e+01] [-3.08429781e-03 -8.64419821e-05 9.99995240e-01 -1.00920557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters Centerline goodness : 0.996740 with order 1 Centerline is valid? [True, True] Translation: X:325.78, Y:-24.04, Z:-1.01 [[ 9.90998696e-01 1.33836385e-01 3.06718367e-03 3.25777866e+02] [-1.33835986e-01 9.91003439e-01 -3.35781911e-04 -2.40366695e+01] [-3.08452940e-03 -7.77401152e-05 9.99995240e-01 -1.00936891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters Centerline goodness : 0.996783 with order 1 Centerline is valid? [True, True] Translation: X:325.84, Y:-24.04, Z:-1.01 [[ 9.91215762e-01 1.32219157e-01 3.06719881e-03 3.25837732e+02] [-1.32218751e-01 9.91220505e-01 -3.35643608e-04 -2.40350887e+01] [-3.08464886e-03 -7.28459599e-05 9.99995240e-01 -1.01466673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters Centerline goodness : 0.996547 with order 1 Centerline is valid? [True, True] Translation: X:325.90, Y:-24.04, Z:-1.01 [[ 9.91560777e-01 1.29606395e-01 3.06721048e-03 3.25896977e+02] [-1.29605977e-01 9.91565519e-01 -3.35536914e-04 -2.40365643e+01] [-3.08482788e-03 -6.48235682e-05 9.99995240e-01 -1.01034402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters Centerline goodness : 0.996963 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:-24.04, Z:-1.01 [[ 9.91900883e-01 1.26977284e-01 3.06722631e-03 3.25954676e+02] [-1.26976854e-01 9.91905624e-01 -3.35392116e-04 -2.40386533e+01] [-3.08498621e-03 -5.67910104e-05 9.99995240e-01 -1.00779433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:326.01, Y:-24.04, Z:-1.01 [[ 9.91936622e-01 1.26697789e-01 3.06724758e-03 3.26013257e+02] [-1.26697358e-01 9.91941363e-01 -3.35197459e-04 -2.40414992e+01] [-3.08499853e-03 -5.61175303e-05 9.99995240e-01 -1.01084628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:326.07, Y:-24.04, Z:-1.01 [[ 9.91877724e-01 1.27158064e-01 3.06726312e-03 3.26071338e+02] [-1.27157635e-01 9.91882465e-01 -3.35055224e-04 -2.40414027e+01] [-3.08496948e-03 -5.76921123e-05 9.99995240e-01 -1.01241778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters Centerline goodness : 0.996963 with order 1 Centerline is valid? [True, True] Translation: X:326.13, Y:-24.05, Z:-1.01 [[ 9.92320122e-01 1.23658264e-01 3.06727853e-03 3.26129225e+02] [-1.23657820e-01 9.92324862e-01 -3.34914114e-04 -2.40457937e+01] [-3.08515164e-03 -4.69509613e-05 9.99995240e-01 -1.01336170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters Centerline goodness : 0.997229 with order 1 Centerline is valid? [True, True] Translation: X:326.19, Y:-24.05, Z:-1.01 [[ 9.93096312e-01 1.17261705e-01 3.06729773e-03 3.26187417e+02] [-1.17261230e-01 9.93101048e-01 -3.34738132e-04 -2.40540759e+01] [-3.08538856e-03 -2.72479012e-05 9.99995240e-01 -1.00983269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters Centerline goodness : 0.996783 with order 1 Centerline is valid? [True, True] Translation: X:326.25, Y:-24.06, Z:-1.01 [[ 9.93662372e-01 1.12364057e-01 3.06731328e-03 3.26245802e+02] [-1.12363559e-01 9.93667107e-01 -3.34595652e-04 -2.40647914e+01] [-3.08548483e-03 -1.21791274e-05 9.99995240e-01 -1.00925820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters Centerline goodness : 0.996849 with order 1 Centerline is valid? [True, True] Translation: X:326.30, Y:-24.07, Z:-1.01 [[ 9.93911914e-01 1.10134912e-01 3.06732892e-03 3.26302651e+02] [-1.10134404e-01 9.93916647e-01 -3.34452183e-04 -2.40739130e+01] [-3.08550414e-03 -5.40243336e-06 9.99995240e-01 -1.01334163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters Centerline goodness : 0.997424 with order 1 Centerline is valid? [True, True] Translation: X:326.36, Y:-24.08, Z:-1.02 [[ 9.94092679e-01 1.08491183e-01 3.06734822e-03 3.26360442e+02] [-1.08490668e-01 9.94097411e-01 -3.34275063e-04 -2.40848128e+01] [-3.08550882e-03 -4.78264418e-07 9.99995240e-01 -1.01559748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters Centerline goodness : 0.996427 with order 1 Centerline is valid? [True, True] Translation: X:326.42, Y:-24.10, Z:-1.01 [[ 9.94355123e-01 1.06058857e-01 3.06736266e-03 3.26419420e+02] [-1.06058331e-01 9.94359854e-01 -3.34142497e-04 -2.41003594e+01] [-3.08550106e-03 6.93693777e-06 9.99995240e-01 -1.01191490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters Centerline goodness : 0.996491 with order 1 Centerline is valid? [True, True] Translation: X:326.48, Y:-24.11, Z:-1.01 [[ 9.94290445e-01 1.06663502e-01 3.06736266e-03 3.26477962e+02] [-1.06662979e-01 9.94295176e-01 -3.34142497e-04 -2.41116290e+01] [-3.08550471e-03 5.06065341e-06 9.99995240e-01 -1.01020424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:326.54, Y:-24.12, Z:-1.01 [[ 9.93716519e-01 1.11884183e-01 3.06737021e-03 3.26535336e+02] [-1.11883685e-01 9.93721253e-01 -3.34073242e-04 -2.41249968e+01] [-3.08548848e-03 -1.12145813e-05 9.99995240e-01 -1.01166761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters Centerline goodness : 0.996701 with order 1 Centerline is valid? [True, True] Translation: X:326.59, Y:-24.14, Z:-1.01 [[ 9.92866860e-01 1.19188881e-01 3.06738142e-03 3.26594129e+02] [-1.19188418e-01 9.92871598e-01 -3.33970243e-04 -2.41356615e+01] [-3.08532143e-03 -3.40083533e-05 9.99995240e-01 -1.01228011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters Centerline goodness : 0.996409 with order 1 Centerline is valid? [True, True] Translation: X:326.65, Y:-24.15, Z:-1.01 [[ 9.92064639e-01 1.25691462e-01 3.06738913e-03 3.26651912e+02] [-1.25691030e-01 9.92069379e-01 -3.33899458e-04 -2.41467642e+01] [-3.08503114e-03 -5.42934531e-05 9.99995240e-01 -1.00927878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters Centerline goodness : 0.996051 with order 1 Centerline is valid? [True, True] Translation: X:326.71, Y:-24.15, Z:-1.01 [[ 9.91714346e-01 1.28426039e-01 3.06740055e-03 3.26710820e+02] [-1.28425621e-01 9.91719088e-01 -3.33794448e-04 -2.41530267e+01] [-3.08486758e-03 -6.29040766e-05 9.99995240e-01 -1.01070944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters Centerline goodness : 0.996132 with order 1 Centerline is valid? [True, True] Translation: X:326.77, Y:-24.16, Z:-1.01 [[ 9.91845984e-01 1.27405398e-01 3.06740830e-03 3.26770661e+02] [-1.27404975e-01 9.91850725e-01 -3.33723247e-04 -2.41612317e+01] [-3.08492929e-03 -5.98010146e-05 9.99995240e-01 -1.00886034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters Centerline goodness : 0.996194 with order 1 Centerline is valid? [True, True] Translation: X:326.83, Y:-24.17, Z:-1.01 [[ 9.91919475e-01 1.26831962e-01 3.06740830e-03 3.26829619e+02] [-1.26831537e-01 9.91924216e-01 -3.33723247e-04 -2.41684042e+01] [-3.08496335e-03 -5.80175203e-05 9.99995240e-01 -1.01288591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters Centerline goodness : 0.996032 with order 1 Centerline is valid? [True, True] Translation: X:326.89, Y:-24.18, Z:-1.01 [[ 9.91893818e-01 1.27032453e-01 3.06741213e-03 3.26889423e+02] [-1.27032028e-01 9.91898560e-01 -3.33688031e-04 -2.41786027e+01] [-3.08495088e-03 -5.86764885e-05 9.99995240e-01 -1.01293518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters Centerline goodness : 0.996080 with order 1 Centerline is valid? [True, True] Translation: X:326.95, Y:-24.18, Z:-1.01 [[ 9.91268406e-01 1.31823892e-01 3.06741213e-03 3.26948408e+02] [-1.31823491e-01 9.91273149e-01 -3.33688031e-04 -2.41839781e+01] [-3.08463134e-03 -7.35825717e-05 9.99995240e-01 -1.01176008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters Centerline goodness : 0.996019 with order 1 Centerline is valid? [True, True] Translation: X:327.01, Y:-24.19, Z:-1.01 [[ 9.90671043e-01 1.36240504e-01 3.06741995e-03 3.27006832e+02] [-1.36240123e-01 9.90675788e-01 -3.33616083e-04 -2.41905843e+01] [-3.08427071e-03 -8.74018789e-05 9.99995240e-01 -1.01478487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters Centerline goodness : 0.996051 with order 1 Centerline is valid? [True, True] Translation: X:327.07, Y:-24.20, Z:-1.02 [[ 9.90385979e-01 1.38297521e-01 3.06743153e-03 3.27066772e+02] [-1.38297151e-01 9.90390724e-01 -3.33509652e-04 -2.41957118e+01] [-3.08407929e-03 -9.39137573e-05 9.99995240e-01 -1.01585799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters Centerline goodness : 0.996036 with order 1 Centerline is valid? [True, True] Translation: X:327.13, Y:-24.20, Z:-1.02 [[ 9.90708572e-01 1.35967332e-01 3.06743904e-03 3.27125657e+02] [-1.35966951e-01 9.90713317e-01 -3.33440571e-04 -2.41998980e+01] [-3.08428973e-03 -8.67279005e-05 9.99995240e-01 -1.02094957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters Centerline goodness : 0.995721 with order 1 Centerline is valid? [True, True] Translation: X:327.19, Y:-24.20, Z:-1.01 [[ 9.90989910e-01 1.33901412e-01 3.06745015e-03 3.27185716e+02] [-1.33901022e-01 9.90994655e-01 -3.33338296e-04 -2.42039712e+01] [-3.08446117e-03 -8.03998207e-05 9.99995240e-01 -1.01460905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters Centerline goodness : 0.995293 with order 1 Centerline is valid? [True, True] Translation: X:327.25, Y:-24.21, Z:-1.01 [[ 9.91428565e-01 1.30613901e-01 3.06745784e-03 3.27245146e+02] [-1.30613494e-01 9.91433308e-01 -3.33267552e-04 -2.42088128e+01] [-3.08470924e-03 -7.02404161e-05 9.99995240e-01 -1.01097631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters Centerline goodness : 0.995101 with order 1 Centerline is valid? [True, True] Translation: X:327.31, Y:-24.22, Z:-1.01 [[ 9.91827644e-01 1.27548087e-01 3.06746558e-03 3.27305025e+02] [-1.27547667e-01 9.91832386e-01 -3.33196247e-04 -2.42173360e+01] [-3.08491025e-03 -6.07748283e-05 9.99995240e-01 -1.01476223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters Centerline goodness : 0.995122 with order 1 Centerline is valid? [True, True] Translation: X:327.36, Y:-24.22, Z:-1.01 [[ 9.91972453e-01 1.26416945e-01 3.06746558e-03 3.27363754e+02] [-1.26416519e-01 9.91977194e-01 -3.33196247e-04 -2.42249086e+01] [-3.08497755e-03 -5.72568236e-05 9.99995240e-01 -1.01279715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters Centerline goodness : 0.994914 with order 1 Centerline is valid? [True, True] Translation: X:327.42, Y:-24.23, Z:-1.01 [[ 9.92064140e-01 1.25695396e-01 3.06746203e-03 3.27423396e+02] [-1.25694967e-01 9.92068881e-01 -3.33228978e-04 -2.42306385e+01] [-3.08501897e-03 -5.49800170e-05 9.99995240e-01 -1.01219660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters Centerline goodness : 0.994526 with order 1 Centerline is valid? [True, True] Translation: X:327.48, Y:-24.24, Z:-1.02 [[ 9.92386936e-01 1.23120913e-01 3.06746956e-03 3.27483186e+02] [-1.23120471e-01 9.92391676e-01 -3.33159602e-04 -2.42395246e+01] [-3.08515017e-03 -4.70450611e-05 9.99995240e-01 -1.01591686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:327.54, Y:-24.25, Z:-1.01 [[ 9.92580427e-01 1.21551167e-01 3.06746956e-03 3.27542214e+02] [-1.21550718e-01 9.92585166e-01 -3.33159602e-04 -2.42466040e+01] [-3.08522072e-03 -4.21654279e-05 9.99995240e-01 -1.01442692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:327.60, Y:-24.25, Z:-1.01 [[ 9.92575660e-01 1.21590091e-01 3.06747338e-03 3.27602495e+02] [-1.21589642e-01 9.92580399e-01 -3.33124478e-04 -2.42532275e+01] [-3.08521858e-03 -4.23217399e-05 9.99995240e-01 -1.01250411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:327.66, Y:-24.26, Z:-1.01 [[ 9.92253261e-01 1.24193624e-01 3.06747338e-03 3.27661512e+02] [-1.24193188e-01 9.92258001e-01 -3.33124478e-04 -2.42556547e+01] [-3.08509694e-03 -5.04154479e-05 9.99995240e-01 -1.01240389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters Centerline goodness : 0.994656 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:-24.26, Z:-1.02 [[ 9.91910829e-01 1.26899554e-01 3.06748451e-03 3.27721026e+02] [-1.26899131e-01 9.91915571e-01 -3.33021941e-04 -2.42561157e+01] [-3.08494598e-03 -5.89330489e-05 9.99995240e-01 -1.01597191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters Centerline goodness : 0.994742 with order 1 Centerline is valid? [True, True] Translation: X:327.78, Y:-24.26, Z:-1.02 [[ 9.92409631e-01 1.22937853e-01 3.06749886e-03 3.27781005e+02] [-1.22937411e-01 9.92414370e-01 -3.32889662e-04 -2.42585038e+01] [-3.08515469e-03 -4.67474623e-05 9.99995240e-01 -1.01673168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters Centerline goodness : 0.994631 with order 1 Centerline is valid? [True, True] Translation: X:327.84, Y:-24.26, Z:-1.01 [[ 9.93069039e-01 1.17492446e-01 3.06750625e-03 3.27840607e+02] [-1.17491978e-01 9.93073776e-01 -3.32821575e-04 -2.42600026e+01] [-3.08536403e-03 -2.98925753e-05 9.99995240e-01 -1.01186723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters Centerline goodness : 0.993734 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:-24.27, Z:-1.01 [[ 9.93546394e-01 1.13384981e-01 3.06751387e-03 3.27900008e+02] [-1.13384494e-01 9.93551129e-01 -3.32751344e-04 -2.42661709e+01] [-3.08546087e-03 -1.72046090e-05 9.99995240e-01 -1.00832496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters Centerline goodness : 0.994557 with order 1 Centerline is valid? [True, True] Translation: X:327.96, Y:-24.27, Z:-1.01 [[ 9.93692519e-01 1.12097138e-01 3.06751765e-03 3.27959440e+02] [-1.12096645e-01 9.93697253e-01 -3.32716493e-04 -2.42730766e+01] [-3.08548043e-03 -1.32405477e-05 9.99995240e-01 -1.00964977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters Centerline goodness : 0.994298 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:-24.28, Z:-1.01 [[ 9.93553039e-01 1.13326739e-01 3.06752515e-03 3.28018059e+02] [-1.13326252e-01 9.93557774e-01 -3.32647355e-04 -2.42816113e+01] [-3.08546129e-03 -1.71283369e-05 9.99995240e-01 -1.01306050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters Centerline goodness : 0.993595 with order 1 Centerline is valid? [True, True] Translation: X:328.08, Y:-24.29, Z:-1.01 [[ 9.93150094e-01 1.16805314e-01 3.06752885e-03 3.28076903e+02] [-1.16804843e-01 9.93154831e-01 -3.32613213e-04 -2.42878240e+01] [-3.08538208e-03 -2.79673825e-05 9.99995240e-01 -1.01139932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:328.14, Y:-24.29, Z:-1.01 [[ 9.92569912e-01 1.21637001e-01 3.06754357e-03 3.28135031e+02] [-1.21636554e-01 9.92574651e-01 -3.32477343e-04 -2.42898087e+01] [-3.08520754e-03 -4.31184217e-05 9.99995240e-01 -1.00927702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters Centerline goodness : 0.993404 with order 1 Centerline is valid? [True, True] Translation: X:328.19, Y:-24.29, Z:-1.01 [[ 9.92382567e-01 1.23156123e-01 3.06756176e-03 3.28193200e+02] [-1.23155684e-01 9.92387307e-01 -3.32309496e-04 -2.42945008e+01] [-3.08513530e-03 -4.80095170e-05 9.99995240e-01 -1.01051279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters Centerline goodness : 0.994008 with order 1 Centerline is valid? [True, True] Translation: X:328.25, Y:-24.29, Z:-1.01 [[ 9.92038994e-01 1.25893704e-01 3.06757736e-03 3.28251759e+02] [-1.25893278e-01 9.92043735e-01 -3.32165421e-04 -2.42937054e+01] [-3.08498843e-03 -5.66663196e-05 9.99995240e-01 -1.01125546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters Centerline goodness : 0.993626 with order 1 Centerline is valid? [True, True] Translation: X:328.31, Y:-24.29, Z:-1.01 [[ 9.92480928e-01 1.22360932e-01 3.06759661e-03 3.28310722e+02] [-1.22360490e-01 9.92485668e-01 -3.31987550e-04 -2.42937009e+01] [-3.08516797e-03 -4.58613128e-05 9.99995240e-01 -1.01441514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters Centerline goodness : 0.993806 with order 1 Centerline is valid? [True, True] Translation: X:328.37, Y:-24.30, Z:-1.01 [[ 9.93046222e-01 1.17685130e-01 3.06761141e-03 3.28369763e+02] [-1.17684667e-01 9.93050960e-01 -3.31850716e-04 -2.42960455e+01] [-3.08534835e-03 -3.14677259e-05 9.99995240e-01 -1.01273697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters Centerline goodness : 0.993558 with order 1 Centerline is valid? [True, True] Translation: X:328.43, Y:-24.30, Z:-1.01 [[ 9.93939500e-01 1.09885668e-01 3.06762720e-03 3.28427923e+02] [-1.09885168e-01 9.93944234e-01 -3.31704673e-04 -2.43028343e+01] [-3.08549996e-03 -7.39235260e-06 9.99995240e-01 -1.01151082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters Centerline goodness : 0.993540 with order 1 Centerline is valid? [True, True] Translation: X:328.49, Y:-24.31, Z:-1.01 [[ 9.94318387e-01 1.06402701e-01 3.06763896e-03 3.28486953e+02] [-1.06402185e-01 9.94323119e-01 -3.31595868e-04 -2.43095318e+01] [-3.08550704e-03 3.30838151e-06 9.99995240e-01 -1.00878130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters Centerline goodness : 0.993528 with order 1 Centerline is valid? [True, True] Translation: X:328.54, Y:-24.32, Z:-1.01 [[ 9.94586113e-01 1.03870364e-01 3.06764661e-03 3.28544166e+02] [-1.03869835e-01 9.94590844e-01 -3.31525081e-04 -2.43215218e+01] [-3.08548887e-03 1.10942939e-05 9.99995240e-01 -1.00890193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters Centerline goodness : 0.993340 with order 1 Centerline is valid? [True, True] Translation: X:328.60, Y:-24.33, Z:-1.01 [[ 9.94479900e-01 1.04882401e-01 3.06765795e-03 3.28602700e+02] [-1.04881878e-01 9.94484631e-01 -3.31420126e-04 -2.43325676e+01] [-3.08549883e-03 7.84892832e-06 9.99995240e-01 -1.01074060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters Centerline goodness : 0.993024 with order 1 Centerline is valid? [True, True] Translation: X:328.66, Y:-24.34, Z:-1.01 [[ 9.94375983e-01 1.05863087e-01 3.06766574e-03 3.28660302e+02] [-1.05862568e-01 9.94380715e-01 -3.31348024e-04 -2.43437378e+01] [-3.08550518e-03 4.73354269e-06 9.99995240e-01 -1.01004724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters Centerline goodness : 0.993062 with order 1 Centerline is valid? [True, True] Translation: X:328.72, Y:-24.36, Z:-1.01 [[ 9.94618475e-01 1.03560019e-01 3.06767729e-03 3.28719268e+02] [-1.03559490e-01 9.94623206e-01 -3.31241046e-04 -2.43564980e+01] [-3.08548635e-03 1.17713676e-05 9.99995240e-01 -1.01151661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:328.78, Y:-24.37, Z:-1.01 [[ 9.94958837e-01 1.00237227e-01 3.06768113e-03 3.28778114e+02] [-1.00236682e-01 9.94963566e-01 -3.31205535e-04 -2.43733942e+01] [-3.08543008e-03 2.20416955e-05 9.99995240e-01 -1.00990370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters Centerline goodness : 0.991668 with order 1 Centerline is valid? [True, True] Translation: X:328.84, Y:-24.39, Z:-1.01 [[ 9.95212507e-01 9.76865153e-02 3.06767733e-03 3.28838481e+02] [-9.76859583e-02 9.95217234e-01 -3.31240648e-04 -2.43865808e+01] [-3.08536310e-03 2.99858356e-05 9.99995240e-01 -1.01417754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters Centerline goodness : 0.991938 with order 1 Centerline is valid? [True, True] Translation: X:328.90, Y:-24.40, Z:-1.02 [[ 9.95225941e-01 9.75495571e-02 3.06766998e-03 3.28899744e+02] [-9.75489992e-02 9.95230668e-01 -3.31308759e-04 -2.44017463e+01] [-3.08535826e-03 3.04789355e-05 9.99995240e-01 -1.01982525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters Centerline goodness : 0.992850 with order 1 Centerline is valid? [True, True] Translation: X:328.96, Y:-24.41, Z:-1.02 [[ 9.94967944e-01 1.00146797e-01 3.06761616e-03 3.28960133e+02] [-1.00146250e-01 9.94972672e-01 -3.31806322e-04 -2.44123297e+01] [-3.08542359e-03 2.29263989e-05 9.99995240e-01 -1.01620914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters Centerline goodness : 0.992118 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:-24.43, Z:-1.01 [[ 9.94425388e-01 1.05397998e-01 3.06760851e-03 3.29021352e+02] [-1.05397475e-01 9.94430119e-01 -3.31877048e-04 -2.44268924e+01] [-3.08550147e-03 6.70877023e-06 9.99995240e-01 -1.01174793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters Centerline goodness : 0.992418 with order 1 Centerline is valid? [True, True] Translation: X:329.08, Y:-24.44, Z:-1.01 [[ 9.93902723e-01 1.10217820e-01 3.06755313e-03 3.29081973e+02] [-1.10217319e-01 9.93907457e-01 -3.32388095e-04 -2.44352892e+01] [-3.08549902e-03 -7.73604844e-06 9.99995240e-01 -1.01396190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters Centerline goodness : 0.992556 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:-24.44, Z:-1.02 [[ 9.93247194e-01 1.15976728e-01 3.06750209e-03 3.29141503e+02] [-1.15976253e-01 9.93251931e-01 -3.32858521e-04 -2.44412487e+01] [-3.08540621e-03 -2.51466064e-05 9.99995240e-01 -1.02207703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters Centerline goodness : 0.993128 with order 1 Centerline is valid? [True, True] Translation: X:329.20, Y:-24.45, Z:-1.02 [[ 9.93170350e-01 1.16632953e-01 3.06749824e-03 3.29202971e+02] [-1.16632481e-01 9.93175087e-01 -3.32893952e-04 -2.44478325e+01] [-3.08538924e-03 -2.71495290e-05 9.99995240e-01 -1.01749515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters Centerline goodness : 0.992413 with order 1 Centerline is valid? [True, True] Translation: X:329.26, Y:-24.46, Z:-1.02 [[ 9.93238166e-01 1.16054019e-01 3.06748625e-03 3.29263844e+02] [-1.16053544e-01 9.93242903e-01 -3.33004434e-04 -2.44559792e+01] [-3.08540545e-03 -2.52399359e-05 9.99995240e-01 -1.01532891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:329.33, Y:-24.46, Z:-1.02 [[ 9.93369519e-01 1.14924279e-01 3.06743416e-03 3.29325486e+02] [-1.14923797e-01 9.93374255e-01 -3.33483553e-04 -2.44611780e+01] [-3.08543548e-03 -2.12487834e-05 9.99995240e-01 -1.01636300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters Centerline goodness : 0.991907 with order 1 Centerline is valid? [True, True] Translation: X:329.39, Y:-24.47, Z:-1.02 [[ 9.93316402e-01 1.15382477e-01 3.06737837e-03 3.29387663e+02] [-1.15381995e-01 9.93321138e-01 -3.33995891e-04 -2.44677783e+01] [-3.08542905e-03 -2.21566401e-05 9.99995240e-01 -1.01998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters Centerline goodness : 0.992217 with order 1 Centerline is valid? [True, True] Translation: X:329.45, Y:-24.47, Z:-1.02 [[ 9.92972363e-01 1.18306712e-01 3.06732294e-03 3.29449381e+02] [-1.18306243e-01 9.92977100e-01 -3.34504204e-04 -2.44712424e+01] [-3.08535553e-03 -3.07300242e-05 9.99995240e-01 -1.01868315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters Centerline goodness : 0.992536 with order 1 Centerline is valid? [True, True] Translation: X:329.51, Y:-24.47, Z:-1.02 [[ 9.92570870e-01 1.21629189e-01 3.06731507e-03 3.29509244e+02] [-1.21628736e-01 9.92575609e-01 -3.34576346e-04 -2.44726661e+01] [-3.08523637e-03 -4.09829205e-05 9.99995240e-01 -1.02033831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters Centerline goodness : 0.992071 with order 1 Centerline is valid? [True, True] Translation: X:329.57, Y:-24.47, Z:-1.02 [[ 9.92028795e-01 1.25974051e-01 3.06731072e-03 3.29569180e+02] [-1.25973618e-01 9.92033536e-01 -3.34616249e-04 -2.44720300e+01] [-3.08502806e-03 -5.44512747e-05 9.99995240e-01 -1.02082181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters Centerline goodness : 0.992410 with order 1 Centerline is valid? [True, True] Translation: X:329.63, Y:-24.47, Z:-1.02 [[ 9.92056573e-01 1.25755109e-01 3.06731849e-03 3.29628922e+02] [-1.25754676e-01 9.92061313e-01 -3.34545010e-04 -2.44744550e+01] [-3.08503875e-03 -5.38420646e-05 9.99995240e-01 -1.02405462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters Centerline goodness : 0.992689 with order 1 Centerline is valid? [True, True] Translation: X:329.69, Y:-24.48, Z:-1.03 [[ 9.92976576e-01 1.18271346e-01 3.06732232e-03 3.29689045e+02] [-1.18270877e-01 9.92981313e-01 -3.34509857e-04 -2.44784035e+01] [-3.08535668e-03 -3.06144471e-05 9.99995240e-01 -1.02772860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters Centerline goodness : 0.992658 with order 1 Centerline is valid? [True, True] Translation: X:329.75, Y:-24.49, Z:-1.02 [[ 9.94294009e-01 1.06630269e-01 3.06732232e-03 3.29750400e+02] [-1.06629745e-01 9.94298741e-01 -3.34509857e-04 -2.44882561e+01] [-3.08550360e-03 5.53335104e-06 9.99995240e-01 -1.02315601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:329.81, Y:-24.50, Z:-1.02 [[ 9.94847775e-01 1.01333592e-01 3.06726751e-03 3.29810759e+02] [-1.01333040e-01 9.94852503e-01 -3.35011657e-04 -2.44991631e+01] [-3.08542670e-03 2.24700587e-05 9.99995240e-01 -1.02417289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters Centerline goodness : 0.992930 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:-24.51, Z:-1.03 [[ 9.94618321e-01 1.03561513e-01 3.06721702e-03 3.29870827e+02] [-1.03560971e-01 9.94623051e-01 -3.35473302e-04 -2.45074650e+01] [-3.08546687e-03 1.60239203e-05 9.99995240e-01 -1.02950018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters Centerline goodness : 0.991863 with order 1 Centerline is valid? [True, True] Translation: X:329.93, Y:-24.52, Z:-1.03 [[ 9.94276310e-01 1.06795186e-01 3.06719806e-03 3.29931624e+02] [-1.06794659e-01 9.94281041e-01 -3.35646591e-04 -2.45155973e+01] [-3.08550232e-03 6.16508444e-06 9.99995240e-01 -1.02930120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters Centerline goodness : 0.992862 with order 1 Centerline is valid? [True, True] Translation: X:329.99, Y:-24.52, Z:-1.03 [[ 9.94090338e-01 1.08512636e-01 3.06719012e-03 3.29991300e+02] [-1.08512117e-01 9.94095070e-01 -3.35719101e-04 -2.45235921e+01] [-3.08550834e-03 9.07822424e-07 9.99995240e-01 -1.02531523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters Centerline goodness : 0.992521 with order 1 Centerline is valid? [True, True] Translation: X:330.05, Y:-24.53, Z:-1.03 [[ 9.94073401e-01 1.08667684e-01 3.06718223e-03 3.30051514e+02] [-1.08667165e-01 9.94078133e-01 -3.35791215e-04 -2.45345532e+01] [-3.08550843e-03 4.99116997e-07 9.99995240e-01 -1.02691429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters Centerline goodness : 0.992509 with order 1 Centerline is valid? [True, True] Translation: X:330.11, Y:-24.54, Z:-1.03 [[ 9.94038144e-01 1.08989728e-01 3.06717432e-03 3.30112337e+02] [-1.08989210e-01 9.94042876e-01 -3.35863438e-04 -2.45410373e+01] [-3.08550844e-03 -4.27837568e-07 9.99995240e-01 -1.02582700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters Centerline goodness : 0.992347 with order 1 Centerline is valid? [True, True] Translation: X:330.17, Y:-24.55, Z:-1.02 [[ 9.93485253e-01 1.13919465e-01 3.06716659e-03 3.30172470e+02] [-1.13918971e-01 9.93489987e-01 -3.35933949e-04 -2.45457741e+01] [-3.08546872e-03 -1.56630384e-05 9.99995240e-01 -1.02350425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters Centerline goodness : 0.992629 with order 1 Centerline is valid? [True, True] Translation: X:330.23, Y:-24.55, Z:-1.02 [[ 9.93095534e-01 1.17268297e-01 3.06716278e-03 3.30233136e+02] [-1.17267819e-01 9.93100270e-01 -3.35968764e-04 -2.45497485e+01] [-3.08539867e-03 -2.60304103e-05 9.99995240e-01 -1.02428486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters Centerline goodness : 0.993000 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:-24.56, Z:-1.03 [[ 9.92952495e-01 1.18473352e-01 3.06716278e-03 3.30293258e+02] [-1.18472879e-01 9.92957232e-01 -3.35968764e-04 -2.45554703e+01] [-3.08536481e-03 -2.97745827e-05 9.99995240e-01 -1.02660085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:330.35, Y:-24.56, Z:-1.03 [[ 9.93639857e-01 1.12562990e-01 3.06716278e-03 3.30353860e+02] [-1.12562489e-01 9.93644591e-01 -3.35968764e-04 -2.45647457e+01] [-3.08548736e-03 -1.14155221e-05 9.99995240e-01 -1.02740642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters Centerline goodness : 0.992849 with order 1 Centerline is valid? [True, True] Translation: X:330.42, Y:-24.58, Z:-1.03 [[ 9.94086463e-01 1.08548132e-01 3.06715532e-03 3.30415326e+02] [-1.08547612e-01 9.94091195e-01 -3.36036899e-04 -2.45771132e+01] [-3.08550827e-03 1.11734885e-06 9.99995240e-01 -1.02527774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters Centerline goodness : 0.992662 with order 1 Centerline is valid? [True, True] Translation: X:330.48, Y:-24.59, Z:-1.03 [[ 9.94452228e-01 1.05144468e-01 3.06710328e-03 3.30475784e+02] [-1.05143930e-01 9.94456958e-01 -3.36511151e-04 -2.45943797e+01] [-3.08548449e-03 1.21569708e-05 9.99995240e-01 -1.02678570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters Centerline goodness : 0.992517 with order 1 Centerline is valid? [True, True] Translation: X:330.54, Y:-24.61, Z:-1.03 [[ 9.94390499e-01 1.05726666e-01 3.06705156e-03 3.30537459e+02] [-1.05726130e-01 9.94395229e-01 -3.36981952e-04 -2.46126032e+01] [-3.08548941e-03 1.08241603e-05 9.99995240e-01 -1.02727648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters Centerline goodness : 0.993217 with order 1 Centerline is valid? [True, True] Translation: X:330.60, Y:-24.63, Z:-1.02 [[ 9.93716361e-01 1.11885604e-01 3.06698846e-03 3.30597985e+02] [-1.11885095e-01 9.93721093e-01 -3.37555210e-04 -2.46268441e+01] [-3.08549870e-03 -7.71615971e-06 9.99995240e-01 -1.02455527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters Centerline goodness : 0.993105 with order 1 Centerline is valid? [True, True] Translation: X:330.66, Y:-24.64, Z:-1.03 [[ 9.92574693e-01 1.21597996e-01 3.06692982e-03 3.30658894e+02] [-1.21597532e-01 9.92579431e-01 -3.38087157e-04 -2.46372065e+01] [-3.08528218e-03 -3.73543419e-05 9.99995240e-01 -1.02740679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters Centerline goodness : 0.993910 with order 1 Centerline is valid? [True, True] Translation: X:330.72, Y:-24.64, Z:-1.03 [[ 9.91449510e-01 1.30454832e-01 3.06687214e-03 3.30720043e+02] [-1.30454408e-01 9.91454251e-01 -3.38609620e-04 -2.46416371e+01] [-3.08483668e-03 -6.43726478e-05 9.99995240e-01 -1.03034928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters Centerline goodness : 0.993518 with order 1 Centerline is valid? [True, True] Translation: X:330.78, Y:-24.65, Z:-1.03 [[ 9.91396140e-01 1.30859804e-01 3.06686475e-03 3.30781470e+02] [-1.30859382e-01 9.91400881e-01 -3.38676560e-04 -2.46482753e+01] [-3.08481156e-03 -6.55653911e-05 9.99995240e-01 -1.02539628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters Centerline goodness : 0.993188 with order 1 Centerline is valid? [True, True] Translation: X:330.84, Y:-24.66, Z:-1.02 [[ 9.91735721e-01 1.28260884e-01 3.06680923e-03 3.30842907e+02] [-1.28260448e-01 9.91740461e-01 -3.39178508e-04 -2.46550593e+01] [-3.08498214e-03 -5.69748852e-05 9.99995240e-01 -1.02296399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:-24.66, Z:-1.02 [[ 9.92018183e-01 1.26057603e-01 3.06675080e-03 3.30904690e+02] [-1.26057155e-01 9.92022922e-01 -3.39705985e-04 -2.46627266e+01] [-3.08510962e-03 -4.95913682e-05 9.99995240e-01 -1.02420467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters Centerline goodness : 0.993712 with order 1 Centerline is valid? [True, True] Translation: X:330.97, Y:-24.67, Z:-1.03 [[ 9.91985926e-01 1.26311192e-01 3.06671229e-03 3.30966904e+02] [-1.26310744e-01 9.91990665e-01 -3.40053312e-04 -2.46696142e+01] [-3.08510250e-03 -5.00306104e-05 9.99995240e-01 -1.02599996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:331.03, Y:-24.68, Z:-1.03 [[ 9.91764365e-01 1.28039213e-01 3.06665018e-03 3.31028143e+02] [-1.28038771e-01 9.91769105e-01 -3.40612533e-04 -2.46792235e+01] [-3.08502066e-03 -5.48427480e-05 9.99995240e-01 -1.02646129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters Centerline goodness : 0.994203 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:-24.69, Z:-1.03 [[ 9.91654219e-01 1.28889511e-01 3.06659255e-03 3.31091249e+02] [-1.28889073e-01 9.91658959e-01 -3.41130532e-04 -2.46857697e+01] [-3.08498213e-03 -5.69667388e-05 9.99995240e-01 -1.02683325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters Centerline goodness : 0.994413 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:-24.69, Z:-1.02 [[ 9.91694451e-01 1.28579598e-01 3.06652903e-03 3.31153183e+02] [-1.28579156e-01 9.91699190e-01 -3.41700652e-04 -2.46943532e+01] [-3.08501008e-03 -5.54290728e-05 9.99995240e-01 -1.02444489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:331.21, Y:-24.70, Z:-1.03 [[ 9.92082101e-01 1.25553577e-01 3.06647008e-03 3.31214845e+02] [-1.25553119e-01 9.92086840e-01 -3.42228786e-04 -2.47001166e+01] [-3.08517266e-03 -4.54858300e-05 9.99995240e-01 -1.02749885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters Centerline goodness : 0.994962 with order 1 Centerline is valid? [True, True] Translation: X:331.28, Y:-24.71, Z:-1.02 [[ 9.92513887e-01 1.22093334e-01 3.06641163e-03 3.31277928e+02] [-1.22092857e-01 9.92518623e-01 -3.42751704e-04 -2.47058177e+01] [-3.08531835e-03 -3.42011323e-05 9.99995240e-01 -1.02490179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:331.34, Y:-24.72, Z:-1.02 [[ 9.93216117e-01 1.16242599e-01 3.06634508e-03 3.31338746e+02] [-1.16242093e-01 9.93220851e-01 -3.43346061e-04 -2.47167756e+01] [-3.08546931e-03 -1.54215279e-05 9.99995240e-01 -1.02423325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters Centerline goodness : 0.993801 with order 1 Centerline is valid? [True, True] Translation: X:331.40, Y:-24.73, Z:-1.03 [[ 9.93710140e-01 1.11940854e-01 3.06628315e-03 3.31401002e+02] [-1.11940326e-01 9.93714871e-01 -3.43898299e-04 -2.47250998e+01] [-3.08550743e-03 -1.50550643e-06 9.99995240e-01 -1.02515327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters Centerline goodness : 0.993361 with order 1 Centerline is valid? [True, True] Translation: X:331.46, Y:-24.74, Z:-1.03 [[ 9.94460291e-01 1.05068208e-01 3.06622019e-03 3.31463024e+02] [-1.05067645e-01 9.94465018e-01 -3.44458726e-04 -2.47389991e+01] [-3.08544037e-03 2.03899911e-05 9.99995240e-01 -1.03026670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [True, True] Translation: X:331.52, Y:-24.76, Z:-1.03 [[ 9.94849049e-01 1.01321119e-01 3.06615520e-03 3.31524361e+02] [-1.01320537e-01 9.94853773e-01 -3.45036279e-04 -2.47572270e+01] [-3.08533553e-03 3.25945227e-05 9.99995240e-01 -1.02709798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters Centerline goodness : 0.994800 with order 1 Centerline is valid? [True, True] Translation: X:331.59, Y:-24.77, Z:-1.03 [[ 9.94629675e-01 1.03452446e-01 3.06609064e-03 3.31585326e+02] [-1.03451872e-01 9.94634401e-01 -3.45608953e-04 -2.47732645e+01] [-3.08539332e-03 2.65601031e-05 9.99995240e-01 -1.02670848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters Centerline goodness : 0.994074 with order 1 Centerline is valid? [True, True] Translation: X:331.65, Y:-24.79, Z:-1.02 [[ 9.93698420e-01 1.12044851e-01 3.06603068e-03 3.31647270e+02] [-1.12044316e-01 9.93703151e-01 -3.46140109e-04 -2.47854355e+01] [-3.08550756e-03 4.27568293e-07 9.99995240e-01 -1.02466281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:331.71, Y:-24.80, Z:-1.03 [[ 9.93020663e-01 1.17900648e-01 3.06596618e-03 3.31708662e+02] [-1.17900139e-01 9.93025396e-01 -3.46710445e-04 -2.47983803e+01] [-3.08545967e-03 -1.71872034e-05 9.99995240e-01 -1.02704392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters Centerline goodness : 0.994591 with order 1 Centerline is valid? [True, True] Translation: X:331.77, Y:-24.81, Z:-1.03 [[ 9.92837043e-01 1.19437035e-01 3.06590649e-03 3.31770623e+02] [-1.19436533e-01 9.92841777e-01 -3.47237477e-04 -2.48116332e+01] [-3.08543307e-03 -2.14310113e-05 9.99995240e-01 -1.02572735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:331.83, Y:-24.82, Z:-1.02 [[ 9.92334192e-01 1.23545346e-01 3.06584287e-03 3.31833324e+02] [-1.23544861e-01 9.92338927e-01 -3.47798324e-04 -2.48221209e+01] [-3.08532409e-03 -3.36369618e-05 9.99995240e-01 -1.02178944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:331.90, Y:-24.83, Z:-1.02 [[ 9.91209306e-01 1.32267581e-01 3.06577859e-03 3.31895658e+02] [-1.32267136e-01 9.91214045e-01 -3.48364010e-04 -2.48305948e+01] [-3.08492006e-03 -6.02001048e-05 9.99995240e-01 -1.02279765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters Centerline goodness : 0.994559 with order 1 Centerline is valid? [True, True] Translation: X:331.96, Y:-24.83, Z:-1.02 [[ 9.90310513e-01 1.38836914e-01 3.06571374e-03 3.31959046e+02] [-1.38836498e-01 9.90315255e-01 -3.48933793e-04 -2.48348756e+01] [-3.08446798e-03 -8.00801561e-05 9.99995240e-01 -1.02467063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters Centerline goodness : 0.994396 with order 1 Centerline is valid? [True, True] Translation: X:332.02, Y:-24.84, Z:-1.02 [[ 9.89857114e-01 1.42033429e-01 3.06564765e-03 3.32021221e+02] [-1.42033027e-01 9.89861858e-01 -3.49513431e-04 -2.48367688e+01] [-3.08421027e-03 -8.94548609e-05 9.99995240e-01 -1.02427095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters Centerline goodness : 0.994891 with order 1 Centerline is valid? [True, True] Translation: X:332.08, Y:-24.84, Z:-1.02 [[ 9.89724216e-01 1.42956559e-01 3.06558641e-03 3.32083610e+02] [-1.42956160e-01 9.89728960e-01 -3.50049800e-04 -2.48422183e+01] [-3.08414156e-03 -9.17916969e-05 9.99995240e-01 -1.02263058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:332.15, Y:-24.84, Z:-1.02 [[ 9.89105026e-01 1.47179655e-01 3.06552259e-03 3.32145563e+02] [-1.47179275e-01 9.89109771e-01 -3.50607754e-04 -2.48426527e+01] [-3.08374068e-03 -1.04393501e-04 9.99995240e-01 -1.02253592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:332.21, Y:-24.84, Z:-1.03 [[ 9.88616727e-01 1.50424635e-01 3.06546307e-03 3.32209379e+02] [-1.50424269e-01 9.88621473e-01 -3.51127429e-04 -2.48427662e+01] [-3.08340083e-03 -1.13989591e-04 9.99995240e-01 -1.02765940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:-24.84, Z:-1.02 [[ 9.88301022e-01 1.52485060e-01 3.06539904e-03 3.32272936e+02] [-1.52484702e-01 9.88305768e-01 -3.51685539e-04 -2.48424994e+01] [-3.08317834e-03 -1.19855281e-04 9.99995240e-01 -1.02395255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters Centerline goodness : 0.994487 with order 1 Centerline is valid? [True, True] Translation: X:332.34, Y:-24.84, Z:-1.03 [[ 9.87921061e-01 1.54927662e-01 3.06533564e-03 3.32336398e+02] [-1.54927314e-01 9.87925809e-01 -3.52237226e-04 -2.48441251e+01] [-3.08289549e-03 -1.26921643e-04 9.99995240e-01 -1.02544933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:332.40, Y:-24.84, Z:-1.03 [[ 9.87194876e-01 1.59489439e-01 3.06527216e-03 3.32398315e+02] [-1.59489111e-01 9.87199625e-01 -3.52788814e-04 -2.48367186e+01] [-3.08230162e-03 -1.40606221e-04 9.99995240e-01 -1.02595034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters Centerline goodness : 0.995965 with order 1 Centerline is valid? [True, True] Translation: X:332.46, Y:-24.84, Z:-1.02 [[ 9.87649314e-01 1.56650682e-01 3.06526823e-03 3.32459420e+02] [-1.56650340e-01 9.87654062e-01 -3.52822974e-04 -2.48391474e+01] [-3.08269458e-03 -1.31709943e-04 9.99995240e-01 -1.02381201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters Centerline goodness : 0.995416 with order 1 Centerline is valid? [True, True] Translation: X:332.52, Y:-24.84, Z:-1.03 [[ 9.88730492e-01 1.49675041e-01 3.06526030e-03 3.32521868e+02] [-1.49674665e-01 9.88735238e-01 -3.52891832e-04 -2.48439810e+01] [-3.08354997e-03 -1.09876896e-04 9.99995240e-01 -1.02696480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:332.58, Y:-24.85, Z:-1.03 [[ 9.89901617e-01 1.41722943e-01 3.06520337e-03 3.32583715e+02] [-1.41722527e-01 9.89906359e-01 -3.53385651e-04 -2.48457549e+01] [-3.08434716e-03 -8.45913408e-05 9.99995240e-01 -1.02986665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters Centerline goodness : 0.995382 with order 1 Centerline is valid? [True, True] Translation: X:332.64, Y:-24.85, Z:-1.03 [[ 9.90487341e-01 1.37569735e-01 3.06519109e-03 3.32644540e+02] [-1.37569299e-01 9.90492081e-01 -3.53492114e-04 -2.48509655e+01] [-3.08467732e-03 -7.15467254e-05 9.99995240e-01 -1.03153966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters Centerline goodness : 0.995745 with order 1 Centerline is valid? [True, True] Translation: X:332.71, Y:-24.85, Z:-1.03 [[ 9.90633535e-01 1.36513022e-01 3.06513777e-03 3.32706514e+02] [-1.36512580e-01 9.90638274e-01 -3.53953855e-04 -2.48518076e+01] [-3.08476210e-03 -6.77913061e-05 9.99995240e-01 -1.02932347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:332.77, Y:-24.85, Z:-1.03 [[ 9.90965805e-01 1.34079747e-01 3.06512986e-03 3.32766716e+02] [-1.34079293e-01 9.90970543e-01 -3.54022352e-04 -2.48547532e+01] [-3.08492063e-03 -6.01464002e-05 9.99995240e-01 -1.02838226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters Centerline goodness : 0.995551 with order 1 Centerline is valid? [True, True] Translation: X:332.83, Y:-24.86, Z:-1.03 [[ 9.91347243e-01 1.31229758e-01 3.06512594e-03 3.32826791e+02] [-1.31229290e-01 9.91351980e-01 -3.54056328e-04 -2.48588598e+01] [-3.08508139e-03 -5.12415375e-05 9.99995240e-01 -1.02857250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters Centerline goodness : 0.995710 with order 1 Centerline is valid? [True, True] Translation: X:332.89, Y:-24.86, Z:-1.03 [[ 9.91692840e-01 1.28592051e-01 3.06512594e-03 3.32886656e+02] [-1.28591571e-01 9.91697576e-01 -3.54056328e-04 -2.48609175e+01] [-3.08520679e-03 -4.30342327e-05 9.99995240e-01 -1.02637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters Centerline goodness : 0.996032 with order 1 Centerline is valid? [True, True] Translation: X:332.95, Y:-24.87, Z:-1.03 [[ 9.91702997e-01 1.28513695e-01 3.06513003e-03 3.32946593e+02] [-1.28513215e-01 9.91707733e-01 -3.54020908e-04 -2.48666831e+01] [-3.08520969e-03 -4.28261168e-05 9.99995240e-01 -1.02751081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters Centerline goodness : 0.994812 with order 1 Centerline is valid? [True, True] Translation: X:333.01, Y:-24.87, Z:-1.03 [[ 9.91648479e-01 1.28933704e-01 3.06513003e-03 3.33006925e+02] [-1.28933225e-01 9.91653215e-01 -3.54020908e-04 -2.48734869e+01] [-3.08519127e-03 -4.41328056e-05 9.99995240e-01 -1.02933612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters Centerline goodness : 0.995115 with order 1 Centerline is valid? [True, True] Translation: X:333.07, Y:-24.87, Z:-1.03 [[ 9.91389354e-01 1.30911244e-01 3.06513003e-03 3.33066286e+02] [-1.30910775e-01 9.91394091e-01 -3.54020908e-04 -2.48748653e+01] [-3.08509711e-03 -5.02859869e-05 9.99995240e-01 -1.03088144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters Centerline goodness : 0.995294 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:-24.88, Z:-1.04 [[ 9.91314631e-01 1.31475883e-01 3.06512534e-03 3.33125196e+02] [-1.31475417e-01 9.91319368e-01 -3.54061482e-04 -2.48795924e+01] [-3.08506866e-03 -5.20023033e-05 9.99995240e-01 -1.03605972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:333.19, Y:-24.88, Z:-1.03 [[ 9.91737911e-01 1.28243993e-01 3.06512081e-03 3.33185732e+02] [-1.28243511e-01 9.91742646e-01 -3.54100664e-04 -2.48842939e+01] [-3.08522231e-03 -4.19068018e-05 9.99995240e-01 -1.03441974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:333.25, Y:-24.89, Z:-1.03 [[ 9.92097677e-01 1.25430473e-01 3.06512081e-03 3.33245360e+02] [-1.25429977e-01 9.92102412e-01 -3.54100664e-04 -2.48923812e+01] [-3.08532876e-03 -3.31555872e-05 9.99995240e-01 -1.03024155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:333.31, Y:-24.90, Z:-1.03 [[ 9.92947185e-01 1.18517902e-01 3.06512081e-03 3.33306272e+02] [-1.18517373e-01 9.92951916e-01 -3.54100664e-04 -2.49038339e+01] [-3.08548485e-03 -1.16668101e-05 9.99995240e-01 -1.03053351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters Centerline goodness : 0.994629 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:-24.92, Z:-1.03 [[ 9.93741285e-01 1.11664063e-01 3.06511289e-03 3.33366816e+02] [-1.11663502e-01 9.93746012e-01 -3.54169243e-04 -2.49173074e+01] [-3.08549169e-03 9.69136018e-06 9.99995240e-01 -1.02929162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters Centerline goodness : 0.994848 with order 1 Centerline is valid? [True, True] Translation: X:333.43, Y:-24.93, Z:-1.03 [[ 9.94078846e-01 1.08617927e-01 3.06510498e-03 3.33428139e+02] [-1.08617351e-01 9.94083571e-01 -3.54237681e-04 -2.49303049e+01] [-3.08544706e-03 1.92166019e-05 9.99995240e-01 -1.02837597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters Centerline goodness : 0.995044 with order 1 Centerline is valid? [True, True] Translation: X:333.49, Y:-24.94, Z:-1.03 [[ 9.93950400e-01 1.09787100e-01 3.06504732e-03 3.33489935e+02] [-1.09786528e-01 9.93955126e-01 -3.54735855e-04 -2.49445517e+01] [-3.08546492e-03 1.60889410e-05 9.99995240e-01 -1.03245177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters Centerline goodness : 0.994581 with order 1 Centerline is valid? [True, True] Translation: X:333.55, Y:-24.96, Z:-1.03 [[ 9.93904489e-01 1.10201966e-01 3.06497995e-03 3.33551376e+02] [-1.10201394e-01 9.93909214e-01 -3.55317037e-04 -2.49581275e+01] [-3.08546845e-03 1.53861347e-05 9.99995240e-01 -1.03047595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters Centerline goodness : 0.994432 with order 1 Centerline is valid? [True, True] Translation: X:333.61, Y:-24.98, Z:-1.03 [[ 9.94041888e-01 1.08955640e-01 3.06491256e-03 3.33610771e+02] [-1.08955060e-01 9.94046613e-01 -3.55897392e-04 -2.49825784e+01] [-3.08544297e-03 1.98391831e-05 9.99995240e-01 -1.02683421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:333.67, Y:-25.00, Z:-1.03 [[ 9.93632833e-01 1.12625041e-01 3.06487087e-03 3.33672497e+02] [-1.12624478e-01 9.93637560e-01 -3.56255992e-04 -2.49958833e+01] [-3.08549416e-03 8.80816964e-06 9.99995240e-01 -1.03124864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:333.73, Y:-25.00, Z:-1.03 [[ 9.92056362e-01 1.25756838e-01 3.06480484e-03 3.33733633e+02] [-1.25756335e-01 9.92061095e-01 -3.56823181e-04 -2.50044805e+01] [-3.08534660e-03 -3.14299178e-05 9.99995240e-01 -1.03375662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters Centerline goodness : 0.994285 with order 1 Centerline is valid? [True, True] Translation: X:333.80, Y:-25.01, Z:-1.03 [[ 9.90404447e-01 1.38165258e-01 3.06474739e-03 3.33796239e+02] [-1.38164813e-01 9.90409187e-01 -3.57315916e-04 -2.50085938e+01] [-3.08472262e-03 -6.95529781e-05 9.99995240e-01 -1.03233971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:333.86, Y:-25.01, Z:-1.03 [[ 9.89627642e-01 1.43623598e-01 3.06468778e-03 3.33857649e+02] [-1.43623179e-01 9.89632384e-01 -3.57826486e-04 -2.50101200e+01] [-3.08430660e-03 -8.60452178e-05 9.99995240e-01 -1.03369679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters Centerline goodness : 0.993747 with order 1 Centerline is valid? [True, True] Translation: X:333.92, Y:-25.01, Z:-1.03 [[ 9.89949707e-01 1.41386655e-01 3.06463332e-03 3.33919427e+02] [-1.41386222e-01 9.89954447e-01 -3.58292274e-04 -2.50110686e+01] [-3.08450513e-03 -7.86055965e-05 9.99995240e-01 -1.03281535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:333.98, Y:-25.02, Z:-1.03 [[ 9.90110634e-01 1.40255271e-01 3.06462538e-03 3.33979350e+02] [-1.40254833e-01 9.90115374e-01 -3.58360168e-04 -2.50150299e+01] [-3.08459461e-03 -7.50123085e-05 9.99995240e-01 -1.03343270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters Centerline goodness : 0.993423 with order 1 Centerline is valid? [True, True] Translation: X:334.04, Y:-25.02, Z:-1.03 [[ 9.90719448e-01 1.35888131e-01 3.06462144e-03 3.34040789e+02] [-1.35887672e-01 9.90724186e-01 -3.58393898e-04 -2.50151239e+01] [-3.08489605e-03 -6.13764687e-05 9.99995240e-01 -1.03351060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:334.10, Y:-25.02, Z:-1.03 [[ 9.91697811e-01 1.28553727e-01 3.06461363e-03 3.34101926e+02] [-1.28553233e-01 9.91702545e-01 -3.58460661e-04 -2.50228337e+01] [-3.08526659e-03 -3.84813375e-05 9.99995240e-01 -1.03217828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters Centerline goodness : 0.993277 with order 1 Centerline is valid? [True, True] Translation: X:334.16, Y:-25.03, Z:-1.03 [[ 9.92900213e-01 1.18910791e-01 3.06456297e-03 3.34163934e+02] [-1.18910250e-01 9.92904942e-01 -3.58893267e-04 -2.50330623e+01] [-3.08549600e-03 -8.06274763e-06 9.99995240e-01 -1.02787239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters Centerline goodness : 0.993176 with order 1 Centerline is valid? [True, True] Translation: X:334.23, Y:-25.05, Z:-1.03 [[ 9.93497897e-01 1.13809217e-01 3.06450080e-03 3.34226454e+02] [-1.13808650e-01 9.93502623e-01 -3.59423311e-04 -2.50450447e+01] [-3.08549527e-03 8.31960566e-06 9.99995240e-01 -1.02873584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters Centerline goodness : 0.993047 with order 1 Centerline is valid? [True, True] Translation: X:334.29, Y:-25.06, Z:-1.03 [[ 9.93402888e-01 1.14635560e-01 3.06443910e-03 3.34287531e+02] [-1.14634995e-01 9.93407614e-01 -3.59948573e-04 -2.50560602e+01] [-3.08550004e-03 6.28199155e-06 9.99995240e-01 -1.03380180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters Centerline goodness : 0.992840 with order 1 Centerline is valid? [True, True] Translation: X:334.35, Y:-25.07, Z:-1.04 [[ 9.92817985e-01 1.19595396e-01 3.06438525e-03 3.34348383e+02] [-1.19594853e-01 9.92822714e-01 -3.60406434e-04 -2.50678257e+01] [-3.08549423e-03 -8.66671541e-06 9.99995240e-01 -1.04040348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters Centerline goodness : 0.993031 with order 1 Centerline is valid? [True, True] Translation: X:334.41, Y:-25.08, Z:-1.04 [[ 9.92062167e-01 1.25711047e-01 3.06433173e-03 3.34409273e+02] [-1.25710532e-01 9.92066899e-01 -3.60860952e-04 -2.50763197e+01] [-3.08538628e-03 -2.72222738e-05 9.99995240e-01 -1.03638955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:-25.09, Z:-1.03 [[ 9.91728769e-01 1.28314687e-01 3.06428240e-03 3.34470561e+02] [-1.28314183e-01 9.91733502e-01 -3.61279341e-04 -2.50850055e+01] [-3.08530896e-03 -3.48997755e-05 9.99995240e-01 -1.03343871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters Centerline goodness : 0.992943 with order 1 Centerline is valid? [True, True] Translation: X:334.53, Y:-25.09, Z:-1.03 [[ 9.91930220e-01 1.26747973e-01 3.06422957e-03 3.34533457e+02] [-1.26747461e-01 9.91934953e-01 -3.61726842e-04 -2.50911061e+01] [-3.08536456e-03 -2.95755311e-05 9.99995240e-01 -1.03058468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters Centerline goodness : 0.993044 with order 1 Centerline is valid? [True, True] Translation: X:334.60, Y:-25.10, Z:-1.03 [[ 9.91945617e-01 1.26627424e-01 3.06416200e-03 3.34596395e+02] [-1.26626909e-01 9.91950349e-01 -3.62298365e-04 -2.50965622e+01] [-3.08537347e-03 -2.86250871e-05 9.99995240e-01 -1.02831751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:334.66, Y:-25.10, Z:-1.03 [[ 9.91564737e-01 1.29576172e-01 3.06409420e-03 3.34659124e+02] [-1.29575670e-01 9.91569470e-01 -3.62870801e-04 -2.50995713e+01] [-3.08528168e-03 -3.72221675e-05 9.99995240e-01 -1.02647641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters Centerline goodness : 0.993652 with order 1 Centerline is valid? [True, True] Translation: X:334.72, Y:-25.11, Z:-1.03 [[ 9.91741563e-01 1.28215773e-01 3.06403447e-03 3.34721473e+02] [-1.28215262e-01 9.91746295e-01 -3.63374470e-04 -2.51054212e+01] [-3.08533518e-03 -3.24824193e-05 9.99995240e-01 -1.02687894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:334.78, Y:-25.12, Z:-1.03 [[ 9.92311687e-01 1.23726022e-01 3.06396599e-03 3.34783370e+02] [-1.23725488e-01 9.92316417e-01 -3.63950997e-04 -2.51152505e+01] [-3.08545396e-03 -1.79378612e-05 9.99995240e-01 -1.03188017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:334.84, Y:-25.13, Z:-1.03 [[ 9.92383887e-01 1.23145579e-01 3.06389725e-03 3.34844967e+02] [-1.23145040e-01 9.92388616e-01 -3.64528739e-04 -2.51255013e+01] [-3.08546686e-03 -1.55513043e-05 9.99995240e-01 -1.03213328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters Centerline goodness : 0.993159 with order 1 Centerline is valid? [True, True] Translation: X:334.91, Y:-25.13, Z:-1.03 [[ 9.91923842e-01 1.26797888e-01 3.06383304e-03 3.34906144e+02] [-1.26797365e-01 9.91928573e-01 -3.65067683e-04 -2.51303567e+01] [-3.08539334e-03 -2.63666185e-05 9.99995240e-01 -1.03434660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:334.97, Y:-25.13, Z:-1.04 [[ 9.90470561e-01 1.37690529e-01 3.06377873e-03 3.34967146e+02] [-1.37690056e-01 9.90475297e-01 -3.65522834e-04 -2.51258625e+01] [-3.08492619e-03 -5.98122609e-05 9.99995240e-01 -1.03522740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters Centerline goodness : 0.993195 with order 1 Centerline is valid? [True, True] Translation: X:335.03, Y:-25.13, Z:-1.03 [[ 9.90309210e-01 1.38846250e-01 3.06377873e-03 3.35027467e+02] [-1.38845783e-01 9.90313948e-01 -3.65522834e-04 -2.51282548e+01] [-3.08485429e-03 -6.34121292e-05 9.99995240e-01 -1.03456572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters Centerline goodness : 0.993009 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:-25.13, Z:-1.04 [[ 9.90826987e-01 1.35101796e-01 3.06377449e-03 3.35089689e+02] [-1.35101312e-01 9.90831722e-01 -3.65558441e-04 -2.51262228e+01] [-3.08507255e-03 -5.17147835e-05 9.99995240e-01 -1.03596958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters Centerline goodness : 0.992894 with order 1 Centerline is valid? [True, True] Translation: X:335.15, Y:-25.12, Z:-1.04 [[ 9.91106556e-01 1.33035365e-01 3.06376598e-03 3.35151181e+02] [-1.33034870e-01 9.91111290e-01 -3.65629692e-04 -2.51247094e+01] [-3.08517474e-03 -4.52097259e-05 9.99995240e-01 -1.03574016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters Centerline goodness : 0.993305 with order 1 Centerline is valid? [True, True] Translation: X:335.21, Y:-25.12, Z:-1.03 [[ 9.90966088e-01 1.34077689e-01 3.06376598e-03 3.35210650e+02] [-1.34077199e-01 9.90970822e-01 -3.65629692e-04 -2.51218307e+01] [-3.08512548e-03 -4.84545365e-05 9.99995240e-01 -1.03391199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters Centerline goodness : 0.993323 with order 1 Centerline is valid? [True, True] Translation: X:335.27, Y:-25.12, Z:-1.03 [[ 9.90762313e-01 1.35575267e-01 3.06377507e-03 3.35269772e+02] [-1.35574785e-01 9.90767048e-01 -3.65553562e-04 -2.51223509e+01] [-3.08504740e-03 -5.31939530e-05 9.99995240e-01 -1.03370408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters Centerline goodness : 0.993066 with order 1 Centerline is valid? [True, True] Translation: X:335.33, Y:-25.12, Z:-1.03 [[ 9.90952039e-01 1.34181479e-01 3.06379242e-03 3.35328395e+02] [-1.34180990e-01 9.90956774e-01 -3.65408099e-04 -2.51246092e+01] [-3.08511685e-03 -4.90007999e-05 9.99995240e-01 -1.03288057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters Centerline goodness : 0.993438 with order 1 Centerline is valid? [True, True] Translation: X:335.39, Y:-25.12, Z:-1.03 [[ 9.91328314e-01 1.31372703e-01 3.06380973e-03 3.35387843e+02] [-1.31372201e-01 9.91333048e-01 -3.65262898e-04 -2.51242840e+01] [-3.08524141e-03 -4.04039755e-05 9.99995240e-01 -1.03240845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:335.45, Y:-25.13, Z:-1.03 [[ 9.91454409e-01 1.30417668e-01 3.06382259e-03 3.35445675e+02] [-1.30417162e-01 9.91459142e-01 -3.65154971e-04 -2.51275527e+01] [-3.08527758e-03 -3.75405405e-05 9.99995240e-01 -1.03253500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters Centerline goodness : 0.993702 with order 1 Centerline is valid? [True, True] Translation: X:335.50, Y:-25.13, Z:-1.03 [[ 9.91604049e-01 1.29274988e-01 3.06384388e-03 3.35504268e+02] [-1.29274477e-01 9.91608782e-01 -3.64976271e-04 -2.51338555e+01] [-3.08531680e-03 -3.41648664e-05 9.99995240e-01 -1.03290544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters Centerline goodness : 0.993894 with order 1 Centerline is valid? [True, True] Translation: X:335.56, Y:-25.14, Z:-1.04 [[ 9.91933409e-01 1.26723023e-01 3.06386042e-03 3.35562779e+02] [-1.26722501e-01 9.91938141e-01 -3.64837355e-04 -2.51430309e+01] [-3.08539330e-03 -2.63656922e-05 9.99995240e-01 -1.03562055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters Centerline goodness : 0.993942 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:-25.15, Z:-1.03 [[ 9.92086335e-01 1.25520185e-01 3.06387795e-03 3.35620732e+02] [-1.25519657e-01 9.92091066e-01 -3.64690101e-04 -2.51545220e+01] [-3.08542191e-03 -2.27728448e-05 9.99995240e-01 -1.03473093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:335.68, Y:-25.16, Z:-1.04 [[ 9.92028325e-01 1.25977832e-01 3.06389098e-03 3.35677533e+02] [-1.25977306e-01 9.92033057e-01 -3.64580599e-04 -2.51624958e+01] [-3.08541020e-03 -2.43064508e-05 9.99995240e-01 -1.03705933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters Centerline goodness : 0.994026 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:-25.17, Z:-1.04 [[ 9.91954779e-01 1.26555633e-01 3.06391310e-03 3.35736021e+02] [-1.26555112e-01 9.91959511e-01 -3.64394559e-04 -2.51717272e+01] [-3.08539393e-03 -2.62909397e-05 9.99995240e-01 -1.03884935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters Centerline goodness : 0.994613 with order 1 Centerline is valid? [True, True] Translation: X:335.80, Y:-25.18, Z:-1.04 [[ 9.92006284e-01 1.26151275e-01 3.06392168e-03 3.35795088e+02] [-1.26150751e-01 9.92011016e-01 -3.64322391e-04 -2.51808555e+01] [-3.08540379e-03 -2.51059204e-05 9.99995240e-01 -1.03567897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters Centerline goodness : 0.993952 with order 1 Centerline is valid? [True, True] Translation: X:335.85, Y:-25.19, Z:-1.03 [[ 9.92300043e-01 1.23819371e-01 3.06393032e-03 3.35854247e+02] [-1.23818837e-01 9.92304773e-01 -3.64249744e-04 -2.51885269e+01] [-3.08545386e-03 -1.79272514e-05 9.99995240e-01 -1.03499354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters Centerline goodness : 0.994787 with order 1 Centerline is valid? [True, True] Translation: X:335.91, Y:-25.20, Z:-1.03 [[ 9.92446469e-01 1.22640199e-01 3.06393459e-03 3.35913160e+02] [-1.22639659e-01 9.92451198e-01 -3.64213844e-04 -2.51962981e+01] [-3.08547281e-03 -1.42971511e-05 9.99995240e-01 -1.03463135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters Centerline goodness : 0.994343 with order 1 Centerline is valid? [True, True] Translation: X:335.97, Y:-25.20, Z:-1.04 [[ 9.92523278e-01 1.22017029e-01 3.06393879e-03 3.35973128e+02] [-1.22016486e-01 9.92528007e-01 -3.64178481e-04 -2.52033002e+01] [-3.08548104e-03 -1.23954236e-05 9.99995240e-01 -1.03530296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters Centerline goodness : 0.994664 with order 1 Centerline is valid? [True, True] Translation: X:336.03, Y:-25.21, Z:-1.04 [[ 9.92357813e-01 1.23355518e-01 3.06393879e-03 3.36031598e+02] [-1.23354981e-01 9.92362543e-01 -3.64178481e-04 -2.52061323e+01] [-3.08546151e-03 -1.65567510e-05 9.99995240e-01 -1.03746870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters Centerline goodness : 0.994539 with order 1 Centerline is valid? [True, True] Translation: X:336.09, Y:-25.21, Z:-1.04 [[ 9.92122496e-01 1.25234045e-01 3.06395140e-03 3.36090489e+02] [-1.25233518e-01 9.92127226e-01 -3.64072329e-04 -2.52075144e+01] [-3.08542386e-03 -2.25050646e-05 9.99995240e-01 -1.03834595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters Centerline goodness : 0.993942 with order 1 Centerline is valid? [True, True] Translation: X:336.15, Y:-25.21, Z:-1.04 [[ 9.92038689e-01 1.25896192e-01 3.06396864e-03 3.36149007e+02] [-1.25895668e-01 9.92043421e-01 -3.63927252e-04 -2.52077672e+01] [-3.08540698e-03 -2.47104648e-05 9.99995240e-01 -1.04084353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters Centerline goodness : 0.994867 with order 1 Centerline is valid? [True, True] Translation: X:336.21, Y:-25.21, Z:-1.04 [[ 9.92003240e-01 1.26175209e-01 3.06398993e-03 3.36208507e+02] [-1.26174687e-01 9.92007972e-01 -3.63747892e-04 -2.52089084e+01] [-3.08539840e-03 -2.57588836e-05 9.99995240e-01 -1.03629759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters Centerline goodness : 0.995337 with order 1 Centerline is valid? [True, True] Translation: X:336.27, Y:-25.21, Z:-1.03 [[ 9.92005091e-01 1.26160655e-01 3.06400692e-03 3.36266343e+02] [-1.26160134e-01 9.92009823e-01 -3.63604716e-04 -2.52111024e+01] [-3.08539757e-03 -2.58577942e-05 9.99995240e-01 -1.03426550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters Centerline goodness : 0.995006 with order 1 Centerline is valid? [True, True] Translation: X:336.33, Y:-25.21, Z:-1.04 [[ 9.92172420e-01 1.24837897e-01 3.06402957e-03 3.36325050e+02] [-1.24837370e-01 9.92177151e-01 -3.63413709e-04 -2.52118447e+01] [-3.08542794e-03 -2.19363352e-05 9.99995240e-01 -1.03538468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:336.38, Y:-25.21, Z:-1.03 [[ 9.92546934e-01 1.21824444e-01 3.06404635e-03 3.36382917e+02] [-1.21823903e-01 9.92551664e-01 -3.63272173e-04 -2.52130491e+01] [-3.08547974e-03 -1.27094038e-05 9.99995240e-01 -1.03448066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [True, True] Translation: X:336.44, Y:-25.22, Z:-1.04 [[ 9.92940774e-01 1.18571624e-01 3.06406708e-03 3.36441914e+02] [-1.18571068e-01 9.92945502e-01 -3.63097296e-04 -2.52157589e+01] [-3.08550466e-03 -2.77559641e-06 9.99995240e-01 -1.03719532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters Centerline goodness : 0.995271 with order 1 Centerline is valid? [True, True] Translation: X:336.50, Y:-25.22, Z:-1.04 [[ 9.93300805e-01 1.15516757e-01 3.06408492e-03 3.36499678e+02] [-1.15516187e-01 9.93305531e-01 -3.62946671e-04 -2.52179256e+01] [-3.08549892e-03 6.56381350e-06 9.99995240e-01 -1.03654140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters Centerline goodness : 0.995168 with order 1 Centerline is valid? [True, True] Translation: X:336.56, Y:-25.23, Z:-1.04 [[ 9.94322672e-01 1.06362750e-01 3.06410693e-03 3.36558262e+02] [-1.06362137e-01 9.94327393e-01 -3.62760768e-04 -2.52272366e+01] [-3.08530969e-03 3.47962939e-05 9.99995240e-01 -1.03900683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters Centerline goodness : 0.994656 with order 1 Centerline is valid? [True, True] Translation: X:336.62, Y:-25.24, Z:-1.04 [[ 9.95151135e-01 9.83098610e-02 3.06412397e-03 3.36617192e+02] [-9.83092103e-02 9.95155851e-01 -3.62616725e-04 -2.52382855e+01] [-3.08492970e-03 5.96268379e-05 9.99995240e-01 -1.03943094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters Centerline goodness : 0.994766 with order 1 Centerline is valid? [True, True] Translation: X:336.68, Y:-25.25, Z:-1.04 [[ 9.95947109e-01 8.98886416e-02 3.06413249e-03 3.36675551e+02] [-8.98879513e-02 9.95951819e-01 -3.62544771e-04 -2.52507373e+01] [-3.08431698e-03 8.56468245e-05 9.99995240e-01 -1.03831906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters Centerline goodness : 0.994893 with order 1 Centerline is valid? [True, True] Translation: X:336.73, Y:-25.26, Z:-1.04 [[ 9.96114941e-01 8.80092881e-02 3.06414116e-03 3.36734078e+02] [-8.80085892e-02 9.96119650e-01 -3.62471434e-04 -2.52641566e+01] [-3.08415208e-03 9.13924708e-05 9.99995240e-01 -1.04026559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters Centerline goodness : 0.995061 with order 1 Centerline is valid? [True, True] Translation: X:336.79, Y:-25.28, Z:-1.04 [[ 9.96128987e-01 8.78501713e-02 3.06414542e-03 3.36793580e+02] [-8.78494717e-02 9.96133695e-01 -3.62435465e-04 -2.52801708e+01] [-3.08413852e-03 9.18489161e-05 9.99995240e-01 -1.03992288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters Centerline goodness : 0.994985 with order 1 Centerline is valid? [True, True] Translation: X:336.85, Y:-25.29, Z:-1.04 [[ 9.96095138e-01 8.82331456e-02 3.06414542e-03 3.36852736e+02] [-8.82324478e-02 9.96099846e-01 -3.62435465e-04 -2.52949455e+01] [-3.08417360e-03 9.06631536e-05 9.99995240e-01 -1.03814634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters Centerline goodness : 0.994890 with order 1 Centerline is valid? [True, True] Translation: X:336.91, Y:-25.31, Z:-1.04 [[ 9.96001474e-01 8.92842354e-02 3.06414542e-03 3.36911481e+02] [-8.92835426e-02 9.96006184e-01 -3.62435465e-04 -2.53108050e+01] [-3.08426756e-03 8.74084994e-05 9.99995240e-01 -1.04091311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters Centerline goodness : 0.995239 with order 1 Centerline is valid? [True, True] Translation: X:336.97, Y:-25.33, Z:-1.03 [[ 9.95986069e-01 8.94559160e-02 3.06414124e-03 3.36971505e+02] [-8.94552239e-02 9.95990779e-01 -3.62470825e-04 -2.53264518e+01] [-3.08428158e-03 8.69124525e-05 9.99995240e-01 -1.03418770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters Centerline goodness : 0.995439 with order 1 Centerline is valid? [True, True] Translation: X:337.03, Y:-25.34, Z:-1.04 [[ 9.96069023e-01 8.85274726e-02 3.06413308e-03 3.37032414e+02] [-8.85267758e-02 9.96073731e-01 -3.62539735e-04 -2.53413834e+01] [-3.08419720e-03 8.98567769e-05 9.99995240e-01 -1.03534759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters Centerline goodness : 0.995320 with order 1 Centerline is valid? [True, True] Translation: X:337.09, Y:-25.36, Z:-1.04 [[ 9.96012434e-01 8.91618934e-02 3.06407456e-03 3.37091403e+02] [-8.91611981e-02 9.96017143e-01 -3.63033662e-04 -2.53595878e+01] [-3.08423956e-03 8.83894825e-05 9.99995240e-01 -1.04017203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters Centerline goodness : 0.995608 with order 1 Centerline is valid? [True, True] Translation: X:337.15, Y:-25.38, Z:-1.04 [[ 9.95645177e-01 9.31734616e-02 3.06404139e-03 3.37152657e+02] [-9.31727845e-02 9.95649888e-01 -3.63313432e-04 -2.53795781e+01] [-3.08456364e-03 7.62459985e-05 9.99995240e-01 -1.03523839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters Centerline goodness : 0.994842 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:-25.40, Z:-1.04 [[ 9.94927493e-01 1.00547981e-01 3.06397284e-03 3.37213613e+02] [-1.00547337e-01 9.94932209e-01 -3.63890574e-04 -2.53991459e+01] [-3.08503373e-03 5.39704260e-05 9.99995240e-01 -1.03897372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters Centerline goodness : 0.995020 with order 1 Centerline is valid? [True, True] Translation: X:337.27, Y:-25.42, Z:-1.04 [[ 9.93986583e-01 1.09459055e-01 3.06390439e-03 3.37274538e+02] [-1.09458451e-01 9.93991305e-01 -3.64466055e-04 -2.54151004e+01] [-3.08538843e-03 2.69041399e-05 9.99995240e-01 -1.03916669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters Centerline goodness : 0.995311 with order 1 Centerline is valid? [True, True] Translation: X:337.34, Y:-25.42, Z:-1.04 [[ 9.93107031e-01 1.17170980e-01 3.06384026e-03 3.37337278e+02] [-1.17170412e-01 9.93111757e-01 -3.65004349e-04 -2.54249657e+01] [-3.08550370e-03 3.49696012e-06 9.99995240e-01 -1.03610322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters Centerline goodness : 0.994839 with order 1 Centerline is valid? [True, True] Translation: X:337.40, Y:-25.43, Z:-1.03 [[ 9.92663890e-01 1.20867759e-01 3.06377049e-03 3.37398400e+02] [-1.20867206e-01 9.92668618e-01 -3.65589008e-04 -2.54333140e+01] [-3.08549675e-03 -7.40237460e-06 9.99995240e-01 -1.03423630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters Centerline goodness : 0.994807 with order 1 Centerline is valid? [True, True] Translation: X:337.46, Y:-25.44, Z:-1.03 [[ 9.92394044e-01 1.23063703e-01 3.06370565e-03 3.37461176e+02] [-1.23063159e-01 9.92398773e-01 -3.66131648e-04 -2.54423437e+01] [-3.08547524e-03 -1.36824278e-05 9.99995240e-01 -1.03393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters Centerline goodness : 0.994443 with order 1 Centerline is valid? [True, True] Translation: X:337.52, Y:-25.45, Z:-1.04 [[ 9.92274503e-01 1.24023886e-01 3.06363714e-03 3.37524118e+02] [-1.24023345e-01 9.92279233e-01 -3.66703999e-04 -2.54457331e+01] [-3.08546356e-03 -1.60914979e-05 9.99995240e-01 -1.03637732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters Centerline goodness : 0.994412 with order 1 Centerline is valid? [True, True] Translation: X:337.59, Y:-25.45, Z:-1.03 [[ 9.92315091e-01 1.23698723e-01 3.06356904e-03 3.37587211e+02] [-1.23698179e-01 9.92319820e-01 -3.67272055e-04 -2.54527559e+01] [-3.08547136e-03 -1.45083082e-05 9.99995240e-01 -1.03463544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:337.65, Y:-25.46, Z:-1.03 [[ 9.92748941e-01 1.20167195e-01 3.06350103e-03 3.37649086e+02] [-1.20166632e-01 9.92753668e-01 -3.67838411e-04 -2.54617159e+01] [-3.08550400e-03 -2.95940696e-06 9.99995240e-01 -1.03197198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters Centerline goodness : 0.994367 with order 1 Centerline is valid? [True, True] Translation: X:337.71, Y:-25.47, Z:-1.04 [[ 9.93363658e-01 1.14975033e-01 3.06343788e-03 3.37710758e+02] [-1.14974444e-01 9.93368382e-01 -3.68363639e-04 -2.54738643e+01] [-3.08547495e-03 1.37019863e-05 9.99995240e-01 -1.03509412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters Centerline goodness : 0.993381 with order 1 Centerline is valid? [True, True] Translation: X:337.77, Y:-25.48, Z:-1.04 [[ 9.93462256e-01 1.14119945e-01 3.06336600e-03 3.37771945e+02] [-1.14119350e-01 9.93466979e-01 -3.68960428e-04 -2.54847238e+01] [-3.08545871e-03 1.69589233e-05 9.99995240e-01 -1.03815419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters Centerline goodness : 0.993695 with order 1 Centerline is valid? [True, True] Translation: X:337.83, Y:-25.49, Z:-1.04 [[ 9.93427154e-01 1.14425109e-01 3.06332131e-03 3.37834267e+02] [-1.14424514e-01 9.93431877e-01 -3.69331106e-04 -2.54937266e+01] [-3.08546179e-03 1.63844977e-05 9.99995240e-01 -1.03996688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters Centerline goodness : 0.993340 with order 1 Centerline is valid? [True, True] Translation: X:337.90, Y:-25.51, Z:-1.04 [[ 9.93334751e-01 1.15224515e-01 3.06325099e-03 3.37895355e+02] [-1.15223922e-01 9.93339474e-01 -3.69913446e-04 -2.55063002e+01] [-3.08547122e-03 1.44880889e-05 9.99995240e-01 -1.03900572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters Centerline goodness : 0.993269 with order 1 Centerline is valid? [True, True] Translation: X:337.96, Y:-25.52, Z:-1.04 [[ 9.93073994e-01 1.17450672e-01 3.06318560e-03 3.37957386e+02] [-1.17450088e-01 9.93078718e-01 -3.70454128e-04 -2.55177519e+01] [-3.08549451e-03 8.11694324e-06 9.99995240e-01 -1.03502111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters Centerline goodness : 0.992596 with order 1 Centerline is valid? [True, True] Translation: X:338.02, Y:-25.53, Z:-1.04 [[ 9.93181479e-01 1.16538264e-01 3.06311524e-03 3.38018810e+02] [-1.16537674e-01 9.93186203e-01 -3.71034957e-04 -2.55281840e+01] [-3.08548356e-03 1.15367223e-05 9.99995240e-01 -1.03993353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters Centerline goodness : 0.993280 with order 1 Centerline is valid? [True, True] Translation: X:338.08, Y:-25.54, Z:-1.04 [[ 9.93386633e-01 1.14776368e-01 3.06307183e-03 3.38080903e+02] [-1.14775768e-01 9.93391355e-01 -3.71393026e-04 -2.55397464e+01] [-3.08545621e-03 1.73704456e-05 9.99995240e-01 -1.03771118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters Centerline goodness : 0.992754 with order 1 Centerline is valid? [True, True] Translation: X:338.14, Y:-25.55, Z:-1.03 [[ 9.92880313e-01 1.19076873e-01 3.06300143e-03 3.38142032e+02] [-1.19076292e-01 9.92885038e-01 -3.71972688e-04 -2.55477049e+01] [-3.08550164e-03 4.59350519e-06 9.99995240e-01 -1.03377652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:338.20, Y:-25.55, Z:-1.03 [[ 9.92369063e-01 1.23265006e-01 3.06293624e-03 3.38204242e+02] [-1.23264443e-01 9.92373790e-01 -3.72508676e-04 -2.55544759e+01] [-3.08549493e-03 -7.88504437e-06 9.99995240e-01 -1.03279103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters Centerline goodness : 0.992620 with order 1 Centerline is valid? [True, True] Translation: X:338.27, Y:-25.56, Z:-1.03 [[ 9.91974581e-01 1.26400356e-01 3.06286728e-03 3.38266435e+02] [-1.26399806e-01 9.91979309e-01 -3.73074823e-04 -2.55617079e+01] [-3.08545776e-03 -1.70650904e-05 9.99995240e-01 -1.03293514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters Centerline goodness : 0.991830 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:-25.57, Z:-1.04 [[ 9.91369272e-01 1.31063291e-01 3.06279701e-03 3.38329229e+02] [-1.31062762e-01 9.91374003e-01 -3.73650897e-04 -2.55694599e+01] [-3.08534924e-03 -3.09926163e-05 9.99995240e-01 -1.03657200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters Centerline goodness : 0.991550 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:-25.57, Z:-1.04 [[ 9.90389875e-01 1.38269719e-01 3.06272599e-03 3.38391301e+02] [-1.38269222e-01 9.90394609e-01 -3.74232082e-04 -2.55730624e+01] [-3.08505228e-03 -5.28450762e-05 9.99995240e-01 -1.03616032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters Centerline goodness : 0.990959 with order 1 Centerline is valid? [True, True] Translation: X:338.45, Y:-25.57, Z:-1.04 [[ 9.89460426e-01 1.44771151e-01 3.06268193e-03 3.38454340e+02] [-1.44770685e-01 9.89465163e-01 -3.74592358e-04 -2.55725610e+01] [-3.08464724e-03 -7.27422453e-05 9.99995240e-01 -1.03673309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters Centerline goodness : 0.991078 with order 1 Centerline is valid? [True, True] Translation: X:338.52, Y:-25.57, Z:-1.04 [[ 9.89221699e-01 1.46393477e-01 3.06261000e-03 3.38517033e+02] [-1.46393017e-01 9.89226437e-01 -3.75179470e-04 -2.55720034e+01] [-3.08453861e-03 -7.72090446e-05 9.99995240e-01 -1.03877125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters Centerline goodness : 0.990596 with order 1 Centerline is valid? [True, True] Translation: X:338.58, Y:-25.57, Z:-1.04 [[ 9.89591703e-01 1.43871060e-01 3.06254319e-03 3.38578905e+02] [-1.43870586e-01 9.89596440e-01 -3.75724041e-04 -2.55723598e+01] [-3.08473766e-03 -6.87964902e-05 9.99995240e-01 -1.03970561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters Centerline goodness : 0.989969 with order 1 Centerline is valid? [True, True] Translation: X:338.64, Y:-25.57, Z:-1.05 [[ 9.90468161e-01 1.37707816e-01 3.06248742e-03 3.38641610e+02] [-1.37707310e-01 9.90472895e-01 -3.76178085e-04 -2.55748985e+01] [-3.08511344e-03 -4.91344901e-05 9.99995240e-01 -1.04717861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters Centerline goodness : 0.990136 with order 1 Centerline is valid? [True, True] Translation: X:338.70, Y:-25.58, Z:-1.04 [[ 9.90971518e-01 1.34037580e-01 3.06242716e-03 3.38703543e+02] [-1.34037056e-01 9.90976249e-01 -3.76668011e-04 -2.55798988e+01] [-3.08528025e-03 -3.72114495e-05 9.99995240e-01 -1.04391317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters Centerline goodness : 0.989724 with order 1 Centerline is valid? [True, True] Translation: X:338.77, Y:-25.59, Z:-1.04 [[ 9.91316766e-01 1.31459843e-01 3.06236579e-03 3.38765043e+02] [-1.31459306e-01 9.91321496e-01 -3.77166339e-04 -2.55877092e+01] [-3.08537126e-03 -2.86851638e-05 9.99995240e-01 -1.03983564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters Centerline goodness : 0.989797 with order 1 Centerline is valid? [True, True] Translation: X:338.83, Y:-25.59, Z:-1.04 [[ 9.91404236e-01 1.30798562e-01 3.06230360e-03 3.38827510e+02] [-1.30798019e-01 9.91408965e-01 -3.77670553e-04 -2.55904675e+01] [-3.08539401e-03 -2.61190595e-05 9.99995240e-01 -1.03819461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters Centerline goodness : 0.989596 with order 1 Centerline is valid? [True, True] Translation: X:338.89, Y:-25.60, Z:-1.04 [[ 9.91425176e-01 1.30639747e-01 3.06224159e-03 3.38888243e+02] [-1.30639202e-01 9.91429905e-01 -3.78172725e-04 -2.55985518e+01] [-3.08540227e-03 -2.51188361e-05 9.99995240e-01 -1.03947043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters Centerline goodness : 0.990609 with order 1 Centerline is valid? [True, True] Translation: X:338.95, Y:-25.61, Z:-1.04 [[ 9.91739488e-01 1.28231868e-01 3.06218440e-03 3.38949426e+02] [-1.28231310e-01 9.91744215e-01 -3.78635248e-04 -2.56051630e+01] [-3.08545677e-03 -1.71603887e-05 9.99995240e-01 -1.03836039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters Centerline goodness : 0.991479 with order 1 Centerline is valid? [True, True] Translation: X:339.01, Y:-25.61, Z:-1.04 [[ 9.91977675e-01 1.26376090e-01 3.06217582e-03 3.39011318e+02] [-1.26375523e-01 9.91982401e-01 -3.78704591e-04 -2.56134923e+01] [-3.08548373e-03 -1.13175718e-05 9.99995240e-01 -1.03736548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters Centerline goodness : 0.990681 with order 1 Centerline is valid? [True, True] Translation: X:339.07, Y:-25.62, Z:-1.04 [[ 9.92122716e-01 1.25232343e-01 3.06211532e-03 3.39072797e+02] [-1.25231769e-01 9.92127442e-01 -3.79193116e-04 -2.56232778e+01] [-3.08549589e-03 -7.26801481e-06 9.99995240e-01 -1.03624660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters Centerline goodness : 0.990888 with order 1 Centerline is valid? [True, True] Translation: X:339.13, Y:-25.64, Z:-1.04 [[ 9.91792830e-01 1.27818649e-01 3.06205543e-03 3.39133832e+02] [-1.27818086e-01 9.91797556e-01 -3.79676166e-04 -2.56359129e+01] [-3.08546879e-03 -1.48259657e-05 9.99995240e-01 -1.03895658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters Centerline goodness : 0.990775 with order 1 Centerline is valid? [True, True] Translation: X:339.19, Y:-25.65, Z:-1.04 [[ 9.91506544e-01 1.30020755e-01 3.06199421e-03 3.39193931e+02] [-1.30020201e-01 9.91511272e-01 -3.80169252e-04 -2.56484198e+01] [-3.08543167e-03 -2.11808009e-05 9.99995240e-01 -1.03859563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters Centerline goodness : 0.990424 with order 1 Centerline is valid? [True, True] Translation: X:339.26, Y:-25.66, Z:-1.04 [[ 9.90777849e-01 1.35461723e-01 3.06196033e-03 3.39255244e+02] [-1.35461194e-01 9.90782580e-01 -3.80441919e-04 -2.56619494e+01] [-3.08527227e-03 -3.78433774e-05 9.99995240e-01 -1.03754602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters Centerline goodness : 0.991417 with order 1 Centerline is valid? [True, True] Translation: X:339.32, Y:-25.67, Z:-1.04 [[ 9.90149196e-01 1.39982836e-01 3.06190045e-03 3.39315987e+02] [-1.39982327e-01 9.90153929e-01 -3.80923286e-04 -2.56693862e+01] [-3.08507548e-03 -5.14410642e-05 9.99995240e-01 -1.04049927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters Centerline goodness : 0.991539 with order 1 Centerline is valid? [True, True] Translation: X:339.38, Y:-25.67, Z:-1.04 [[ 9.89159675e-01 1.46811998e-01 3.06189195e-03 3.39376273e+02] [-1.46811522e-01 9.89164411e-01 -3.80991599e-04 -2.56745968e+01] [-3.08464868e-03 -7.26594896e-05 9.99995240e-01 -1.04369490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters Centerline goodness : 0.991264 with order 1 Centerline is valid? [True, True] Translation: X:339.44, Y:-25.68, Z:-1.04 [[ 9.88428964e-01 1.51653580e-01 3.06189195e-03 3.39437696e+02] [-1.51653127e-01 9.88433702e-01 -3.80991599e-04 -2.56796920e+01] [-3.08425593e-03 -8.77623556e-05 9.99995240e-01 -1.03885614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters Centerline goodness : 0.991364 with order 1 Centerline is valid? [True, True] Translation: X:339.50, Y:-25.68, Z:-1.04 [[ 9.88034403e-01 1.54203255e-01 3.06188308e-03 3.39498785e+02] [-1.54202814e-01 9.88039142e-01 -3.81062845e-04 -2.56810979e+01] [-3.08402146e-03 -9.56477852e-05 9.99995240e-01 -1.04046405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters Centerline goodness : 0.992058 with order 1 Centerline is valid? [True, True] Translation: X:339.56, Y:-25.68, Z:-1.04 [[ 9.87887442e-01 1.55141959e-01 3.06188308e-03 3.39558944e+02] [-1.55141522e-01 9.87892182e-01 -3.81062845e-04 -2.56817381e+01] [-3.08392919e-03 -9.85780028e-05 9.99995240e-01 -1.04025534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters Centerline goodness : 0.991716 with order 1 Centerline is valid? [True, True] Translation: X:339.62, Y:-25.68, Z:-1.04 [[ 9.87488826e-01 1.57659266e-01 3.06188750e-03 3.39618751e+02] [-1.57658841e-01 9.87493567e-01 -3.81027316e-04 -2.56777110e+01] [-3.08366670e-03 -1.06473418e-04 9.99995240e-01 -1.04333222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:-25.68, Z:-1.04 [[ 9.87514714e-01 1.57497031e-01 3.06189661e-03 3.39678382e+02] [-1.57496606e-01 9.87519455e-01 -3.80954066e-04 -2.56771840e+01] [-3.08368161e-03 -1.06040578e-04 9.99995240e-01 -1.04459905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters Centerline goodness : 0.991575 with order 1 Centerline is valid? [True, True] Translation: X:339.74, Y:-25.67, Z:-1.04 [[ 9.87954730e-01 1.54712883e-01 3.06190948e-03 3.39738622e+02] [-1.54712445e-01 9.87959470e-01 -3.80850659e-04 -2.56735144e+01] [-3.08396497e-03 -9.74522902e-05 9.99995240e-01 -1.04066854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters Centerline goodness : 0.991579 with order 1 Centerline is valid? [True, True] Translation: X:339.80, Y:-25.67, Z:-1.04 [[ 9.88318153e-01 1.52374053e-01 3.06192654e-03 3.39797943e+02] [-1.52373605e-01 9.88322892e-01 -3.80713449e-04 -2.56723167e+01] [-3.08418294e-03 -9.02907702e-05 9.99995240e-01 -1.03973523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters Centerline goodness : 0.991712 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:-25.67, Z:-1.04 [[ 9.88853002e-01 1.48863578e-01 3.06194357e-03 3.39857292e+02] [-1.48863113e-01 9.88857739e-01 -3.80576437e-04 -2.56721676e+01] [-3.08448056e-03 -7.94762997e-05 9.99995240e-01 -1.04143001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters Centerline goodness : 0.991729 with order 1 Centerline is valid? [True, True] Translation: X:339.92, Y:-25.67, Z:-1.04 [[ 9.89724030e-01 1.42957924e-01 3.06196054e-03 3.39916733e+02] [-1.42957431e-01 9.89728765e-01 -3.80439854e-04 -2.56747580e+01] [-3.08489731e-03 -6.11995464e-05 9.99995240e-01 -1.04027248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters Centerline goodness : 0.991858 with order 1 Centerline is valid? [True, True] Translation: X:339.97, Y:-25.68, Z:-1.04 [[ 9.90461796e-01 1.37753600e-01 3.06197841e-03 3.39974345e+02] [-1.37753083e-01 9.90466528e-01 -3.80295962e-04 -2.56784059e+01] [-3.08517426e-03 -4.51283423e-05 9.99995240e-01 -1.03768730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters Centerline goodness : 0.991827 with order 1 Centerline is valid? [True, True] Translation: X:340.03, Y:-25.69, Z:-1.04 [[ 9.90958935e-01 1.34130585e-01 3.06200234e-03 3.40032568e+02] [-1.34130051e-01 9.90963665e-01 -3.80103181e-04 -2.56861854e+01] [-3.08531652e-03 -3.40398857e-05 9.99995240e-01 -1.03837474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters Centerline goodness : 0.991620 with order 1 Centerline is valid? [True, True] Translation: X:340.09, Y:-25.69, Z:-1.04 [[ 9.91639934e-01 1.28999479e-01 3.06201958e-03 3.40090216e+02] [-1.28998921e-01 9.91644661e-01 -3.79964228e-04 -2.56948898e+01] [-3.08545056e-03 -1.82095186e-05 9.99995240e-01 -1.03772347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters Centerline goodness : 0.991633 with order 1 Centerline is valid? [True, True] Translation: X:340.15, Y:-25.71, Z:-1.04 [[ 9.92286007e-01 1.23931857e-01 3.06203245e-03 3.40148597e+02] [-1.23931275e-01 9.92290731e-01 -3.79860494e-04 -2.57072704e+01] [-3.08550323e-03 -2.55133289e-06 9.99995240e-01 -1.04014816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters Centerline goodness : 0.991592 with order 1 Centerline is valid? [True, True] Translation: X:340.21, Y:-25.72, Z:-1.05 [[ 9.92509251e-01 1.22131118e-01 3.06204099e-03 3.40205936e+02] [-1.22130527e-01 9.92513975e-01 -3.79791616e-04 -2.57182399e+01] [-3.08550285e-03 2.97801244e-06 9.99995240e-01 -1.04582995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters Centerline goodness : 0.991875 with order 1 Centerline is valid? [True, True] Translation: X:340.26, Y:-25.73, Z:-1.04 [[ 9.92403872e-01 1.22984467e-01 3.06204996e-03 3.40264225e+02] [-1.22983880e-01 9.92408596e-01 -3.79719325e-04 -2.57306685e+01] [-3.08550428e-03 2.52142162e-07 9.99995240e-01 -1.04046950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters Centerline goodness : 0.991772 with order 1 Centerline is valid? [True, True] Translation: X:340.32, Y:-25.74, Z:-1.04 [[ 9.92356967e-01 1.23362366e-01 3.06205834e-03 3.40323747e+02] [-1.23361782e-01 9.92361691e-01 -3.79651702e-04 -2.57399844e+01] [-3.08550413e-03 -9.90961053e-07 9.99995240e-01 -1.03883129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters Centerline goodness : 0.991414 with order 1 Centerline is valid? [True, True] Translation: X:340.38, Y:-25.75, Z:-1.04 [[ 9.92595303e-01 1.21429767e-01 3.06205834e-03 3.40382832e+02] [-1.21429174e-01 9.92600026e-01 -3.79651702e-04 -2.57538473e+01] [-3.08550021e-03 5.01728262e-06 9.99995240e-01 -1.04161258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters Centerline goodness : 0.991258 with order 1 Centerline is valid? [True, True] Translation: X:340.44, Y:-25.76, Z:-1.04 [[ 9.92790361e-01 1.19824551e-01 3.06205834e-03 3.40441020e+02] [-1.19823950e-01 9.92795083e-01 -3.79651702e-04 -2.57643828e+01] [-3.08548806e-03 1.00066261e-05 9.99995240e-01 -1.04390818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters Centerline goodness : 0.991747 with order 1 Centerline is valid? [True, True] Translation: X:340.50, Y:-25.77, Z:-1.04 [[ 9.92431576e-01 1.22760705e-01 3.06206281e-03 3.40499912e+02] [-1.22760118e-01 9.92436300e-01 -3.79615628e-04 -2.57748571e+01] [-3.08550417e-03 8.43342949e-07 9.99995240e-01 -1.04187263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters Centerline goodness : 0.991142 with order 1 Centerline is valid? [True, True] Translation: X:340.56, Y:-25.78, Z:-1.04 [[ 9.91733330e-01 1.28279487e-01 3.06207167e-03 3.40558305e+02] [-1.28278927e-01 9.91738057e-01 -3.79544214e-04 -2.57785437e+01] [-3.08546074e-03 -1.63926197e-05 9.99995240e-01 -1.03964495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters Centerline goodness : 0.991312 with order 1 Centerline is valid? [True, True] Translation: X:340.62, Y:-25.78, Z:-1.04 [[ 9.91468900e-01 1.30307501e-01 3.06208479e-03 3.40617221e+02] [-1.30306950e-01 9.91473628e-01 -3.79438314e-04 -2.57848472e+01] [-3.08541997e-03 -2.28096421e-05 9.99995240e-01 -1.04101534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters Centerline goodness : 0.991425 with order 1 Centerline is valid? [True, True] Translation: X:340.68, Y:-25.79, Z:-1.04 [[ 9.91599853e-01 1.29307209e-01 3.06209344e-03 3.40675657e+02] [-1.29306654e-01 9.91604581e-01 -3.79368493e-04 -2.57885498e+01] [-3.08544096e-03 -1.97673128e-05 9.99995240e-01 -1.04326536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters Centerline goodness : 0.991998 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:-25.79, Z:-1.04 [[ 9.91699494e-01 1.28540799e-01 3.06210625e-03 3.40736367e+02] [-1.28540240e-01 9.91704221e-01 -3.79265080e-04 -2.57926849e+01] [-3.08545473e-03 -1.74868851e-05 9.99995240e-01 -1.04124191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters Centerline goodness : 0.991740 with order 1 Centerline is valid? [True, True] Translation: X:340.80, Y:-25.80, Z:-1.04 [[ 9.91509071e-01 1.30001481e-01 3.06210625e-03 3.40795581e+02] [-1.30000930e-01 9.91513799e-01 -3.79265080e-04 -2.57960064e+01] [-3.08542562e-03 -2.20318927e-05 9.99995240e-01 -1.04059460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters Centerline goodness : 0.991976 with order 1 Centerline is valid? [True, True] Translation: X:340.85, Y:-25.80, Z:-1.04 [[ 9.91243514e-01 1.32011055e-01 3.06211081e-03 3.40853750e+02] [-1.32010513e-01 9.91248244e-01 -3.79228198e-04 -2.57999086e+01] [-3.08537428e-03 -2.83233282e-05 9.99995240e-01 -1.04067725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters Centerline goodness : 0.992272 with order 1 Centerline is valid? [True, True] Translation: X:340.91, Y:-25.80, Z:-1.04 [[ 9.91022062e-01 1.33663365e-01 3.06213145e-03 3.40912925e+02] [-1.33662832e-01 9.91026793e-01 -3.79061526e-04 -2.58035715e+01] [-3.08532095e-03 -3.36348248e-05 9.99995240e-01 -1.04045626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters Centerline goodness : 0.991823 with order 1 Centerline is valid? [True, True] Translation: X:340.97, Y:-25.81, Z:-1.04 [[ 9.90831304e-01 1.35070169e-01 3.06214941e-03 3.40971151e+02] [-1.35069643e-01 9.90836035e-01 -3.78916323e-04 -2.58076279e+01] [-3.08526828e-03 -3.81612730e-05 9.99995240e-01 -1.04335349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters Centerline goodness : 0.991781 with order 1 Centerline is valid? [True, True] Translation: X:341.03, Y:-25.81, Z:-1.05 [[ 9.90904389e-01 1.34532949e-01 3.06217161e-03 3.41030197e+02] [-1.34532421e-01 9.90909120e-01 -3.78736859e-04 -2.58101920e+01] [-3.08528636e-03 -3.66693451e-05 9.99995240e-01 -1.04604921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:341.09, Y:-25.81, Z:-1.04 [[ 9.90849125e-01 1.34939376e-01 3.06218900e-03 3.41087834e+02] [-1.34938850e-01 9.90853856e-01 -3.78596239e-04 -2.58115723e+01] [-3.08526931e-03 -3.80765099e-05 9.99995240e-01 -1.04424434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters Centerline goodness : 0.992120 with order 1 Centerline is valid? [True, True] Translation: X:341.15, Y:-25.81, Z:-1.04 [[ 9.90559734e-01 1.37047570e-01 3.06221227e-03 3.41147509e+02] [-1.37047055e-01 9.90564466e-01 -3.78407917e-04 -2.58105271e+01] [-3.08517855e-03 -4.48315276e-05 9.99995240e-01 -1.04253213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:341.21, Y:-25.81, Z:-1.05 [[ 9.91085262e-01 1.33193945e-01 3.06222998e-03 3.41206490e+02] [-1.33193412e-01 9.91089992e-01 -3.78264558e-04 -2.58100652e+01] [-3.08532803e-03 -3.29764290e-05 9.99995240e-01 -1.04653841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:341.26, Y:-25.81, Z:-1.05 [[ 9.91802192e-01 1.27745978e-01 3.06224758e-03 3.41264750e+02] [-1.27745420e-01 9.91806919e-01 -3.78121963e-04 -2.58147385e+01] [-3.08546190e-03 -1.61659104e-05 9.99995240e-01 -1.04905484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters Centerline goodness : 0.991758 with order 1 Centerline is valid? [True, True] Translation: X:341.32, Y:-25.82, Z:-1.04 [[ 9.92755950e-01 1.20109309e-01 3.06226539e-03 3.41323039e+02] [-1.20108714e-01 9.92760673e-01 -3.77977710e-04 -2.58172287e+01] [-3.08549529e-03 7.43486123e-06 9.99995240e-01 -1.04274883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:341.38, Y:-25.82, Z:-1.04 [[ 9.93483129e-01 1.13938115e-01 3.06228740e-03 3.41381426e+02] [-1.13937491e-01 9.93487849e-01 -3.77799308e-04 -2.58209733e+01] [-3.08539106e-03 2.64278954e-05 9.99995240e-01 -1.04200190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters Centerline goodness : 0.992350 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:-25.83, Z:-1.04 [[ 9.93783528e-01 1.11287567e-01 3.06230510e-03 3.41439934e+02] [-1.11286932e-01 9.93788245e-01 -3.77655738e-04 -2.58260621e+01] [-3.08531120e-03 3.45135123e-05 9.99995240e-01 -1.04139064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters Centerline goodness : 0.992947 with order 1 Centerline is valid? [True, True] Translation: X:341.50, Y:-25.83, Z:-1.04 [[ 9.94007292e-01 1.09270881e-01 3.06232249e-03 3.41497698e+02] [-1.09270236e-01 9.94012008e-01 -3.77514732e-04 -2.58335131e+01] [-3.08523669e-03 4.06316956e-05 9.99995240e-01 -1.04371780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:341.56, Y:-25.84, Z:-1.05 [[ 9.94350771e-01 1.06099798e-01 3.06234392e-03 3.41556303e+02] [-1.06099139e-01 9.94355485e-01 -3.77340770e-04 -2.58410679e+01] [-3.08509426e-03 5.02970333e-05 9.99995240e-01 -1.04575236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters Centerline goodness : 0.991649 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:-25.85, Z:-1.04 [[ 9.94796148e-01 1.01839314e-01 3.06236080e-03 3.41614395e+02] [-1.01838636e-01 9.94800859e-01 -3.77203748e-04 -2.58489556e+01] [-3.08485333e-03 6.33741896e-05 9.99995240e-01 -1.04374136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters Centerline goodness : 0.993480 with order 1 Centerline is valid? [True, True] Translation: X:341.67, Y:-25.86, Z:-1.05 [[ 9.95490039e-01 9.48166902e-02 3.06237346e-03 3.41673424e+02] [-9.48159785e-02 9.95494745e-01 -3.77100921e-04 -2.58605581e+01] [-3.08433215e-03 8.50382746e-05 9.99995240e-01 -1.04653426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters Centerline goodness : 0.992670 with order 1 Centerline is valid? [True, True] Translation: X:341.73, Y:-25.87, Z:-1.05 [[ 9.95966572e-01 8.96727881e-02 3.06238191e-03 3.41732293e+02] [-8.96720523e-02 9.95971275e-01 -3.77032330e-04 -2.58702841e+01] [-3.08385395e-03 1.00901527e-04 9.99995240e-01 -1.04766927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:341.79, Y:-25.89, Z:-1.05 [[ 9.96365924e-01 8.51208988e-02 3.06239011e-03 3.41791378e+02] [-8.51201417e-02 9.96370624e-01 -3.76965657e-04 -2.58869824e+01] [-3.08336320e-03 1.14924655e-04 9.99995240e-01 -1.04711620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters Centerline goodness : 0.993365 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:-25.90, Z:-1.05 [[ 9.96623860e-01 8.20457400e-02 3.06239011e-03 3.41850750e+02] [-8.20449684e-02 9.96628557e-01 -3.76965657e-04 -2.59020639e+01] [-3.08299387e-03 1.24439268e-04 9.99995240e-01 -1.05037946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters Centerline goodness : 0.993289 with order 1 Centerline is valid? [True, True] Translation: X:341.91, Y:-25.92, Z:-1.05 [[ 9.96593754e-01 8.24106229e-02 3.06238601e-03 3.41910316e+02] [-8.24098529e-02 9.96598452e-01 -3.76999028e-04 -2.59185236e+01] [-3.08303788e-03 1.23344096e-04 9.99995240e-01 -1.05080159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:341.97, Y:-25.93, Z:-1.05 [[ 9.96147574e-01 8.76392191e-02 3.06237732e-03 3.41969376e+02] [-8.76384736e-02 9.96152275e-01 -3.77069596e-04 -2.59343841e+01] [-3.08364022e-03 1.07234889e-04 9.99995240e-01 -1.05039463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters Centerline goodness : 0.992681 with order 1 Centerline is valid? [True, True] Translation: X:342.03, Y:-25.95, Z:-1.05 [[ 9.95732828e-01 9.22320833e-02 3.06237732e-03 3.42028488e+02] [-9.22313594e-02 9.95737533e-01 -3.77069596e-04 -2.59488927e+01] [-3.08410195e-03 9.30133519e-05 9.99995240e-01 -1.05087028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters Centerline goodness : 0.993156 with order 1 Centerline is valid? [True, True] Translation: X:342.09, Y:-25.96, Z:-1.05 [[ 9.95149406e-01 9.83274252e-02 3.06237302e-03 3.42087630e+02] [-9.83267301e-02 9.95154115e-01 -3.77104465e-04 -2.59640138e+01] [-3.08461283e-03 7.41621587e-05 9.99995240e-01 -1.05326611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters Centerline goodness : 0.993602 with order 1 Centerline is valid? [True, True] Translation: X:342.15, Y:-25.98, Z:-1.05 [[ 9.94229216e-01 1.07232870e-01 3.06237302e-03 3.42145933e+02] [-1.07232217e-01 9.94233931e-01 -3.77104465e-04 -2.59786349e+01] [-3.08515316e-03 4.65432275e-05 9.99995240e-01 -1.05108374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters Centerline goodness : 0.993098 with order 1 Centerline is valid? [True, True] Translation: X:342.21, Y:-25.99, Z:-1.05 [[ 9.93527898e-01 1.13547073e-01 3.06237724e-03 3.42206044e+02] [-1.13546450e-01 9.93532617e-01 -3.77070235e-04 -2.59895257e+01] [-3.08538689e-03 2.69077333e-05 9.99995240e-01 -1.04834089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:342.27, Y:-26.00, Z:-1.05 [[ 9.92858236e-01 1.19260825e-01 3.06237724e-03 3.42265131e+02] [-1.19260230e-01 9.92862959e-01 -3.77070235e-04 -2.60000768e+01] [-3.08549063e-03 9.15747613e-06 9.99995240e-01 -1.05086171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:342.33, Y:-26.01, Z:-1.05 [[ 9.92455407e-01 1.22567891e-01 3.06235550e-03 3.42325332e+02] [-1.22567310e-01 9.92460131e-01 -3.77246671e-04 -2.60063324e+01] [-3.08550407e-03 -9.44178469e-07 9.99995240e-01 -1.05278394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:342.39, Y:-26.01, Z:-1.05 [[ 9.91915778e-01 1.26860989e-01 3.06235550e-03 3.42386051e+02] [-1.26860429e-01 9.91920505e-01 -3.77246671e-04 -2.60112710e+01] [-3.08547110e-03 -1.42948075e-05 9.99995240e-01 -1.05241570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters Centerline goodness : 0.993614 with order 1 Centerline is valid? [True, True] Translation: X:342.45, Y:-26.01, Z:-1.05 [[ 9.91553337e-01 1.29663417e-01 3.06235550e-03 3.42445937e+02] [-1.29662870e-01 9.91558066e-01 -3.77246671e-04 -2.60136298e+01] [-3.08541839e-03 -2.30136089e-05 9.99995240e-01 -1.04677181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters Centerline goodness : 0.993563 with order 1 Centerline is valid? [True, True] Translation: X:342.51, Y:-26.02, Z:-1.05 [[ 9.91918543e-01 1.26839373e-01 3.06236445e-03 3.42506009e+02] [-1.26838813e-01 9.91923270e-01 -3.77174021e-04 -2.60223255e+01] [-3.08547108e-03 -1.43007674e-05 9.99995240e-01 -1.05230044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:342.57, Y:-26.03, Z:-1.05 [[ 9.92206140e-01 1.24569650e-01 3.06236445e-03 3.42565169e+02] [-1.24569079e-01 9.92210866e-01 -3.77174021e-04 -2.60283219e+01] [-3.08549572e-03 -7.24153887e-06 9.99995240e-01 -1.05210929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters Centerline goodness : 0.994216 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:-26.04, Z:-1.05 [[ 9.92435476e-01 1.22729164e-01 3.06236890e-03 3.42625644e+02] [-1.22728585e-01 9.92440201e-01 -3.77137880e-04 -2.60361176e+01] [-3.08550383e-03 -1.55518987e-06 9.99995240e-01 -1.05078159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters Centerline goodness : 0.993871 with order 1 Centerline is valid? [True, True] Translation: X:342.69, Y:-26.05, Z:-1.05 [[ 9.93156206e-01 1.16753470e-01 3.06236890e-03 3.42686284e+02] [-1.16752862e-01 9.93160927e-01 -3.77137880e-04 -2.60485486e+01] [-3.08545729e-03 1.70164933e-05 9.99995240e-01 -1.05442416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters Centerline goodness : 0.994037 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:-26.06, Z:-1.05 [[ 9.93736107e-01 1.11710212e-01 3.06236004e-03 3.42746427e+02] [-1.11709580e-01 9.93740825e-01 -3.77209866e-04 -2.60621279e+01] [-3.08533038e-03 3.27521107e-05 9.99995240e-01 -1.05222506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters Centerline goodness : 0.994213 with order 1 Centerline is valid? [True, True] Translation: X:342.81, Y:-26.08, Z:-1.05 [[ 9.94055289e-01 1.08833384e-01 3.06230297e-03 3.42806884e+02] [-1.08832737e-01 9.94060005e-01 -3.77672535e-04 -2.60771392e+01] [-3.08521629e-03 4.21485673e-05 9.99995240e-01 -1.05126791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:342.87, Y:-26.09, Z:-1.05 [[ 9.93454597e-01 1.14186633e-01 3.06224560e-03 3.42867155e+02] [-1.14186010e-01 9.93459316e-01 -3.78137149e-04 -2.60905014e+01] [-3.08539463e-03 2.59964817e-05 9.99995240e-01 -1.05156551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters Centerline goodness : 0.994020 with order 1 Centerline is valid? [True, True] Translation: X:342.93, Y:-26.10, Z:-1.05 [[ 9.92546327e-01 1.21829436e-01 3.06223720e-03 3.42926563e+02] [-1.21828849e-01 9.92551051e-01 -3.78205140e-04 -2.61017984e+01] [-3.08550327e-03 2.31728954e-06 9.99995240e-01 -1.05306495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:-26.11, Z:-1.06 [[ 9.92051398e-01 1.25796053e-01 3.06223305e-03 3.42987852e+02] [-1.25795485e-01 9.92056124e-01 -3.78238798e-04 -2.61126881e+01] [-3.08548800e-03 -9.98276330e-06 9.99995240e-01 -1.05677397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters Centerline goodness : 0.993641 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:-26.12, Z:-1.05 [[ 9.91424502e-01 1.30644859e-01 3.06217023e-03 3.43049862e+02] [-1.30644312e-01 9.91429231e-01 -3.78746716e-04 -2.61213311e+01] [-3.08540638e-03 -2.45563470e-05 9.99995240e-01 -1.05495074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters Centerline goodness : 0.993758 with order 1 Centerline is valid? [True, True] Translation: X:343.11, Y:-26.13, Z:-1.05 [[ 9.90995024e-01 1.33863687e-01 3.06210742e-03 3.43111618e+02] [-1.33863154e-01 9.90999754e-01 -3.79253782e-04 -2.61292220e+01] [-3.08531601e-03 -3.40647462e-05 9.99995240e-01 -1.05198740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:343.17, Y:-26.13, Z:-1.05 [[ 9.90232213e-01 1.39394364e-01 3.06204528e-03 3.43172172e+02] [-1.39393856e-01 9.90236946e-01 -3.79754876e-04 -2.61330829e+01] [-3.08508605e-03 -5.07847871e-05 9.99995240e-01 -1.05318996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters Centerline goodness : 0.994311 with order 1 Centerline is valid? [True, True] Translation: X:343.23, Y:-26.14, Z:-1.05 [[ 9.89375408e-01 1.45351042e-01 3.06204089e-03 3.43233222e+02] [-1.45350563e-01 9.89380144e-01 -3.79790265e-04 -2.61352120e+01] [-3.08472537e-03 -6.93142174e-05 9.99995240e-01 -1.05218674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters Centerline goodness : 0.993416 with order 1 Centerline is valid? [True, True] Translation: X:343.29, Y:-26.14, Z:-1.05 [[ 9.89074548e-01 1.47384401e-01 3.06204089e-03 3.43293585e+02] [-1.47383931e-01 9.89079285e-01 -3.79790265e-04 -2.61373422e+01] [-3.08457637e-03 -7.56547382e-05 9.99995240e-01 -1.05157986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters Centerline goodness : 0.994567 with order 1 Centerline is valid? [True, True] Translation: X:343.35, Y:-26.14, Z:-1.05 [[ 9.89332485e-01 1.45642914e-01 3.06204089e-03 3.43353034e+02] [-1.45642436e-01 9.89337221e-01 -3.79790265e-04 -2.61398642e+01] [-3.08470478e-03 -7.02242479e-05 9.99995240e-01 -1.04979049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:343.41, Y:-26.15, Z:-1.05 [[ 9.89476456e-01 1.44661561e-01 3.06203676e-03 3.43413643e+02] [-1.44661077e-01 9.89481192e-01 -3.79823515e-04 -2.61457026e+01] [-3.08477365e-03 -6.71311123e-05 9.99995240e-01 -1.04924577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters Centerline goodness : 0.994358 with order 1 Centerline is valid? [True, True] Translation: X:343.47, Y:-26.15, Z:-1.05 [[ 9.89389686e-01 1.45253822e-01 3.06203676e-03 3.43472536e+02] [-1.45253342e-01 9.89394422e-01 -3.79823515e-04 -2.61501939e+01] [-3.08473291e-03 -6.89776053e-05 9.99995240e-01 -1.05135709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters Centerline goodness : 0.994348 with order 1 Centerline is valid? [True, True] Translation: X:343.53, Y:-26.15, Z:-1.05 [[ 9.89402589e-01 1.45165905e-01 3.06204109e-03 3.43532650e+02] [-1.45165425e-01 9.89407325e-01 -3.79788615e-04 -2.61534470e+01] [-3.08473825e-03 -6.87386571e-05 9.99995240e-01 -1.05413072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters Centerline goodness : 0.994004 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:-26.16, Z:-1.05 [[ 9.89375753e-01 1.45348698e-01 3.06204962e-03 3.43592770e+02] [-1.45348218e-01 9.89380489e-01 -3.79719818e-04 -2.61562440e+01] [-3.08472393e-03 -6.93778755e-05 9.99995240e-01 -1.05139659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters Centerline goodness : 0.994718 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:-26.16, Z:-1.05 [[ 9.89437781e-01 1.44925846e-01 3.06205811e-03 3.43651084e+02] [-1.44925365e-01 9.89442517e-01 -3.79651352e-04 -2.61596982e+01] [-3.08475178e-03 -6.81284972e-05 9.99995240e-01 -1.04836386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:343.71, Y:-26.16, Z:-1.05 [[ 9.89582964e-01 1.43931167e-01 3.06207072e-03 3.43709709e+02] [-1.43930681e-01 9.89587699e-01 -3.79549661e-04 -2.61606102e+01] [-3.08481654e-03 -6.51300452e-05 9.99995240e-01 -1.04947026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:343.77, Y:-26.16, Z:-1.05 [[ 9.89496457e-01 1.44524690e-01 3.06208315e-03 3.43768721e+02] [-1.44524207e-01 9.89501192e-01 -3.79449302e-04 -2.61614412e+01] [-3.08477472e-03 -6.70813998e-05 9.99995240e-01 -1.04859966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:343.83, Y:-26.16, Z:-1.05 [[ 9.89390679e-01 1.45247057e-01 3.06210029e-03 3.43827683e+02] [-1.45246579e-01 9.89395415e-01 -3.79310946e-04 -2.61617232e+01] [-3.08472179e-03 -6.94728764e-05 9.99995240e-01 -1.04796082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters Centerline goodness : 0.994668 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:-26.16, Z:-1.05 [[ 9.89322005e-01 1.45714084e-01 3.06211734e-03 3.43886635e+02] [-1.45713608e-01 9.89326741e-01 -3.79173264e-04 -2.61619030e+01] [-3.08468545e-03 -7.10677113e-05 9.99995240e-01 -1.04750657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters Centerline goodness : 0.993751 with order 1 Centerline is valid? [True, True] Translation: X:343.95, Y:-26.16, Z:-1.05 [[ 9.89532044e-01 1.44280826e-01 3.06213430e-03 3.43945288e+02] [-1.44280344e-01 9.89536780e-01 -3.79036279e-04 -2.61645470e+01] [-3.08478218e-03 -6.67372452e-05 9.99995240e-01 -1.05200111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters Centerline goodness : 0.994197 with order 1 Centerline is valid? [True, True] Translation: X:344.00, Y:-26.17, Z:-1.05 [[ 9.89856786e-01 1.42035795e-01 3.06215118e-03 3.44002872e+02] [-1.42035302e-01 9.89861520e-01 -3.78899876e-04 -2.61673872e+01] [-3.08492296e-03 -5.98769533e-05 9.99995240e-01 -1.05252397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters Centerline goodness : 0.993801 with order 1 Centerline is valid? [True, True] Translation: X:344.06, Y:-26.17, Z:-1.05 [[ 9.89925422e-01 1.41556639e-01 3.06217370e-03 3.44061681e+02] [-1.41556145e-01 9.89930156e-01 -3.78717754e-04 -2.61683720e+01] [-3.08494810e-03 -5.85671705e-05 9.99995240e-01 -1.04853308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters Centerline goodness : 0.994056 with order 1 Centerline is valid? [True, True] Translation: X:344.12, Y:-26.17, Z:-1.05 [[ 9.89780298e-01 1.42567822e-01 3.06219081e-03 3.44120284e+02] [-1.42567332e-01 9.89785033e-01 -3.78579347e-04 -2.61684921e+01] [-3.08488387e-03 -6.18579959e-05 9.99995240e-01 -1.05092170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters Centerline goodness : 0.993977 with order 1 Centerline is valid? [True, True] Translation: X:344.18, Y:-26.17, Z:-1.05 [[ 9.89908955e-01 1.41671747e-01 3.06221196e-03 3.44179011e+02] [-1.41671254e-01 9.89913689e-01 -3.78408205e-04 -2.61715996e+01] [-3.08493529e-03 -5.92377377e-05 9.99995240e-01 -1.05174516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters Centerline goodness : 0.993704 with order 1 Centerline is valid? [True, True] Translation: X:344.24, Y:-26.18, Z:-1.05 [[ 9.90629233e-01 1.36544298e-01 3.06222874e-03 3.44235958e+02] [-1.36543781e-01 9.90633965e-01 -3.78272349e-04 -2.61783205e+01] [-3.08519873e-03 -4.34006427e-05 9.99995240e-01 -1.05178413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters Centerline goodness : 0.993545 with order 1 Centerline is valid? [True, True] Translation: X:344.29, Y:-26.19, Z:-1.05 [[ 9.91233782e-01 1.32084113e-01 3.06225123e-03 3.44294268e+02] [-1.32083575e-01 9.91238511e-01 -3.78090222e-04 -2.61882471e+01] [-3.08536106e-03 -2.96972903e-05 9.99995240e-01 -1.05273448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters Centerline goodness : 0.994053 with order 1 Centerline is valid? [True, True] Translation: X:344.35, Y:-26.20, Z:-1.05 [[ 9.91425751e-01 1.30635382e-01 3.06226854e-03 3.44352593e+02] [-1.30634838e-01 9.91430480e-01 -3.77949967e-04 -2.61972984e+01] [-3.08540001e-03 -2.53296251e-05 9.99995240e-01 -1.05150588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters Centerline goodness : 0.993445 with order 1 Centerline is valid? [True, True] Translation: X:344.41, Y:-26.21, Z:-1.05 [[ 9.90847120e-01 1.34954094e-01 3.06228569e-03 3.44410881e+02] [-1.34953571e-01 9.90851851e-01 -3.77810928e-04 -2.62053338e+01] [-3.08525858e-03 -3.89135199e-05 9.99995240e-01 -1.05136575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:344.47, Y:-26.22, Z:-1.05 [[ 9.90670500e-01 1.36244568e-01 3.06230276e-03 3.44468247e+02] [-1.36244051e-01 9.90675232e-01 -3.77672525e-04 -2.62160953e+01] [-3.08520333e-03 -4.30715051e-05 9.99995240e-01 -1.04987224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters Centerline goodness : 0.993674 with order 1 Centerline is valid? [True, True] Translation: X:344.53, Y:-26.23, Z:-1.05 [[ 9.90925352e-01 1.34378455e-01 3.06232381e-03 3.44526240e+02] [-1.34377930e-01 9.90930083e-01 -3.77501769e-04 -2.62283148e+01] [-3.08527689e-03 -3.74326623e-05 9.99995240e-01 -1.05042743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters Centerline goodness : 0.993627 with order 1 Centerline is valid? [True, True] Translation: X:344.58, Y:-26.24, Z:-1.05 [[ 9.91136705e-01 1.32810591e-01 3.06234092e-03 3.44583172e+02] [-1.32810059e-01 9.91141436e-01 -3.77362959e-04 -2.62363766e+01] [-3.08533077e-03 -3.26913986e-05 9.99995240e-01 -1.04799999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters Centerline goodness : 0.993526 with order 1 Centerline is valid? [True, True] Translation: X:344.64, Y:-26.25, Z:-1.05 [[ 9.91027784e-01 1.33620932e-01 3.06236209e-03 3.44641024e+02] [-1.33620404e-01 9.91032515e-01 -3.77191028e-04 -2.62465121e+01] [-3.08530102e-03 -3.53872726e-05 9.99995240e-01 -1.05072363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:344.70, Y:-26.25, Z:-1.05 [[ 9.90795471e-01 1.35332765e-01 3.06237929e-03 3.44698389e+02] [-1.35332246e-01 9.90800202e-01 -3.77051370e-04 -2.62539806e+01] [-3.08523342e-03 -4.08578766e-05 9.99995240e-01 -1.05263788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:-26.26, Z:-1.06 [[ 9.90578381e-01 1.36912719e-01 3.06240233e-03 3.44755862e+02] [-1.36912208e-01 9.90583114e-01 -3.76864110e-04 -2.62620578e+01] [-3.08516153e-03 -4.59668261e-05 9.99995240e-01 -1.05695660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters Centerline goodness : 0.993079 with order 1 Centerline is valid? [True, True] Translation: X:344.81, Y:-26.27, Z:-1.06 [[ 9.90763242e-01 1.35568507e-01 3.06242252e-03 3.44814372e+02] [-1.35567990e-01 9.90767974e-01 -3.76700016e-04 -2.62691898e+01] [-3.08521881e-03 -4.19459377e-05 9.99995240e-01 -1.05618051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters Centerline goodness : 0.992892 with order 1 Centerline is valid? [True, True] Translation: X:344.87, Y:-26.28, Z:-1.05 [[ 9.91387450e-01 1.30925723e-01 3.06243916e-03 3.44872305e+02] [-1.30925184e-01 9.91392180e-01 -3.76564637e-04 -2.62799405e+01] [-3.08538024e-03 -2.76289570e-05 9.99995240e-01 -1.05350872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:344.93, Y:-26.29, Z:-1.05 [[ 9.91882515e-01 1.27120798e-01 3.06245664e-03 3.44930283e+02] [-1.27120242e-01 9.91887243e-01 -3.76422421e-04 -2.62910837e+01] [-3.08546280e-03 -1.59334116e-05 9.99995240e-01 -1.05249534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters Centerline goodness : 0.993061 with order 1 Centerline is valid? [True, True] Translation: X:344.99, Y:-26.30, Z:-1.05 [[ 9.92175608e-01 1.24812598e-01 3.06247402e-03 3.44988330e+02] [-1.24812031e-01 9.92180334e-01 -3.76280996e-04 -2.62990279e+01] [-3.08549111e-03 -8.89677532e-06 9.99995240e-01 -1.05227835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters Centerline goodness : 0.992917 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:-26.31, Z:-1.05 [[ 9.92088404e-01 1.25503863e-01 3.06248694e-03 3.45047077e+02] [-1.25503299e-01 9.92093131e-01 -3.76175823e-04 -2.63067553e+01] [-3.08548378e-03 -1.11525430e-05 9.99995240e-01 -1.04982448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters Centerline goodness : 0.993241 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:-26.31, Z:-1.05 [[ 9.91645383e-01 1.28957574e-01 3.06250438e-03 3.45105640e+02] [-1.28957028e-01 9.91650111e-01 -3.76033809e-04 -2.63126239e+01] [-3.08542522e-03 -2.20392712e-05 9.99995240e-01 -1.04963217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters Centerline goodness : 0.992825 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:-26.32, Z:-1.05 [[ 9.91880226e-01 1.27138656e-01 3.06252205e-03 3.45164122e+02] [-1.27138101e-01 9.91884954e-01 -3.75889793e-04 -2.63209429e+01] [-3.08545967e-03 -1.65255855e-05 9.99995240e-01 -1.05012628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters Centerline goodness : 0.992942 with order 1 Centerline is valid? [True, True] Translation: X:345.22, Y:-26.33, Z:-1.05 [[ 9.92690637e-01 1.20647921e-01 3.06253137e-03 3.45223621e+02] [-1.20647336e-01 9.92695361e-01 -3.75813856e-04 -2.63321005e+01] [-3.08550185e-03 3.58064541e-06 9.99995240e-01 -1.04823904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:345.28, Y:-26.34, Z:-1.05 [[ 9.93238433e-01 1.16051867e-01 3.06253137e-03 3.45282421e+02] [-1.16051260e-01 9.93243154e-01 -3.75813856e-04 -2.63418166e+01] [-3.08545222e-03 1.78621410e-05 9.99995240e-01 -1.05446544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters Centerline goodness : 0.992635 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:-26.35, Z:-1.06 [[ 9.93315147e-01 1.15393416e-01 3.06253589e-03 3.45341250e+02] [-1.15392806e-01 9.93319868e-01 -3.75777026e-04 -2.63511788e+01] [-3.08543994e-03 1.98704028e-05 9.99995240e-01 -1.05626528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters Centerline goodness : 0.992430 with order 1 Centerline is valid? [True, True] Translation: X:345.40, Y:-26.36, Z:-1.05 [[ 9.93424260e-01 1.14450255e-01 3.06253113e-03 3.45400488e+02] [-1.14449640e-01 9.93428980e-01 -3.75815815e-04 -2.63596990e+01] [-3.08541939e-03 2.28389617e-05 9.99995240e-01 -1.05427777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters Centerline goodness : 0.992269 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:-26.37, Z:-1.06 [[ 9.94377310e-01 1.05850774e-01 3.06253992e-03 3.45460567e+02] [-1.05850119e-01 9.94382025e-01 -3.75744155e-04 -2.63737639e+01] [-3.08510746e-03 4.94612480e-05 9.99995240e-01 -1.05539596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters Centerline goodness : 0.992036 with order 1 Centerline is valid? [True, True] Translation: X:345.52, Y:-26.39, Z:-1.06 [[ 9.95411238e-01 9.56404068e-02 3.06253102e-03 3.45520857e+02] [-9.56397028e-02 9.95415946e-01 -3.75816686e-04 -2.63890522e+01] [-3.08443548e-03 8.11925956e-05 9.99995240e-01 -1.05712265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters Centerline goodness : 0.992413 with order 1 Centerline is valid? [True, True] Translation: X:345.58, Y:-26.41, Z:-1.05 [[ 9.95722921e-01 9.23389731e-02 3.06246494e-03 3.45582303e+02] [-9.23382519e-02 9.95727626e-01 -3.76354425e-04 -2.64058154e+01] [-3.08413313e-03 9.19620687e-05 9.99995240e-01 -1.05455881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters Centerline goodness : 0.991841 with order 1 Centerline is valid? [True, True] Translation: X:345.64, Y:-26.42, Z:-1.05 [[ 9.95381994e-01 9.59442939e-02 3.06239450e-03 3.45643659e+02] [-9.59435880e-02 9.95386702e-01 -3.76926731e-04 -2.64193355e+01] [-3.08443073e-03 8.13689656e-05 9.99995240e-01 -1.05250870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters Centerline goodness : 0.991919 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:-26.43, Z:-1.05 [[ 9.94677656e-01 1.02990207e-01 3.06233302e-03 3.45704300e+02] [-1.02989533e-01 9.94682368e-01 -3.77425571e-04 -2.64311849e+01] [-3.08491980e-03 6.00285359e-05 9.99995240e-01 -1.05338887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters Centerline goodness : 0.991796 with order 1 Centerline is valid? [True, True] Translation: X:345.76, Y:-26.44, Z:-1.05 [[ 9.94097813e-01 1.08444273e-01 3.06227615e-03 3.45764916e+02] [-1.08443624e-01 9.94102529e-01 -3.77886409e-04 -2.64382905e+01] [-3.08519608e-03 4.35717307e-05 9.99995240e-01 -1.05283931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters Centerline goodness : 0.992357 with order 1 Centerline is valid? [True, True] Translation: X:345.83, Y:-26.45, Z:-1.05 [[ 9.93793665e-01 1.11197009e-01 3.06226766e-03 3.45825764e+02] [-1.11196372e-01 9.93798382e-01 -3.77955200e-04 -2.64471020e+01] [-3.08530413e-03 3.50964277e-05 9.99995240e-01 -1.05160017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters Centerline goodness : 0.992650 with order 1 Centerline is valid? [True, True] Translation: X:345.89, Y:-26.46, Z:-1.05 [[ 9.94148483e-01 1.07978773e-01 3.06225919e-03 3.45886980e+02] [-1.07978121e-01 9.94153199e-01 -3.78023772e-04 -2.64568041e+01] [-3.08517332e-03 4.51547664e-05 9.99995240e-01 -1.05308562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:345.95, Y:-26.47, Z:-1.05 [[ 9.94519858e-01 1.04502986e-01 3.06219974e-03 3.45949354e+02] [-1.04502315e-01 9.94524571e-01 -3.78504774e-04 -2.64682422e+01] [-3.08498776e-03 5.64235513e-05 9.99995240e-01 -1.05379569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters Centerline goodness : 0.992139 with order 1 Centerline is valid? [True, True] Translation: X:346.01, Y:-26.48, Z:-1.05 [[ 9.94418353e-01 1.05464510e-01 3.06212783e-03 3.46011994e+02] [-1.05463842e-01 9.94423066e-01 -3.79085652e-04 -2.64768880e+01] [-3.08503063e-03 5.40259634e-05 9.99995240e-01 -1.05286445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:346.07, Y:-26.49, Z:-1.05 [[ 9.94122442e-01 1.08218275e-01 3.06205618e-03 3.46074072e+02] [-1.08217619e-01 9.94127156e-01 -3.79663472e-04 -2.64876877e+01] [-3.08515973e-03 4.60635482e-05 9.99995240e-01 -1.05337792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters Centerline goodness : 0.991309 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:-26.50, Z:-1.06 [[ 9.93495717e-01 1.13828315e-01 3.06198350e-03 3.46134308e+02] [-1.13827684e-01 9.93500435e-01 -3.80248759e-04 -2.64970160e+01] [-3.08536502e-03 2.92370234e-05 9.99995240e-01 -1.05825503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters Centerline goodness : 0.991863 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:-26.51, Z:-1.06 [[ 9.93274478e-01 1.15742973e-01 3.06192505e-03 3.46196619e+02] [-1.15742349e-01 9.93279197e-01 -3.80718884e-04 -2.65062301e+01] [-3.08541199e-03 2.37639527e-05 9.99995240e-01 -1.06214742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters Centerline goodness : 0.991889 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:-26.51, Z:-1.06 [[ 9.92910754e-01 1.18822811e-01 3.06185365e-03 3.46258879e+02] [-1.18822200e-01 9.92915474e-01 -3.81292207e-04 -2.65125308e+01] [-3.08546808e-03 1.47729459e-05 9.99995240e-01 -1.05557760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters Centerline goodness : 0.991692 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:-26.52, Z:-1.06 [[ 9.93002195e-01 1.18056197e-01 3.06179082e-03 3.46320289e+02] [-1.18055581e-01 9.93006915e-01 -3.81796108e-04 -2.65205560e+01] [-3.08545285e-03 1.76628807e-05 9.99995240e-01 -1.05537660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters Centerline goodness : 0.992198 with order 1 Centerline is valid? [True, True] Translation: X:346.38, Y:-26.53, Z:-1.06 [[ 9.93120340e-01 1.17058178e-01 3.06172411e-03 3.46382594e+02] [-1.17057556e-01 9.93125059e-01 -3.82330290e-04 -2.65268898e+01] [-3.08542982e-03 2.13020467e-05 9.99995240e-01 -1.05904520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters Centerline goodness : 0.991987 with order 1 Centerline is valid? [True, True] Translation: X:346.44, Y:-26.53, Z:-1.06 [[ 9.93242786e-01 1.16014632e-01 3.06166239e-03 3.46444439e+02] [-1.16014003e-01 9.93247504e-01 -3.82823900e-04 -2.65319684e+01] [-3.08540170e-03 2.50413672e-05 9.99995240e-01 -1.05992820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters Centerline goodness : 0.992339 with order 1 Centerline is valid? [True, True] Translation: X:346.51, Y:-26.54, Z:-1.06 [[ 9.93333937e-01 1.15231580e-01 3.06160010e-03 3.46506042e+02] [-1.15230946e-01 9.93338654e-01 -3.83321440e-04 -2.65372087e+01] [-3.08537645e-03 2.79751213e-05 9.99995240e-01 -1.05665065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters Centerline goodness : 0.992721 with order 1 Centerline is valid? [True, True] Translation: X:346.57, Y:-26.54, Z:-1.06 [[ 9.93313099e-01 1.15411066e-01 3.06153775e-03 3.46566395e+02] [-1.15410431e-01 9.93317817e-01 -3.83818751e-04 -2.65440245e+01] [-3.08537692e-03 2.79188018e-05 9.99995240e-01 -1.05837932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters Centerline goodness : 0.991916 with order 1 Centerline is valid? [True, True] Translation: X:346.63, Y:-26.55, Z:-1.06 [[ 9.93115332e-01 1.17100657e-01 3.06148056e-03 3.46627383e+02] [-1.17100029e-01 9.93120051e-01 -3.84274356e-04 -2.65497948e+01] [-3.08541651e-03 2.31292934e-05 9.99995240e-01 -1.06054131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:346.69, Y:-26.56, Z:-1.06 [[ 9.93161875e-01 1.16705257e-01 3.06147153e-03 3.46687528e+02] [-1.16704627e-01 9.93166593e-01 -3.84346271e-04 -2.65583520e+01] [-3.08540648e-03 2.44301697e-05 9.99995240e-01 -1.06110612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:346.75, Y:-26.57, Z:-1.06 [[ 9.93343272e-01 1.15151086e-01 3.06141347e-03 3.46748559e+02] [-1.15150447e-01 9.93347989e-01 -3.84808205e-04 -2.65698469e+01] [-3.08536000e-03 2.97235110e-05 9.99995240e-01 -1.06251383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:346.81, Y:-26.58, Z:-1.06 [[ 9.93701991e-01 1.12013309e-01 3.06135058e-03 3.46808966e+02] [-1.12012653e-01 9.93706706e-01 -3.85307847e-04 -2.65849827e+01] [-3.08524421e-03 3.99711730e-05 9.99995240e-01 -1.06328362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters Centerline goodness : 0.993020 with order 1 Centerline is valid? [True, True] Translation: X:346.87, Y:-26.60, Z:-1.06 [[ 9.93637252e-01 1.12586144e-01 3.06128392e-03 3.46870063e+02] [-1.12585490e-01 9.93641967e-01 -3.85836781e-04 -2.66007625e+01] [-3.08526005e-03 3.87256493e-05 9.99995240e-01 -1.05986650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters Centerline goodness : 0.993240 with order 1 Centerline is valid? [True, True] Translation: X:346.93, Y:-26.62, Z:-1.06 [[ 9.93044439e-01 1.17700345e-01 3.06121270e-03 3.46930361e+02] [-1.17699713e-01 9.93049157e-01 -3.86400996e-04 -2.66169470e+01] [-3.08541422e-03 2.34095029e-05 9.99995240e-01 -1.05648307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:346.99, Y:-26.63, Z:-1.06 [[ 9.92255464e-01 1.24176182e-01 3.06116875e-03 3.46991845e+02] [-1.24175580e-01 9.92260186e-01 -3.86748899e-04 -2.66296703e+01] [-3.08550087e-03 3.63130440e-06 9.99995240e-01 -1.06127203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters Centerline goodness : 0.993346 with order 1 Centerline is valid? [True, True] Translation: X:347.05, Y:-26.64, Z:-1.06 [[ 9.91497137e-01 1.30092494e-01 3.06109854e-03 3.47053171e+02] [-1.30091918e-01 9.91501862e-01 -3.87303814e-04 -2.66389707e+01] [-3.08547022e-03 -1.42135581e-05 9.99995240e-01 -1.06080544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters Centerline goodness : 0.993208 with order 1 Centerline is valid? [True, True] Translation: X:347.11, Y:-26.64, Z:-1.06 [[ 9.89367199e-01 1.45406931e-01 3.06103358e-03 3.47114200e+02] [-1.45406427e-01 9.89371932e-01 -3.87816540e-04 -2.66434949e+01] [-3.08489192e-03 -6.14009915e-05 9.99995240e-01 -1.05813642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters Centerline goodness : 0.993159 with order 1 Centerline is valid? [True, True] Translation: X:347.17, Y:-26.65, Z:-1.06 [[ 9.88848371e-01 1.48894356e-01 3.06102444e-03 3.47174843e+02] [-1.48893868e-01 9.88853106e-01 -3.87888644e-04 -2.66498073e+01] [-3.08465796e-03 -7.22047159e-05 9.99995240e-01 -1.05862090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters Centerline goodness : 0.993180 with order 1 Centerline is valid? [True, True] Translation: X:347.24, Y:-26.66, Z:-1.06 [[ 9.89467357e-01 1.44723803e-01 3.06098925e-03 3.47237452e+02] [-1.44723294e-01 9.89472090e-01 -3.88166179e-04 -2.66580926e+01] [-3.08494031e-03 -5.89186835e-05 9.99995240e-01 -1.06067968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters Centerline goodness : 0.993518 with order 1 Centerline is valid? [True, True] Translation: X:347.30, Y:-26.67, Z:-1.06 [[ 9.90395002e-01 1.38233029e-01 3.06091746e-03 3.47299028e+02] [-1.38232488e-01 9.90399731e-01 -3.88731466e-04 -2.66700772e+01] [-3.08526735e-03 -3.81205345e-05 9.99995240e-01 -1.06166828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters Centerline goodness : 0.993489 with order 1 Centerline is valid? [True, True] Translation: X:347.36, Y:-26.68, Z:-1.06 [[ 9.90370946e-01 1.38405273e-01 3.06084596e-03 3.47361783e+02] [-1.38404731e-01 9.90375676e-01 -3.89293634e-04 -2.66775376e+01] [-3.08526767e-03 -3.80904570e-05 9.99995240e-01 -1.06147266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters Centerline goodness : 0.993313 with order 1 Centerline is valid? [True, True] Translation: X:347.42, Y:-26.68, Z:-1.06 [[ 9.89412644e-01 1.45097389e-01 3.06077476e-03 3.47422577e+02] [-1.45096877e-01 9.89417376e-01 -3.89852578e-04 -2.66818356e+01] [-3.08495033e-03 -5.83837883e-05 9.99995240e-01 -1.05933618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters Centerline goodness : 0.993862 with order 1 Centerline is valid? [True, True] Translation: X:347.48, Y:-26.68, Z:-1.06 [[ 9.88448331e-01 1.51527320e-01 3.06071764e-03 3.47484230e+02] [-1.51526837e-01 9.88453067e-01 -3.90300505e-04 -2.66846924e+01] [-3.08451693e-03 -7.79889812e-05 9.99995240e-01 -1.05990479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters Centerline goodness : 0.993854 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:-26.69, Z:-1.06 [[ 9.88259259e-01 1.52755589e-01 3.06070892e-03 3.47545146e+02] [-1.52755112e-01 9.88263995e-01 -3.90368903e-04 -2.66882081e+01] [-3.08441946e-03 -8.17532514e-05 9.99995240e-01 -1.06055260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters Centerline goodness : 0.994121 with order 1 Centerline is valid? [True, True] Translation: X:347.61, Y:-26.69, Z:-1.06 [[ 9.87997742e-01 1.54437997e-01 3.06070002e-03 3.47606637e+02] [-1.54437528e-01 9.88002479e-01 -3.90438672e-04 -2.66873018e+01] [-3.08427777e-03 -8.69344183e-05 9.99995240e-01 -1.06138851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters Centerline goodness : 0.994084 with order 1 Centerline is valid? [True, True] Translation: X:347.67, Y:-26.69, Z:-1.07 [[ 9.87558639e-01 1.57221393e-01 3.06070002e-03 3.47666396e+02] [-1.57220937e-01 9.87563377e-01 -3.90438672e-04 -2.66885510e+01] [-3.08402056e-03 -9.56250418e-05 9.99995240e-01 -1.06550148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:347.73, Y:-26.69, Z:-1.07 [[ 9.87270058e-01 1.59023474e-01 3.06069522e-03 3.47726168e+02] [-1.59023027e-01 9.87274797e-01 -3.90476306e-04 -2.66895324e+01] [-3.08384215e-03 -1.01215451e-04 9.99995240e-01 -1.06692042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters Centerline goodness : 0.993756 with order 1 Centerline is valid? [True, True] Translation: X:347.79, Y:-26.69, Z:-1.07 [[ 9.87819178e-01 1.55576038e-01 3.06070401e-03 3.47786796e+02] [-1.55575575e-01 9.87823916e-01 -3.90407381e-04 -2.66940815e+01] [-3.08417465e-03 -9.05188879e-05 9.99995240e-01 -1.06760455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters Centerline goodness : 0.993405 with order 1 Centerline is valid? [True, True] Translation: X:347.85, Y:-26.70, Z:-1.07 [[ 9.88281568e-01 1.52611190e-01 3.06070401e-03 3.47847667e+02] [-1.52610712e-01 9.88286304e-01 -3.90407381e-04 -2.66986846e+01] [-3.08443239e-03 -8.12638000e-05 9.99995240e-01 -1.06937321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters Centerline goodness : 0.993932 with order 1 Centerline is valid? [True, True] Translation: X:347.91, Y:-26.70, Z:-1.07 [[ 9.87541312e-01 1.57330193e-01 3.06070401e-03 3.47905631e+02] [-1.57329738e-01 9.87546050e-01 -3.90407381e-04 -2.66998649e+01] [-3.08400902e-03 -9.59963415e-05 9.99995240e-01 -1.06664503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters Centerline goodness : 0.993493 with order 1 Centerline is valid? [True, True] Translation: X:347.96, Y:-26.70, Z:-1.07 [[ 9.86712786e-01 1.62445405e-01 3.06072610e-03 3.47963459e+02] [-1.62444975e-01 9.86717527e-01 -3.90234102e-04 -2.67019494e+01] [-3.08346383e-03 -1.12150598e-04 9.99995240e-01 -1.06637803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters Centerline goodness : 0.993544 with order 1 Centerline is valid? [True, True] Translation: X:348.02, Y:-26.70, Z:-1.06 [[ 9.86131079e-01 1.65940130e-01 3.06074780e-03 3.48021967e+02] [-1.65939717e-01 9.86135821e-01 -3.90063823e-04 -2.67045176e+01] [-3.08304029e-03 -1.23245565e-04 9.99995240e-01 -1.06343873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters Centerline goodness : 0.993460 with order 1 Centerline is valid? [True, True] Translation: X:348.08, Y:-26.71, Z:-1.06 [[ 9.87164610e-01 1.59676753e-01 3.06076494e-03 3.48081317e+02] [-1.59676310e-01 9.87169349e-01 -3.89929278e-04 -2.67079827e+01] [-3.08375598e-03 -1.03807269e-04 9.99995240e-01 -1.06449245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:348.14, Y:-26.72, Z:-1.07 [[ 9.88513202e-01 1.51103545e-01 3.06078211e-03 3.48140000e+02] [-1.51103062e-01 9.88517937e-01 -3.89794515e-04 -2.67154144e+01] [-3.08453735e-03 -7.71765254e-05 9.99995240e-01 -1.06634297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:348.20, Y:-26.72, Z:-1.07 [[ 9.88775876e-01 1.49375026e-01 3.06079949e-03 3.48197186e+02] [-1.49374535e-01 9.88780611e-01 -3.89657940e-04 -2.67217415e+01] [-3.08466436e-03 -7.19211320e-05 9.99995240e-01 -1.06618758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters Centerline goodness : 0.994245 with order 1 Centerline is valid? [True, True] Translation: X:348.26, Y:-26.73, Z:-1.06 [[ 9.88503428e-01 1.51167472e-01 3.06082108e-03 3.48255846e+02] [-1.51166990e-01 9.88508164e-01 -3.89488323e-04 -2.67276220e+01] [-3.08452459e-03 -7.76845671e-05 9.99995240e-01 -1.06442967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters Centerline goodness : 0.994103 with order 1 Centerline is valid? [True, True] Translation: X:348.31, Y:-26.73, Z:-1.07 [[ 9.87518325e-01 1.57474406e-01 3.06083841e-03 3.48313349e+02] [-1.57473954e-01 9.87523064e-01 -3.89352059e-04 -2.67303946e+01] [-3.08396151e-03 -9.75100352e-05 9.99995240e-01 -1.07119362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters Centerline goodness : 0.993616 with order 1 Centerline is valid? [True, True] Translation: X:348.37, Y:-26.73, Z:-1.07 [[ 9.87331861e-01 1.58639301e-01 3.06085982e-03 3.48372485e+02] [-1.58638856e-01 9.87336600e-01 -3.89183679e-04 -2.67339400e+01] [-3.08383875e-03 -1.01317853e-04 9.99995240e-01 -1.07071303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters Centerline goodness : 0.993215 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:-26.74, Z:-1.07 [[ 9.87465140e-01 1.57807567e-01 3.06087622e-03 3.48431464e+02] [-1.57807119e-01 9.87469879e-01 -3.89054662e-04 -2.67358129e+01] [-3.08391884e-03 -9.88501410e-05 9.99995240e-01 -1.07429261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters Centerline goodness : 0.993203 with order 1 Centerline is valid? [True, True] Translation: X:348.49, Y:-26.74, Z:-1.07 [[ 9.87937025e-01 1.54825920e-01 3.06089300e-03 3.48490267e+02] [-1.54825458e-01 9.87941763e-01 -3.88922551e-04 -2.67358380e+01] [-3.08419932e-03 -8.96731725e-05 9.99995240e-01 -1.07212597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:348.55, Y:-26.74, Z:-1.07 [[ 9.88384320e-01 1.51944288e-01 3.06091455e-03 3.48549319e+02] [-1.51943812e-01 9.88389056e-01 -3.88752885e-04 -2.67377952e+01] [-3.08444323e-03 -8.08497695e-05 9.99995240e-01 -1.07033857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters Centerline goodness : 0.993279 with order 1 Centerline is valid? [True, True] Translation: X:348.61, Y:-26.74, Z:-1.07 [[ 9.89044374e-01 1.47586775e-01 3.06093176e-03 3.48608236e+02] [-1.47586278e-01 9.89049109e-01 -3.88617344e-04 -2.67395844e+01] [-3.08476661e-03 -6.73917288e-05 9.99995240e-01 -1.07101805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters Centerline goodness : 0.993301 with order 1 Centerline is valid? [True, True] Translation: X:348.67, Y:-26.75, Z:-1.07 [[ 9.89454653e-01 1.44810636e-01 3.06094910e-03 3.48667227e+02] [-1.44810127e-01 9.89459386e-01 -3.88480735e-04 -2.67459994e+01] [-3.08494096e-03 -5.88723576e-05 9.99995240e-01 -1.06620018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters Centerline goodness : 0.993547 with order 1 Centerline is valid? [True, True] Translation: X:348.73, Y:-26.75, Z:-1.07 [[ 9.90178041e-01 1.39778676e-01 3.06096736e-03 3.48725224e+02] [-1.39778143e-01 9.90182771e-01 -3.88336761e-04 -2.67531736e+01] [-3.08519834e-03 -4.33338015e-05 9.99995240e-01 -1.06767759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [True, True] Translation: X:348.78, Y:-26.76, Z:-1.07 [[ 9.90258329e-01 1.39208737e-01 3.06098579e-03 3.48782228e+02] [-1.39208202e-01 9.90263059e-01 -3.88191472e-04 -2.67610807e+01] [-3.08522080e-03 -4.17044886e-05 9.99995240e-01 -1.06939617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:348.84, Y:-26.77, Z:-1.07 [[ 9.90278264e-01 1.39066852e-01 3.06100865e-03 3.48839976e+02] [-1.39066317e-01 9.90282994e-01 -3.88011107e-04 -2.67699782e+01] [-3.08522430e-03 -4.14442334e-05 9.99995240e-01 -1.06912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters Centerline goodness : 0.992994 with order 1 Centerline is valid? [True, True] Translation: X:348.90, Y:-26.78, Z:-1.07 [[ 9.90635387e-01 1.36499672e-01 3.06102707e-03 3.48897641e+02] [-1.36499125e-01 9.90640115e-01 -3.87865775e-04 -2.67827496e+01] [-3.08531976e-03 -3.35939555e-05 9.99995240e-01 -1.07317638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:348.95, Y:-26.79, Z:-1.07 [[ 9.91119787e-01 1.32936818e-01 3.06104562e-03 3.48954163e+02] [-1.32936255e-01 9.91124514e-01 -3.87719288e-04 -2.67934063e+01] [-3.08541952e-03 -2.26476829e-05 9.99995240e-01 -1.07411107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters Centerline goodness : 0.991822 with order 1 Centerline is valid? [True, True] Translation: X:349.01, Y:-26.81, Z:-1.08 [[ 9.91436224e-01 1.30555901e-01 3.06106856e-03 3.49012411e+02] [-1.30555327e-01 9.91440950e-01 -3.87538104e-04 -2.68068252e+01] [-3.08546411e-03 -1.54194926e-05 9.99995240e-01 -1.07677906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters Centerline goodness : 0.991872 with order 1 Centerline is valid? [True, True] Translation: X:349.07, Y:-26.82, Z:-1.07 [[ 9.91388895e-01 1.30914811e-01 3.06107748e-03 3.49070504e+02] [-1.30914239e-01 9.91393621e-01 -3.87467636e-04 -2.68165483e+01] [-3.08545794e-03 -1.66075172e-05 9.99995240e-01 -1.07395702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:349.13, Y:-26.83, Z:-1.08 [[ 9.90920583e-01 1.34413647e-01 3.06109596e-03 3.49128310e+02] [-1.34413092e-01 9.90925310e-01 -3.87321557e-04 -2.68285585e+01] [-3.08537877e-03 -2.76464712e-05 9.99995240e-01 -1.07503752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters Centerline goodness : 0.992359 with order 1 Centerline is valid? [True, True] Translation: X:349.19, Y:-26.84, Z:-1.08 [[ 9.90677410e-01 1.36194344e-01 3.06111467e-03 3.49185470e+02] [-1.36193798e-01 9.90682139e-01 -3.87173673e-04 -2.68380565e+01] [-3.08532249e-03 -3.33406207e-05 9.99995240e-01 -1.07597531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:349.24, Y:-26.85, Z:-1.08 [[ 9.90775935e-01 1.35475743e-01 3.06113781e-03 3.49244857e+02] [-1.35475194e-01 9.90780663e-01 -3.86990612e-04 -2.68471176e+01] [-3.08534399e-03 -3.12872525e-05 9.99995240e-01 -1.07529727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters Centerline goodness : 0.991844 with order 1 Centerline is valid? [True, True] Translation: X:349.30, Y:-26.86, Z:-1.08 [[ 9.91174334e-01 1.32529501e-01 3.06114688e-03 3.49302882e+02] [-1.32528938e-01 9.91179061e-01 -3.86918901e-04 -2.68596173e+01] [-3.08542285e-03 -2.21864598e-05 9.99995240e-01 -1.07605847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:-26.87, Z:-1.07 [[ 9.91425724e-01 1.30635609e-01 3.06115650e-03 3.49361929e+02] [-1.30635037e-01 9.91430450e-01 -3.86842720e-04 -2.68719822e+01] [-3.08545920e-03 -1.63684705e-05 9.99995240e-01 -1.06926825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters Centerline goodness : 0.992626 with order 1 Centerline is valid? [True, True] Translation: X:349.42, Y:-26.88, Z:-1.07 [[ 9.91222546e-01 1.32168430e-01 3.06116534e-03 3.49420290e+02] [-1.32167866e-01 9.91227272e-01 -3.86772742e-04 -2.68837862e+01] [-3.08542972e-03 -2.12098278e-05 9.99995240e-01 -1.07128008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters Centerline goodness : 0.991917 with order 1 Centerline is valid? [True, True] Translation: X:349.48, Y:-26.90, Z:-1.08 [[ 9.91346912e-01 1.31232351e-01 3.06117410e-03 3.49478219e+02] [-1.31231783e-01 9.91351638e-01 -3.86703388e-04 -2.68985615e+01] [-3.08544796e-03 -1.83661259e-05 9.99995240e-01 -1.07611627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters Centerline goodness : 0.992191 with order 1 Centerline is valid? [True, True] Translation: X:349.54, Y:-26.91, Z:-1.08 [[ 9.91692987e-01 1.28591016e-01 3.06116956e-03 3.49537752e+02] [-1.28590434e-01 9.91697711e-01 -3.86739344e-04 -2.69097235e+01] [-3.08548605e-03 -1.01104291e-05 9.99995240e-01 -1.07657925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters Centerline goodness : 0.991766 with order 1 Centerline is valid? [True, True] Translation: X:349.60, Y:-26.93, Z:-1.07 [[ 9.91480550e-01 1.30218847e-01 3.06116956e-03 3.49597986e+02] [-1.30218274e-01 9.91485276e-01 -3.86739344e-04 -2.69253142e+01] [-3.08546530e-03 -1.51756793e-05 9.99995240e-01 -1.07251354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters Centerline goodness : 0.991404 with order 1 Centerline is valid? [True, True] Translation: X:349.66, Y:-26.93, Z:-1.07 [[ 9.90947772e-01 1.34213052e-01 3.06116042e-03 3.49657776e+02] [-1.34212498e-01 9.90952499e-01 -3.86811691e-04 -2.69333232e+01] [-3.08537975e-03 -2.75358038e-05 9.99995240e-01 -1.07203742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters Centerline goodness : 0.990840 with order 1 Centerline is valid? [True, True] Translation: X:349.72, Y:-26.94, Z:-1.08 [[ 9.90114968e-01 1.40224746e-01 3.06116042e-03 3.49716370e+02] [-1.40224220e-01 9.90119699e-01 -3.86811691e-04 -2.69403361e+01] [-3.08515581e-03 -4.62607877e-05 9.99995240e-01 -1.07540732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters Centerline goodness : 0.990757 with order 1 Centerline is valid? [True, True] Translation: X:349.78, Y:-26.94, Z:-1.07 [[ 9.88826978e-01 1.49036364e-01 3.06116495e-03 3.49775590e+02] [-1.49035880e-01 9.88831713e-01 -3.86775865e-04 -2.69443408e+01] [-3.08462065e-03 -7.37690033e-05 9.99995240e-01 -1.07407107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters Centerline goodness : 0.990976 with order 1 Centerline is valid? [True, True] Translation: X:349.83, Y:-26.94, Z:-1.08 [[ 9.87622726e-01 1.56818307e-01 3.06117383e-03 3.49834715e+02] [-1.56817860e-01 9.87627465e-01 -3.86705518e-04 -2.69430319e+01] [-3.08394186e-03 -9.81275732e-05 9.99995240e-01 -1.08035020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters Centerline goodness : 0.990956 with order 1 Centerline is valid? [True, True] Translation: X:349.89, Y:-26.94, Z:-1.08 [[ 9.86737779e-01 1.62293511e-01 3.06119143e-03 3.49893753e+02] [-1.62293092e-01 9.86742521e-01 -3.86566166e-04 -2.69396147e+01] [-3.08334493e-03 -1.15370782e-04 9.99995240e-01 -1.07661689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters Centerline goodness : 0.990947 with order 1 Centerline is valid? [True, True] Translation: X:349.95, Y:-26.94, Z:-1.07 [[ 9.86644928e-01 1.62857041e-01 3.06121311e-03 3.49953348e+02] [-1.62856624e-01 9.86649670e-01 -3.86394402e-04 -2.69395699e+01] [-3.08327195e-03 -1.17304757e-04 9.99995240e-01 -1.07396462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters Centerline goodness : 0.990961 with order 1 Centerline is valid? [True, True] Translation: X:350.01, Y:-26.93, Z:-1.08 [[ 9.87333242e-01 1.58630695e-01 3.06123026e-03 3.50013091e+02] [-1.58630259e-01 9.87337983e-01 -3.86258502e-04 -2.69321745e+01] [-3.08374136e-03 -1.04237889e-04 9.99995240e-01 -1.07682843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters Centerline goodness : 0.990853 with order 1 Centerline is valid? [True, True] Translation: X:350.07, Y:-26.93, Z:-1.08 [[ 9.88231614e-01 1.52934317e-01 3.06124802e-03 3.50070967e+02] [-1.52933854e-01 9.88236352e-01 -3.86117717e-04 -2.69315926e+01] [-3.08428722e-03 -8.65947231e-05 9.99995240e-01 -1.07789854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters Centerline goodness : 0.990853 with order 1 Centerline is valid? [True, True] Translation: X:350.13, Y:-26.93, Z:-1.08 [[ 9.89772547e-01 1.42621644e-01 3.06126999e-03 3.50131018e+02] [-1.42621132e-01 9.89777280e-01 -3.85943409e-04 -2.69294927e+01] [-3.08501937e-03 -5.46056021e-05 9.99995240e-01 -1.07647407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters Centerline goodness : 0.991322 with order 1 Centerline is valid? [True, True] Translation: X:350.19, Y:-26.93, Z:-1.07 [[ 9.90942646e-01 1.34250885e-01 3.06128679e-03 3.50189375e+02] [-1.34250334e-01 9.90947375e-01 -3.85810115e-04 -2.69299922e+01] [-3.08536946e-03 -2.86630776e-05 9.99995240e-01 -1.07324362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters Centerline goodness : 0.991639 with order 1 Centerline is valid? [True, True] Translation: X:350.25, Y:-26.93, Z:-1.07 [[ 9.91814727e-01 1.27648639e-01 3.06130757e-03 3.50247880e+02] [-1.27648057e-01 9.91819452e-01 -3.85645134e-04 -2.69345026e+01] [-3.08549148e-03 -8.28143906e-06 9.99995240e-01 -1.07457693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters Centerline goodness : 0.990719 with order 1 Centerline is valid? [True, True] Translation: X:350.31, Y:-26.94, Z:-1.07 [[ 9.92537494e-01 1.21901397e-01 3.06132485e-03 3.50306556e+02] [-1.21900788e-01 9.92542215e-01 -3.85507960e-04 -2.69414952e+01] [-3.08548811e-03 9.45319338e-06 9.99995240e-01 -1.07499976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters Centerline goodness : 0.991062 with order 1 Centerline is valid? [True, True] Translation: X:350.36, Y:-26.95, Z:-1.07 [[ 9.92971988e-01 1.18310013e-01 3.06134195e-03 3.50364495e+02] [-1.18309387e-01 9.92976707e-01 -3.85372144e-04 -2.69517931e+01] [-3.08543463e-03 2.04782546e-05 9.99995240e-01 -1.07396322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters Centerline goodness : 0.991248 with order 1 Centerline is valid? [True, True] Translation: X:350.42, Y:-26.96, Z:-1.08 [[ 9.93470045e-01 1.14052172e-01 3.06135962e-03 3.50421649e+02] [-1.14051527e-01 9.93474761e-01 -3.85231685e-04 -2.69629848e+01] [-3.08532003e-03 3.35634008e-05 9.99995240e-01 -1.07612617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters Centerline goodness : 0.991002 with order 1 Centerline is valid? [True, True] Translation: X:350.48, Y:-26.98, Z:-1.08 [[ 9.93608591e-01 1.12838806e-01 3.06138299e-03 3.50479807e+02] [-1.12838155e-01 9.93613306e-01 -3.85045868e-04 -2.69756388e+01] [-3.08527899e-03 3.71440735e-05 9.99995240e-01 -1.07944251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters Centerline goodness : 0.991080 with order 1 Centerline is valid? [True, True] Translation: X:350.54, Y:-26.99, Z:-1.08 [[ 9.93443515e-01 1.14283030e-01 3.06140093e-03 3.50537278e+02] [-1.14282387e-01 9.93448231e-01 -3.84903196e-04 -2.69874355e+01] [-3.08533124e-03 3.25153790e-05 9.99995240e-01 -1.07715894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters Centerline goodness : 0.991689 with order 1 Centerline is valid? [True, True] Translation: X:350.60, Y:-27.00, Z:-1.08 [[ 9.93401823e-01 1.14644867e-01 3.06141865e-03 3.50595527e+02] [-1.14644226e-01 9.93406540e-01 -3.84762231e-04 -2.69996906e+01] [-3.08534432e-03 3.12495311e-05 9.99995240e-01 -1.07818333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters Centerline goodness : 0.990983 with order 1 Centerline is valid? [True, True] Translation: X:350.65, Y:-27.01, Z:-1.08 [[ 9.93465321e-01 1.14093312e-01 3.06142759e-03 3.50653420e+02] [-1.14092669e-01 9.93470037e-01 -3.84691023e-04 -2.70122516e+01] [-3.08532726e-03 3.28907463e-05 9.99995240e-01 -1.07730018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters Centerline goodness : 0.991879 with order 1 Centerline is valid? [True, True] Translation: X:350.71, Y:-27.02, Z:-1.07 [[ 9.93422226e-01 1.14467934e-01 3.06144093e-03 3.50712329e+02] [-1.14467292e-01 9.93426943e-01 -3.84584864e-04 -2.70221681e+01] [-3.08534054e-03 3.16202998e-05 9.99995240e-01 -1.07459864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters Centerline goodness : 0.991981 with order 1 Centerline is valid? [True, True] Translation: X:350.77, Y:-27.03, Z:-1.08 [[ 9.93093609e-01 1.17284746e-01 3.06144958e-03 3.50770327e+02] [-1.17284118e-01 9.93098327e-01 -3.84515999e-04 -2.70286910e+01] [-3.08541832e-03 2.28009671e-05 9.99995240e-01 -1.07758615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters Centerline goodness : 0.991196 with order 1 Centerline is valid? [True, True] Translation: X:350.83, Y:-27.04, Z:-1.08 [[ 9.92999304e-01 1.18080520e-01 3.06146235e-03 3.50829728e+02] [-1.18079896e-01 9.93004023e-01 -3.84414270e-04 -2.70362615e+01] [-3.08543627e-03 2.02259458e-05 9.99995240e-01 -1.07864142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters Centerline goodness : 0.991784 with order 1 Centerline is valid? [True, True] Translation: X:350.89, Y:-27.04, Z:-1.08 [[ 9.93235067e-01 1.16080705e-01 3.06147177e-03 3.50888019e+02] [-1.16080071e-01 9.93239784e-01 -3.84339240e-04 -2.70438681e+01] [-3.08538993e-03 2.63633493e-05 9.99995240e-01 -1.07611769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters Centerline goodness : 0.991892 with order 1 Centerline is valid? [True, True] Translation: X:350.95, Y:-27.05, Z:-1.08 [[ 9.93735345e-01 1.11717019e-01 3.06148579e-03 3.50948154e+02] [-1.11716365e-01 9.93740060e-01 -3.84227525e-04 -2.70534179e+01] [-3.08524583e-03 3.98024066e-05 9.99995240e-01 -1.07504117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters Centerline goodness : 0.991522 with order 1 Centerline is valid? [True, True] Translation: X:351.01, Y:-27.07, Z:-1.08 [[ 9.94360842e-01 1.06005391e-01 3.06148579e-03 3.51007753e+02] [-1.06004711e-01 9.94365553e-01 -3.84227525e-04 -2.70653388e+01] [-3.08496620e-03 5.75288900e-05 9.99995240e-01 -1.07968321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters Centerline goodness : 0.991178 with order 1 Centerline is valid? [True, True] Translation: X:351.07, Y:-27.08, Z:-1.08 [[ 9.94569891e-01 1.04025763e-01 3.06148579e-03 3.51068470e+02] [-1.04025073e-01 9.94574601e-01 -3.84227525e-04 -2.70762214e+01] [-3.08484557e-03 6.36698443e-05 9.99995240e-01 -1.07974750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters Centerline goodness : 0.991312 with order 1 Centerline is valid? [True, True] Translation: X:351.13, Y:-27.10, Z:-1.08 [[ 9.95134853e-01 9.84746207e-02 3.06147651e-03 3.51128952e+02] [-9.84739041e-02 9.95139559e-01 -3.84301456e-04 -2.70955870e+01] [-3.08444033e-03 8.09562285e-05 9.99995240e-01 -1.07829008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters Centerline goodness : 0.991684 with order 1 Centerline is valid? [True, True] Translation: X:351.19, Y:-27.12, Z:-1.08 [[ 9.95290932e-01 9.68844032e-02 3.06141110e-03 3.51188721e+02] [-9.68836775e-02 9.95295637e-01 -3.84821809e-04 -2.71174366e+01] [-3.08429235e-03 8.64088914e-05 9.99995240e-01 -1.07569046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters Centerline goodness : 0.990987 with order 1 Centerline is valid? [True, True] Translation: X:351.25, Y:-27.13, Z:-1.08 [[ 9.94816164e-01 1.01643635e-01 3.06134162e-03 3.51248686e+02] [-1.01642930e-01 9.94820871e-01 -3.85373753e-04 -2.71323525e+01] [-3.08465733e-03 7.22123058e-05 9.99995240e-01 -1.07539513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters Centerline goodness : 0.991104 with order 1 Centerline is valid? [True, True] Translation: X:351.31, Y:-27.14, Z:-1.08 [[ 9.93824360e-01 1.10922360e-01 3.06128415e-03 3.51308568e+02] [-1.10921697e-01 9.93829074e-01 -3.85829727e-04 -2.71448101e+01] [-3.08519034e-03 4.38841471e-05 9.99995240e-01 -1.08226375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters Centerline goodness : 0.990336 with order 1 Centerline is valid? [True, True] Translation: X:351.37, Y:-27.15, Z:-1.08 [[ 9.93344366e-01 1.15141648e-01 3.06127520e-03 3.51370459e+02] [-1.15141005e-01 9.93349083e-01 -3.85900794e-04 -2.71520855e+01] [-3.08534816e-03 3.08540756e-05 9.99995240e-01 -1.07812853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters Centerline goodness : 0.991095 with order 1 Centerline is valid? [True, True] Translation: X:351.43, Y:-27.16, Z:-1.08 [[ 9.92996942e-01 1.18100387e-01 3.06121270e-03 3.51432152e+02] [-1.18099757e-01 9.93001661e-01 -3.86395930e-04 -2.71600764e+01] [-3.08542280e-03 2.21615011e-05 9.99995240e-01 -1.07636253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters Centerline goodness : 0.990755 with order 1 Centerline is valid? [True, True] Translation: X:351.49, Y:-27.17, Z:-1.08 [[ 9.93147679e-01 1.16826013e-01 3.06114875e-03 3.51493838e+02] [-1.16825375e-01 9.93152396e-01 -3.86901847e-04 -2.71673097e+01] [-3.08538742e-03 2.66308188e-05 9.99995240e-01 -1.08136657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters Centerline goodness : 0.991013 with order 1 Centerline is valid? [True, True] Translation: X:351.56, Y:-27.18, Z:-1.08 [[ 9.93511719e-01 1.13688580e-01 3.06108415e-03 3.51556204e+02] [-1.13687925e-01 9.93516434e-01 -3.87412281e-04 -2.71802264e+01] [-3.08528177e-03 3.68903339e-05 9.99995240e-01 -1.08107127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:351.62, Y:-27.19, Z:-1.08 [[ 9.93609118e-01 1.12834172e-01 3.06101072e-03 3.51617149e+02] [-1.12833512e-01 9.93613832e-01 -3.87991661e-04 -2.71933514e+01] [-3.08524131e-03 4.01274639e-05 9.99995240e-01 -1.08149433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters Centerline goodness : 0.991547 with order 1 Centerline is valid? [True, True] Translation: X:351.68, Y:-27.21, Z:-1.08 [[ 9.93149121e-01 1.16813759e-01 3.06096536e-03 3.51679256e+02] [-1.16813117e-01 9.93153837e-01 -3.88349165e-04 -2.72058666e+01] [-3.08537402e-03 2.81277264e-05 9.99995240e-01 -1.07661898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters Centerline goodness : 0.990227 with order 1 Centerline is valid? [True, True] Translation: X:351.74, Y:-27.22, Z:-1.08 [[ 9.92410455e-01 1.22931360e-01 3.06089360e-03 3.51740801e+02] [-1.22930745e-01 9.92415176e-01 -3.88913950e-04 -2.72155871e+01] [-3.08548698e-03 9.68433907e-06 9.99995240e-01 -1.08266532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters Centerline goodness : 0.990368 with order 1 Centerline is valid? [True, True] Translation: X:351.80, Y:-27.22, Z:-1.08 [[ 9.92202597e-01 1.24597902e-01 3.06083126e-03 3.51802832e+02] [-1.24597294e-01 9.92207318e-01 -3.89403906e-04 -2.72236455e+01] [-3.08549809e-03 4.99627547e-06 9.99995240e-01 -1.08086387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters Centerline goodness : 0.990653 with order 1 Centerline is valid? [True, True] Translation: X:351.87, Y:-27.23, Z:-1.08 [[ 9.92718646e-01 1.20417278e-01 3.06076930e-03 3.51865556e+02] [-1.20416648e-01 9.92723365e-01 -3.89890313e-04 -2.72316002e+01] [-3.08544673e-03 1.84838039e-05 9.99995240e-01 -1.07511392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters Centerline goodness : 0.990517 with order 1 Centerline is valid? [True, True] Translation: X:351.93, Y:-27.24, Z:-1.08 [[ 9.93131727e-01 1.16961549e-01 3.06069846e-03 3.51927537e+02] [-1.16960901e-01 9.93136443e-01 -3.90445635e-04 -2.72394875e+01] [-3.08535831e-03 2.97818974e-05 9.99995240e-01 -1.07760363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters Centerline goodness : 0.990730 with order 1 Centerline is valid? [True, True] Translation: X:351.99, Y:-27.25, Z:-1.08 [[ 9.93240793e-01 1.16031714e-01 3.06063259e-03 3.51990099e+02] [-1.16031060e-01 9.93245509e-01 -3.90961297e-04 -2.72456767e+01] [-3.08532349e-03 3.31902641e-05 9.99995240e-01 -1.07758137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters Centerline goodness : 0.990251 with order 1 Centerline is valid? [True, True] Translation: X:352.05, Y:-27.25, Z:-1.08 [[ 9.92995108e-01 1.18115823e-01 3.06055953e-03 3.52052436e+02] [-1.18115178e-01 9.92999825e-01 -3.91532428e-04 -2.72528375e+01] [-3.08538125e-03 2.72912531e-05 9.99995240e-01 -1.07829719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters Centerline goodness : 0.990115 with order 1 Centerline is valid? [True, True] Translation: X:352.11, Y:-27.26, Z:-1.08 [[ 9.92470693e-01 1.22444094e-01 3.06048572e-03 3.52114699e+02] [-1.22443467e-01 9.92475412e-01 -3.92108490e-04 -2.72563435e+01] [-3.08546820e-03 1.44197016e-05 9.99995240e-01 -1.08227386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters Centerline goodness : 0.990524 with order 1 Centerline is valid? [True, True] Translation: X:352.18, Y:-27.26, Z:-1.08 [[ 9.92198099e-01 1.24633725e-01 3.06042091e-03 3.52176386e+02] [-1.24633107e-01 9.92202819e-01 -3.92613680e-04 -2.72595879e+01] [-3.08549117e-03 8.12078014e-06 9.99995240e-01 -1.08196743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters Centerline goodness : 0.990462 with order 1 Centerline is valid? [True, True] Translation: X:352.24, Y:-27.26, Z:-1.08 [[ 9.92155673e-01 1.24971017e-01 3.06036106e-03 3.52237307e+02] [-1.24970399e-01 9.92160393e-01 -3.93079651e-04 -2.72631463e+01] [-3.08549260e-03 7.54166290e-06 9.99995240e-01 -1.08002428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters Centerline goodness : 0.990446 with order 1 Centerline is valid? [True, True] Translation: X:352.30, Y:-27.27, Z:-1.08 [[ 9.92274224e-01 1.24026200e-01 3.06035200e-03 3.52298869e+02] [-1.24025578e-01 9.92278943e-01 -3.93150234e-04 -2.72688135e+01] [-3.08548378e-03 1.05509190e-05 9.99995240e-01 -1.08311070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters Centerline goodness : 0.990334 with order 1 Centerline is valid? [True, True] Translation: X:352.36, Y:-27.27, Z:-1.08 [[ 9.92200029e-01 1.24618363e-01 3.06034299e-03 3.52359384e+02] [-1.24617743e-01 9.92204749e-01 -3.93220323e-04 -2.72714088e+01] [-3.08548932e-03 8.78017801e-06 9.99995240e-01 -1.08320292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters Centerline goodness : 0.990376 with order 1 Centerline is valid? [True, True] Translation: X:352.42, Y:-27.28, Z:-1.08 [[ 9.92094334e-01 1.25457031e-01 3.06033854e-03 3.52419623e+02] [-1.25456415e-01 9.92099054e-01 -3.93255000e-04 -2.72765794e+01] [-3.08549557e-03 6.20695586e-06 9.99995240e-01 -1.08267244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters Centerline goodness : 0.990347 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:-27.28, Z:-1.08 [[ 9.92279283e-01 1.23985721e-01 3.06033854e-03 3.52480791e+02] [-1.23985098e-01 9.92284002e-01 -3.93255000e-04 -2.72843566e+01] [-3.08548297e-03 1.07824152e-05 9.99995240e-01 -1.07874958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters Centerline goodness : 0.990711 with order 1 Centerline is valid? [True, True] Translation: X:352.54, Y:-27.30, Z:-1.08 [[ 9.92336657e-01 1.23525678e-01 3.06032919e-03 3.52540501e+02] [-1.23525053e-01 9.92341376e-01 -3.93327696e-04 -2.72960586e+01] [-3.08547735e-03 1.22861657e-05 9.99995240e-01 -1.07633865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters Centerline goodness : 0.990485 with order 1 Centerline is valid? [True, True] Translation: X:352.60, Y:-27.30, Z:-1.08 [[ 9.92127152e-01 1.25197238e-01 3.06026907e-03 3.52601170e+02] [-1.25196619e-01 9.92131872e-01 -3.93794907e-04 -2.73042053e+01] [-3.08549252e-03 7.55927898e-06 9.99995240e-01 -1.07667323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters Centerline goodness : 0.991153 with order 1 Centerline is valid? [True, True] Translation: X:352.66, Y:-27.31, Z:-1.08 [[ 9.91421161e-01 1.30670261e-01 3.06025979e-03 3.52660715e+02] [-1.30669667e-01 9.91425884e-01 -3.93867013e-04 -2.73137512e+01] [-3.08548747e-03 -9.39503838e-06 9.99995240e-01 -1.08096191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters Centerline goodness : 0.990648 with order 1 Centerline is valid? [True, True] Translation: X:352.72, Y:-27.32, Z:-1.08 [[ 9.90945465e-01 1.34230100e-01 3.06023690e-03 3.52721038e+02] [-1.34229523e-01 9.90950190e-01 -3.94044828e-04 -2.73211065e+01] [-3.08543501e-03 -2.02972035e-05 9.99995240e-01 -1.08153820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters Centerline goodness : 0.990646 with order 1 Centerline is valid? [True, True] Translation: X:352.78, Y:-27.33, Z:-1.09 [[ 9.90915052e-01 1.34454436e-01 3.06023690e-03 3.52780662e+02] [-1.34453860e-01 9.90919777e-01 -3.94044828e-04 -2.73276547e+01] [-3.08543034e-03 -2.09957130e-05 9.99995240e-01 -1.08523005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters Centerline goodness : 0.991384 with order 1 Centerline is valid? [True, True] Translation: X:352.84, Y:-27.34, Z:-1.08 [[ 9.91314636e-01 1.31475956e-01 3.06024147e-03 3.52840657e+02] [-1.31475366e-01 9.91319360e-01 -3.94009318e-04 -2.73352525e+01] [-3.08547936e-03 -1.17591623e-05 9.99995240e-01 -1.08404706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:352.90, Y:-27.34, Z:-1.08 [[ 9.91721930e-01 1.28367632e-01 3.06024147e-03 3.52901850e+02] [-1.28367027e-01 9.91726651e-01 -3.94009318e-04 -2.73434059e+01] [-3.08550107e-03 -2.08641727e-06 9.99995240e-01 -1.08150815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters Centerline goodness : 0.991015 with order 1 Centerline is valid? [True, True] Translation: X:352.96, Y:-27.35, Z:-1.08 [[ 9.91916786e-01 1.26853164e-01 3.06023259e-03 3.52962302e+02] [-1.26852552e-01 9.91921506e-01 -3.94078222e-04 -2.73525364e+01] [-3.08550059e-03 2.69448935e-06 9.99995240e-01 -1.08284882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters Centerline goodness : 0.990889 with order 1 Centerline is valid? [True, True] Translation: X:353.02, Y:-27.36, Z:-1.08 [[ 9.92159506e-01 1.24940581e-01 3.06021859e-03 3.53022843e+02] [-1.24939959e-01 9.92164226e-01 -3.94186977e-04 -2.73632112e+01] [-3.08548935e-03 8.75277092e-06 9.99995240e-01 -1.08499673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters Centerline goodness : 0.990695 with order 1 Centerline is valid? [True, True] Translation: X:353.08, Y:-27.38, Z:-1.08 [[ 9.92305729e-01 1.23773893e-01 3.06015777e-03 3.53084406e+02] [-1.23773264e-01 9.92310447e-01 -3.94658533e-04 -2.73751003e+01] [-3.08547495e-03 1.28562071e-05 9.99995240e-01 -1.08190555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters Centerline goodness : 0.991339 with order 1 Centerline is valid? [True, True] Translation: X:353.15, Y:-27.38, Z:-1.08 [[ 9.92073007e-01 1.25625576e-01 3.06009356e-03 3.53145197e+02] [-1.25624955e-01 9.92077726e-01 -3.95155756e-04 -2.73841833e+01] [-3.08549233e-03 7.59924228e-06 9.99995240e-01 -1.08061069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters Centerline goodness : 0.990865 with order 1 Centerline is valid? [True, True] Translation: X:353.21, Y:-27.39, Z:-1.08 [[ 9.91830181e-01 1.27528539e-01 3.06005812e-03 3.53205511e+02] [-1.27527926e-01 9.91834901e-01 -3.95430048e-04 -2.73927199e+01] [-3.08550106e-03 1.95658973e-06 9.99995240e-01 -1.07908838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters Centerline goodness : 0.990439 with order 1 Centerline is valid? [True, True] Translation: X:353.27, Y:-27.41, Z:-1.08 [[ 9.91832679e-01 1.27509110e-01 3.06004917e-03 3.53266174e+02] [-1.27508497e-01 9.91837399e-01 -3.95499263e-04 -2.74067567e+01] [-3.08550097e-03 2.08682255e-06 9.99995240e-01 -1.08147887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters Centerline goodness : 0.990563 with order 1 Centerline is valid? [True, True] Translation: X:353.33, Y:-27.42, Z:-1.08 [[ 9.91657914e-01 1.28861234e-01 3.05998673e-03 3.53326507e+02] [-1.28860625e-01 9.91662635e-01 -3.95981779e-04 -2.74205680e+01] [-3.08550121e-03 -1.63333879e-06 9.99995240e-01 -1.08040799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters Centerline goodness : 0.991265 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:-27.43, Z:-1.08 [[ 9.90750885e-01 1.35658839e-01 3.05992921e-03 3.53386022e+02] [-1.35658262e-01 9.90755610e-01 -3.96425772e-04 -2.74323222e+01] [-3.08542069e-03 -2.23454933e-05 9.99995240e-01 -1.07979629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters Centerline goodness : 0.991322 with order 1 Centerline is valid? [True, True] Translation: X:353.45, Y:-27.44, Z:-1.08 [[ 9.89536716e-01 1.44248829e-01 3.05992487e-03 3.53447313e+02] [-1.44248293e-01 9.89541446e-01 -3.96459245e-04 -2.74407510e+01] [-3.08511127e-03 -4.90779595e-05 9.99995240e-01 -1.08243819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters Centerline goodness : 0.991189 with order 1 Centerline is valid? [True, True] Translation: X:353.51, Y:-27.45, Z:-1.08 [[ 9.88662115e-01 1.50126143e-01 3.05985705e-03 3.53509366e+02] [-1.50125633e-01 9.88666848e-01 -3.96982000e-04 -2.74471848e+01] [-3.08477660e-03 -6.68819129e-05 9.99995240e-01 -1.08051684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters Centerline goodness : 0.991347 with order 1 Centerline is valid? [True, True] Translation: X:353.57, Y:-27.45, Z:-1.08 [[ 9.88025191e-01 1.54262309e-01 3.05979017e-03 3.53569892e+02] [-1.54261817e-01 9.88029926e-01 -3.97496825e-04 -2.74507927e+01] [-3.08448303e-03 -7.92719151e-05 9.99995240e-01 -1.08226300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters Centerline goodness : 0.990920 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:-27.45, Z:-1.08 [[ 9.87018597e-01 1.60576859e-01 3.05978543e-03 3.53630139e+02] [-1.60576397e-01 9.87023334e-01 -3.97533282e-04 -2.74492298e+01] [-3.08391427e-03 -9.89565782e-05 9.99995240e-01 -1.08357659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters Centerline goodness : 0.990492 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:-27.45, Z:-1.08 [[ 9.86743074e-01 1.62261343e-01 3.05979469e-03 3.53690162e+02] [-1.62260889e-01 9.86747813e-01 -3.97462049e-04 -2.74485162e+01] [-3.08373844e-03 -1.04292084e-04 9.99995240e-01 -1.08245627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters Centerline goodness : 0.991411 with order 1 Centerline is valid? [True, True] Translation: X:353.75, Y:-27.45, Z:-1.08 [[ 9.87421752e-01 1.58078843e-01 3.05980392e-03 3.53749209e+02] [-1.58078370e-01 9.87426489e-01 -3.97390985e-04 -2.74472588e+01] [-3.08415055e-03 -9.12963118e-05 9.99995240e-01 -1.08052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:353.81, Y:-27.45, Z:-1.08 [[ 9.88232250e-01 1.52930235e-01 3.05981765e-03 3.53809660e+02] [-1.52929738e-01 9.88236984e-01 -3.97285221e-04 -2.74471771e+01] [-3.08458189e-03 -7.53270435e-05 9.99995240e-01 -1.08031718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters Centerline goodness : 0.991318 with order 1 Centerline is valid? [True, True] Translation: X:353.87, Y:-27.45, Z:-1.08 [[ 9.89059225e-01 1.47487240e-01 3.05982670e-03 3.53869409e+02] [-1.47486717e-01 9.89063957e-01 -3.97215517e-04 -2.74479581e+01] [-3.08494852e-03 -5.84141222e-05 9.99995240e-01 -1.07945586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters Centerline goodness : 0.991470 with order 1 Centerline is valid? [True, True] Translation: X:353.93, Y:-27.45, Z:-1.08 [[ 9.90347301e-01 1.38574388e-01 3.05983580e-03 3.53927653e+02] [-1.38573823e-01 9.90352027e-01 -3.97145362e-04 -2.74544528e+01] [-3.08534877e-03 -3.07013059e-05 9.99995240e-01 -1.07824361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters Centerline goodness : 0.991247 with order 1 Centerline is valid? [True, True] Translation: X:353.99, Y:-27.46, Z:-1.08 [[ 9.91074552e-01 1.33273665e-01 3.05984936e-03 3.53986751e+02] [-1.33273074e-01 9.91079275e-01 -3.97040919e-04 -2.74620867e+01] [-3.08546838e-03 -1.42983800e-05 9.99995240e-01 -1.08358521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters Centerline goodness : 0.991387 with order 1 Centerline is valid? [True, True] Translation: X:354.05, Y:-27.47, Z:-1.09 [[ 9.91571838e-01 1.29521921e-01 3.05985867e-03 3.54045337e+02] [-1.29521313e-01 9.91576559e-01 -3.96969129e-04 -2.74725727e+01] [-3.08550033e-03 -2.69350200e-06 9.99995240e-01 -1.08844275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters Centerline goodness : 0.991842 with order 1 Centerline is valid? [True, True] Translation: X:354.10, Y:-27.48, Z:-1.09 [[ 9.91721218e-01 1.28373137e-01 3.05985378e-03 3.54103955e+02] [-1.28372523e-01 9.91725939e-01 -3.97006796e-04 -2.74838575e+01] [-3.08550137e-03 9.18913286e-07 9.99995240e-01 -1.08711498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters Centerline goodness : 0.991979 with order 1 Centerline is valid? [True, True] Translation: X:354.16, Y:-27.50, Z:-1.09 [[ 9.92111381e-01 1.25322165e-01 3.05985834e-03 3.54163032e+02] [-1.25321537e-01 9.92116099e-01 -3.96971667e-04 -2.74984759e+01] [-3.08548407e-03 1.03739598e-05 9.99995240e-01 -1.08870556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters Centerline goodness : 0.992083 with order 1 Centerline is valid? [True, True] Translation: X:354.22, Y:-27.52, Z:-1.08 [[ 9.92270813e-01 1.24053501e-01 3.05985834e-03 3.54223119e+02] [-1.24052867e-01 9.92275531e-01 -3.96971667e-04 -2.75159745e+01] [-3.08546828e-03 1.43191991e-05 9.99995240e-01 -1.08294283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters Centerline goodness : 0.991449 with order 1 Centerline is valid? [True, True] Translation: X:354.28, Y:-27.52, Z:-1.08 [[ 9.91129487e-01 1.32864510e-01 3.05984902e-03 3.54281916e+02] [-1.32863917e-01 9.91134210e-01 -3.97043480e-04 -2.75242156e+01] [-3.08547403e-03 -1.30220274e-05 9.99995240e-01 -1.08314937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters Centerline goodness : 0.991462 with order 1 Centerline is valid? [True, True] Translation: X:354.34, Y:-27.53, Z:-1.08 [[ 9.89269978e-01 1.46066929e-01 3.05985361e-03 3.54340180e+02] [-1.46066400e-01 9.89274709e-01 -3.97008090e-04 -2.75296168e+01] [-3.08502554e-03 -5.41936160e-05 9.99995240e-01 -1.08342946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:354.40, Y:-27.53, Z:-1.08 [[ 9.88102967e-01 1.53763340e-01 3.05986710e-03 3.54398924e+02] [-1.53762848e-01 9.88107701e-01 -3.96904098e-04 -2.75333552e+01] [-3.08450755e-03 -7.83117624e-05 9.99995240e-01 -1.08333457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters Centerline goodness : 0.990834 with order 1 Centerline is valid? [True, True] Translation: X:354.46, Y:-27.53, Z:-1.09 [[ 9.87164783e-01 1.59675695e-01 3.05988499e-03 3.54458237e+02] [-1.59675232e-01 9.87169521e-01 -3.96766125e-04 -2.75316684e+01] [-3.08397911e-03 -9.69142989e-05 9.99995240e-01 -1.08879016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters Centerline goodness : 0.991182 with order 1 Centerline is valid? [True, True] Translation: X:354.52, Y:-27.53, Z:-1.09 [[ 9.86586446e-01 1.63210972e-01 3.05990351e-03 3.54518054e+02] [-1.63210526e-01 9.86591185e-01 -3.96623259e-04 -2.75260215e+01] [-3.08360710e-03 -1.08105330e-04 9.99995240e-01 -1.08832220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters Centerline goodness : 0.991056 with order 1 Centerline is valid? [True, True] Translation: X:354.58, Y:-27.52, Z:-1.09 [[ 9.86503719e-01 1.63710262e-01 3.05992192e-03 3.54577161e+02] [-1.63709819e-01 9.86508458e-01 -3.96481152e-04 -2.75180676e+01] [-3.08354689e-03 -1.09809134e-04 9.99995240e-01 -1.08914529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters Centerline goodness : 0.991638 with order 1 Centerline is valid? [True, True] Translation: X:354.64, Y:-27.51, Z:-1.09 [[ 9.87192061e-01 1.59506961e-01 3.05994470e-03 3.54637497e+02] [-1.59506498e-01 9.87196799e-01 -3.96305331e-04 -2.75122211e+01] [-3.08398107e-03 -9.68515849e-05 9.99995240e-01 -1.09018408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters Centerline goodness : 0.991069 with order 1 Centerline is valid? [True, True] Translation: X:354.70, Y:-27.51, Z:-1.09 [[ 9.88345902e-01 1.52194005e-01 3.05996284e-03 3.54696304e+02] [-1.52193507e-01 9.88350636e-01 -3.96165182e-04 -2.75071233e+01] [-3.08461018e-03 -7.41582424e-05 9.99995240e-01 -1.09330749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters Centerline goodness : 0.991873 with order 1 Centerline is valid? [True, True] Translation: X:354.76, Y:-27.51, Z:-1.09 [[ 9.89503330e-01 1.44477665e-01 3.05998727e-03 3.54755884e+02] [-1.44477131e-01 9.89508061e-01 -3.95976365e-04 -2.75075125e+01] [-3.08509181e-03 -5.02782500e-05 9.99995240e-01 -1.08618900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters Centerline goodness : 0.991463 with order 1 Centerline is valid? [True, True] Translation: X:354.81, Y:-27.51, Z:-1.09 [[ 9.90413087e-01 1.38103416e-01 3.06000500e-03 3.54814912e+02] [-1.38102852e-01 9.90417814e-01 -3.95839367e-04 -2.75113348e+01] [-3.08535023e-03 -3.05509273e-05 9.99995240e-01 -1.08509134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters Centerline goodness : 0.991917 with order 1 Centerline is valid? [True, True] Translation: X:354.87, Y:-27.52, Z:-1.08 [[ 9.91048578e-01 1.33466674e-01 3.06002277e-03 3.54872961e+02] [-1.33466088e-01 9.91053302e-01 -3.95701889e-04 -2.75182608e+01] [-3.08545869e-03 -1.62494759e-05 9.99995240e-01 -1.08425206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters Centerline goodness : 0.992304 with order 1 Centerline is valid? [True, True] Translation: X:354.93, Y:-27.53, Z:-1.08 [[ 9.91719413e-01 1.28387080e-01 3.06004073e-03 3.54931658e+02] [-1.28386471e-01 9.91724134e-01 -3.95562952e-04 -2.75260247e+01] [-3.08550142e-03 -5.80372660e-07 9.99995240e-01 -1.08419602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters Centerline goodness : 0.993102 with order 1 Centerline is valid? [True, True] Translation: X:354.99, Y:-27.53, Z:-1.09 [[ 9.92604287e-01 1.21356358e-01 3.06005856e-03 3.54990059e+02] [-1.21355716e-01 9.92609003e-01 -3.95424999e-04 -2.75340737e+01] [-3.08542902e-03 2.11449511e-05 9.99995240e-01 -1.08711907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters Centerline goodness : 0.992764 with order 1 Centerline is valid? [True, True] Translation: X:355.05, Y:-27.54, Z:-1.09 [[ 9.92880075e-01 1.19078936e-01 3.06007718e-03 3.55047721e+02] [-1.19078283e-01 9.92884790e-01 -3.95280838e-04 -2.75410943e+01] [-3.08537371e-03 2.80777319e-05 9.99995240e-01 -1.08809053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters Centerline goodness : 0.993175 with order 1 Centerline is valid? [True, True] Translation: X:355.11, Y:-27.55, Z:-1.09 [[ 9.93161306e-01 1.16710137e-01 3.06010186e-03 3.55105864e+02] [-1.16709474e-01 9.93166020e-01 -3.95089714e-04 -2.75485917e+01] [-3.08530016e-03 3.52449380e-05 9.99995240e-01 -1.08600889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters Centerline goodness : 0.992741 with order 1 Centerline is valid? [True, True] Translation: X:355.16, Y:-27.56, Z:-1.09 [[ 9.93484840e-01 1.13923257e-01 3.06012026e-03 3.55162843e+02] [-1.13922580e-01 9.93489552e-01 -3.94947140e-04 -2.75566847e+01] [-3.08519117e-03 4.37572001e-05 9.99995240e-01 -1.08848454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters Centerline goodness : 0.992080 with order 1 Centerline is valid? [True, True] Translation: X:355.22, Y:-27.57, Z:-1.09 [[ 9.93764350e-01 1.11458751e-01 3.06014307e-03 3.55220319e+02] [-1.11458064e-01 9.93769060e-01 -3.94770281e-04 -2.75671683e+01] [-3.08507611e-03 5.12310099e-05 9.99995240e-01 -1.09282438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters Centerline goodness : 0.992127 with order 1 Centerline is valid? [True, True] Translation: X:355.28, Y:-27.58, Z:-1.09 [[ 9.93969612e-01 1.09613160e-01 3.06016102e-03 3.55276770e+02] [-1.09612465e-01 9.93974322e-01 -3.94631088e-04 -2.75786972e+01] [-3.08497824e-03 5.68195173e-05 9.99995240e-01 -1.09284989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters Centerline goodness : 0.992657 with order 1 Centerline is valid? [True, True] Translation: X:355.33, Y:-27.59, Z:-1.09 [[ 9.93933775e-01 1.09937647e-01 3.06018505e-03 3.55333967e+02] [-1.09936953e-01 9.93938484e-01 -3.94444680e-04 -2.75941130e+01] [-3.08500001e-03 5.56244699e-05 9.99995240e-01 -1.09393292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters Centerline goodness : 0.992362 with order 1 Centerline is valid? [True, True] Translation: X:355.39, Y:-27.61, Z:-1.09 [[ 9.93749791e-01 1.11588481e-01 3.06020360e-03 3.55391587e+02] [-1.11587795e-01 9.93754501e-01 -3.94300743e-04 -2.76116261e+01] [-3.08509052e-03 5.03549074e-05 9.99995240e-01 -1.09271459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters Centerline goodness : 0.992849 with order 1 Centerline is valid? [True, True] Translation: X:355.45, Y:-27.63, Z:-1.10 [[ 9.93318181e-01 1.15367356e-01 3.06021302e-03 3.55449341e+02] [-1.15366689e-01 9.93322894e-01 -3.94227613e-04 -2.76251161e+01] [-3.08526065e-03 3.85468130e-05 9.99995240e-01 -1.09719156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters Centerline goodness : 0.992272 with order 1 Centerline is valid? [True, True] Translation: X:355.51, Y:-27.64, Z:-1.09 [[ 9.92929333e-01 1.18667499e-01 3.06022699e-03 3.55508094e+02] [-1.18666848e-01 9.92934048e-01 -3.94119162e-04 -2.76356220e+01] [-3.08537270e-03 2.81849859e-05 9.99995240e-01 -1.09472887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters Centerline goodness : 0.993199 with order 1 Centerline is valid? [True, True] Translation: X:355.57, Y:-27.64, Z:-1.09 [[ 9.92449491e-01 1.22615837e-01 3.06023624e-03 3.55566687e+02] [-1.22615205e-01 9.92454209e-01 -3.94047318e-04 -2.76444266e+01] [-3.08546077e-03 1.58405666e-05 9.99995240e-01 -1.09027054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:355.62, Y:-27.65, Z:-1.09 [[ 9.92431558e-01 1.22760900e-01 3.06025464e-03 3.55624640e+02] [-1.22760269e-01 9.92436276e-01 -3.93904308e-04 -2.76535960e+01] [-3.08546377e-03 1.52453838e-05 9.99995240e-01 -1.08575328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:355.68, Y:-27.66, Z:-1.09 [[ 9.92739870e-01 1.20242198e-01 3.06026836e-03 3.55683655e+02] [-1.20241555e-01 9.92744586e-01 -3.93797690e-04 -2.76623136e+01] [-3.08541595e-03 2.29672400e-05 9.99995240e-01 -1.08648420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters Centerline goodness : 0.992887 with order 1 Centerline is valid? [True, True] Translation: X:355.74, Y:-27.67, Z:-1.09 [[ 9.93161456e-01 1.16708856e-01 3.06027758e-03 3.55742009e+02] [-1.16708197e-01 9.93166170e-01 -3.93726063e-04 -2.76744277e+01] [-3.08531548e-03 3.38740732e-05 9.99995240e-01 -1.09043846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters Centerline goodness : 0.992135 with order 1 Centerline is valid? [True, True] Translation: X:355.80, Y:-27.69, Z:-1.09 [[ 9.93547260e-01 1.13377586e-01 3.06028703e-03 3.55800286e+02] [-1.13376911e-01 9.93551972e-01 -3.93652571e-04 -2.76871226e+01] [-3.08518559e-03 4.41465424e-05 9.99995240e-01 -1.09196072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters Centerline goodness : 0.992378 with order 1 Centerline is valid? [True, True] Translation: X:355.86, Y:-27.70, Z:-1.09 [[ 9.93385237e-01 1.14788528e-01 3.06028184e-03 3.55857591e+02] [-1.14787860e-01 9.93389950e-01 -3.93692933e-04 -2.76986635e+01] [-3.08524466e-03 3.98055448e-05 9.99995240e-01 -1.09427635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters Centerline goodness : 0.992572 with order 1 Centerline is valid? [True, True] Translation: X:355.92, Y:-27.71, Z:-1.09 [[ 9.93013277e-01 1.17962991e-01 3.06029520e-03 3.55916039e+02] [-1.17962338e-01 9.93017992e-01 -3.93589078e-04 -2.77089435e+01] [-3.08535714e-03 2.98396042e-05 9.99995240e-01 -1.09441181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters Centerline goodness : 0.992053 with order 1 Centerline is valid? [True, True] Translation: X:355.97, Y:-27.72, Z:-1.09 [[ 9.92432404e-01 1.22754056e-01 3.06030441e-03 3.55974610e+02] [-1.22753426e-01 9.92437122e-01 -3.93517471e-04 -2.77186696e+01] [-3.08546556e-03 1.48766385e-05 9.99995240e-01 -1.09260825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters Centerline goodness : 0.991971 with order 1 Centerline is valid? [True, True] Translation: X:356.03, Y:-27.73, Z:-1.09 [[ 9.92423917e-01 1.22822652e-01 3.06031355e-03 3.56033801e+02] [-1.22822023e-01 9.92428635e-01 -3.93446327e-04 -2.77303023e+01] [-3.08546692e-03 1.45916453e-05 9.99995240e-01 -1.09460996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters Centerline goodness : 0.992779 with order 1 Centerline is valid? [True, True] Translation: X:356.09, Y:-27.74, Z:-1.09 [[ 9.92541902e-01 1.21865533e-01 3.06031355e-03 3.56093392e+02] [-1.21864899e-01 9.92546619e-01 -3.93446327e-04 -2.77407810e+01] [-3.08545142e-03 1.75671641e-05 9.99995240e-01 -1.09391917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters Centerline goodness : 0.991437 with order 1 Centerline is valid? [True, True] Translation: X:356.15, Y:-27.75, Z:-1.09 [[ 9.92542454e-01 1.21861033e-01 3.06030889e-03 3.56152337e+02] [-1.21860399e-01 9.92547172e-01 -3.93482583e-04 -2.77522911e+01] [-3.08545113e-03 1.76177066e-05 9.99995240e-01 -1.08968950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters Centerline goodness : 0.991630 with order 1 Centerline is valid? [True, True] Translation: X:356.21, Y:-27.76, Z:-1.09 [[ 9.92626826e-01 1.21171854e-01 3.06031335e-03 3.56212275e+02] [-1.21171216e-01 9.92631544e-01 -3.93447902e-04 -2.77628509e+01] [-3.08543838e-03 1.97250517e-05 9.99995240e-01 -1.08945864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters Centerline goodness : 0.991756 with order 1 Centerline is valid? [True, True] Translation: X:356.27, Y:-27.78, Z:-1.09 [[ 9.92740308e-01 1.20238576e-01 3.06031335e-03 3.56272255e+02] [-1.20237934e-01 9.92745025e-01 -3.93447902e-04 -2.77767657e+01] [-3.08541847e-03 2.26258367e-05 9.99995240e-01 -1.09316739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters Centerline goodness : 0.991457 with order 1 Centerline is valid? [True, True] Translation: X:356.33, Y:-27.79, Z:-1.09 [[ 9.92777248e-01 1.19933188e-01 3.06030436e-03 3.56332384e+02] [-1.19932545e-01 9.92781965e-01 -3.93517807e-04 -2.77891126e+01] [-3.08541082e-03 2.36454360e-05 9.99995240e-01 -1.09229081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters Centerline goodness : 0.991519 with order 1 Centerline is valid? [True, True] Translation: X:356.39, Y:-27.81, Z:-1.10 [[ 9.92836122e-01 1.19444834e-01 3.06029544e-03 3.56393251e+02] [-1.19444189e-01 9.92840839e-01 -3.93587166e-04 -2.78053799e+01] [-3.08539824e-03 2.52330505e-05 9.99995240e-01 -1.09901640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters Centerline goodness : 0.991311 with order 1 Centerline is valid? [True, True] Translation: X:356.45, Y:-27.82, Z:-1.10 [[ 9.92722676e-01 1.20384069e-01 3.06023356e-03 3.56453839e+02] [-1.20383426e-01 9.92727392e-01 -3.94067722e-04 -2.78230060e+01] [-3.08541716e-03 2.27985645e-05 9.99995240e-01 -1.09685547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters Centerline goodness : 0.990848 with order 1 Centerline is valid? [True, True] Translation: X:356.51, Y:-27.84, Z:-1.09 [[ 9.92171326e-01 1.24846687e-01 3.06016765e-03 3.56513517e+02] [-1.24846064e-01 9.92176045e-01 -3.94578843e-04 -2.78355396e+01] [-3.08548690e-03 9.43992616e-06 9.99995240e-01 -1.09252019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters Centerline goodness : 0.990803 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:-27.85, Z:-1.09 [[ 9.91371675e-01 1.31045176e-01 3.06011129e-03 3.56575369e+02] [-1.31044581e-01 9.91376398e-01 -3.95015473e-04 -2.78450931e+01] [-3.08548698e-03 -9.40385200e-06 9.99995240e-01 -1.09271500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters Centerline goodness : 0.990938 with order 1 Centerline is valid? [True, True] Translation: X:356.64, Y:-27.85, Z:-1.09 [[ 9.90723087e-01 1.35861695e-01 3.06004719e-03 3.56636386e+02] [-1.35861122e-01 9.90727813e-01 -3.95511442e-04 -2.78540050e+01] [-3.08540871e-03 -2.38991272e-05 9.99995240e-01 -1.09043390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters Centerline goodness : 0.991473 with order 1 Centerline is valid? [True, True] Translation: X:356.70, Y:-27.86, Z:-1.09 [[ 9.90554270e-01 1.37087105e-01 3.05998841e-03 3.56697812e+02] [-1.37086536e-01 9.90558996e-01 -3.95965694e-04 -2.78619367e+01] [-3.08538084e-03 -2.72577020e-05 9.99995240e-01 -1.09441299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters Centerline goodness : 0.991341 with order 1 Centerline is valid? [True, True] Translation: X:356.76, Y:-27.87, Z:-1.10 [[ 9.90467678e-01 1.37711348e-01 3.05992608e-03 3.56759326e+02] [-1.37710780e-01 9.90472404e-01 -3.96446751e-04 -2.78698369e+01] [-3.08536756e-03 -2.87171158e-05 9.99995240e-01 -1.09581895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters Centerline goodness : 0.991075 with order 1 Centerline is valid? [True, True] Translation: X:356.82, Y:-27.88, Z:-1.10 [[ 9.90583497e-01 1.36875754e-01 3.05986385e-03 3.56820886e+02] [-1.36875181e-01 9.90588223e-01 -3.96926495e-04 -2.78795059e+01] [-3.08539470e-03 -2.56305819e-05 9.99995240e-01 -1.09536037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters Centerline goodness : 0.991778 with order 1 Centerline is valid? [True, True] Translation: X:356.88, Y:-27.89, Z:-1.10 [[ 9.91125969e-01 1.32890748e-01 3.05980177e-03 3.56883179e+02] [-1.32890155e-01 9.91130692e-01 -3.97404457e-04 -2.78896062e+01] [-3.08547482e-03 -1.27396528e-05 9.99995240e-01 -1.09650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:356.95, Y:-27.90, Z:-1.09 [[ 9.91362504e-01 1.31114542e-01 3.05973004e-03 3.56945597e+02] [-1.31113939e-01 9.91367226e-01 -3.97955997e-04 -2.79002004e+01] [-3.08549390e-03 -6.65460254e-06 9.99995240e-01 -1.09478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters Centerline goodness : 0.991557 with order 1 Centerline is valid? [True, True] Translation: X:357.01, Y:-27.91, Z:-1.10 [[ 9.91096938e-01 1.33107095e-01 3.05965774e-03 3.57008325e+02] [-1.33106499e-01 9.91101660e-01 -3.98511042e-04 -2.79096162e+01] [-3.08547652e-03 -1.22972571e-05 9.99995240e-01 -1.09632170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters Centerline goodness : 0.992316 with order 1 Centerline is valid? [True, True] Translation: X:357.07, Y:-27.92, Z:-1.10 [[ 9.90471265e-01 1.37685554e-01 3.05958068e-03 3.57069735e+02] [-1.37684978e-01 9.90475990e-01 -3.99101800e-04 -2.79179758e+01] [-3.08539176e-03 -2.59594346e-05 9.99995240e-01 -1.09500367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters Centerline goodness : 0.991580 with order 1 Centerline is valid? [True, True] Translation: X:357.13, Y:-27.93, Z:-1.10 [[ 9.89979867e-01 1.41175433e-01 3.05953314e-03 3.57130020e+02] [-1.41174872e-01 9.89984594e-01 -3.99465960e-04 -2.79265164e+01] [-3.08528545e-03 -3.64659411e-05 9.99995240e-01 -1.09817675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters Centerline goodness : 0.992191 with order 1 Centerline is valid? [True, True] Translation: X:357.19, Y:-27.94, Z:-1.10 [[ 9.89896495e-01 1.41758838e-01 3.05952446e-03 3.57192375e+02] [-1.41758281e-01 9.89901222e-01 -3.99532408e-04 -2.79354179e+01] [-3.08526425e-03 -3.82171960e-05 9.99995240e-01 -1.09840076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters Centerline goodness : 0.992397 with order 1 Centerline is valid? [True, True] Translation: X:357.25, Y:-27.95, Z:-1.10 [[ 9.89646064e-01 1.43496720e-01 3.05944984e-03 3.57254495e+02] [-1.43496169e-01 9.89650792e-01 -4.00102959e-04 -2.79457077e+01] [-3.08520042e-03 -4.30590135e-05 9.99995240e-01 -1.10127973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters Centerline goodness : 0.991627 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:-27.95, Z:-1.10 [[ 9.89292553e-01 1.45913962e-01 3.05937588e-03 3.57316428e+02] [-1.45913420e-01 9.89297283e-01 -4.00667738e-04 -2.79537070e+01] [-3.08509526e-03 -5.00263898e-05 9.99995240e-01 -1.10066876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters Centerline goodness : 0.992326 with order 1 Centerline is valid? [True, True] Translation: X:357.38, Y:-27.96, Z:-1.10 [[ 9.88865334e-01 1.48781690e-01 3.05930711e-03 3.57378166e+02] [-1.48781160e-01 9.88870065e-01 -4.01192177e-04 -2.79623678e+01] [-3.08494727e-03 -5.84422245e-05 9.99995240e-01 -1.10004583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters Centerline goodness : 0.993083 with order 1 Centerline is valid? [True, True] Translation: X:357.44, Y:-27.97, Z:-1.10 [[ 9.88306071e-01 1.52452458e-01 3.05924359e-03 3.57438678e+02] [-1.52451945e-01 9.88310803e-01 -4.01675894e-04 -2.79688171e+01] [-3.08471997e-03 -6.94089110e-05 9.99995240e-01 -1.09635198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters Centerline goodness : 0.992903 with order 1 Centerline is valid? [True, True] Translation: X:357.50, Y:-27.97, Z:-1.10 [[ 9.87939445e-01 1.54810514e-01 3.05918533e-03 3.57499335e+02] [-1.54810011e-01 9.87944178e-01 -4.02119140e-04 -2.79731161e+01] [-3.08455661e-03 -7.63231537e-05 9.99995240e-01 -1.09889208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters Centerline goodness : 0.993600 with order 1 Centerline is valid? [True, True] Translation: X:357.56, Y:-27.98, Z:-1.10 [[ 9.87799253e-01 1.55702528e-01 3.05918533e-03 3.57559276e+02] [-1.55702028e-01 9.87803987e-01 -4.02119140e-04 -2.79778334e+01] [-3.08448643e-03 -7.91083756e-05 9.99995240e-01 -1.09893325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters Centerline goodness : 0.995193 with order 1 Centerline is valid? [True, True] Translation: X:357.62, Y:-27.98, Z:-1.10 [[ 9.87765545e-01 1.55916228e-01 3.05918533e-03 3.57620095e+02] [-1.55915730e-01 9.87770279e-01 -4.02119140e-04 -2.79806294e+01] [-3.08446925e-03 -7.97756826e-05 9.99995240e-01 -1.10182018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters Centerline goodness : 0.993474 with order 1 Centerline is valid? [True, True] Translation: X:357.68, Y:-27.98, Z:-1.10 [[ 9.87709747e-01 1.56269311e-01 3.05918533e-03 3.57681228e+02] [-1.56268815e-01 9.87714481e-01 -4.02119140e-04 -2.79823563e+01] [-3.08444053e-03 -8.08782727e-05 9.99995240e-01 -1.09970249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters Centerline goodness : 0.993090 with order 1 Centerline is valid? [True, True] Translation: X:357.74, Y:-27.99, Z:-1.10 [[ 9.87642403e-01 1.56694371e-01 3.05918533e-03 3.57740801e+02] [-1.56693876e-01 9.87647137e-01 -4.02119140e-04 -2.79873751e+01] [-3.08440544e-03 -8.22056945e-05 9.99995240e-01 -1.09731580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters Centerline goodness : 0.993564 with order 1 Centerline is valid? [True, True] Translation: X:357.80, Y:-27.99, Z:-1.10 [[ 9.87819270e-01 1.55575486e-01 3.05919390e-03 3.57801151e+02] [-1.55574987e-01 9.87824004e-01 -4.02053966e-04 -2.79911124e+01] [-3.08449490e-03 -7.87773945e-05 9.99995240e-01 -1.10242999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters Centerline goodness : 0.993151 with order 1 Centerline is valid? [True, True] Translation: X:357.86, Y:-28.00, Z:-1.10 [[ 9.88437846e-01 1.51595731e-01 3.05919390e-03 3.57861572e+02] [-1.51595213e-01 9.88442578e-01 -4.02053966e-04 -2.79967275e+01] [-3.08478717e-03 -6.63537934e-05 9.99995240e-01 -1.10291168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters Centerline goodness : 0.993690 with order 1 Centerline is valid? [True, True] Translation: X:357.92, Y:-28.00, Z:-1.10 [[ 9.88700455e-01 1.49873455e-01 3.05919390e-03 3.57921087e+02] [-1.49872928e-01 9.88705185e-01 -4.02053966e-04 -2.80012053e+01] [-3.08489809e-03 -6.09794087e-05 9.99995240e-01 -1.09708617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters Centerline goodness : 0.993771 with order 1 Centerline is valid? [True, True] Translation: X:357.98, Y:-28.00, Z:-1.10 [[ 9.88760351e-01 1.49477788e-01 3.05919828e-03 3.57979678e+02] [-1.49477260e-01 9.88765082e-01 -4.02020570e-04 -2.80046826e+01] [-3.08492159e-03 -5.97785765e-05 9.99995240e-01 -1.09995056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters Centerline goodness : 0.994018 with order 1 Centerline is valid? [True, True] Translation: X:358.04, Y:-28.01, Z:-1.10 [[ 9.89331331e-01 1.45650812e-01 3.05920704e-03 3.58040542e+02] [-1.45650265e-01 9.89336060e-01 -4.01953912e-04 -2.80088134e+01] [-3.08512875e-03 -4.79087181e-05 9.99995240e-01 -1.09934616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters Centerline goodness : 0.993883 with order 1 Centerline is valid? [True, True] Translation: X:358.10, Y:-28.02, Z:-1.10 [[ 9.90207168e-01 1.39572226e-01 3.05920704e-03 3.58099251e+02] [-1.39571651e-01 9.90211893e-01 -4.01953912e-04 -2.80159279e+01] [-3.08536480e-03 -2.89609316e-05 9.99995240e-01 -1.10221622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:358.16, Y:-28.02, Z:-1.10 [[ 9.90753545e-01 1.35639426e-01 3.05921155e-03 3.58159977e+02] [-1.35638832e-01 9.90758268e-01 -4.01919630e-04 -2.80241375e+01] [-3.08545528e-03 -1.67445820e-05 9.99995240e-01 -1.10299937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:358.22, Y:-28.03, Z:-1.10 [[ 9.90728373e-01 1.35823166e-01 3.05920216e-03 3.58220249e+02] [-1.35822572e-01 9.90733096e-01 -4.01991087e-04 -2.80320606e+01] [-3.08545253e-03 -1.72447294e-05 9.99995240e-01 -1.10304642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters Centerline goodness : 0.993990 with order 1 Centerline is valid? [True, True] Translation: X:358.28, Y:-28.04, Z:-1.10 [[ 9.90277778e-01 1.39070358e-01 3.05920216e-03 3.58279131e+02] [-1.39069780e-01 9.90282503e-01 -4.01991087e-04 -2.80390390e+01] [-3.08537941e-03 -2.73597297e-05 9.99995240e-01 -1.09961939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters Centerline goodness : 0.993184 with order 1 Centerline is valid? [True, True] Translation: X:358.34, Y:-28.04, Z:-1.10 [[ 9.89865541e-01 1.41974826e-01 3.05920678e-03 3.58337255e+02] [-1.41974261e-01 9.89870268e-01 -4.01955882e-04 -2.80444786e+01] [-3.08528545e-03 -3.64463460e-05 9.99995240e-01 -1.09999510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters Centerline goodness : 0.994206 with order 1 Centerline is valid? [True, True] Translation: X:358.40, Y:-28.05, Z:-1.10 [[ 9.89763177e-01 1.42686701e-01 3.05922042e-03 3.58396182e+02] [-1.42686140e-01 9.89767904e-01 -4.01852092e-04 -2.80486894e+01] [-3.08525713e-03 -3.87699504e-05 9.99995240e-01 -1.10133457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters Centerline goodness : 0.993710 with order 1 Centerline is valid? [True, True] Translation: X:358.46, Y:-28.05, Z:-1.10 [[ 9.89999823e-01 1.41035426e-01 3.05923348e-03 3.58455584e+02] [-1.41034858e-01 9.90004549e-01 -4.01752651e-04 -2.80520040e+01] [-3.08531641e-03 -3.37235068e-05 9.99995240e-01 -1.10272997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:358.52, Y:-28.06, Z:-1.11 [[ 9.90191486e-01 1.39683433e-01 3.05924241e-03 3.58515114e+02] [-1.39682859e-01 9.90196212e-01 -4.01684596e-04 -2.80557896e+01] [-3.08535893e-03 -2.95790596e-05 9.99995240e-01 -1.10644352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters Centerline goodness : 0.994232 with order 1 Centerline is valid? [True, True] Translation: X:358.57, Y:-28.06, Z:-1.10 [[ 9.89884804e-01 1.41840459e-01 3.05925132e-03 3.58573167e+02] [-1.41839895e-01 9.89889531e-01 -4.01616736e-04 -2.80551279e+01] [-3.08528636e-03 -3.63695832e-05 9.99995240e-01 -1.10368744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters Centerline goodness : 0.994066 with order 1 Centerline is valid? [True, True] Translation: X:358.63, Y:-28.06, Z:-1.10 [[ 9.89390856e-01 1.45245914e-01 3.05927339e-03 3.58632515e+02] [-1.45245367e-01 9.89395584e-01 -4.01448541e-04 -2.80565169e+01] [-3.08514034e-03 -4.71557704e-05 9.99995240e-01 -1.10495272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters Centerline goodness : 0.993588 with order 1 Centerline is valid? [True, True] Translation: X:358.69, Y:-28.06, Z:-1.11 [[ 9.88947772e-01 1.48232737e-01 3.05929084e-03 3.58691566e+02] [-1.48232204e-01 9.88952503e-01 -4.01315521e-04 -2.80587351e+01] [-3.08498143e-03 -5.66053341e-05 9.99995240e-01 -1.10762860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters Centerline goodness : 0.993872 with order 1 Centerline is valid? [True, True] Translation: X:358.75, Y:-28.06, Z:-1.10 [[ 9.89108786e-01 1.47154509e-01 3.05930811e-03 3.58750990e+02] [-1.47153972e-01 9.89113516e-01 -4.01183846e-04 -2.80588638e+01] [-3.08503901e-03 -5.33748708e-05 9.99995240e-01 -1.10469916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters Centerline goodness : 0.994375 with order 1 Centerline is valid? [True, True] Translation: X:358.81, Y:-28.07, Z:-1.11 [[ 9.89905972e-01 1.41692650e-01 3.05932635e-03 3.58809188e+02] [-1.41692087e-01 9.89910699e-01 -4.01044654e-04 -2.80651806e+01] [-3.08528497e-03 -3.64858370e-05 9.99995240e-01 -1.10521831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters Centerline goodness : 0.994268 with order 1 Centerline is valid? [True, True] Translation: X:358.87, Y:-28.07, Z:-1.11 [[ 9.91334838e-01 1.31323571e-01 3.05934497e-03 3.58867602e+02] [-1.31322959e-01 9.91339558e-01 -4.00902583e-04 -2.80726527e+01] [-3.08549765e-03 -4.33353865e-06 9.99995240e-01 -1.10600851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters Centerline goodness : 0.994153 with order 1 Centerline is valid? [True, True] Translation: X:358.93, Y:-28.08, Z:-1.11 [[ 9.91691612e-01 1.28601661e-01 3.05935884e-03 3.58925111e+02] [-1.28601037e-01 9.91696331e-01 -4.00796741e-04 -2.80819831e+01] [-3.08549806e-03 4.03004849e-06 9.99995240e-01 -1.10565281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:358.98, Y:-28.09, Z:-1.11 [[ 9.91157548e-01 1.32655026e-01 3.05938158e-03 3.58983605e+02] [-1.32654421e-01 9.91162269e-01 -4.00623041e-04 -2.80877799e+01] [-3.08548825e-03 -8.75994308e-06 9.99995240e-01 -1.10647701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:359.04, Y:-28.09, Z:-1.11 [[ 9.90862867e-01 1.34838490e-01 3.05939923e-03 3.59042015e+02] [-1.34837896e-01 9.90867590e-01 -4.00488216e-04 -2.80945633e+01] [-3.08546077e-03 -1.56940527e-05 9.99995240e-01 -1.10720836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:359.10, Y:-28.10, Z:-1.10 [[ 9.90856783e-01 1.34883189e-01 3.05941714e-03 3.59100190e+02] [-1.34882595e-01 9.90861507e-01 -4.00351361e-04 -2.81017909e+01] [-3.08545935e-03 -1.59712621e-05 9.99995240e-01 -1.10450951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters Centerline goodness : 0.993943 with order 1 Centerline is valid? [True, True] Translation: X:359.16, Y:-28.11, Z:-1.11 [[ 9.90568404e-01 1.36984951e-01 3.05943532e-03 3.59158041e+02] [-1.36984368e-01 9.90573128e-01 -4.00212406e-04 -2.81060230e+01] [-3.08541749e-03 -2.26570495e-05 9.99995240e-01 -1.10862239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters Centerline goodness : 0.994342 with order 1 Centerline is valid? [True, True] Translation: X:359.22, Y:-28.11, Z:-1.11 [[ 9.90096228e-01 1.40357044e-01 3.05945780e-03 3.59216323e+02] [-1.40356478e-01 9.90100954e-01 -4.00040491e-04 -2.81058154e+01] [-3.08532058e-03 -3.33361414e-05 9.99995240e-01 -1.10640471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:359.28, Y:-28.11, Z:-1.10 [[ 9.90077541e-01 1.40488795e-01 3.05948147e-03 3.59275288e+02] [-1.40488230e-01 9.90082268e-01 -3.99859346e-04 -2.81097311e+01] [-3.08531411e-03 -3.39293804e-05 9.99995240e-01 -1.10232261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters Centerline goodness : 0.994031 with order 1 Centerline is valid? [True, True] Translation: X:359.33, Y:-28.11, Z:-1.10 [[ 9.90550336e-01 1.37115538e-01 3.05949872e-03 3.59333284e+02] [-1.37114958e-01 9.90555061e-01 -3.99727329e-04 -2.81140664e+01] [-3.08541077e-03 -2.35529971e-05 9.99995240e-01 -1.09864732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters Centerline goodness : 0.994307 with order 1 Centerline is valid? [True, True] Translation: X:359.39, Y:-28.12, Z:-1.10 [[ 9.90972115e-01 1.34033227e-01 3.05952010e-03 3.59391855e+02] [-1.34032632e-01 9.90976838e-01 -3.99563658e-04 -2.81201656e+01] [-3.08546836e-03 -1.41190874e-05 9.99995240e-01 -1.09933920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:359.45, Y:-28.13, Z:-1.10 [[ 9.91722162e-01 1.28365853e-01 3.05953877e-03 3.59448544e+02] [-1.28365231e-01 9.91726882e-01 -3.99420642e-04 -2.81292785e+01] [-3.08549881e-03 3.37590097e-06 9.99995240e-01 -1.10451561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters Centerline goodness : 0.994121 with order 1 Centerline is valid? [True, True] Translation: X:359.51, Y:-28.14, Z:-1.11 [[ 9.92180112e-01 1.24776861e-01 3.05956175e-03 3.59506286e+02] [-1.24776223e-01 9.92184829e-01 -3.99244534e-04 -2.81410805e+01] [-3.08546723e-03 1.43619281e-05 9.99995240e-01 -1.10690610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters Centerline goodness : 0.993729 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:-28.15, Z:-1.10 [[ 9.92720678e-01 1.20400561e-01 3.05957990e-03 3.59564245e+02] [-1.20399903e-01 9.92725392e-01 -3.99105330e-04 -2.81539284e+01] [-3.08537517e-03 2.78269907e-05 9.99995240e-01 -1.10418132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters Centerline goodness : 0.993920 with order 1 Centerline is valid? [True, True] Translation: X:359.62, Y:-28.17, Z:-1.11 [[ 9.93256051e-01 1.15901059e-01 3.05959854e-03 3.59620759e+02] [-1.15900379e-01 9.93260763e-01 -3.98962438e-04 -2.81719712e+01] [-3.08521935e-03 4.16632243e-05 9.99995240e-01 -1.10511060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters Centerline goodness : 0.993965 with order 1 Centerline is valid? [True, True] Translation: X:359.68, Y:-28.19, Z:-1.10 [[ 9.93479799e-01 1.13967222e-01 3.05961230e-03 3.59679170e+02] [-1.13966534e-01 9.93484509e-01 -3.98856874e-04 -2.81911979e+01] [-3.08513403e-03 4.75628386e-05 9.99995240e-01 -1.10377378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:359.74, Y:-28.21, Z:-1.11 [[ 9.93518555e-01 1.13628866e-01 3.05961230e-03 3.59736030e+02] [-1.13628176e-01 9.93523265e-01 -3.98856874e-04 -2.82115304e+01] [-3.08511766e-03 4.86135388e-05 9.99995240e-01 -1.10630100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters Centerline goodness : 0.993570 with order 1 Centerline is valid? [True, True] Translation: X:359.80, Y:-28.23, Z:-1.11 [[ 9.93511674e-01 1.13689013e-01 3.05960706e-03 3.59795424e+02] [-1.13688323e-01 9.93516384e-01 -3.98897056e-04 -2.82279446e+01] [-3.08511996e-03 4.84672863e-05 9.99995240e-01 -1.10743324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters Centerline goodness : 0.992323 with order 1 Centerline is valid? [True, True] Translation: X:359.85, Y:-28.25, Z:-1.10 [[ 9.92788076e-01 1.19843540e-01 3.05959789e-03 3.59852752e+02] [-1.19842879e-01 9.92792791e-01 -3.98967355e-04 -2.82539414e+01] [-3.08536039e-03 2.94190112e-05 9.99995240e-01 -1.09933731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters Centerline goodness : 0.993137 with order 1 Centerline is valid? [True, True] Translation: X:359.91, Y:-28.27, Z:-1.10 [[ 9.91780334e-01 1.27915629e-01 3.05958873e-03 3.59913210e+02] [-1.27915007e-01 9.91785053e-01 -3.99037649e-04 -2.82666343e+01] [-3.08549752e-03 4.39038004e-06 9.99995240e-01 -1.10176104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters Centerline goodness : 0.993005 with order 1 Centerline is valid? [True, True] Translation: X:359.97, Y:-28.28, Z:-1.10 [[ 9.90149328e-01 1.39981951e-01 3.05957892e-03 3.59973222e+02] [-1.39981385e-01 9.90154055e-01 -3.99112830e-04 -2.82762832e+01] [-3.08532306e-03 -3.31027952e-05 9.99995240e-01 -1.10422685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:360.03, Y:-28.29, Z:-1.10 [[ 9.89444688e-01 1.44878737e-01 3.05957412e-03 3.60032958e+02] [-1.44878196e-01 9.89449417e-01 -3.99149597e-04 -2.82856093e+01] [-3.08512212e-03 -4.83291298e-05 9.99995240e-01 -1.10254162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters Centerline goodness : 0.993167 with order 1 Centerline is valid? [True, True] Translation: X:360.09, Y:-28.29, Z:-1.11 [[ 9.89526118e-01 1.44321521e-01 3.05956951e-03 3.60094374e+02] [-1.44320976e-01 9.89530847e-01 -3.99184979e-04 -2.82903067e+01] [-3.08514939e-03 -4.65560955e-05 9.99995240e-01 -1.10515398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:360.15, Y:-28.29, Z:-1.11 [[ 9.89486537e-01 1.44592642e-01 3.05956021e-03 3.60154565e+02] [-1.44592098e-01 9.89491266e-01 -3.99256195e-04 -2.82907992e+01] [-3.08513762e-03 -4.73296005e-05 9.99995240e-01 -1.10737795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters Centerline goodness : 0.992959 with order 1 Centerline is valid? [True, True] Translation: X:360.22, Y:-28.30, Z:-1.11 [[ 9.89526269e-01 1.44320481e-01 3.05956482e-03 3.60215105e+02] [-1.44319936e-01 9.89530998e-01 -3.99220883e-04 -2.82963094e+01] [-3.08514998e-03 -4.65166479e-05 9.99995240e-01 -1.10722983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters Centerline goodness : 0.993107 with order 1 Centerline is valid? [True, True] Translation: X:360.28, Y:-28.30, Z:-1.11 [[ 9.90159486e-01 1.39910086e-01 3.05956482e-03 3.60275085e+02] [-1.39909521e-01 9.90164212e-01 -3.99220883e-04 -2.83024421e+01] [-3.08532662e-03 -3.27699033e-05 9.99995240e-01 -1.10766417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:360.34, Y:-28.31, Z:-1.10 [[ 9.90978337e-01 1.33987218e-01 3.05956482e-03 3.60335658e+02] [-1.33986624e-01 9.90983060e-01 -3.99220883e-04 -2.83125297e+01] [-3.08546740e-03 -1.43215156e-05 9.99995240e-01 -1.10464278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters Centerline goodness : 0.993352 with order 1 Centerline is valid? [True, True] Translation: X:360.40, Y:-28.32, Z:-1.10 [[ 9.90967524e-01 1.34067167e-01 3.05955568e-03 3.60396032e+02] [-1.34066573e-01 9.90972247e-01 -3.99290916e-04 -2.83201079e+01] [-3.08546657e-03 -1.44998152e-05 9.99995240e-01 -1.10308691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters Centerline goodness : 0.993161 with order 1 Centerline is valid? [True, True] Translation: X:360.46, Y:-28.33, Z:-1.11 [[ 9.90368628e-01 1.38421889e-01 3.05955568e-03 3.60456270e+02] [-1.38421316e-01 9.90373354e-01 -3.99290916e-04 -2.83270509e+01] [-3.08537302e-03 -2.80625259e-05 9.99995240e-01 -1.10641842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters Centerline goodness : 0.994154 with order 1 Centerline is valid? [True, True] Translation: X:360.52, Y:-28.33, Z:-1.10 [[ 9.89810507e-01 1.42357996e-01 3.05955568e-03 3.60515599e+02] [-1.42357442e-01 9.89815235e-01 -3.99290916e-04 -2.83323710e+01] [-3.08523708e-03 -4.03281751e-05 9.99995240e-01 -1.10426395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:360.58, Y:-28.34, Z:-1.10 [[ 9.89573924e-01 1.43993364e-01 3.05956047e-03 3.60575019e+02] [-1.43992818e-01 9.89578652e-01 -3.99254210e-04 -2.83388620e+01] [-3.08516568e-03 -4.54631775e-05 9.99995240e-01 -1.10327007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters Centerline goodness : 0.993814 with order 1 Centerline is valid? [True, True] Translation: X:360.63, Y:-28.34, Z:-1.10 [[ 9.89450296e-01 1.44840435e-01 3.05956510e-03 3.60634017e+02] [-1.44839893e-01 9.89455025e-01 -3.99218726e-04 -2.83407779e+01] [-3.08512508e-03 -4.81399948e-05 9.99995240e-01 -1.10377684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:360.69, Y:-28.35, Z:-1.11 [[ 9.89753057e-01 1.42756877e-01 3.05957899e-03 3.60693194e+02] [-1.42756326e-01 9.89757785e-01 -3.99112220e-04 -2.83472444e+01] [-3.08521814e-03 -4.17517154e-05 9.99995240e-01 -1.11087570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters Centerline goodness : 0.993597 with order 1 Centerline is valid? [True, True] Translation: X:360.75, Y:-28.36, Z:-1.11 [[ 9.90338500e-01 1.38637279e-01 3.05958784e-03 3.60752783e+02] [-1.38636708e-01 9.90343225e-01 -3.99044366e-04 -2.83579553e+01] [-3.08536452e-03 -2.89821868e-05 9.99995240e-01 -1.10536170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters Centerline goodness : 0.993741 with order 1 Centerline is valid? [True, True] Translation: X:360.81, Y:-28.37, Z:-1.10 [[ 9.90461046e-01 1.37759050e-01 3.05958784e-03 3.60812312e+02] [-1.37758474e-01 9.90465771e-01 -3.99044366e-04 -2.83662160e+01] [-3.08538900e-03 -2.62462527e-05 9.99995240e-01 -1.10332534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters Centerline goodness : 0.993245 with order 1 Centerline is valid? [True, True] Translation: X:360.87, Y:-28.38, Z:-1.11 [[ 9.90272229e-01 1.39109850e-01 3.05958784e-03 3.60871818e+02] [-1.39109281e-01 9.90276955e-01 -3.99044366e-04 -2.83762970e+01] [-3.08535034e-03 -3.04545122e-05 9.99995240e-01 -1.10687428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters Centerline goodness : 0.993436 with order 1 Centerline is valid? [True, True] Translation: X:360.93, Y:-28.39, Z:-1.11 [[ 9.89808211e-01 1.42373960e-01 3.05958784e-03 3.60930555e+02] [-1.42373407e-01 9.89812939e-01 -3.99044366e-04 -2.83854302e+01] [-3.08523316e-03 -4.06265541e-05 9.99995240e-01 -1.10817615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters Centerline goodness : 0.993838 with order 1 Centerline is valid? [True, True] Translation: X:360.99, Y:-28.39, Z:-1.10 [[ 9.89277529e-01 1.46015782e-01 3.05959239e-03 3.60989455e+02] [-1.46015247e-01 9.89282259e-01 -3.99009473e-04 -2.83944061e+01] [-3.08506216e-03 -5.20160320e-05 9.99995240e-01 -1.10212380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters Centerline goodness : 0.993804 with order 1 Centerline is valid? [True, True] Translation: X:361.05, Y:-28.40, Z:-1.10 [[ 9.88902682e-01 1.48533246e-01 3.05960150e-03 3.61049711e+02] [-1.48532723e-01 9.88907413e-01 -3.98939667e-04 -2.84003558e+01] [-3.08491840e-03 -5.99384340e-05 9.99995240e-01 -1.10237161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters Centerline goodness : 0.993684 with order 1 Centerline is valid? [True, True] Translation: X:361.11, Y:-28.40, Z:-1.10 [[ 9.88655136e-01 1.50172102e-01 3.05960150e-03 3.61108175e+02] [-1.50171586e-01 9.88659869e-01 -3.98939667e-04 -2.84044805e+01] [-3.08481482e-03 -6.50514571e-05 9.99995240e-01 -1.09948737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters Centerline goodness : 0.993629 with order 1 Centerline is valid? [True, True] Translation: X:361.17, Y:-28.41, Z:-1.10 [[ 9.88767798e-01 1.49428513e-01 3.05961533e-03 3.61166523e+02] [-1.49427994e-01 9.88772530e-01 -3.98833543e-04 -2.84070635e+01] [-3.08486069e-03 -6.28384176e-05 9.99995240e-01 -1.10373302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters Centerline goodness : 0.994364 with order 1 Centerline is valid? [True, True] Translation: X:361.23, Y:-28.41, Z:-1.10 [[ 9.89548938e-01 1.44164970e-01 3.05962410e-03 3.61225799e+02] [-1.44164426e-01 9.89553667e-01 -3.98766259e-04 -2.84118425e+01] [-3.08515037e-03 -4.64902233e-05 9.99995240e-01 -1.10359871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:361.29, Y:-28.42, Z:-1.10 [[ 9.90148394e-01 1.39988560e-01 3.05963268e-03 3.61285336e+02] [-1.39987996e-01 9.90153120e-01 -3.98700412e-04 -2.84195331e+01] [-3.08531834e-03 -3.35392744e-05 9.99995240e-01 -1.10260119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters Centerline goodness : 0.994226 with order 1 Centerline is valid? [True, True] Translation: X:361.34, Y:-28.43, Z:-1.10 [[ 9.90624472e-01 1.36578892e-01 3.05964156e-03 3.61344908e+02] [-1.36578312e-01 9.90629197e-01 -3.98632251e-04 -2.84288588e+01] [-3.08541501e-03 -2.29858165e-05 9.99995240e-01 -1.10485250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters Centerline goodness : 0.994349 with order 1 Centerline is valid? [True, True] Translation: X:361.40, Y:-28.44, Z:-1.11 [[ 9.90569487e-01 1.36977113e-01 3.05964156e-03 3.61404339e+02] [-1.36976535e-01 9.90574212e-01 -3.98632251e-04 -2.84356286e+01] [-3.08540552e-03 -2.42261564e-05 9.99995240e-01 -1.10669375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters Centerline goodness : 0.994484 with order 1 Centerline is valid? [True, True] Translation: X:361.46, Y:-28.44, Z:-1.11 [[ 9.90420656e-01 1.38049135e-01 3.05964617e-03 3.61462561e+02] [-1.38048562e-01 9.90425381e-01 -3.98596844e-04 -2.84437671e+01] [-3.08537718e-03 -2.76012079e-05 9.99995240e-01 -1.10893068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters Centerline goodness : 0.994436 with order 1 Centerline is valid? [True, True] Translation: X:361.52, Y:-28.45, Z:-1.11 [[ 9.90588795e-01 1.36837412e-01 3.05965977e-03 3.61520692e+02] [-1.36836834e-01 9.90593520e-01 -3.98492470e-04 -2.84516677e+01] [-3.08540782e-03 -2.39319785e-05 9.99995240e-01 -1.10648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters Centerline goodness : 0.994915 with order 1 Centerline is valid? [True, True] Translation: X:361.58, Y:-28.46, Z:-1.10 [[ 9.90455023e-01 1.37802340e-01 3.05967316e-03 3.61580001e+02] [-1.37801767e-01 9.90459749e-01 -3.98389615e-04 -2.84587750e+01] [-3.08538213e-03 -2.70413721e-05 9.99995240e-01 -1.10273286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters Centerline goodness : 0.994923 with order 1 Centerline is valid? [True, True] Translation: X:361.64, Y:-28.46, Z:-1.10 [[ 9.90155310e-01 1.39939629e-01 3.05968200e-03 3.61639583e+02] [-1.39939066e-01 9.90160037e-01 -3.98321706e-04 -2.84643738e+01] [-3.08531583e-03 -3.37686890e-05 9.99995240e-01 -1.10184421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:361.70, Y:-28.47, Z:-1.10 [[ 9.89976799e-01 1.41196937e-01 3.05969126e-03 3.61697794e+02] [-1.41196381e-01 9.89981527e-01 -3.98250557e-04 -2.84720728e+01] [-3.08526958e-03 -3.77585200e-05 9.99995240e-01 -1.10435789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters Centerline goodness : 0.995082 with order 1 Centerline is valid? [True, True] Translation: X:361.76, Y:-28.48, Z:-1.10 [[ 9.89818888e-01 1.42299709e-01 3.05970490e-03 3.61755720e+02] [-1.42299158e-01 9.89823616e-01 -3.98145720e-04 -2.84808065e+01] [-3.08522419e-03 -4.13012790e-05 9.99995240e-01 -1.09903160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:361.82, Y:-28.49, Z:-1.10 [[ 9.89950615e-01 1.41380400e-01 3.05972210e-03 3.61815025e+02] [-1.41379845e-01 9.89955343e-01 -3.98013517e-04 -2.84892676e+01] [-3.08525955e-03 -3.85693104e-05 9.99995240e-01 -1.10198838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters Centerline goodness : 0.994853 with order 1 Centerline is valid? [True, True] Translation: X:361.87, Y:-28.50, Z:-1.10 [[ 9.89701197e-01 1.43115961e-01 3.05973115e-03 3.61874105e+02] [-1.43115415e-01 9.89705926e-01 -3.97943890e-04 -2.84965398e+01] [-3.08518618e-03 -4.40491479e-05 9.99995240e-01 -1.10398977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:361.93, Y:-28.50, Z:-1.11 [[ 9.89442445e-01 1.44894053e-01 3.05974057e-03 3.61932058e+02] [-1.44893515e-01 9.89447174e-01 -3.97871499e-04 -2.85034132e+01] [-3.08510087e-03 -4.96656170e-05 9.99995240e-01 -1.10574311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters Centerline goodness : 0.995161 with order 1 Centerline is valid? [True, True] Translation: X:361.99, Y:-28.51, Z:-1.11 [[ 9.89981297e-01 1.41165397e-01 3.05975450e-03 3.61990140e+02] [-1.41164842e-01 9.89986025e-01 -3.97764359e-04 -2.85100305e+01] [-3.08526475e-03 -3.81504848e-05 9.99995240e-01 -1.10623640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters Centerline goodness : 0.995066 with order 1 Centerline is valid? [True, True] Translation: X:362.05, Y:-28.52, Z:-1.11 [[ 9.90483567e-01 1.37597028e-01 3.05976830e-03 3.62050029e+02] [-1.37596456e-01 9.90488292e-01 -3.97658135e-04 -2.85200815e+01] [-3.08538126e-03 -2.71394262e-05 9.99995240e-01 -1.10661990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters Centerline goodness : 0.995052 with order 1 Centerline is valid? [True, True] Translation: X:362.11, Y:-28.53, Z:-1.11 [[ 9.90788816e-01 1.35381532e-01 3.05976830e-03 3.62109177e+02] [-1.35380949e-01 9.90793541e-01 -3.97658135e-04 -2.85290304e+01] [-3.08543424e-03 -2.02391035e-05 9.99995240e-01 -1.10950502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters Centerline goodness : 0.995418 with order 1 Centerline is valid? [True, True] Translation: X:362.17, Y:-28.54, Z:-1.11 [[ 9.90417960e-01 1.38068468e-01 3.05977284e-03 3.62167218e+02] [-1.38067898e-01 9.90422686e-01 -3.97623189e-04 -2.85357313e+01] [-3.08536766e-03 -2.86432575e-05 9.99995240e-01 -1.10914382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters Centerline goodness : 0.995552 with order 1 Centerline is valid? [True, True] Translation: X:362.23, Y:-28.54, Z:-1.11 [[ 9.90024613e-01 1.40861288e-01 3.05978630e-03 3.62226313e+02] [-1.40860732e-01 9.90029341e-01 -3.97519586e-04 -2.85427895e+01] [-3.08527334e-03 -3.74495636e-05 9.99995240e-01 -1.10665196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters Centerline goodness : 0.995280 with order 1 Centerline is valid? [True, True] Translation: X:362.28, Y:-28.55, Z:-1.11 [[ 9.89972248e-01 1.41228843e-01 3.05979518e-03 3.62284205e+02] [-1.41228289e-01 9.89976976e-01 -3.97451228e-04 -2.85491269e+01] [-3.08525836e-03 -3.86639516e-05 9.99995240e-01 -1.10815350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters Centerline goodness : 0.995310 with order 1 Centerline is valid? [True, True] Translation: X:362.34, Y:-28.56, Z:-1.11 [[ 9.90026657e-01 1.40846925e-01 3.05980837e-03 3.62343772e+02] [-1.40846369e-01 9.90031385e-01 -3.97349640e-04 -2.85556044e+01] [-3.08527180e-03 -3.75761646e-05 9.99995240e-01 -1.10868781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:362.40, Y:-28.56, Z:-1.11 [[ 9.89882492e-01 1.41856584e-01 3.05981737e-03 3.62402446e+02] [-1.41856033e-01 9.89887220e-01 -3.97280358e-04 -2.85609726e+01] [-3.08523094e-03 -4.07926836e-05 9.99995240e-01 -1.10760092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters Centerline goodness : 0.995554 with order 1 Centerline is valid? [True, True] Translation: X:362.46, Y:-28.57, Z:-1.11 [[ 9.89852260e-01 1.42067380e-01 3.05983076e-03 3.62461907e+02] [-1.42066831e-01 9.89856989e-01 -3.97177172e-04 -2.85655965e+01] [-3.08522078e-03 -4.15537401e-05 9.99995240e-01 -1.10791057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters Centerline goodness : 0.996472 with order 1 Centerline is valid? [True, True] Translation: X:362.52, Y:-28.57, Z:-1.11 [[ 9.90098649e-01 1.40339956e-01 3.05983933e-03 3.62520494e+02] [-1.40339399e-01 9.90103376e-01 -3.97111178e-04 -2.85702878e+01] [-3.08528781e-03 -3.62367707e-05 9.99995240e-01 -1.11482053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters Centerline goodness : 0.994992 with order 1 Centerline is valid? [True, True] Translation: X:362.58, Y:-28.58, Z:-1.11 [[ 9.90329811e-01 1.38699323e-01 3.05985235e-03 3.62578576e+02] [-1.38698758e-01 9.90334538e-01 -3.97010839e-04 -2.85772157e+01] [-3.08534259e-03 -3.12260505e-05 9.99995240e-01 -1.10965221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters Centerline goodness : 0.994428 with order 1 Centerline is valid? [True, True] Translation: X:362.64, Y:-28.58, Z:-1.11 [[ 9.90504647e-01 1.37445195e-01 3.05986537e-03 3.62638072e+02] [-1.37444624e-01 9.90509373e-01 -3.96910463e-04 -2.85829627e+01] [-3.08537876e-03 -2.74203872e-05 9.99995240e-01 -1.11006532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters Centerline goodness : 0.994517 with order 1 Centerline is valid? [True, True] Translation: X:362.70, Y:-28.59, Z:-1.11 [[ 9.90160731e-01 1.39901265e-01 3.05987488e-03 3.62695953e+02] [-1.39900707e-01 9.90165458e-01 -3.96837074e-04 -2.85900529e+01] [-3.08530043e-03 -3.51461722e-05 9.99995240e-01 -1.10862381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:362.75, Y:-28.59, Z:-1.11 [[ 9.89409342e-01 1.45119919e-01 3.05989846e-03 3.62754342e+02] [-1.45119386e-01 9.89414072e-01 -3.96655200e-04 -2.85922699e+01] [-3.08506917e-03 -5.15962267e-05 9.99995240e-01 -1.10848359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters Centerline goodness : 0.994532 with order 1 Centerline is valid? [True, True] Translation: X:362.81, Y:-28.60, Z:-1.11 [[ 9.89392545e-01 1.45234392e-01 3.05992119e-03 3.62812565e+02] [-1.45233860e-01 9.89397275e-01 -3.96479795e-04 -2.85972642e+01] [-3.08506019e-03 -5.21300129e-05 9.99995240e-01 -1.10905234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters Centerline goodness : 0.995199 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:-28.60, Z:-1.11 [[ 9.89940652e-01 1.41450140e-01 3.05993768e-03 3.62871864e+02] [-1.41449591e-01 9.89945380e-01 -3.96352457e-04 -2.86004193e+01] [-3.08523528e-03 -4.04615233e-05 9.99995240e-01 -1.10842857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters Centerline goodness : 0.994939 with order 1 Centerline is valid? [True, True] Translation: X:362.93, Y:-28.60, Z:-1.11 [[ 9.90514177e-01 1.37376495e-01 3.05995547e-03 3.62931122e+02] [-1.37375926e-01 9.90518903e-01 -3.96215073e-04 -2.86035039e+01] [-3.08537438e-03 -2.79075702e-05 9.99995240e-01 -1.10628169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:362.99, Y:-28.61, Z:-1.11 [[ 9.90783631e-01 1.35419474e-01 3.05997387e-03 3.62989707e+02] [-1.35418897e-01 9.90788356e-01 -3.96072934e-04 -2.86085301e+01] [-3.08542247e-03 -2.19557059e-05 9.99995240e-01 -1.10850957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters Centerline goodness : 0.994738 with order 1 Centerline is valid? [True, True] Translation: X:363.05, Y:-28.61, Z:-1.11 [[ 9.91152093e-01 1.32695760e-01 3.05999242e-03 3.63047889e+02] [-1.32695170e-01 9.91156817e-01 -3.95929601e-04 -2.86147171e+01] [-3.08547052e-03 -1.36197626e-05 9.99995240e-01 -1.11228808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters Centerline goodness : 0.995322 with order 1 Centerline is valid? [True, True] Translation: X:363.11, Y:-28.62, Z:-1.11 [[ 9.91986309e-01 1.26308352e-01 3.06001113e-03 3.63105352e+02] [-1.26307732e-01 9.91991028e-01 -3.95784923e-04 -2.86200779e+01] [-3.08549453e-03 6.11015977e-06 9.99995240e-01 -1.10831681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters Centerline goodness : 0.995266 with order 1 Centerline is valid? [True, True] Translation: X:363.16, Y:-28.63, Z:-1.11 [[ 9.93044643e-01 1.17698651e-01 3.06003436e-03 3.63164364e+02] [-1.17697991e-01 9.93049358e-01 -3.95605262e-04 -2.86304178e+01] [-3.08532736e-03 3.26937916e-05 9.99995240e-01 -1.10962260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters Centerline goodness : 0.995544 with order 1 Centerline is valid? [True, True] Translation: X:363.22, Y:-28.64, Z:-1.11 [[ 9.93595504e-01 1.12954023e-01 3.06004323e-03 3.63224231e+02] [-1.12953341e-01 9.93600215e-01 -3.95536606e-04 -2.86402997e+01] [-3.08513706e-03 4.73612882e-05 9.99995240e-01 -1.10941417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters Centerline goodness : 0.995475 with order 1 Centerline is valid? [True, True] Translation: X:363.28, Y:-28.65, Z:-1.11 [[ 9.94030107e-01 1.09063202e-01 3.06004323e-03 3.63282216e+02] [-1.09062501e-01 9.94034815e-01 -3.95536606e-04 -2.86521460e+01] [-3.08492800e-03 5.94393262e-05 9.99995240e-01 -1.11285839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters Centerline goodness : 0.995016 with order 1 Centerline is valid? [True, True] Translation: X:363.34, Y:-28.66, Z:-1.12 [[ 9.94065383e-01 1.08741210e-01 3.06004779e-03 3.63339667e+02] [-1.08740507e-01 9.94070091e-01 -3.95501289e-04 -2.86641977e+01] [-3.08490928e-03 6.04029904e-05 9.99995240e-01 -1.11689062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters Centerline goodness : 0.995312 with order 1 Centerline is valid? [True, True] Translation: X:363.40, Y:-28.68, Z:-1.11 [[ 9.93786017e-01 1.11265393e-01 3.06006109e-03 3.63398668e+02] [-1.11264703e-01 9.93790727e-01 -3.95398414e-04 -2.86761054e+01] [-3.08505449e-03 5.24646287e-05 9.99995240e-01 -1.10959342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:363.46, Y:-28.69, Z:-1.11 [[ 9.93246361e-01 1.15984060e-01 3.06006569e-03 3.63456213e+02] [-1.15983392e-01 9.93251074e-01 -3.95362748e-04 -2.86864489e+01] [-3.08526932e-03 3.77758120e-05 9.99995240e-01 -1.11205051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters Centerline goodness : 0.995603 with order 1 Centerline is valid? [True, True] Translation: X:363.52, Y:-28.70, Z:-1.11 [[ 9.92985878e-01 1.18193410e-01 3.06007937e-03 3.63515295e+02] [-1.18192753e-01 9.92990593e-01 -3.95256889e-04 -2.86961072e+01] [-3.08534678e-03 3.08053037e-05 9.99995240e-01 -1.11384719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters Centerline goodness : 0.996196 with order 1 Centerline is valid? [True, True] Translation: X:363.57, Y:-28.71, Z:-1.11 [[ 9.93068107e-01 1.17500511e-01 3.06008848e-03 3.63573443e+02] [-1.17499851e-01 9.93072821e-01 -3.95186338e-04 -2.87098001e+01] [-3.08532530e-03 3.28870080e-05 9.99995240e-01 -1.11353062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters Centerline goodness : 0.996307 with order 1 Centerline is valid? [True, True] Translation: X:363.63, Y:-28.73, Z:-1.11 [[ 9.93362410e-01 1.14985905e-01 3.06009299e-03 3.63632882e+02] [-1.14985233e-01 9.93367122e-01 -3.95151369e-04 -2.87261757e+01] [-3.08523261e-03 4.06630100e-05 9.99995240e-01 -1.10879657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters Centerline goodness : 0.995883 with order 1 Centerline is valid? [True, True] Translation: X:363.69, Y:-28.74, Z:-1.11 [[ 9.93331084e-01 1.15256208e-01 3.06008412e-03 3.63692760e+02] [-1.15255537e-01 9.93335797e-01 -3.95220110e-04 -2.87428681e+01] [-3.08524267e-03 3.98927820e-05 9.99995240e-01 -1.11123045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters Centerline goodness : 0.995871 with order 1 Centerline is valid? [True, True] Translation: X:363.75, Y:-28.76, Z:-1.11 [[ 9.92779009e-01 1.19918619e-01 3.06002698e-03 3.63752556e+02] [-1.19917970e-01 9.92783725e-01 -3.95662031e-04 -2.87560110e+01] [-3.08539222e-03 2.58527379e-05 9.99995240e-01 -1.11431388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:363.81, Y:-28.77, Z:-1.12 [[ 9.91165467e-01 1.32595826e-01 3.06001821e-03 3.63811188e+02] [-1.32595236e-01 9.91170191e-01 -3.95729818e-04 -2.87687957e+01] [-3.08547095e-03 -1.35101070e-05 9.99995240e-01 -1.11892662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters Centerline goodness : 0.996269 with order 1 Centerline is valid? [True, True] Translation: X:363.87, Y:-28.77, Z:-1.12 [[ 9.88858938e-01 1.48824182e-01 3.06002257e-03 3.63869424e+02] [-1.48823670e-01 9.88863670e-01 -3.95696078e-04 -2.87734054e+01] [-3.08483430e-03 -6.41161848e-05 9.99995240e-01 -1.11743922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters Centerline goodness : 0.996532 with order 1 Centerline is valid? [True, True] Translation: X:363.93, Y:-28.77, Z:-1.11 [[ 9.86678623e-01 1.62652792e-01 3.06004399e-03 3.63928724e+02] [-1.62652347e-01 9.86683362e-01 -3.95530390e-04 -2.87736461e+01] [-3.08362861e-03 -1.07461957e-04 9.99995240e-01 -1.11280642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:-28.77, Z:-1.11 [[ 9.85461239e-01 1.69872843e-01 3.06006203e-03 3.63988252e+02] [-1.69872433e-01 9.85465981e-01 -3.95390800e-04 -2.87722852e+01] [-3.08275319e-03 -1.30177874e-04 9.99995240e-01 -1.11365584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters Centerline goodness : 0.996295 with order 1 Centerline is valid? [True, True] Translation: X:364.05, Y:-28.76, Z:-1.12 [[ 9.84987728e-01 1.72597250e-01 3.06008012e-03 3.64047353e+02] [-1.72596853e-01 9.84992472e-01 -3.95250683e-04 -2.87648423e+01] [-3.08237507e-03 -1.38843128e-04 9.99995240e-01 -1.11582542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:364.11, Y:-28.76, Z:-1.11 [[ 9.86087478e-01 1.66199044e-01 3.06010239e-03 3.64105926e+02] [-1.66198617e-01 9.86092219e-01 -3.95078196e-04 -2.87596789e+01] [-3.08320478e-03 -1.19003124e-04 9.99995240e-01 -1.10847410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters Centerline goodness : 0.996399 with order 1 Centerline is valid? [True, True] Translation: X:364.17, Y:-28.75, Z:-1.12 [[ 9.86935654e-01 1.61085851e-01 3.06012444e-03 3.64165925e+02] [-1.61085400e-01 9.86940392e-01 -3.94907316e-04 -2.87548417e+01] [-3.08377440e-03 -1.03193260e-04 9.99995240e-01 -1.11548529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters Centerline goodness : 0.996786 with order 1 Centerline is valid? [True, True] Translation: X:364.23, Y:-28.75, Z:-1.12 [[ 9.87380135e-01 1.58338577e-01 3.06014267e-03 3.64225020e+02] [-1.58338113e-01 9.87384872e-01 -3.94766046e-04 -2.87533461e+01] [-3.08404527e-03 -9.47530630e-05 9.99995240e-01 -1.11550071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters Centerline goodness : 0.996856 with order 1 Centerline is valid? [True, True] Translation: X:364.28, Y:-28.76, Z:-1.11 [[ 9.87583420e-01 1.57065665e-01 3.06016114e-03 3.64283572e+02] [-1.57065196e-01 9.87588157e-01 -3.94622794e-04 -2.87583583e+01] [-3.08416060e-03 -9.09218812e-05 9.99995240e-01 -1.11474559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters Centerline goodness : 0.997104 with order 1 Centerline is valid? [True, True] Translation: X:364.34, Y:-28.76, Z:-1.11 [[ 9.88349077e-01 1.52173376e-01 3.06017993e-03 3.64341747e+02] [-1.52172884e-01 9.88353812e-01 -3.94477055e-04 -2.87622076e+01] [-3.08456940e-03 -7.57953704e-05 9.99995240e-01 -1.11482531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:364.40, Y:-28.77, Z:-1.12 [[ 9.88751967e-01 1.49533219e-01 3.06020507e-03 3.64400507e+02] [-1.49532715e-01 9.88756700e-01 -3.94281901e-04 -2.87667823e+01] [-3.08475651e-03 -6.77537667e-05 9.99995240e-01 -1.11578659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters Centerline goodness : 0.996975 with order 1 Centerline is valid? [True, True] Translation: X:364.46, Y:-28.77, Z:-1.12 [[ 9.88959392e-01 1.48155175e-01 3.06022344e-03 3.64458322e+02] [-1.48154665e-01 9.88964125e-01 -3.94139284e-04 -2.87687304e+01] [-3.08484497e-03 -6.35986315e-05 9.99995240e-01 -1.11534725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters Centerline goodness : 0.997246 with order 1 Centerline is valid? [True, True] Translation: X:364.52, Y:-28.77, Z:-1.12 [[ 9.89243782e-01 1.46244232e-01 3.06025141e-03 3.64515902e+02] [-1.46243712e-01 9.89248513e-01 -3.93921987e-04 -2.87711447e+01] [-3.08495798e-03 -5.78576518e-05 9.99995240e-01 -1.11848667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters Centerline goodness : 0.996847 with order 1 Centerline is valid? [True, True] Translation: X:364.57, Y:-28.78, Z:-1.12 [[ 9.89485114e-01 1.44602367e-01 3.06028359e-03 3.64574828e+02] [-1.44601840e-01 9.89489845e-01 -3.93671871e-04 -2.87757042e+01] [-3.08504541e-03 -5.29901825e-05 9.99995240e-01 -1.11612406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:364.63, Y:-28.78, Z:-1.11 [[ 9.90098126e-01 1.40343635e-01 3.06030223e-03 3.64632519e+02] [-1.40343089e-01 9.90102855e-01 -3.93526887e-04 -2.87808463e+01] [-3.08524297e-03 -3.98620339e-05 9.99995240e-01 -1.11261238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters Centerline goodness : 0.996964 with order 1 Centerline is valid? [True, True] Translation: X:364.69, Y:-28.79, Z:-1.12 [[ 9.90874426e-01 1.34753504e-01 3.06032536e-03 3.64691481e+02] [-1.34752932e-01 9.90879151e-01 -3.93346949e-04 -2.87851665e+01] [-3.08541747e-03 -2.26303827e-05 9.99995240e-01 -1.11870900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters Centerline goodness : 0.996866 with order 1 Centerline is valid? [True, True] Translation: X:364.75, Y:-28.80, Z:-1.12 [[ 9.91626684e-01 1.29101333e-01 3.06034362e-03 3.64748054e+02] [-1.29100734e-01 9.91631406e-01 -3.93204831e-04 -2.87953137e+01] [-3.08549611e-03 -5.18020403e-06 9.99995240e-01 -1.11889466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters Centerline goodness : 0.997131 with order 1 Centerline is valid? [True, True] Translation: X:364.81, Y:-28.81, Z:-1.12 [[ 9.92290383e-01 1.23896853e-01 3.06036621e-03 3.64805178e+02] [-1.23896230e-01 9.92295102e-01 -3.93028891e-04 -2.88072354e+01] [-3.08548145e-03 1.08309531e-05 9.99995240e-01 -1.11963695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:364.86, Y:-28.82, Z:-1.12 [[ 9.92537720e-01 1.21899582e-01 3.06038824e-03 3.64862696e+02] [-1.21898951e-01 9.92542438e-01 -3.92857320e-04 -2.88248492e+01] [-3.08545435e-03 1.68675947e-05 9.99995240e-01 -1.11540576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters Centerline goodness : 0.997471 with order 1 Centerline is valid? [True, True] Translation: X:364.92, Y:-28.84, Z:-1.12 [[ 9.92591911e-01 1.21457531e-01 3.06040579e-03 3.64920155e+02] [-1.21456897e-01 9.92596629e-01 -3.92720538e-04 -2.88379030e+01] [-3.08544734e-03 1.81038390e-05 9.99995240e-01 -1.11734542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters Centerline goodness : 0.997140 with order 1 Centerline is valid? [True, True] Translation: X:364.98, Y:-28.86, Z:-1.11 [[ 9.92509788e-01 1.22126793e-01 3.06042389e-03 3.64977664e+02] [-1.22126163e-01 9.92514507e-01 -3.92579409e-04 -2.88551879e+01] [-3.08545957e-03 1.58810779e-05 9.99995240e-01 -1.11364451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:365.04, Y:-28.87, Z:-1.12 [[ 9.92231836e-01 1.24364856e-01 3.06044217e-03 3.65035318e+02] [-1.24364237e-01 9.92236556e-01 -3.92436869e-04 -2.88697910e+01] [-3.08548795e-03 8.77880001e-06 9.99995240e-01 -1.11571007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters Centerline goodness : 0.996974 with order 1 Centerline is valid? [True, True] Translation: X:365.09, Y:-28.88, Z:-1.12 [[ 9.91832403e-01 1.27511247e-01 3.06046109e-03 3.65093023e+02] [-1.27510643e-01 9.91837125e-01 -3.92289289e-04 -2.88810964e+01] [-3.08550022e-03 -1.15613361e-06 9.99995240e-01 -1.11841756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters Centerline goodness : 0.996789 with order 1 Centerline is valid? [True, True] Translation: X:365.15, Y:-28.89, Z:-1.11 [[ 9.91425963e-01 1.30633816e-01 3.06047514e-03 3.65151148e+02] [-1.30633227e-01 9.91430686e-01 -3.92179641e-04 -2.88913349e+01] [-3.08548089e-03 -1.09826664e-05 9.99995240e-01 -1.11138328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters Centerline goodness : 0.996650 with order 1 Centerline is valid? [True, True] Translation: X:365.21, Y:-28.90, Z:-1.11 [[ 9.91864867e-01 1.27258470e-01 3.06049367e-03 3.65208592e+02] [-1.27257866e-01 9.91869589e-01 -3.92034990e-04 -2.89027503e+01] [-3.08550037e-03 -6.26159004e-07 9.99995240e-01 -1.11349140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters Centerline goodness : 0.996391 with order 1 Centerline is valid? [True, True] Translation: X:365.27, Y:-28.92, Z:-1.12 [[ 9.92418442e-01 1.22866877e-01 3.06050745e-03 3.65267394e+02] [-1.22866252e-01 9.92423161e-01 -3.91927373e-04 -2.89162403e+01] [-3.08547337e-03 1.29228729e-05 9.99995240e-01 -1.11924269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters Centerline goodness : 0.996700 with order 1 Centerline is valid? [True, True] Translation: X:365.33, Y:-28.93, Z:-1.12 [[ 9.92404941e-01 1.22975880e-01 3.06050745e-03 3.65327613e+02] [-1.22975256e-01 9.92409660e-01 -3.91927373e-04 -2.89262682e+01] [-3.08547477e-03 1.25839732e-05 9.99995240e-01 -1.11552884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters Centerline goodness : 0.996494 with order 1 Centerline is valid? [True, True] Translation: X:365.39, Y:-28.94, Z:-1.12 [[ 9.91794736e-01 1.27803890e-01 3.06050745e-03 3.65387011e+02] [-1.27803289e-01 9.91799458e-01 -3.91927373e-04 -2.89350987e+01] [-3.08549947e-03 -2.43141251e-06 9.99995240e-01 -1.11755001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters Centerline goodness : 0.996368 with order 1 Centerline is valid? [True, True] Translation: X:365.45, Y:-28.94, Z:-1.12 [[ 9.90899181e-01 1.34571340e-01 3.06051668e-03 3.65445124e+02] [-1.34570771e-01 9.90903908e-01 -3.91855289e-04 -2.89429307e+01] [-3.08541043e-03 -2.35670048e-05 9.99995240e-01 -1.11790562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters Centerline goodness : 0.996110 with order 1 Centerline is valid? [True, True] Translation: X:365.50, Y:-28.95, Z:-1.12 [[ 9.90205835e-01 1.39581648e-01 3.06053037e-03 3.65502552e+02] [-1.39581104e-01 9.90210564e-01 -3.91748312e-04 -2.89490403e+01] [-3.08525038e-03 -3.92807433e-05 9.99995240e-01 -1.11791937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters Centerline goodness : 0.996084 with order 1 Centerline is valid? [True, True] Translation: X:365.56, Y:-28.95, Z:-1.12 [[ 9.90011005e-01 1.40956884e-01 3.06055258e-03 3.65560611e+02] [-1.40956347e-01 9.90015735e-01 -3.91574742e-04 -2.89548845e+01] [-3.08519036e-03 -4.37410073e-05 9.99995240e-01 -1.12184646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters Centerline goodness : 0.996327 with order 1 Centerline is valid? [True, True] Translation: X:365.62, Y:-28.96, Z:-1.12 [[ 9.89996491e-01 1.41058785e-01 3.06057021e-03 3.65618809e+02] [-1.41058249e-01 9.90001221e-01 -3.91436885e-04 -2.89600680e+01] [-3.08518386e-03 -4.41975311e-05 9.99995240e-01 -1.11811039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:365.68, Y:-28.97, Z:-1.12 [[ 9.89987465e-01 1.41122118e-01 3.06058769e-03 3.65677185e+02] [-1.41121582e-01 9.89992195e-01 -3.91300167e-04 -2.89654468e+01] [-3.08517903e-03 -4.45327165e-05 9.99995240e-01 -1.11817726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:-28.97, Z:-1.12 [[ 9.90255575e-01 1.39228333e-01 3.06060537e-03 3.65734990e+02] [-1.39227789e-01 9.90260304e-01 -3.91161804e-04 -2.89695828e+01] [-3.08525681e-03 -3.87711612e-05 9.99995240e-01 -1.11898903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters Centerline goodness : 0.996536 with order 1 Centerline is valid? [True, True] Translation: X:365.79, Y:-28.97, Z:-1.12 [[ 9.90367246e-01 1.38431757e-01 3.06062721e-03 3.65794041e+02] [-1.38431210e-01 9.90371974e-01 -3.90990896e-04 -2.89724797e+01] [-3.08528496e-03 -3.64617502e-05 9.99995240e-01 -1.12212898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters Centerline goodness : 0.996426 with order 1 Centerline is valid? [True, True] Translation: X:365.85, Y:-28.98, Z:-1.12 [[ 9.90397473e-01 1.38215329e-01 3.06064410e-03 3.65852368e+02] [-1.38214781e-01 9.90402202e-01 -3.90858612e-04 -2.89785399e+01] [-3.08529131e-03 -3.59208721e-05 9.99995240e-01 -1.12067322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters Centerline goodness : 0.996341 with order 1 Centerline is valid? [True, True] Translation: X:365.91, Y:-28.98, Z:-1.12 [[ 9.90450888e-01 1.37832038e-01 3.06066281e-03 3.65911068e+02] [-1.37831489e-01 9.90455616e-01 -3.90712050e-04 -2.89785495e+01] [-3.08530331e-03 -3.48746141e-05 9.99995240e-01 -1.11975191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters Centerline goodness : 0.996366 with order 1 Centerline is valid? [True, True] Translation: X:365.97, Y:-28.98, Z:-1.12 [[ 9.90288887e-01 1.38991196e-01 3.06068590e-03 3.65969930e+02] [-1.38990653e-01 9.90293616e-01 -3.90531052e-04 -2.89791996e+01] [-3.08525809e-03 -3.86681699e-05 9.99995240e-01 -1.11834625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters Centerline goodness : 0.996208 with order 1 Centerline is valid? [True, True] Translation: X:366.03, Y:-28.98, Z:-1.12 [[ 9.90240354e-01 1.39336548e-01 3.06070428e-03 3.66028664e+02] [-1.39336007e-01 9.90245083e-01 -3.90386952e-04 -2.89781074e+01] [-3.08524254e-03 -3.98894003e-05 9.99995240e-01 -1.11621854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters Centerline goodness : 0.995963 with order 1 Centerline is valid? [True, True] Translation: X:366.09, Y:-28.98, Z:-1.12 [[ 9.90232239e-01 1.39394209e-01 3.06072698e-03 3.66087104e+02] [-1.39393669e-01 9.90236968e-01 -3.90208910e-04 -2.89809780e+01] [-3.08523787e-03 -4.02485211e-05 9.99995240e-01 -1.11848796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters Centerline goodness : 0.995966 with order 1 Centerline is valid? [True, True] Translation: X:366.15, Y:-28.98, Z:-1.12 [[ 9.90281884e-01 1.39041079e-01 3.06074447e-03 3.66146073e+02] [-1.39040537e-01 9.90286613e-01 -3.90071716e-04 -2.89814157e+01] [-3.08525026e-03 -3.92866009e-05 9.99995240e-01 -1.12209894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters Centerline goodness : 0.995929 with order 1 Centerline is valid? [True, True] Translation: X:366.21, Y:-28.98, Z:-1.12 [[ 9.90542911e-01 1.37169138e-01 3.06076315e-03 3.66205266e+02] [-1.37168588e-01 9.90547640e-01 -3.89925016e-04 -2.89776271e+01] [-3.08531740e-03 -3.36030989e-05 9.99995240e-01 -1.12183647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters Centerline goodness : 0.995876 with order 1 Centerline is valid? [True, True] Translation: X:366.26, Y:-28.98, Z:-1.12 [[ 9.90714880e-01 1.35921518e-01 3.06078905e-03 3.66263994e+02] [-1.35920963e-01 9.90719607e-01 -3.89721623e-04 -2.89780235e+01] [-3.08535528e-03 -2.99223837e-05 9.99995240e-01 -1.12044521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters Centerline goodness : 0.995525 with order 1 Centerline is valid? [True, True] Translation: X:366.32, Y:-28.98, Z:-1.12 [[ 9.91101060e-01 1.33076367e-01 3.06081636e-03 3.66321624e+02] [-1.33075799e-01 9.91105787e-01 -3.89507017e-04 -2.89759765e+01] [-3.08542699e-03 -2.12797654e-05 9.99995240e-01 -1.12330503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters Centerline goodness : 0.995554 with order 1 Centerline is valid? [True, True] Translation: X:366.38, Y:-28.98, Z:-1.12 [[ 9.92176341e-01 1.24806809e-01 3.06085365e-03 3.66379588e+02] [-1.24806202e-01 9.92181062e-01 -3.89213747e-04 -2.89765148e+01] [-3.08549756e-03 4.15515200e-06 9.99995240e-01 -1.12010720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters Centerline goodness : 0.995109 with order 1 Centerline is valid? [True, True] Translation: X:366.44, Y:-28.98, Z:-1.12 [[ 9.93358801e-01 1.15017056e-01 3.06088070e-03 3.66437438e+02] [-1.15016404e-01 9.93363516e-01 -3.89000905e-04 -2.89833626e+01] [-3.08530896e-03 3.43659819e-05 9.99995240e-01 -1.12337589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters Centerline goodness : 0.994905 with order 1 Centerline is valid? [True, True] Translation: X:366.50, Y:-28.99, Z:-1.12 [[ 9.94179893e-01 1.07689235e-01 3.06090286e-03 3.66495539e+02] [-1.07688548e-01 9.94184603e-01 -3.88826513e-04 -2.89920392e+01] [-3.08497492e-03 5.69393178e-05 9.99995240e-01 -1.12020156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:366.55, Y:-29.00, Z:-1.12 [[ 9.94313876e-01 1.06445038e-01 3.06092104e-03 3.66552377e+02] [-1.06444346e-01 9.94318586e-01 -3.88683314e-04 -2.90020452e+01] [-3.08490409e-03 6.06554741e-05 9.99995240e-01 -1.11770776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters Centerline goodness : 0.994643 with order 1 Centerline is valid? [True, True] Translation: X:366.61, Y:-29.01, Z:-1.12 [[ 9.94169134e-01 1.07788518e-01 3.06094348e-03 3.66609342e+02] [-1.07787832e-01 9.94173844e-01 -3.88506516e-04 -2.90126006e+01] [-3.08498649e-03 5.63087241e-05 9.99995240e-01 -1.11995505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters Centerline goodness : 0.994324 with order 1 Centerline is valid? [True, True] Translation: X:366.67, Y:-29.02, Z:-1.12 [[ 9.93659901e-01 1.12386085e-01 3.06096498e-03 3.66667544e+02] [-1.12385422e-01 9.93664614e-01 -3.88337035e-04 -2.90239802e+01] [-3.08521627e-03 4.18670978e-05 9.99995240e-01 -1.12173182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:366.73, Y:-29.03, Z:-1.12 [[ 9.93246342e-01 1.15984199e-01 3.06098197e-03 3.66725097e+02] [-1.15983553e-01 9.93251058e-01 -3.88203120e-04 -2.90329164e+01] [-3.08534900e-03 3.05577648e-05 9.99995240e-01 -1.12487255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:366.78, Y:-29.04, Z:-1.12 [[ 9.92790320e-01 1.19824919e-01 3.06100545e-03 3.66782985e+02] [-1.19824292e-01 9.92795038e-01 -3.88017864e-04 -2.90411141e+01] [-3.08544523e-03 1.84375686e-05 9.99995240e-01 -1.12162660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters Centerline goodness : 0.993939 with order 1 Centerline is valid? [True, True] Translation: X:366.84, Y:-29.05, Z:-1.12 [[ 9.92032680e-01 1.25943608e-01 3.06102270e-03 3.66841386e+02] [-1.25943010e-01 9.92037402e-01 -3.87881708e-04 -2.90475922e+01] [-3.08550023e-03 -7.23083674e-07 9.99995240e-01 -1.12205734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters Centerline goodness : 0.993837 with order 1 Centerline is valid? [True, True] Translation: X:366.90, Y:-29.06, Z:-1.13 [[ 9.91364998e-01 1.31095655e-01 3.06103990e-03 3.66900216e+02] [-1.31095082e-01 9.91369724e-01 -3.87745905e-04 -2.90550536e+01] [-3.08545409e-03 -1.68895604e-05 9.99995240e-01 -1.12627012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters Centerline goodness : 0.993231 with order 1 Centerline is valid? [True, True] Translation: X:366.96, Y:-29.06, Z:-1.12 [[ 9.90608527e-01 1.36694465e-01 3.06105707e-03 3.66958250e+02] [-1.36693919e-01 9.90613256e-01 -3.87610358e-04 -2.90551197e+01] [-3.08530790e-03 -3.44577629e-05 9.99995240e-01 -1.12275614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters Centerline goodness : 0.993375 with order 1 Centerline is valid? [True, True] Translation: X:367.02, Y:-29.06, Z:-1.12 [[ 9.90372382e-01 1.38394993e-01 3.06108429e-03 3.67015744e+02] [-1.38394457e-01 9.90377112e-01 -3.87395275e-04 -2.90574281e+01] [-3.08524138e-03 -3.99715164e-05 9.99995240e-01 -1.12332648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters Centerline goodness : 0.992986 with order 1 Centerline is valid? [True, True] Translation: X:367.07, Y:-29.06, Z:-1.13 [[ 9.90518490e-01 1.37345370e-01 3.06111584e-03 3.67073543e+02] [-1.37344829e-01 9.90523219e-01 -3.87145756e-04 -2.90598134e+01] [-3.08527900e-03 -3.69534025e-05 9.99995240e-01 -1.12538542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters Centerline goodness : 0.992774 with order 1 Centerline is valid? [True, True] Translation: X:367.13, Y:-29.06, Z:-1.13 [[ 9.90658535e-01 1.36331570e-01 3.06114295e-03 3.67132593e+02] [-1.36331025e-01 9.90663264e-01 -3.86931318e-04 -2.90581851e+01] [-3.08531282e-03 -3.40119437e-05 9.99995240e-01 -1.12540679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters Centerline goodness : 0.992823 with order 1 Centerline is valid? [True, True] Translation: X:367.19, Y:-29.05, Z:-1.12 [[ 9.90854021e-01 1.34903443e-01 3.06117006e-03 3.67192010e+02] [-1.34902892e-01 9.90858749e-01 -3.86716747e-04 -2.90544001e+01] [-3.08535655e-03 -2.97808515e-05 9.99995240e-01 -1.12230307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters Centerline goodness : 0.993293 with order 1 Centerline is valid? [True, True] Translation: X:367.25, Y:-29.06, Z:-1.13 [[ 9.91759826e-01 1.28074494e-01 3.06118801e-03 3.67249976e+02] [-1.28073911e-01 9.91764551e-01 -3.86574551e-04 -2.90560413e+01] [-3.08548809e-03 -8.66921126e-06 9.99995240e-01 -1.12611179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters Centerline goodness : 0.991926 with order 1 Centerline is valid? [True, True] Translation: X:367.31, Y:-29.06, Z:-1.12 [[ 9.93011176e-01 1.17980645e-01 3.06123265e-03 3.67308918e+02] [-1.17980015e-01 9.93015895e-01 -3.86220790e-04 -2.90588630e+01] [-3.08541925e-03 2.23572885e-05 9.99995240e-01 -1.12127657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters Centerline goodness : 0.991974 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:-29.06, Z:-1.12 [[ 9.93718942e-01 1.11862836e-01 3.06125079e-03 3.67366459e+02] [-1.11862177e-01 9.93723656e-01 -3.86076883e-04 -2.90646390e+01] [-3.08522499e-03 4.12137329e-05 9.99995240e-01 -1.12125589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters Centerline goodness : 0.991007 with order 1 Centerline is valid? [True, True] Translation: X:367.42, Y:-29.07, Z:-1.12 [[ 9.94585664e-01 1.03874852e-01 3.06127723e-03 3.67423306e+02] [-1.03874156e-01 9.94590373e-01 -3.85867157e-04 -2.90738192e+01] [-3.08479876e-03 6.57903553e-05 9.99995240e-01 -1.12487379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters Centerline goodness : 0.991484 with order 1 Centerline is valid? [True, True] Translation: X:367.48, Y:-29.08, Z:-1.13 [[ 9.94903267e-01 1.00787489e-01 3.06129899e-03 3.67480803e+02] [-1.00786779e-01 9.94907974e-01 -3.85694454e-04 -2.90844989e+01] [-3.08458395e-03 7.51902075e-05 9.99995240e-01 -1.12609469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters Centerline goodness : 0.991223 with order 1 Centerline is valid? [True, True] Translation: X:367.54, Y:-29.10, Z:-1.12 [[ 9.95181985e-01 9.79971705e-02 3.06131619e-03 3.67538669e+02] [-9.79964478e-02 9.95186690e-01 -3.85557864e-04 -2.90975789e+01] [-3.08436471e-03 8.37021282e-05 9.99995240e-01 -1.12485205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters Centerline goodness : 0.991241 with order 1 Centerline is valid? [True, True] Translation: X:367.60, Y:-29.11, Z:-1.13 [[ 9.95160548e-01 9.82146269e-02 3.06133314e-03 3.67596394e+02] [-9.82139056e-02 9.95165253e-01 -3.85423259e-04 -2.91106094e+01] [-3.08438657e-03 8.28925379e-05 9.99995240e-01 -1.12622663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters Centerline goodness : 0.991470 with order 1 Centerline is valid? [True, True] Translation: X:367.65, Y:-29.12, Z:-1.13 [[ 9.94923642e-01 1.00586157e-01 3.06134997e-03 3.67652874e+02] [-1.00585448e-01 9.94928349e-01 -3.85289552e-04 -2.91246710e+01] [-3.08457866e-03 7.54064273e-05 9.99995240e-01 -1.12540855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters Centerline goodness : 0.991830 with order 1 Centerline is valid? [True, True] Translation: X:367.71, Y:-29.14, Z:-1.12 [[ 9.94830312e-01 1.01505068e-01 3.06137191e-03 3.67710666e+02] [-1.01504363e-01 9.94835019e-01 -3.85115143e-04 -2.91371555e+01] [-3.08465112e-03 7.23816116e-05 9.99995240e-01 -1.11962163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters Centerline goodness : 0.991953 with order 1 Centerline is valid? [True, True] Translation: X:367.77, Y:-29.15, Z:-1.12 [[ 9.94851281e-01 1.01299337e-01 3.06138964e-03 3.67768336e+02] [-1.01298632e-01 9.94855989e-01 -3.84974103e-04 -2.91519079e+01] [-3.08463944e-03 7.28773965e-05 9.99995240e-01 -1.12197728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters Centerline goodness : 0.991460 with order 1 Centerline is valid? [True, True] Translation: X:367.82, Y:-29.17, Z:-1.12 [[ 9.94539982e-01 1.04311320e-01 3.06140742e-03 3.67824227e+02] [-1.04310629e-01 9.94544692e-01 -3.84832650e-04 -2.91671554e+01] [-3.08484891e-03 6.33941227e-05 9.99995240e-01 -1.12352255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters Centerline goodness : 0.991639 with order 1 Centerline is valid? [True, True] Translation: X:367.88, Y:-29.18, Z:-1.12 [[ 9.93538053e-01 1.13458206e-01 3.06143240e-03 3.67882061e+02] [-1.13457560e-01 9.93542769e-01 -3.84633900e-04 -2.91803293e+01] [-3.08530389e-03 3.48057671e-05 9.99995240e-01 -1.12375964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters Centerline goodness : 0.991877 with order 1 Centerline is valid? [True, True] Translation: X:367.94, Y:-29.19, Z:-1.13 [[ 9.92350235e-01 1.23416527e-01 3.06144966e-03 3.67939519e+02] [-1.23415928e-01 9.92354957e-01 -3.84496439e-04 -2.91888443e+01] [-3.08549796e-03 3.72348168e-06 9.99995240e-01 -1.12635602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters Centerline goodness : 0.991649 with order 1 Centerline is valid? [True, True] Translation: X:368.00, Y:-29.20, Z:-1.13 [[ 9.91956244e-01 1.26544214e-01 3.06147116e-03 3.67998216e+02] [-1.26543631e-01 9.91960968e-01 -3.84325192e-04 -2.91966076e+01] [-3.08549402e-03 -6.17590296e-06 9.99995240e-01 -1.12678118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters Centerline goodness : 0.991900 with order 1 Centerline is valid? [True, True] Translation: X:368.06, Y:-29.20, Z:-1.13 [[ 9.91247706e-01 1.31979592e-01 3.06148851e-03 3.68056892e+02] [-1.31979034e-01 9.91252433e-01 -3.84186908e-04 -2.92039674e+01] [-3.08541277e-03 -2.32279061e-05 9.99995240e-01 -1.12558222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters Centerline goodness : 0.992054 with order 1 Centerline is valid? [True, True] Translation: X:368.12, Y:-29.21, Z:-1.13 [[ 9.91345951e-01 1.31239602e-01 3.06150615e-03 3.68115206e+02] [-1.31239042e-01 9.91350678e-01 -3.84046272e-04 -2.92090273e+01] [-3.08542828e-03 -2.10664185e-05 9.99995240e-01 -1.12526732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters Centerline goodness : 0.992343 with order 1 Centerline is valid? [True, True] Translation: X:368.17, Y:-29.22, Z:-1.12 [[ 9.91573707e-01 1.29507573e-01 3.06152388e-03 3.68173981e+02] [-1.29507005e-01 9.91578433e-01 -3.83904891e-04 -2.92168592e+01] [-3.08545964e-03 -1.58187917e-05 9.99995240e-01 -1.12496528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters Centerline goodness : 0.992287 with order 1 Centerline is valid? [True, True] Translation: X:368.23, Y:-29.22, Z:-1.12 [[ 9.91886548e-01 1.27089347e-01 3.06154218e-03 3.68231544e+02] [-1.27088768e-01 9.91891273e-01 -3.83758923e-04 -2.92243313e+01] [-3.08548864e-03 -8.44230952e-06 9.99995240e-01 -1.12266115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters Centerline goodness : 0.992212 with order 1 Centerline is valid? [True, True] Translation: X:368.29, Y:-29.23, Z:-1.12 [[ 9.91901844e-01 1.26969914e-01 3.06156687e-03 3.68289324e+02] [-1.26969334e-01 9.91906569e-01 -3.83561794e-04 -2.92309065e+01] [-3.08548910e-03 -8.26945720e-06 9.99995240e-01 -1.12279644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:-29.24, Z:-1.12 [[ 9.91904834e-01 1.26946550e-01 3.06159033e-03 3.68347523e+02] [-1.26945971e-01 9.91909559e-01 -3.83374515e-04 -2.92375111e+01] [-3.08548878e-03 -8.38552320e-06 9.99995240e-01 -1.12405397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters Centerline goodness : 0.992914 with order 1 Centerline is valid? [True, True] Translation: X:368.41, Y:-29.25, Z:-1.13 [[ 9.92105662e-01 1.25367387e-01 3.06160752e-03 3.68405650e+02] [-1.25366802e-01 9.92110386e-01 -3.83237165e-04 -2.92463260e+01] [-3.08549806e-03 -3.61218097e-06 9.99995240e-01 -1.12560572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters Centerline goodness : 0.992758 with order 1 Centerline is valid? [True, True] Translation: X:368.46, Y:-29.26, Z:-1.13 [[ 9.92357226e-01 1.23360299e-01 3.06162498e-03 3.68462992e+02] [-1.23359704e-01 9.92361948e-01 -3.83097579e-04 -2.92557464e+01] [-3.08549917e-03 2.48849800e-06 9.99995240e-01 -1.12712769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:368.52, Y:-29.27, Z:-1.13 [[ 9.92421139e-01 1.22845059e-01 3.06164838e-03 3.68521536e+02] [-1.22844462e-01 9.92425862e-01 -3.82910539e-04 -2.92651991e+01] [-3.08549770e-03 3.90196500e-06 9.99995240e-01 -1.12662601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters Centerline goodness : 0.992969 with order 1 Centerline is valid? [True, True] Translation: X:368.58, Y:-29.28, Z:-1.12 [[ 9.92552743e-01 1.21777171e-01 3.06166553e-03 3.68580018e+02] [-1.21776570e-01 9.92557465e-01 -3.82773349e-04 -2.92753969e+01] [-3.08549203e-03 7.08361224e-06 9.99995240e-01 -1.12430089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:368.64, Y:-29.29, Z:-1.13 [[ 9.92698587e-01 1.20582505e-01 3.06168262e-03 3.68638472e+02] [-1.20581899e-01 9.92703309e-01 -3.82636627e-04 -2.92860054e+01] [-3.08548175e-03 1.06593358e-05 9.99995240e-01 -1.12808863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:368.70, Y:-29.30, Z:-1.13 [[ 9.92479091e-01 1.22375981e-01 3.06169584e-03 3.68696649e+02] [-1.22375383e-01 9.92483813e-01 -3.82530781e-04 -2.92952516e+01] [-3.08549614e-03 4.97759938e-06 9.99995240e-01 -1.12682241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters Centerline goodness : 0.993106 with order 1 Centerline is valid? [True, True] Translation: X:368.75, Y:-29.30, Z:-1.13 [[ 9.92330004e-01 1.23579078e-01 3.06171374e-03 3.68753567e+02] [-1.23578487e-01 9.92334727e-01 -3.82387495e-04 -2.93031971e+01] [-3.08549996e-03 1.09263414e-06 9.99995240e-01 -1.12614509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters Centerline goodness : 0.992769 with order 1 Centerline is valid? [True, True] Translation: X:368.81, Y:-29.31, Z:-1.13 [[ 9.92167889e-01 1.24873957e-01 3.06173806e-03 3.68810525e+02] [-1.24873372e-01 9.92172613e-01 -3.82192609e-04 -2.93127158e+01] [-3.08549856e-03 -3.13032122e-06 9.99995240e-01 -1.12734861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters Centerline goodness : 0.992961 with order 1 Centerline is valid? [True, True] Translation: X:368.87, Y:-29.32, Z:-1.13 [[ 9.92122108e-01 1.25237167e-01 3.06175913e-03 3.68868668e+02] [-1.25236585e-01 9.92126833e-01 -3.82023754e-04 -2.93219753e+01] [-3.08549696e-03 -4.43004480e-06 9.99995240e-01 -1.12918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters Centerline goodness : 0.993073 with order 1 Centerline is valid? [True, True] Translation: X:368.93, Y:-29.33, Z:-1.13 [[ 9.92428105e-01 1.22788770e-01 3.06177690e-03 3.68925992e+02] [-1.22788176e-01 9.92432828e-01 -3.81881318e-04 -2.93323155e+01] [-3.08549864e-03 3.03975086e-06 9.99995240e-01 -1.12669988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters Centerline goodness : 0.992606 with order 1 Centerline is valid? [True, True] Translation: X:368.98, Y:-29.35, Z:-1.12 [[ 9.92968815e-01 1.18336632e-01 3.06179887e-03 3.68983750e+02] [-1.18336018e-01 9.92973535e-01 -3.81705081e-04 -2.93471431e+01] [-3.08545494e-03 1.67001558e-05 9.99995240e-01 -1.12315494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:369.04, Y:-29.36, Z:-1.13 [[ 9.93018995e-01 1.17914804e-01 3.06181661e-03 3.69040352e+02] [-1.17914188e-01 9.93023715e-01 -3.81562682e-04 -2.93599845e+01] [-3.08544840e-03 1.78673718e-05 9.99995240e-01 -1.12868221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:369.10, Y:-29.37, Z:-1.13 [[ 9.92614469e-01 1.21273006e-01 3.06183854e-03 3.69098891e+02] [-1.21272407e-01 9.92619191e-01 -3.81386657e-04 -2.93698023e+01] [-3.08549160e-03 7.25338538e-06 9.99995240e-01 -1.12791053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters Centerline goodness : 0.992850 with order 1 Centerline is valid? [True, True] Translation: X:369.16, Y:-29.38, Z:-1.13 [[ 9.92514353e-01 1.22089653e-01 3.06185588e-03 3.69156171e+02] [-1.22089058e-01 9.92519076e-01 -3.81247433e-04 -2.93810571e+01] [-3.08549673e-03 4.57444990e-06 9.99995240e-01 -1.12977516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters Centerline goodness : 0.992696 with order 1 Centerline is valid? [True, True] Translation: X:369.22, Y:-29.39, Z:-1.12 [[ 9.92630636e-01 1.21140604e-01 3.06187730e-03 3.69215223e+02] [-1.21140005e-01 9.92635358e-01 -3.81075291e-04 -2.93916283e+01] [-3.08549136e-03 7.35117567e-06 9.99995240e-01 -1.12250151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters Centerline goodness : 0.992345 with order 1 Centerline is valid? [True, True] Translation: X:369.27, Y:-29.40, Z:-1.12 [[ 9.92489403e-01 1.22292313e-01 3.06188579e-03 3.69273694e+02] [-1.22291719e-01 9.92494126e-01 -3.81007043e-04 -2.93989303e+01] [-3.08549790e-03 3.70217468e-06 9.99995240e-01 -1.12281383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters Centerline goodness : 0.992146 with order 1 Centerline is valid? [True, True] Translation: X:369.33, Y:-29.40, Z:-1.12 [[ 9.91719654e-01 1.28385174e-01 3.06190262e-03 3.69331113e+02] [-1.28384610e-01 9.91724381e-01 -3.80871775e-04 -2.94049380e+01] [-3.08546177e-03 -1.53831478e-05 9.99995240e-01 -1.12467612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters Centerline goodness : 0.991576 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:-29.41, Z:-1.13 [[ 9.91056005e-01 1.33411464e-01 3.06192522e-03 3.69389615e+02] [-1.33410925e-01 9.91060735e-01 -3.80690019e-04 -2.94108295e+01] [-3.08534227e-03 -3.12091456e-05 9.99995240e-01 -1.12647406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters Centerline goodness : 0.991757 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:-29.42, Z:-1.12 [[ 9.90797145e-01 1.35320514e-01 3.06194304e-03 3.69447316e+02] [-1.35319984e-01 9.90801876e-01 -3.80546594e-04 -2.94161074e+01] [-3.08527467e-03 -3.72976052e-05 9.99995240e-01 -1.12462750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters Centerline goodness : 0.990622 with order 1 Centerline is valid? [True, True] Translation: X:369.51, Y:-29.42, Z:-1.12 [[ 9.90673927e-01 1.36219654e-01 3.06196514e-03 3.69505986e+02] [-1.36219129e-01 9.90678658e-01 -3.80368686e-04 -2.94213458e+01] [-3.08523721e-03 -4.02768838e-05 9.99995240e-01 -1.12272527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:369.56, Y:-29.43, Z:-1.12 [[ 9.90351255e-01 1.38546077e-01 3.06198288e-03 3.69563303e+02] [-1.38545563e-01 9.90355988e-01 -3.80225850e-04 -2.94261565e+01] [-3.08513188e-03 -4.76669949e-05 9.99995240e-01 -1.12488195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters Centerline goodness : 0.990583 with order 1 Centerline is valid? [True, True] Translation: X:369.62, Y:-29.43, Z:-1.13 [[ 9.90030928e-01 1.40816854e-01 3.06200475e-03 3.69620805e+02] [-1.40816352e-01 9.90035661e-01 -3.80049602e-04 -2.94299402e+01] [-3.08501129e-03 -5.49194793e-05 9.99995240e-01 -1.12752923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters Centerline goodness : 0.990801 with order 1 Centerline is valid? [True, True] Translation: X:369.68, Y:-29.44, Z:-1.12 [[ 9.90499691e-01 1.37480857e-01 3.06202816e-03 3.69678852e+02] [-1.37480340e-01 9.90504423e-01 -3.79860962e-04 -2.94363166e+01] [-3.08517604e-03 -4.47165056e-05 9.99995240e-01 -1.12187981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters Centerline goodness : 0.990632 with order 1 Centerline is valid? [True, True] Translation: X:369.74, Y:-29.44, Z:-1.12 [[ 9.90924986e-01 1.34381157e-01 3.06204527e-03 3.69737715e+02] [-1.34380625e-01 9.90929717e-01 -3.79722965e-04 -2.94433266e+01] [-3.08529926e-03 -3.52025828e-05 9.99995240e-01 -1.12309126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters Centerline goodness : 0.990960 with order 1 Centerline is valid? [True, True] Translation: X:369.80, Y:-29.45, Z:-1.12 [[ 9.90978062e-01 1.33989193e-01 3.06206235e-03 3.69796277e+02] [-1.33988659e-01 9.90982793e-01 -3.79585159e-04 -2.94500432e+01] [-3.08531141e-03 -3.41210632e-05 9.99995240e-01 -1.12436684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters Centerline goodness : 0.990606 with order 1 Centerline is valid? [True, True] Translation: X:369.85, Y:-29.46, Z:-1.13 [[ 9.91121957e-01 1.32920615e-01 3.06207949e-03 3.69854557e+02] [-1.32920077e-01 9.91126687e-01 -3.79446886e-04 -2.94558252e+01] [-3.08534501e-03 -3.09337023e-05 9.99995240e-01 -1.12604889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters Centerline goodness : 0.991568 with order 1 Centerline is valid? [True, True] Translation: X:369.91, Y:-29.46, Z:-1.12 [[ 9.91441272e-01 1.30517536e-01 3.06209689e-03 3.69913331e+02] [-1.30516987e-01 9.91446001e-01 -3.79306393e-04 -2.94635748e+01] [-3.08540985e-03 -2.35956475e-05 9.99995240e-01 -1.12388038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters Centerline goodness : 0.991533 with order 1 Centerline is valid? [True, True] Translation: X:369.97, Y:-29.47, Z:-1.12 [[ 9.91741842e-01 1.28213659e-01 3.06211452e-03 3.69969834e+02] [-1.28213099e-01 9.91746569e-01 -3.79163980e-04 -2.94743778e+01] [-3.08545557e-03 -1.65704083e-05 9.99995240e-01 -1.12185500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters Centerline goodness : 0.991799 with order 1 Centerline is valid? [True, True] Translation: X:370.03, Y:-29.49, Z:-1.12 [[ 9.91761469e-01 1.28061754e-01 3.06213639e-03 3.70027456e+02] [-1.28061194e-01 9.91766196e-01 -3.78987317e-04 -2.94853482e+01] [-3.08545714e-03 -1.62758241e-05 9.99995240e-01 -1.11985314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters Centerline goodness : 0.991496 with order 1 Centerline is valid? [True, True] Translation: X:370.09, Y:-29.50, Z:-1.12 [[ 9.91536630e-01 1.29791119e-01 3.06215347e-03 3.70085008e+02] [-1.29790567e-01 9.91541358e-01 -3.78849233e-04 -2.94950461e+01] [-3.08542308e-03 -2.17957447e-05 9.99995240e-01 -1.12070214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters Centerline goodness : 0.991506 with order 1 Centerline is valid? [True, True] Translation: X:370.14, Y:-29.50, Z:-1.12 [[ 9.90929205e-01 1.34350045e-01 3.06217459e-03 3.70143503e+02] [-1.34349516e-01 9.90933935e-01 -3.78678440e-04 -2.95049729e+01] [-3.08528819e-03 -3.61581500e-05 9.99995240e-01 -1.12391893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters Centerline goodness : 0.991671 with order 1 Centerline is valid? [True, True] Translation: X:370.20, Y:-29.51, Z:-1.12 [[ 9.90170589e-01 1.39831424e-01 3.06219182e-03 3.70201652e+02] [-1.39830922e-01 9.90175323e-01 -3.78539080e-04 -2.95106514e+01] [-3.08503843e-03 -5.33708421e-05 9.99995240e-01 -1.12411306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:370.26, Y:-29.52, Z:-1.12 [[ 9.89885092e-01 1.41838386e-01 3.06220921e-03 3.70259850e+02] [-1.41837894e-01 9.89889827e-01 -3.78398335e-04 -2.95157810e+01] [-3.08492115e-03 -5.97664339e-05 9.99995240e-01 -1.12168851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters Centerline goodness : 0.991988 with order 1 Centerline is valid? [True, True] Translation: X:370.32, Y:-29.52, Z:-1.12 [[ 9.90288804e-01 1.38991756e-01 3.06222634e-03 3.70317313e+02] [-1.38991251e-01 9.90293537e-01 -3.78259660e-04 -2.95225616e+01] [-3.08507793e-03 -5.10363645e-05 9.99995240e-01 -1.12323831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:370.38, Y:-29.53, Z:-1.12 [[ 9.90597058e-01 1.36777527e-01 3.06224759e-03 3.70375060e+02] [-1.36777012e-01 9.90601790e-01 -3.78087588e-04 -2.95282449e+01] [-3.08518183e-03 -4.43126223e-05 9.99995240e-01 -1.12126702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:370.43, Y:-29.53, Z:-1.12 [[ 9.90655588e-01 1.36352953e-01 3.06226995e-03 3.70432402e+02] [-1.36352436e-01 9.90660320e-01 -3.77906354e-04 -2.95345238e+01] [-3.08519798e-03 -4.31729258e-05 9.99995240e-01 -1.12191628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters Centerline goodness : 0.992421 with order 1 Centerline is valid? [True, True] Translation: X:370.49, Y:-29.54, Z:-1.12 [[ 9.90530324e-01 1.37259968e-01 3.06229049e-03 3.70490832e+02] [-1.37259456e-01 9.90535057e-01 -3.77739855e-04 -2.95397358e+01] [-3.08515465e-03 -4.61655470e-05 9.99995240e-01 -1.11973628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:370.55, Y:-29.55, Z:-1.12 [[ 9.90502800e-01 1.37458450e-01 3.06230689e-03 3.70549086e+02] [-1.37457940e-01 9.90507533e-01 -3.77606840e-04 -2.95458444e+01] [-3.08514330e-03 -4.69177633e-05 9.99995240e-01 -1.12384953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters Centerline goodness : 0.992074 with order 1 Centerline is valid? [True, True] Translation: X:370.61, Y:-29.55, Z:-1.13 [[ 9.91147419e-01 1.32730611e-01 3.06232325e-03 3.70607035e+02] [-1.32730078e-01 9.91152150e-01 -3.77474129e-04 -2.95527238e+01] [-3.08533064e-03 -3.23298952e-05 9.99995240e-01 -1.12685213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters Centerline goodness : 0.992852 with order 1 Centerline is valid? [True, True] Translation: X:370.66, Y:-29.56, Z:-1.13 [[ 9.91811097e-01 1.27676816e-01 3.06233941e-03 3.70664939e+02] [-1.27676259e-01 9.91815825e-01 -3.77342963e-04 -2.95626973e+01] [-3.08545464e-03 -1.67351034e-05 9.99995240e-01 -1.12650832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:370.72, Y:-29.57, Z:-1.13 [[ 9.92364392e-01 1.23302621e-01 3.06235632e-03 3.70722754e+02] [-1.23302044e-01 9.92369117e-01 -3.77205706e-04 -2.95745168e+01] [-3.08549829e-03 -3.26928446e-06 9.99995240e-01 -1.12610644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters Centerline goodness : 0.993619 with order 1 Centerline is valid? [True, True] Translation: X:370.78, Y:-29.59, Z:-1.13 [[ 9.92551615e-01 1.21786345e-01 3.06236498e-03 3.70781208e+02] [-1.21785761e-01 9.92556339e-01 -3.77135404e-04 -2.95864988e+01] [-3.08549971e-03 1.37390481e-06 9.99995240e-01 -1.12598935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters Centerline goodness : 0.993387 with order 1 Centerline is valid? [True, True] Translation: X:370.84, Y:-29.60, Z:-1.12 [[ 9.92205965e-01 1.24571042e-01 3.06237353e-03 3.70838312e+02] [-1.24570472e-01 9.92210691e-01 -3.77065963e-04 -2.96005610e+01] [-3.08549125e-03 -7.35421685e-06 9.99995240e-01 -1.12170925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters Centerline goodness : 0.992951 with order 1 Centerline is valid? [True, True] Translation: X:370.90, Y:-29.61, Z:-1.12 [[ 9.92012561e-01 1.26101944e-01 3.06239064e-03 3.70896694e+02] [-1.26101381e-01 9.92017288e-01 -3.76926919e-04 -2.96125964e+01] [-3.08547568e-03 -1.22554510e-05 9.99995240e-01 -1.12332800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters Centerline goodness : 0.993680 with order 1 Centerline is valid? [True, True] Translation: X:370.96, Y:-29.63, Z:-1.13 [[ 9.91735742e-01 1.28260830e-01 3.06239987e-03 3.70955134e+02] [-1.28260278e-01 9.91740470e-01 -3.76851937e-04 -2.96271262e+01] [-3.08544123e-03 -1.90467228e-05 9.99995240e-01 -1.12513297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters Centerline goodness : 0.992772 with order 1 Centerline is valid? [True, True] Translation: X:371.01, Y:-29.64, Z:-1.12 [[ 9.90917034e-01 1.34439774e-01 3.06240903e-03 3.71012907e+02] [-1.34439252e-01 9.90921766e-01 -3.76777506e-04 -2.96375575e+01] [-3.08526164e-03 -3.83527294e-05 9.99995240e-01 -1.12242199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters Centerline goodness : 0.992986 with order 1 Centerline is valid? [True, True] Translation: X:371.07, Y:-29.65, Z:-1.12 [[ 9.90045536e-01 1.40714100e-01 3.06242260e-03 3.71071639e+02] [-1.40713608e-01 9.90050271e-01 -3.76667122e-04 -2.96458258e+01] [-3.08495470e-03 -5.80069309e-05 9.99995240e-01 -1.12258538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters Centerline goodness : 0.992685 with order 1 Centerline is valid? [True, True] Translation: X:371.13, Y:-29.65, Z:-1.13 [[ 9.89899075e-01 1.41740760e-01 3.06244027e-03 3.71129687e+02] [-1.41740273e-01 9.89903810e-01 -3.76523417e-04 -2.96531343e+01] [-3.08489001e-03 -6.13509392e-05 9.99995240e-01 -1.12511027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:371.19, Y:-29.66, Z:-1.13 [[ 9.89839766e-01 1.42154346e-01 3.06245330e-03 3.71188060e+02] [-1.42153862e-01 9.89844502e-01 -3.76417382e-04 -2.96586445e+01] [-3.08486193e-03 -6.27466701e-05 9.99995240e-01 -1.12564420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters Centerline goodness : 0.992823 with order 1 Centerline is valid? [True, True] Translation: X:371.25, Y:-29.66, Z:-1.13 [[ 9.89451431e-01 1.44832617e-01 3.06246622e-03 3.71247766e+02] [-1.44832146e-01 9.89456168e-01 -3.76312266e-04 -2.96557131e+01] [-3.08467838e-03 -7.12008437e-05 9.99995240e-01 -1.12555694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters Centerline goodness : 0.992795 with order 1 Centerline is valid? [True, True] Translation: X:371.31, Y:-29.66, Z:-1.13 [[ 9.89209583e-01 1.46475328e-01 3.06248388e-03 3.71306790e+02] [-1.46474865e-01 9.89214321e-01 -3.76168480e-04 -2.96568029e+01] [-3.08455232e-03 -7.64674478e-05 9.99995240e-01 -1.12638452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters Centerline goodness : 0.992754 with order 1 Centerline is valid? [True, True] Translation: X:371.37, Y:-29.65, Z:-1.13 [[ 9.89364354e-01 1.45426254e-01 3.06250184e-03 3.71365562e+02] [-1.45425786e-01 9.89369092e-01 -3.76022200e-04 -2.96542018e+01] [-3.08462817e-03 -7.33437770e-05 9.99995240e-01 -1.12618708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters Centerline goodness : 0.993186 with order 1 Centerline is valid? [True, True] Translation: X:371.42, Y:-29.65, Z:-1.13 [[ 9.90211199e-01 1.39543550e-01 3.06252406e-03 3.71424534e+02] [-1.39543055e-01 9.90215933e-01 -3.75841144e-04 -2.96520116e+01] [-3.08500633e-03 -5.51918529e-05 9.99995240e-01 -1.12557310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters Centerline goodness : 0.992895 with order 1 Centerline is valid? [True, True] Translation: X:371.48, Y:-29.65, Z:-1.12 [[ 9.91150707e-01 1.32706055e-01 3.06254555e-03 3.71484442e+02] [-1.32705528e-01 9.91155438e-01 -3.75665955e-04 -2.96497694e+01] [-3.08531182e-03 -3.40751480e-05 9.99995240e-01 -1.12017075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters Centerline goodness : 0.992777 with order 1 Centerline is valid? [True, True] Translation: X:371.54, Y:-29.65, Z:-1.11 [[ 9.91794735e-01 1.27803848e-01 3.06256266e-03 3.71542164e+02] [-1.27803297e-01 9.91799464e-01 -3.75526419e-04 -2.96521651e+01] [-3.08544173e-03 -1.89604808e-05 9.99995240e-01 -1.11334054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters Centerline goodness : 0.993231 with order 1 Centerline is valid? [True, True] Translation: X:371.60, Y:-29.66, Z:-1.12 [[ 9.92153103e-01 1.24991366e-01 3.06258386e-03 3.71600431e+02] [-1.24990803e-01 9.92157829e-01 -3.75353437e-04 -2.96562165e+01] [-3.08548250e-03 -1.03867380e-05 9.99995240e-01 -1.11674859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters Centerline goodness : 0.992117 with order 1 Centerline is valid? [True, True] Translation: X:371.66, Y:-29.66, Z:-1.12 [[ 9.92492749e-01 1.22265133e-01 3.06260144e-03 3.71657726e+02] [-1.22264557e-01 9.92497475e-01 -3.75209982e-04 -2.96617049e+01] [-3.08549929e-03 -2.05442286e-06 9.99995240e-01 -1.11524566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters Centerline goodness : 0.992598 with order 1 Centerline is valid? [True, True] Translation: X:371.72, Y:-29.67, Z:-1.12 [[ 9.93123747e-01 1.17029245e-01 3.06262308e-03 3.71716240e+02] [-1.17028645e-01 9.93128469e-01 -3.75033243e-04 -2.96672111e+01] [-3.08546803e-03 1.40397895e-05 9.99995240e-01 -1.11826730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters Centerline goodness : 0.993182 with order 1 Centerline is valid? [True, True] Translation: X:371.77, Y:-29.67, Z:-1.12 [[ 9.93692626e-01 1.12096319e-01 3.06264057e-03 3.71774953e+02] [-1.12095696e-01 9.93697345e-01 -3.74890385e-04 -2.96730592e+01] [-3.08536163e-03 2.92169843e-05 9.99995240e-01 -1.12213973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters Centerline goodness : 0.993103 with order 1 Centerline is valid? [True, True] Translation: X:371.83, Y:-29.68, Z:-1.13 [[ 9.94150350e-01 1.07961579e-01 3.06265350e-03 3.71833356e+02] [-1.07960937e-01 9.94155066e-01 -3.74784744e-04 -2.96800267e+01] [-3.08521484e-03 4.19454436e-05 9.99995240e-01 -1.12542518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters Centerline goodness : 0.993023 with order 1 Centerline is valid? [True, True] Translation: X:371.89, Y:-29.69, Z:-1.13 [[ 9.94255360e-01 1.06990179e-01 3.06267078e-03 3.71891518e+02] [-1.06989533e-01 9.94260076e-01 -3.74643473e-04 -2.96878050e+01] [-3.08517445e-03 4.48175667e-05 9.99995240e-01 -1.12961359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters Centerline goodness : 0.992945 with order 1 Centerline is valid? [True, True] Translation: X:371.95, Y:-29.69, Z:-1.13 [[ 9.94097738e-01 1.08444949e-01 3.06268827e-03 3.71949185e+02] [-1.08444309e-01 9.94102455e-01 -3.74500437e-04 -2.96946399e+01] [-3.08523861e-03 4.01589239e-05 9.99995240e-01 -1.12963406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters Centerline goodness : 0.992682 with order 1 Centerline is valid? [True, True] Translation: X:372.01, Y:-29.70, Z:-1.13 [[ 9.93899949e-01 1.10242969e-01 3.06271259e-03 3.72007667e+02] [-1.10242339e-01 9.93904667e-01 -3.74301388e-04 -2.97029696e+01] [-3.08530844e-03 3.43775315e-05 9.99995240e-01 -1.12671356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters Centerline goodness : 0.993086 with order 1 Centerline is valid? [True, True] Translation: X:372.07, Y:-29.71, Z:-1.13 [[ 9.94069384e-01 1.08704554e-01 3.06272976e-03 3.72066988e+02] [-1.08703917e-01 9.94074101e-01 -3.74160895e-04 -2.97118910e+01] [-3.08525332e-03 3.90111704e-05 9.99995240e-01 -1.13439041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters Centerline goodness : 0.993256 with order 1 Centerline is valid? [True, True] Translation: X:372.12, Y:-29.72, Z:-1.13 [[ 9.93913270e-01 1.10122798e-01 3.06273855e-03 3.72124029e+02] [-1.10122168e-01 9.93917989e-01 -3.74088884e-04 -2.97182207e+01] [-3.08530666e-03 3.45364960e-05 9.99995240e-01 -1.13008888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters Centerline goodness : 0.992670 with order 1 Centerline is valid? [True, True] Translation: X:372.18, Y:-29.72, Z:-1.13 [[ 9.93496620e-01 1.13820413e-01 3.06276023e-03 3.72181827e+02] [-1.13819801e-01 9.93501340e-01 -3.73911343e-04 -2.97240427e+01] [-3.08541513e-03 2.28768947e-05 9.99995240e-01 -1.12695016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters Centerline goodness : 0.992800 with order 1 Centerline is valid? [True, True] Translation: X:372.24, Y:-29.73, Z:-1.13 [[ 9.92869281e-01 1.19168829e-01 3.06278116e-03 3.72240913e+02] [-1.19168243e-01 9.92874005e-01 -3.73739785e-04 -2.97271989e+01] [-3.08549393e-03 6.08850121e-06 9.99995240e-01 -1.13116693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:372.30, Y:-29.73, Z:-1.13 [[ 9.92804368e-01 1.19708420e-01 3.06279833e-03 3.72299233e+02] [-1.19707837e-01 9.92809093e-01 -3.73599013e-04 -2.97330860e+01] [-3.08549698e-03 4.26976940e-06 9.99995240e-01 -1.13372305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters Centerline goodness : 0.993240 with order 1 Centerline is valid? [True, True] Translation: X:372.36, Y:-29.74, Z:-1.14 [[ 9.92963821e-01 1.18378504e-01 3.06281596e-03 3.72356861e+02] [-1.18377915e-01 9.92968544e-01 -3.73454473e-04 -2.97389749e+01] [-3.08548888e-03 8.25701241e-06 9.99995240e-01 -1.13571620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters Centerline goodness : 0.992992 with order 1 Centerline is valid? [True, True] Translation: X:372.41, Y:-29.75, Z:-1.14 [[ 9.93439085e-01 1.14321490e-01 3.06283779e-03 3.72414112e+02] [-1.14320882e-01 9.93443806e-01 -3.73275292e-04 -2.97468639e+01] [-3.08543062e-03 2.06799447e-05 9.99995240e-01 -1.13588871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters Centerline goodness : 0.993202 with order 1 Centerline is valid? [True, True] Translation: X:372.47, Y:-29.76, Z:-1.14 [[ 9.93996856e-01 1.09365756e-01 3.06286023e-03 3.72472438e+02] [-1.09365126e-01 9.94001574e-01 -3.73091062e-04 -2.97579773e+01] [-3.08529128e-03 3.58812473e-05 9.99995240e-01 -1.13544061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters Centerline goodness : 0.993115 with order 1 Centerline is valid? [True, True] Translation: X:372.53, Y:-29.77, Z:-1.14 [[ 9.94417599e-01 1.05471596e-01 3.06287822e-03 3.72531056e+02] [-1.05470947e-01 9.94422315e-01 -3.72943323e-04 -2.97713501e+01] [-3.08512938e-03 4.78167357e-05 9.99995240e-01 -1.13697266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters Centerline goodness : 0.993010 with order 1 Centerline is valid? [True, True] Translation: X:372.59, Y:-29.79, Z:-1.14 [[ 9.94443471e-01 1.05227383e-01 3.06288710e-03 3.72588271e+02] [-1.05226734e-01 9.94448186e-01 -3.72870437e-04 -2.97852701e+01] [-3.08511870e-03 4.85009663e-05 9.99995240e-01 -1.13856331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters Centerline goodness : 0.992956 with order 1 Centerline is valid? [True, True] Translation: X:372.65, Y:-29.80, Z:-1.14 [[ 9.94189161e-01 1.07603581e-01 3.06289684e-03 3.72647305e+02] [-1.07602943e-01 9.94193878e-01 -3.72790394e-04 -2.97960935e+01] [-3.08522687e-03 4.10474553e-05 9.99995240e-01 -1.13957704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters Centerline goodness : 0.993201 with order 1 Centerline is valid? [True, True] Translation: X:372.71, Y:-29.81, Z:-1.13 [[ 9.93692610e-01 1.12096454e-01 3.06290548e-03 3.72705905e+02] [-1.12095838e-01 9.93697330e-01 -3.72719399e-04 -2.98053988e+01] [-3.08538152e-03 2.70295566e-05 9.99995240e-01 -1.13475305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters Centerline goodness : 0.992943 with order 1 Centerline is valid? [True, True] Translation: X:372.76, Y:-29.81, Z:-1.14 [[ 9.93142702e-01 1.16868269e-01 3.06291836e-03 3.72764368e+02] [-1.16867676e-01 9.93147425e-01 -3.72613482e-04 -2.98131861e+01] [-3.08547618e-03 1.21022099e-05 9.99995240e-01 -1.13825437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters Centerline goodness : 0.993233 with order 1 Centerline is valid? [True, True] Translation: X:372.82, Y:-29.82, Z:-1.14 [[ 9.92537123e-01 1.21904383e-01 3.06293559e-03 3.72822385e+02] [-1.21903814e-01 9.92541849e-01 -3.72471786e-04 -2.98181709e+01] [-3.08549770e-03 -3.69145567e-06 9.99995240e-01 -1.13892047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters Centerline goodness : 0.993625 with order 1 Centerline is valid? [True, True] Translation: X:372.88, Y:-29.82, Z:-1.14 [[ 9.92042614e-01 1.25865288e-01 3.06295690e-03 3.72881620e+02] [-1.25864738e-01 9.92047342e-01 -3.72296466e-04 -2.98163229e+01] [-3.08545746e-03 -1.61843094e-05 9.99995240e-01 -1.13933709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters Centerline goodness : 0.993106 with order 1 Centerline is valid? [True, True] Translation: X:372.94, Y:-29.81, Z:-1.14 [[ 9.91788761e-01 1.27850191e-01 3.06297421e-03 3.72939617e+02] [-1.27849652e-01 9.91793491e-01 -3.72154052e-04 -2.98141683e+01] [-3.08541785e-03 -2.25019791e-05 9.99995240e-01 -1.14223777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters Centerline goodness : 0.993281 with order 1 Centerline is valid? [True, True] Translation: X:373.00, Y:-29.81, Z:-1.14 [[ 9.92208126e-01 1.24553816e-01 3.06299992e-03 3.72998193e+02] [-1.24553261e-01 9.92212854e-01 -3.71942306e-04 -2.98105378e+01] [-3.08547472e-03 -1.24624503e-05 9.99995240e-01 -1.14373245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters Centerline goodness : 0.993813 with order 1 Centerline is valid? [True, True] Translation: X:373.06, Y:-29.81, Z:-1.15 [[ 9.92810218e-01 1.19659887e-01 3.06302070e-03 3.73057500e+02] [-1.19659309e-01 9.92814943e-01 -3.71771129e-04 -2.98108719e+01] [-3.08549881e-03 2.57923552e-06 9.99995240e-01 -1.14534593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters Centerline goodness : 0.993551 with order 1 Centerline is valid? [True, True] Translation: X:373.12, Y:-29.81, Z:-1.15 [[ 9.93843140e-01 1.10753925e-01 3.06303765e-03 3.73115934e+02] [-1.10753305e-01 9.93847859e-01 -3.71631366e-04 -2.98113170e+01] [-3.08535305e-03 3.01017388e-05 9.99995240e-01 -1.14625804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters Centerline goodness : 0.993767 with order 1 Centerline is valid? [True, True] Translation: X:373.17, Y:-29.81, Z:-1.15 [[ 9.94598924e-01 1.03747765e-01 3.06305851e-03 3.73173857e+02] [-1.03747113e-01 9.94603639e-01 -3.71459351e-04 -2.98123682e+01] [-3.08506722e-03 5.16695914e-05 9.99995240e-01 -1.14899639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters Centerline goodness : 0.994196 with order 1 Centerline is valid? [True, True] Translation: X:373.23, Y:-29.82, Z:-1.15 [[ 9.94989587e-01 9.99316689e-02 3.06307891e-03 3.73232658e+02] [-9.99309992e-02 9.94994300e-01 -3.71291088e-04 -2.98158732e+01] [-3.08484979e-03 6.33342306e-05 9.99995240e-01 -1.14918992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters Centerline goodness : 0.993640 with order 1 Centerline is valid? [True, True] Translation: X:373.29, Y:-29.82, Z:-1.15 [[ 9.94754521e-01 1.02245100e-01 3.06309547e-03 3.73291992e+02] [-1.02244442e-01 9.94759235e-01 -3.71154455e-04 -2.98174811e+01] [-3.08499123e-03 5.60230859e-05 9.99995240e-01 -1.14682419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters Centerline goodness : 0.993719 with order 1 Centerline is valid? [True, True] Translation: X:373.35, Y:-29.82, Z:-1.15 [[ 9.94100318e-01 1.08421284e-01 3.06311283e-03 3.73350451e+02] [-1.08420656e-01 9.94105037e-01 -3.71011104e-04 -2.98172604e+01] [-3.08528139e-03 3.67175554e-05 9.99995240e-01 -1.14764158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters Centerline goodness : 0.993567 with order 1 Centerline is valid? [True, True] Translation: X:373.41, Y:-29.82, Z:-1.15 [[ 9.93817530e-01 1.10983487e-01 3.06313440e-03 3.73409504e+02] [-1.10982871e-01 9.93822250e-01 -3.70832922e-04 -2.98184240e+01] [-3.08536745e-03 2.85848088e-05 9.99995240e-01 -1.14908421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters Centerline goodness : 0.993629 with order 1 Centerline is valid? [True, True] Translation: X:373.47, Y:-29.82, Z:-1.15 [[ 9.93809570e-01 1.11054741e-01 3.06315155e-03 3.73467363e+02] [-1.11054125e-01 9.93814290e-01 -3.70691167e-04 -2.98178071e+01] [-3.08537080e-03 2.82208126e-05 9.99995240e-01 -1.14653702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters Centerline goodness : 0.993488 with order 1 Centerline is valid? [True, True] Translation: X:373.53, Y:-29.82, Z:-1.15 [[ 9.94043773e-01 1.08938486e-01 3.06317563e-03 3.73525850e+02] [-1.08937862e-01 9.94048492e-01 -3.70492138e-04 -2.98200375e+01] [-3.08530597e-03 3.45895999e-05 9.99995240e-01 -1.14752195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters Centerline goodness : 0.993805 with order 1 Centerline is valid? [True, True] Translation: X:373.58, Y:-29.83, Z:-1.15 [[ 9.94528206e-01 1.04423488e-01 3.06320250e-03 3.73583874e+02] [-1.04422843e-01 9.94532922e-01 -3.70269822e-04 -2.98254588e+01] [-3.08512060e-03 4.83754683e-05 9.99995240e-01 -1.14977819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters Centerline goodness : 0.993853 with order 1 Centerline is valid? [True, True] Translation: X:373.64, Y:-29.83, Z:-1.15 [[ 9.95341676e-01 9.63616335e-02 3.06322452e-03 3.73641127e+02] [-9.63609506e-02 9.95346387e-01 -3.70087573e-04 -2.98327641e+01] [-3.08463170e-03 7.31883585e-05 9.99995240e-01 -1.15134645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters Centerline goodness : 0.993686 with order 1 Centerline is valid? [True, True] Translation: X:373.70, Y:-29.84, Z:-1.15 [[ 9.95915767e-01 9.02352518e-02 3.06324559e-03 3.73699540e+02] [-9.02345405e-02 9.95920474e-01 -3.69913095e-04 -2.98423852e+01] [-3.08412820e-03 9.19917254e-05 9.99995240e-01 -1.15320633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters Centerline goodness : 0.994390 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:-29.85, Z:-1.16 [[ 9.96000093e-01 8.92996660e-02 3.06326222e-03 3.73757608e+02] [-8.92989507e-02 9.96004800e-01 -3.69775316e-04 -2.98515694e+01] [-3.08404469e-03 9.47501477e-05 9.99995240e-01 -1.15903606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters Centerline goodness : 0.993754 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:-29.87, Z:-1.16 [[ 9.95868275e-01 9.07578971e-02 3.06327948e-03 3.73814683e+02] [-9.07571892e-02 9.95872982e-01 -3.69632302e-04 -2.98652412e+01] [-3.08418432e-03 9.00904475e-05 9.99995240e-01 -1.16288837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters Centerline goodness : 0.994459 with order 1 Centerline is valid? [True, True] Translation: X:373.87, Y:-29.88, Z:-1.16 [[ 9.95706483e-01 9.25160261e-02 3.06330080e-03 3.73871747e+02] [-9.25153269e-02 9.95711192e-01 -3.69455512e-04 -2.98810054e+01] [-3.08434345e-03 8.44669738e-05 9.99995240e-01 -1.16173283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters Centerline goodness : 0.994574 with order 1 Centerline is valid? [True, True] Translation: X:373.93, Y:-29.89, Z:-1.16 [[ 9.94854584e-01 1.01266835e-01 3.06331794e-03 3.73929997e+02] [-1.01266178e-01 9.94859299e-01 -3.69313334e-04 -2.98925647e+01] [-3.08496953e-03 5.72025650e-05 9.99995240e-01 -1.16177779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters Centerline goodness : 0.994920 with order 1 Centerline is valid? [True, True] Translation: X:373.99, Y:-29.90, Z:-1.16 [[ 9.94086354e-01 1.08549235e-01 3.06333528e-03 3.73987592e+02] [-1.08548613e-01 9.94091074e-01 -3.69169419e-04 -2.99025109e+01] [-3.08530732e-03 3.44654866e-05 9.99995240e-01 -1.16047353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters Centerline goodness : 0.994674 with order 1 Centerline is valid? [True, True] Translation: X:374.04, Y:-29.92, Z:-1.16 [[ 9.93201599e-01 1.16366657e-01 3.06335252e-03 3.74044646e+02] [-1.16366072e-01 9.93206324e-01 -3.69026361e-04 -2.99166373e+01] [-3.08548346e-03 1.00472721e-05 9.99995240e-01 -1.15674791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters Centerline goodness : 0.994514 with order 1 Centerline is valid? [True, True] Translation: X:374.10, Y:-29.93, Z:-1.16 [[ 9.93338466e-01 1.15192479e-01 3.06336972e-03 3.74102881e+02] [-1.15191889e-01 9.93343190e-01 -3.68883509e-04 -2.99278254e+01] [-3.08547005e-03 1.35508346e-05 9.99995240e-01 -1.16042036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters Centerline goodness : 0.994653 with order 1 Centerline is valid? [True, True] Translation: X:374.16, Y:-29.94, Z:-1.16 [[ 9.93301179e-01 1.15513560e-01 3.06338687e-03 3.74161077e+02] [-1.15512972e-01 9.93305903e-01 -3.68740997e-04 -2.99389546e+01] [-3.08547485e-03 1.24099452e-05 9.99995240e-01 -1.16402462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters Centerline goodness : 0.994177 with order 1 Centerline is valid? [True, True] Translation: X:374.22, Y:-29.95, Z:-1.16 [[ 9.92736809e-01 1.20267388e-01 3.06340409e-03 3.74217789e+02] [-1.20266823e-01 9.92741535e-01 -3.68597937e-04 -2.99485493e+01] [-3.08549879e-03 -2.50513760e-06 9.99995240e-01 -1.16073401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters Centerline goodness : 0.994284 with order 1 Centerline is valid? [True, True] Translation: X:374.28, Y:-29.95, Z:-1.16 [[ 9.91716526e-01 1.28409297e-01 3.06342546e-03 3.74275982e+02] [-1.28408771e-01 9.91721257e-01 -3.68420260e-04 -2.99543257e+01] [-3.08537273e-03 -2.80022374e-05 9.99995240e-01 -1.15930631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:374.33, Y:-29.96, Z:-1.16 [[ 9.90979772e-01 1.33976514e-01 3.06344297e-03 3.74334638e+02] [-1.33976016e-01 9.90984506e-01 -3.68274600e-04 -2.99572759e+01] [-3.08516466e-03 -4.54752038e-05 9.99995240e-01 -1.16287977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters Centerline goodness : 0.993899 with order 1 Centerline is valid? [True, True] Translation: X:374.39, Y:-29.96, Z:-1.17 [[ 9.90133472e-01 1.40093979e-01 3.06346056e-03 3.74392502e+02] [-1.40093511e-01 9.90138209e-01 -3.68128182e-04 -2.99553995e+01] [-3.08482189e-03 -6.46749096e-05 9.99995240e-01 -1.17458957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters Centerline goodness : 0.993076 with order 1 Centerline is valid? [True, True] Translation: X:374.45, Y:-29.95, Z:-1.18 [[ 9.89826064e-01 1.42249705e-01 3.06350170e-03 3.74451297e+02] [-1.42249248e-01 9.89830802e-01 -3.67785531e-04 -2.99506496e+01] [-3.08466572e-03 -7.17371072e-05 9.99995240e-01 -1.17578768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters Centerline goodness : 0.993007 with order 1 Centerline is valid? [True, True] Translation: X:374.51, Y:-29.95, Z:-1.18 [[ 9.90589292e-01 1.36833727e-01 3.06352819e-03 3.74508642e+02] [-1.36833245e-01 9.90594028e-01 -3.67564683e-04 -2.99477066e+01] [-3.08500798e-03 -5.50868633e-05 9.99995240e-01 -1.17653251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters Centerline goodness : 0.993171 with order 1 Centerline is valid? [True, True] Translation: X:374.57, Y:-29.95, Z:-1.17 [[ 9.91687000e-01 1.28637117e-01 3.06355882e-03 3.74567803e+02] [-1.28636597e-01 9.91691732e-01 -3.67309284e-04 -2.99479811e+01] [-3.08535556e-03 -2.98299369e-05 9.99995240e-01 -1.17410034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters Centerline goodness : 0.992690 with order 1 Centerline is valid? [True, True] Translation: X:374.63, Y:-29.95, Z:-1.17 [[ 9.92502994e-01 1.22181919e-01 3.06357592e-03 3.74625185e+02] [-1.22181368e-01 9.92507722e-01 -3.67166589e-04 -2.99500504e+01] [-3.08548387e-03 -9.89795843e-06 9.99995240e-01 -1.16894743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters Centerline goodness : 0.992728 with order 1 Centerline is valid? [True, True] Translation: X:374.68, Y:-29.95, Z:-1.17 [[ 9.93074383e-01 1.17447365e-01 3.06360532e-03 3.74683237e+02] [-1.17446791e-01 9.93079109e-01 -3.66921084e-04 -2.99517870e+01] [-3.08549636e-03 4.56931391e-06 9.99995240e-01 -1.17211487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters Centerline goodness : 0.992781 with order 1 Centerline is valid? [True, True] Translation: X:374.74, Y:-29.95, Z:-1.17 [[ 9.93265682e-01 1.15818386e-01 3.06363008e-03 3.74740897e+02] [-1.15817806e-01 9.93270407e-01 -3.66714264e-04 -2.99540578e+01] [-3.08548535e-03 9.42177849e-06 9.99995240e-01 -1.17231588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters Centerline goodness : 0.992888 with order 1 Centerline is valid? [True, True] Translation: X:374.80, Y:-29.95, Z:-1.18 [[ 9.93475050e-01 1.14008508e-01 3.06365471e-03 3.74799252e+02] [-1.14007920e-01 9.93479773e-01 -3.66508327e-04 -2.99547073e+01] [-3.08546406e-03 1.48359766e-05 9.99995240e-01 -1.17629077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters Centerline goodness : 0.992506 with order 1 Centerline is valid? [True, True] Translation: X:374.86, Y:-29.96, Z:-1.18 [[ 9.93698663e-01 1.12042764e-01 3.06368339e-03 3.74856664e+02] [-1.12042167e-01 9.93703386e-01 -3.66268505e-04 -2.99598774e+01] [-3.08543029e-03 2.06987973e-05 9.99995240e-01 -1.17523881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters Centerline goodness : 0.992960 with order 1 Centerline is valid? [True, True] Translation: X:374.92, Y:-29.97, Z:-1.17 [[ 9.94002747e-01 1.09312179e-01 3.06370837e-03 3.74915047e+02] [-1.09311570e-01 9.94007468e-01 -3.66059356e-04 -2.99664802e+01] [-3.08536375e-03 2.89652326e-05 9.99995240e-01 -1.17077959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters Centerline goodness : 0.992389 with order 1 Centerline is valid? [True, True] Translation: X:374.97, Y:-29.97, Z:-1.18 [[ 9.94057589e-01 1.08812330e-01 3.06372593e-03 3.74972218e+02] [-1.08811719e-01 9.94062310e-01 -3.65912388e-04 -2.99738046e+01] [-3.08535025e-03 3.03687028e-05 9.99995240e-01 -1.17639959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:375.03, Y:-29.98, Z:-1.18 [[ 9.94024739e-01 1.09112012e-01 3.06374762e-03 3.75029293e+02] [-1.09111403e-01 9.94029460e-01 -3.65730667e-04 -2.99806166e+01] [-3.08536100e-03 2.92555292e-05 9.99995240e-01 -1.18072899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters Centerline goodness : 0.992262 with order 1 Centerline is valid? [True, True] Translation: X:375.09, Y:-29.99, Z:-1.18 [[ 9.94086019e-01 1.08552289e-01 3.06376860e-03 3.75087443e+02] [-1.08551678e-01 9.94090740e-01 -3.65554840e-04 -2.99897788e+01] [-3.08534581e-03 3.08157328e-05 9.99995240e-01 -1.17564618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters Centerline goodness : 0.992360 with order 1 Centerline is valid? [True, True] Translation: X:375.14, Y:-30.00, Z:-1.18 [[ 9.94096837e-01 1.08453176e-01 3.06378513e-03 3.75144694e+02] [-1.08452564e-01 9.94101558e-01 -3.65416204e-04 -3.00031453e+01] [-3.08534412e-03 3.09837384e-05 9.99995240e-01 -1.18024390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters Centerline goodness : 0.993042 with order 1 Centerline is valid? [True, True] Translation: X:375.20, Y:-30.02, Z:-1.18 [[ 9.93887010e-01 1.10359521e-01 3.06380154e-03 3.75201295e+02] [-1.10358919e-01 9.93891732e-01 -3.65278566e-04 -3.00189673e+01] [-3.08539899e-03 2.49277940e-05 9.99995240e-01 -1.17920222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:375.26, Y:-30.03, Z:-1.18 [[ 9.93344455e-01 1.15140815e-01 3.06382630e-03 3.75258609e+02] [-1.15140237e-01 9.93349180e-01 -3.65070797e-04 -3.00308508e+01] [-3.08548389e-03 9.87136506e-06 9.99995240e-01 -1.18315918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters Centerline goodness : 0.993120 with order 1 Centerline is valid? [True, True] Translation: X:375.32, Y:-30.04, Z:-1.18 [[ 9.92710265e-01 1.20486275e-01 3.06384263e-03 3.75316206e+02] [-1.20485722e-01 9.92714993e-01 -3.64933736e-04 -3.00438521e+01] [-3.08549202e-03 -6.87582654e-06 9.99995240e-01 -1.18246231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters Centerline goodness : 0.993344 with order 1 Centerline is valid? [True, True] Translation: X:375.38, Y:-30.05, Z:-1.18 [[ 9.92509227e-01 1.22131270e-01 3.06385970e-03 3.75375034e+02] [-1.22130726e-01 9.92513956e-01 -3.64790350e-04 -3.00514666e+01] [-3.08547582e-03 -1.21336207e-05 9.99995240e-01 -1.18133988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters Centerline goodness : 0.992793 with order 1 Centerline is valid? [True, True] Translation: X:375.43, Y:-30.06, Z:-1.18 [[ 9.91934397e-01 1.26715289e-01 3.06387663e-03 3.75432965e+02] [-1.26714767e-01 9.91939129e-01 -3.64648107e-04 -3.00591332e+01] [-3.08538560e-03 -2.65314130e-05 9.99995240e-01 -1.18172536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters Centerline goodness : 0.993148 with order 1 Centerline is valid? [True, True] Translation: X:375.49, Y:-30.06, Z:-1.18 [[ 9.91286548e-01 1.31687477e-01 3.06390182e-03 3.75491657e+02] [-1.31686979e-01 9.91291282e-01 -3.64436310e-04 -3.00642740e+01] [-3.08521086e-03 -4.22151636e-05 9.99995240e-01 -1.17780809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:375.55, Y:-30.07, Z:-1.18 [[ 9.91625224e-01 1.29112459e-01 3.06391902e-03 3.75550757e+02] [-1.29111949e-01 9.91629957e-01 -3.64291678e-04 -3.00692472e+01] [-3.08530848e-03 -3.43477397e-05 9.99995240e-01 -1.17542418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters Centerline goodness : 0.992736 with order 1 Centerline is valid? [True, True] Translation: X:375.61, Y:-30.08, Z:-1.18 [[ 9.93080426e-01 1.17396252e-01 3.06393641e-03 3.75607471e+02] [-1.17395687e-01 9.93085152e-01 -3.64145320e-04 -3.00784557e+01] [-3.08549905e-03 1.93266808e-06 9.99995240e-01 -1.18196339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters Centerline goodness : 0.992721 with order 1 Centerline is valid? [True, True] Translation: X:375.67, Y:-30.09, Z:-1.18 [[ 9.94756486e-01 1.02225951e-01 3.06396034e-03 3.75665356e+02] [-1.02225314e-01 9.94761204e-01 -3.63943902e-04 -3.00918787e+01] [-3.08511338e-03 4.88212487e-05 9.99995240e-01 -1.17933223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters Centerline goodness : 0.993300 with order 1 Centerline is valid? [True, True] Translation: X:375.72, Y:-30.11, Z:-1.18 [[ 9.95627801e-01 9.33589475e-02 3.06397710e-03 3.75721263e+02] [-9.33582697e-02 9.95632513e-01 -3.63802734e-04 -3.01096111e+01] [-3.08455946e-03 7.61645156e-05 9.99995240e-01 -1.17647359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters Centerline goodness : 0.993050 with order 1 Centerline is valid? [True, True] Translation: X:375.78, Y:-30.13, Z:-1.18 [[ 9.95691467e-01 9.26774773e-02 3.06399772e-03 3.75778456e+02] [-9.26767968e-02 9.95696178e-01 -3.63628969e-04 -3.01284637e+01] [-3.08451103e-03 7.81007670e-05 9.99995240e-01 -1.17962699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters Centerline goodness : 0.993778 with order 1 Centerline is valid? [True, True] Translation: X:375.83, Y:-30.15, Z:-1.18 [[ 9.95404797e-01 9.57073781e-02 3.06401438e-03 3.75833915e+02] [-9.57067124e-02 9.95409510e-01 -3.63488540e-04 -3.01497818e+01] [-3.08473759e-03 6.85714934e-05 9.99995240e-01 -1.18326130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:375.89, Y:-30.17, Z:-1.19 [[ 9.94845012e-01 1.01360806e-01 3.06403502e-03 3.75891076e+02] [-1.01360168e-01 9.94849730e-01 -3.63314424e-04 -3.01687493e+01] [-3.08508026e-03 5.08704393e-05 9.99995240e-01 -1.18598939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters Centerline goodness : 0.993075 with order 1 Centerline is valid? [True, True] Translation: X:375.95, Y:-30.18, Z:-1.18 [[ 9.94269743e-01 1.06856397e-01 3.06405126e-03 3.75948636e+02] [-1.06855785e-01 9.94274464e-01 -3.63177434e-04 -3.01814100e+01] [-3.08531576e-03 3.36847303e-05 9.99995240e-01 -1.18425097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters Centerline goodness : 0.993468 with order 1 Centerline is valid? [True, True] Translation: X:376.01, Y:-30.19, Z:-1.18 [[ 9.92974363e-01 1.18290007e-01 3.06406749e-03 3.76006073e+02] [-1.18289450e-01 9.92979091e-01 -3.63040480e-04 -3.01928069e+01] [-3.08549901e-03 -1.95696692e-06 9.99995240e-01 -1.18322857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters Centerline goodness : 0.993688 with order 1 Centerline is valid? [True, True] Translation: X:376.06, Y:-30.20, Z:-1.19 [[ 9.91654781e-01 1.28885247e-01 3.06408363e-03 3.76064100e+02] [-1.28884741e-01 9.91659514e-01 -3.62904223e-04 -3.01960238e+01] [-3.08530068e-03 -3.50379165e-05 9.99995240e-01 -1.18687612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters Centerline goodness : 0.993858 with order 1 Centerline is valid? [True, True] Translation: X:376.12, Y:-30.20, Z:-1.19 [[ 9.91135908e-01 1.32816501e-01 3.06410369e-03 3.76123281e+02] [-1.32816014e-01 9.91140643e-01 -3.62734722e-04 -3.01981322e+01] [-3.08513486e-03 -4.74426309e-05 9.99995240e-01 -1.18656053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters Centerline goodness : 0.993127 with order 1 Centerline is valid? [True, True] Translation: X:376.18, Y:-30.20, Z:-1.19 [[ 9.91483647e-01 1.30195196e-01 3.06411971e-03 3.76181937e+02] [-1.30194697e-01 9.91488381e-01 -3.62599391e-04 -3.02010884e+01] [-3.08524779e-03 -3.94207702e-05 9.99995240e-01 -1.18777846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters Centerline goodness : 0.994347 with order 1 Centerline is valid? [True, True] Translation: X:376.24, Y:-30.21, Z:-1.19 [[ 9.92938068e-01 1.18594281e-01 3.06413568e-03 3.76239675e+02] [-1.18593727e-01 9.92942796e-01 -3.62464323e-04 -3.02069183e+01] [-3.08549765e-03 -3.48264604e-06 9.99995240e-01 -1.19274036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters Centerline goodness : 0.992814 with order 1 Centerline is valid? [True, True] Translation: X:376.30, Y:-30.22, Z:-1.20 [[ 9.94573993e-01 1.03986456e-01 3.06415545e-03 3.76298246e+02] [-1.03985833e-01 9.94578712e-01 -3.62297167e-04 -3.02167099e+01] [-3.08521778e-03 4.17025828e-05 9.99995240e-01 -1.19546767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters Centerline goodness : 0.992073 with order 1 Centerline is valid? [True, True] Translation: X:376.36, Y:-30.23, Z:-1.20 [[ 9.95354495e-01 9.62290985e-02 3.06416389e-03 3.76356637e+02] [-9.62284392e-02 9.95359210e-01 -3.62225724e-04 -3.02295495e+01] [-3.08480041e-03 6.56832944e-05 9.99995240e-01 -1.19614407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters Centerline goodness : 0.992346 with order 1 Centerline is valid? [True, True] Translation: X:376.41, Y:-30.24, Z:-1.20 [[ 9.95465796e-01 9.50708109e-02 3.06417247e-03 3.76414446e+02] [-9.50701463e-02 9.95470510e-01 -3.62153143e-04 -3.02377894e+01] [-3.08472353e-03 6.91997414e-05 9.99995240e-01 -1.19837196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters Centerline goodness : 0.992285 with order 1 Centerline is valid? [True, True] Translation: X:376.47, Y:-30.25, Z:-1.20 [[ 9.95102788e-01 9.87980402e-02 3.06418093e-03 3.76473610e+02] [-9.87973935e-02 9.95107504e-01 -3.62081542e-04 -3.02453072e+01] [-3.08496239e-03 5.75752628e-05 9.99995240e-01 -1.19911467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters Centerline goodness : 0.991085 with order 1 Centerline is valid? [True, True] Translation: X:376.53, Y:-30.25, Z:-1.19 [[ 9.94451148e-01 1.05154770e-01 3.06418935e-03 3.76532556e+02] [-1.05154153e-01 9.94455868e-01 -3.62010314e-04 -3.02539185e+01] [-3.08526819e-03 3.77893348e-05 9.99995240e-01 -1.19313752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters Centerline goodness : 0.985705 with order 1 Centerline is valid? [True, True] Translation: X:376.59, Y:-30.26, Z:-1.18 [[ 9.94161558e-01 1.07858273e-01 3.06419790e-03 3.76591791e+02] [-1.07857670e-01 9.94166280e-01 -3.61937882e-04 -3.02638880e+01] [-3.08536023e-03 2.93274829e-05 9.99995240e-01 -1.18376492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters Centerline goodness : 0.990894 with order 1 Centerline is valid? [True, True] Translation: X:376.65, Y:-30.27, Z:-1.20 [[ 9.93682771e-01 1.12183608e-01 3.06420647e-03 3.76651128e+02] [-1.12183026e-01 9.93687495e-01 -3.61865320e-04 -3.02696170e+01] [-3.08545901e-03 1.58273809e-05 9.99995240e-01 -1.19535021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters Centerline goodness : 0.991589 with order 1 Centerline is valid? [True, True] Translation: X:376.71, Y:-30.28, Z:-1.19 [[ 9.93358063e-01 1.15023345e-01 3.06421498e-03 3.76709765e+02] [-1.15022776e-01 9.93362789e-01 -3.61793259e-04 -3.02779982e+01] [-3.08549181e-03 6.93573607e-06 9.99995240e-01 -1.19133528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters Centerline goodness : 0.991502 with order 1 Centerline is valid? [True, True] Translation: X:376.77, Y:-30.29, Z:-1.19 [[ 9.93366643e-01 1.14949222e-01 3.06422774e-03 3.76767940e+02] [-1.14948653e-01 9.93371369e-01 -3.61685161e-04 -3.02882381e+01] [-3.08549153e-03 7.05712241e-06 9.99995240e-01 -1.19041287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters Centerline goodness : 0.991286 with order 1 Centerline is valid? [True, True] Translation: X:376.83, Y:-30.30, Z:-1.19 [[ 9.93510419e-01 1.13699855e-01 3.06424036e-03 3.76827235e+02] [-1.13699280e-01 9.93515145e-01 -3.61578215e-04 -3.02966262e+01] [-3.08548059e-03 1.08298002e-05 9.99995240e-01 -1.18845697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters Centerline goodness : 0.991049 with order 1 Centerline is valid? [True, True] Translation: X:376.89, Y:-30.31, Z:-1.19 [[ 9.93457396e-01 1.14162225e-01 3.06424882e-03 3.76885614e+02] [-1.14161653e-01 9.93462121e-01 -3.61506475e-04 -3.03072020e+01] [-3.08548552e-03 9.32156951e-06 9.99995240e-01 -1.19019941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters Centerline goodness : 0.991327 with order 1 Centerline is valid? [True, True] Translation: X:376.95, Y:-30.32, Z:-1.19 [[ 9.92860175e-01 1.19244635e-01 3.06425727e-03 3.76945020e+02] [-1.19244088e-01 9.92864904e-01 -3.61434819e-04 -3.03171393e+01] [-3.08549267e-03 -6.54032550e-06 9.99995240e-01 -1.18977048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters Centerline goodness : 0.991402 with order 1 Centerline is valid? [True, True] Translation: X:377.00, Y:-30.32, Z:-1.19 [[ 9.92574332e-01 1.21601010e-01 3.06426587e-03 3.77003343e+02] [-1.21600474e-01 9.92579062e-01 -3.61361926e-04 -3.03235639e+01] [-3.08546812e-03 -1.39376101e-05 9.99995240e-01 -1.19188393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters Centerline goodness : 0.990867 with order 1 Centerline is valid? [True, True] Translation: X:377.06, Y:-30.33, Z:-1.19 [[ 9.92553051e-01 1.21774594e-01 3.06428303e-03 3.77062435e+02] [-1.21774059e-01 9.92557781e-01 -3.61216358e-04 -3.03290365e+01] [-3.08546494e-03 -1.46237838e-05 9.99995240e-01 -1.19238744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters Centerline goodness : 0.992584 with order 1 Centerline is valid? [True, True] Translation: X:377.12, Y:-30.33, Z:-1.20 [[ 9.92194751e-01 1.24660285e-01 3.06429583e-03 3.77121045e+02] [-1.24659764e-01 9.92199482e-01 -3.61107714e-04 -3.03334629e+01] [-3.08540853e-03 -2.37052165e-05 9.99995240e-01 -1.19808188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters Centerline goodness : 0.990595 with order 1 Centerline is valid? [True, True] Translation: X:377.18, Y:-30.34, Z:-1.19 [[ 9.91774326e-01 1.27962087e-01 3.06430845e-03 3.77179683e+02] [-1.27961582e-01 9.91779060e-01 -3.61000634e-04 -3.03371834e+01] [-3.08531135e-03 -3.40825963e-05 9.99995240e-01 -1.19468823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters Centerline goodness : 0.990512 with order 1 Centerline is valid? [True, True] Translation: X:377.24, Y:-30.34, Z:-1.19 [[ 9.91448748e-01 1.30460681e-01 3.06432561e-03 3.77238670e+02] [-1.30460189e-01 9.91453483e-01 -3.60854922e-04 -3.03406347e+01] [-3.08521368e-03 -4.20033368e-05 9.99995240e-01 -1.19463761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters Centerline goodness : 0.991290 with order 1 Centerline is valid? [True, True] Translation: X:377.30, Y:-30.34, Z:-1.20 [[ 9.91593966e-01 1.29352299e-01 3.06434274e-03 3.77297863e+02] [-1.29351802e-01 9.91598700e-01 -3.60709392e-04 -3.03445151e+01] [-3.08525686e-03 -3.87009982e-05 9.99995240e-01 -1.19956226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters Centerline goodness : 0.991932 with order 1 Centerline is valid? [True, True] Translation: X:377.36, Y:-30.35, Z:-1.20 [[ 9.92017773e-01 1.26060892e-01 3.06435969e-03 3.77355736e+02] [-1.26060380e-01 9.92022505e-01 -3.60565289e-04 -3.03486025e+01] [-3.08536696e-03 -2.86071710e-05 9.99995240e-01 -1.20404541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters Centerline goodness : 0.991825 with order 1 Centerline is valid? [True, True] Translation: X:377.41, Y:-30.36, Z:-1.20 [[ 9.92378510e-01 1.23188891e-01 3.06438068e-03 3.77413730e+02] [-1.23188365e-01 9.92383241e-01 -3.60386876e-04 -3.03552936e+01] [-3.08543569e-03 -1.98558560e-05 9.99995240e-01 -1.20364737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters Centerline goodness : 0.990406 with order 1 Centerline is valid? [True, True] Translation: X:377.47, Y:-30.36, Z:-1.20 [[ 9.92247371e-01 1.24240751e-01 3.06439726e-03 3.77472149e+02] [-1.24240231e-01 9.92252103e-01 -3.60245774e-04 -3.03618375e+01] [-3.08541183e-03 -2.32685012e-05 9.99995240e-01 -1.19765228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters Centerline goodness : 0.990804 with order 1 Centerline is valid? [True, True] Translation: X:377.53, Y:-30.37, Z:-1.19 [[ 9.92317009e-01 1.23683317e-01 3.06441412e-03 3.77530621e+02] [-1.23682795e-01 9.92321740e-01 -3.60102362e-04 -3.03697062e+01] [-3.08542340e-03 -2.16796047e-05 9.99995240e-01 -1.19438125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters Centerline goodness : 0.991105 with order 1 Centerline is valid? [True, True] Translation: X:377.59, Y:-30.38, Z:-1.19 [[ 9.92615057e-01 1.21268126e-01 3.06443094e-03 3.77589643e+02] [-1.21267592e-01 9.92619787e-01 -3.59959165e-04 -3.03754953e+01] [-3.08546636e-03 -1.43152737e-05 9.99995240e-01 -1.18787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters Centerline goodness : 0.990754 with order 1 Centerline is valid? [True, True] Translation: X:377.65, Y:-30.39, Z:-1.19 [[ 9.92898083e-01 1.18928575e-01 3.06443958e-03 3.77648059e+02] [-1.18928031e-01 9.92902812e-01 -3.59885574e-04 -3.03860762e+01] [-3.08549135e-03 -7.11806880e-06 9.99995240e-01 -1.18797953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters Centerline goodness : 0.991453 with order 1 Centerline is valid? [True, True] Translation: X:377.71, Y:-30.40, Z:-1.19 [[ 9.93496886e-01 1.13818046e-01 3.06445666e-03 3.77706885e+02] [-1.13817478e-01 9.93501612e-01 -3.59740079e-04 -3.03989844e+01] [-3.08548754e-03 8.61191997e-06 9.99995240e-01 -1.18745500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters Centerline goodness : 0.990382 with order 1 Centerline is valid? [True, True] Translation: X:377.77, Y:-30.41, Z:-1.19 [[ 9.93621795e-01 1.12722395e-01 3.06446512e-03 3.77766150e+02] [-1.12721822e-01 9.93626520e-01 -3.59667967e-04 -3.04149242e+01] [-3.08547645e-03 1.19418396e-05 9.99995240e-01 -1.18937333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters Centerline goodness : 0.990752 with order 1 Centerline is valid? [True, True] Translation: X:377.82, Y:-30.43, Z:-1.19 [[ 9.93068165e-01 1.17499908e-01 3.06446512e-03 3.77823532e+02] [-1.17499357e-01 9.93072893e-01 -3.59667967e-04 -3.04257513e+01] [-3.08549820e-03 -2.89787443e-06 9.99995240e-01 -1.18674650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters Centerline goodness : 0.990568 with order 1 Centerline is valid? [True, True] Translation: X:377.88, Y:-30.43, Z:-1.19 [[ 9.91506244e-01 1.30022990e-01 3.06447759e-03 3.77881913e+02] [-1.30022500e-01 9.91510978e-01 -3.59561732e-04 -3.04335351e+01] [-3.08521446e-03 -4.19433350e-05 9.99995240e-01 -1.18970833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters Centerline goodness : 0.989991 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:-30.44, Z:-1.19 [[ 9.90661969e-01 1.36306538e-01 3.06449407e-03 3.77940153e+02] [-1.36306078e-01 9.90666707e-01 -3.59421158e-04 -3.04399891e+01] [-3.08488371e-03 -6.16442948e-05 9.99995240e-01 -1.18577853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters Centerline goodness : 0.989813 with order 1 Centerline is valid? [True, True] Translation: X:378.00, Y:-30.44, Z:-1.19 [[ 9.90901110e-01 1.34557045e-01 3.06451050e-03 3.78000148e+02] [-1.34556577e-01 9.90905847e-01 -3.59281084e-04 -3.04443348e+01] [-3.08498517e-03 -5.63380182e-05 9.99995240e-01 -1.19012621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters Centerline goodness : 0.990703 with order 1 Centerline is valid? [True, True] Translation: X:378.06, Y:-30.45, Z:-1.20 [[ 9.91331443e-01 1.31349075e-01 3.06451879e-03 3.78058267e+02] [-1.31348592e-01 9.91336178e-01 -3.59210307e-04 -3.04511291e+01] [-3.08515029e-03 -4.64237555e-05 9.99995240e-01 -1.19635773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters Centerline goodness : 0.990476 with order 1 Centerline is valid? [True, True] Translation: X:378.12, Y:-30.46, Z:-1.19 [[ 9.91955795e-01 1.26547653e-01 3.06453114e-03 3.78116678e+02] [-1.26547148e-01 9.91960529e-01 -3.59104936e-04 -3.04562322e+01] [-3.08533782e-03 -3.15914529e-05 9.99995240e-01 -1.19385440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters Centerline goodness : 0.990012 with order 1 Centerline is valid? [True, True] Translation: X:378.18, Y:-30.46, Z:-1.19 [[ 9.92574083e-01 1.21603033e-01 3.06454329e-03 3.78175279e+02] [-1.21602504e-01 9.92578814e-01 -3.59001200e-04 -3.04645841e+01] [-3.08545638e-03 -1.63208522e-05 9.99995240e-01 -1.18913552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters Centerline goodness : 0.990342 with order 1 Centerline is valid? [True, True] Translation: X:378.23, Y:-30.48, Z:-1.19 [[ 9.93633743e-01 1.12617025e-01 3.06455559e-03 3.78234797e+02] [-1.12616453e-01 9.93638468e-01 -3.58896168e-04 -3.04757042e+01] [-3.08547814e-03 1.14919606e-05 9.99995240e-01 -1.19307677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters Centerline goodness : 0.990886 with order 1 Centerline is valid? [True, True] Translation: X:378.29, Y:-30.49, Z:-1.19 [[ 9.94378575e-01 1.05838835e-01 3.06455559e-03 3.78293384e+02] [-1.05838231e-01 9.94383296e-01 -3.58896168e-04 -3.04898434e+01] [-3.08532804e-03 3.25315156e-05 9.99995240e-01 -1.18721548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters Centerline goodness : 0.990395 with order 1 Centerline is valid? [True, True] Translation: X:378.35, Y:-30.50, Z:-1.18 [[ 9.94214901e-01 1.07365450e-01 3.06453526e-03 3.78353180e+02] [-1.07364854e-01 9.94219623e-01 -3.59069746e-04 -3.04968492e+01] [-3.08537277e-03 2.79691126e-05 9.99995240e-01 -1.18312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters Centerline goodness : 0.990968 with order 1 Centerline is valid? [True, True] Translation: X:378.41, Y:-30.50, Z:-1.19 [[ 9.93629473e-01 1.12654687e-01 3.06453526e-03 3.78412735e+02] [-1.12654115e-01 9.93634199e-01 -3.59069746e-04 -3.05044635e+01] [-3.08547792e-03 1.15497746e-05 9.99995240e-01 -1.18522575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters Centerline goodness : 0.989763 with order 1 Centerline is valid? [True, True] Translation: X:378.47, Y:-30.51, Z:-1.19 [[ 9.93091087e-01 1.17306018e-01 3.06454366e-03 3.78471992e+02] [-1.17305469e-01 9.93095815e-01 -3.58997995e-04 -3.05108979e+01] [-3.08549811e-03 -2.97002136e-06 9.99995240e-01 -1.18513672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters Centerline goodness : 0.990777 with order 1 Centerline is valid? [True, True] Translation: X:378.53, Y:-30.52, Z:-1.19 [[ 9.92726004e-01 1.20356510e-01 3.06455202e-03 3.78530416e+02] [-1.20355976e-01 9.92730734e-01 -3.58926582e-04 -3.05167477e+01] [-3.08547413e-03 -1.25213969e-05 9.99995240e-01 -1.18970240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters Centerline goodness : 0.990733 with order 1 Centerline is valid? [True, True] Translation: X:378.59, Y:-30.52, Z:-1.19 [[ 9.92392855e-01 1.23073273e-01 3.06456449e-03 3.78590129e+02] [-1.23072752e-01 9.92397586e-01 -3.58820091e-04 -3.05162196e+01] [-3.08542757e-03 -2.10738903e-05 9.99995240e-01 -1.18618728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters Centerline goodness : 0.989936 with order 1 Centerline is valid? [True, True] Translation: X:378.65, Y:-30.52, Z:-1.19 [[ 9.91914913e-01 1.26867699e-01 3.06457302e-03 3.78648967e+02] [-1.26867196e-01 9.91919647e-01 -3.58747277e-04 -3.05184795e+01] [-3.08532363e-03 -3.29470107e-05 9.99995240e-01 -1.19013503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters Centerline goodness : 0.990465 with order 1 Centerline is valid? [True, True] Translation: X:378.71, Y:-30.52, Z:-1.19 [[ 9.91964449e-01 1.26479800e-01 3.06459025e-03 3.78706264e+02] [-1.26479296e-01 9.91969183e-01 -3.58600040e-04 -3.05238661e+01] [-3.08533474e-03 -3.18887254e-05 9.99995240e-01 -1.19067927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters Centerline goodness : 0.990599 with order 1 Centerline is valid? [True, True] Translation: X:378.76, Y:-30.53, Z:-1.19 [[ 9.92515539e-01 1.22079948e-01 3.06461327e-03 3.78764452e+02] [-1.22079424e-01 9.92520270e-01 -3.58403190e-04 -3.05312252e+01] [-3.08544463e-03 -1.84054863e-05 9.99995240e-01 -1.18504303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters Centerline goodness : 0.990286 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:-30.54, Z:-1.19 [[ 9.92849376e-01 1.19334511e-01 3.06462557e-03 3.78823544e+02] [-1.19333974e-01 9.92854105e-01 -3.58298000e-04 -3.05380616e+01] [-3.08548339e-03 -9.97800154e-06 9.99995240e-01 -1.18545052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters Centerline goodness : 0.989771 with order 1 Centerline is valid? [True, True] Translation: X:378.88, Y:-30.55, Z:-1.19 [[ 9.92699501e-01 1.20574913e-01 3.06463394e-03 3.78882223e+02] [-1.20574382e-01 9.92704231e-01 -3.58226316e-04 -3.05466082e+01] [-3.08546819e-03 -1.39052582e-05 9.99995240e-01 -1.18710680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters Centerline goodness : 0.989770 with order 1 Centerline is valid? [True, True] Translation: X:378.94, Y:-30.55, Z:-1.19 [[ 9.92634416e-01 1.21109555e-01 3.06464266e-03 3.78939917e+02] [-1.21109026e-01 9.92639147e-01 -3.58151767e-04 -3.05542491e+01] [-3.08545987e-03 -1.56421188e-05 9.99995240e-01 -1.18974249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters Centerline goodness : 0.989899 with order 1 Centerline is valid? [True, True] Translation: X:379.00, Y:-30.56, Z:-1.19 [[ 9.92566476e-01 1.21665107e-01 3.06465561e-03 3.78999378e+02] [-1.21664581e-01 9.92571207e-01 -3.58040863e-04 -3.05605136e+01] [-3.08545000e-03 -1.74806840e-05 9.99995240e-01 -1.18611039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters Centerline goodness : 0.989446 with order 1 Centerline is valid? [True, True] Translation: X:379.06, Y:-30.57, Z:-1.18 [[ 9.92523288e-01 1.22016924e-01 3.06466390e-03 3.79058608e+02] [-1.22016400e-01 9.92528020e-01 -3.57969915e-04 -3.05674918e+01] [-3.08544318e-03 -1.86457807e-05 9.99995240e-01 -1.18192862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters Centerline goodness : 0.990189 with order 1 Centerline is valid? [True, True] Translation: X:379.12, Y:-30.57, Z:-1.19 [[ 9.93025372e-01 1.17861013e-01 3.06467265e-03 3.79117637e+02] [-1.17860470e-01 9.93030101e-01 -3.57894968e-04 -3.05739931e+01] [-3.08549406e-03 -5.80497448e-06 9.99995240e-01 -1.18539150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters Centerline goodness : 0.990026 with order 1 Centerline is valid? [True, True] Translation: X:379.18, Y:-30.58, Z:-1.19 [[ 9.93368401e-01 1.14934018e-01 3.06466744e-03 3.79176515e+02] [-1.14933461e-01 9.93373128e-01 -3.57939565e-04 -3.05822631e+01] [-3.08549772e-03 3.33301628e-06 9.99995240e-01 -1.18660402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters Centerline goodness : 0.990310 with order 1 Centerline is valid? [True, True] Translation: X:379.24, Y:-30.59, Z:-1.19 [[ 9.93856633e-01 1.10632727e-01 3.06467548e-03 3.79236582e+02] [-1.10632150e-01 9.93861358e-01 -3.57870728e-04 -3.05924907e+01] [-3.08545475e-03 1.66205598e-05 9.99995240e-01 -1.18861797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters Centerline goodness : 0.990332 with order 1 Centerline is valid? [True, True] Translation: X:379.30, Y:-30.60, Z:-1.18 [[ 9.94115898e-01 1.08278292e-01 3.06467548e-03 3.79296023e+02] [-1.08277703e-01 9.94120622e-01 -3.57870728e-04 -3.06040772e+01] [-3.08540673e-03 2.39289572e-05 9.99995240e-01 -1.18068117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters Centerline goodness : 0.990499 with order 1 Centerline is valid? [True, True] Translation: X:379.36, Y:-30.62, Z:-1.18 [[ 9.94194295e-01 1.07556082e-01 3.06467548e-03 3.79356070e+02] [-1.07555490e-01 9.94199019e-01 -3.57870728e-04 -3.06177144e+01] [-3.08538853e-03 2.61703635e-05 9.99995240e-01 -1.17907303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters Centerline goodness : 0.990579 with order 1 Centerline is valid? [True, True] Translation: X:379.41, Y:-30.63, Z:-1.18 [[ 9.94278595e-01 1.06773987e-01 3.06466707e-03 3.79414958e+02] [-1.06773391e-01 9.94283317e-01 -3.57942782e-04 -3.06296575e+01] [-3.08536632e-03 2.86699525e-05 9.99995240e-01 -1.18262915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters Centerline goodness : 0.990799 with order 1 Centerline is valid? [True, True] Translation: X:379.48, Y:-30.65, Z:-1.18 [[ 9.94303108e-01 1.06545471e-01 3.06464607e-03 3.79475172e+02] [-1.06544873e-01 9.94307831e-01 -3.58122507e-04 -3.06450539e+01] [-3.08535791e-03 2.95599963e-05 9.99995240e-01 -1.17886727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters Centerline goodness : 0.990250 with order 1 Centerline is valid? [True, True] Translation: X:379.54, Y:-30.66, Z:-1.18 [[ 9.94078590e-01 1.08620281e-01 3.06463810e-03 3.79535766e+02] [-1.08619693e-01 9.94083313e-01 -3.58190649e-04 -3.06574292e+01] [-3.08541237e-03 2.31896050e-05 9.99995240e-01 -1.18005445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters Centerline goodness : 0.990775 with order 1 Centerline is valid? [True, True] Translation: X:379.60, Y:-30.67, Z:-1.18 [[ 9.93566477e-01 1.13208941e-01 3.06462989e-03 3.79595136e+02] [-1.13208375e-01 9.93571203e-01 -3.58260921e-04 -3.06680054e+01] [-3.08548634e-03 9.01427180e-06 9.99995240e-01 -1.18169633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters Centerline goodness : 0.990830 with order 1 Centerline is valid? [True, True] Translation: X:379.66, Y:-30.68, Z:-1.18 [[ 9.93530912e-01 1.13520636e-01 3.06460987e-03 3.79656960e+02] [-1.13520070e-01 9.93535639e-01 -3.58432059e-04 -3.06779773e+01] [-3.08548856e-03 8.21860280e-06 9.99995240e-01 -1.18328946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters Centerline goodness : 0.989794 with order 1 Centerline is valid? [True, True] Translation: X:379.72, Y:-30.69, Z:-1.18 [[ 9.93506465e-01 1.13734390e-01 3.06455035e-03 3.79718638e+02] [-1.13733824e-01 9.93511192e-01 -3.58940219e-04 -3.06869982e+01] [-3.08548892e-03 8.06639774e-06 9.99995240e-01 -1.18332397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters Centerline goodness : 0.989985 with order 1 Centerline is valid? [True, True] Translation: X:379.78, Y:-30.69, Z:-1.18 [[ 9.93193231e-01 1.16438032e-01 3.06449058e-03 3.79779470e+02] [-1.16437477e-01 9.93197959e-01 -3.59449830e-04 -3.06937276e+01] [-3.08549941e-03 1.81587552e-07 9.99995240e-01 -1.18410634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters Centerline goodness : 0.989449 with order 1 Centerline is valid? [True, True] Translation: X:379.84, Y:-30.70, Z:-1.18 [[ 9.93013707e-01 1.17959258e-01 3.06443567e-03 3.79840851e+02] [-1.17958709e-01 9.93018436e-01 -3.59917323e-04 -3.07000341e+01] [-3.08549669e-03 -4.07403951e-06 9.99995240e-01 -1.18177001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters Centerline goodness : 0.990485 with order 1 Centerline is valid? [True, True] Translation: X:379.90, Y:-30.71, Z:-1.18 [[ 9.92863945e-01 1.19213237e-01 3.06442709e-03 3.79900837e+02] [-1.19212693e-01 9.92868674e-01 -3.59990315e-04 -3.07097403e+01] [-3.08548928e-03 -7.89720345e-06 9.99995240e-01 -1.17698209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:379.96, Y:-30.72, Z:-1.18 [[ 9.93032499e-01 1.17800961e-01 3.06439741e-03 3.79961627e+02] [-1.17800410e-01 9.93037227e-01 -3.60242836e-04 -3.07191325e+01] [-3.08549766e-03 -3.25442679e-06 9.99995240e-01 -1.18031655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters Centerline goodness : 0.990518 with order 1 Centerline is valid? [True, True] Translation: X:380.02, Y:-30.73, Z:-1.18 [[ 9.93399479e-01 1.14665095e-01 3.06436439e-03 3.80023589e+02] [-1.14664529e-01 9.93404206e-01 -3.60523467e-04 -3.07322776e+01] [-3.08549193e-03 6.76992556e-06 9.99995240e-01 -1.18133319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters Centerline goodness : 0.990300 with order 1 Centerline is valid? [True, True] Translation: X:380.08, Y:-30.74, Z:-1.18 [[ 9.93453339e-01 1.14197516e-01 3.06429725e-03 3.80084376e+02] [-1.14196946e-01 9.93458065e-01 -3.61093264e-04 -3.07432977e+01] [-3.08548677e-03 8.79592225e-06 9.99995240e-01 -1.17900907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters Centerline goodness : 0.990847 with order 1 Centerline is valid? [True, True] Translation: X:380.15, Y:-30.75, Z:-1.17 [[ 9.93123799e-01 1.17028756e-01 3.06425563e-03 3.80146067e+02] [-1.17028198e-01 9.93128527e-01 -3.61446115e-04 -3.07545234e+01] [-3.08549927e-03 3.56424882e-07 9.99995240e-01 -1.17118983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters Centerline goodness : 0.990350 with order 1 Centerline is valid? [True, True] Translation: X:380.21, Y:-30.76, Z:-1.17 [[ 9.92867776e-01 1.19181329e-01 3.06419798e-03 3.80207764e+02] [-1.19180780e-01 9.92872505e-01 -3.61934193e-04 -3.07625222e+01] [-3.08549372e-03 -5.84070662e-06 9.99995240e-01 -1.17483894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters Centerline goodness : 0.990196 with order 1 Centerline is valid? [True, True] Translation: X:380.27, Y:-30.77, Z:-1.18 [[ 9.92614401e-01 1.21273504e-01 3.06413998e-03 3.80268599e+02] [-1.21272963e-01 9.92619130e-01 -3.62424537e-04 -3.07713440e+01] [-3.08547645e-03 -1.18495191e-05 9.99995240e-01 -1.18067993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters Centerline goodness : 0.990681 with order 1 Centerline is valid? [True, True] Translation: X:380.33, Y:-30.78, Z:-1.18 [[ 9.92719221e-01 1.20412455e-01 3.06408677e-03 3.80329929e+02] [-1.20411908e-01 9.92723950e-01 -3.62873850e-04 -3.07760317e+01] [-3.08548685e-03 -8.72068957e-06 9.99995240e-01 -1.17908442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters Centerline goodness : 0.989677 with order 1 Centerline is valid? [True, True] Translation: X:380.39, Y:-30.79, Z:-1.18 [[ 9.92935955e-01 1.18611976e-01 3.06403423e-03 3.80391985e+02] [-1.18611420e-01 9.92940683e-01 -3.63316927e-04 -3.07855795e+01] [-3.08549798e-03 -2.67901003e-06 9.99995240e-01 -1.17976235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters Centerline goodness : 0.990460 with order 1 Centerline is valid? [True, True] Translation: X:380.45, Y:-30.79, Z:-1.18 [[ 9.93215686e-01 1.16246347e-01 3.06396802e-03 3.80454861e+02] [-1.16245777e-01 9.93220412e-01 -3.63874420e-04 -3.07936898e+01] [-3.08549465e-03 5.23243713e-06 9.99995240e-01 -1.17570846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters Centerline goodness : 0.989821 with order 1 Centerline is valid? [True, True] Translation: X:380.52, Y:-30.80, Z:-1.18 [[ 9.92875921e-01 1.19113468e-01 3.06389804e-03 3.80516868e+02] [-1.19112911e-01 9.92880648e-01 -3.64462767e-04 -3.08014298e+01] [-3.08549749e-03 -3.08350788e-06 9.99995240e-01 -1.17704207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters Centerline goodness : 0.990377 with order 1 Centerline is valid? [True, True] Translation: X:380.58, Y:-30.81, Z:-1.18 [[ 9.92439745e-01 1.22694599e-01 3.06382847e-03 3.80577307e+02] [-1.22694057e-01 9.92444475e-01 -3.65046612e-04 -3.08074914e+01] [-3.08546889e-03 -1.36267781e-05 9.99995240e-01 -1.17888952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters Centerline goodness : 0.990321 with order 1 Centerline is valid? [True, True] Translation: X:380.64, Y:-30.82, Z:-1.17 [[ 9.92179296e-01 1.24783246e-01 3.06377447e-03 3.80638873e+02] [-1.24782712e-01 9.92184026e-01 -3.65499269e-04 -3.08152351e+01] [-3.08543628e-03 -1.96652809e-05 9.99995240e-01 -1.17383492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters Centerline goodness : 0.990504 with order 1 Centerline is valid? [True, True] Translation: X:380.70, Y:-30.82, Z:-1.17 [[ 9.91832794e-01 1.27508130e-01 3.06371375e-03 3.80700546e+02] [-1.27507608e-01 9.91837525e-01 -3.66007596e-04 -3.08207584e+01] [-3.08537520e-03 -2.76284753e-05 9.99995240e-01 -1.17303976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters Centerline goodness : 0.990822 with order 1 Centerline is valid? [True, True] Translation: X:380.76, Y:-30.82, Z:-1.18 [[ 9.91546002e-01 1.29719465e-01 3.06365304e-03 3.80761376e+02] [-1.29718952e-01 9.91550735e-01 -3.66514994e-04 -3.08242203e+01] [-3.08531155e-03 -3.39973841e-05 9.99995240e-01 -1.17566274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters Centerline goodness : 0.990759 with order 1 Centerline is valid? [True, True] Translation: X:380.82, Y:-30.83, Z:-1.18 [[ 9.91340365e-01 1.31281742e-01 3.06359712e-03 3.80822568e+02] [-1.31281234e-01 9.91345098e-01 -3.66981811e-04 -3.08322029e+01] [-3.08526000e-03 -3.83889297e-05 9.99995240e-01 -1.17699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters Centerline goodness : 0.990431 with order 1 Centerline is valid? [True, True] Translation: X:380.88, Y:-30.84, Z:-1.18 [[ 9.91227642e-01 1.32130147e-01 3.06358887e-03 3.80884060e+02] [-1.32129643e-01 9.91232376e-01 -3.67050685e-04 -3.08367739e+01] [-3.08522694e-03 -4.09601200e-05 9.99995240e-01 -1.18044680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters Centerline goodness : 0.991266 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:-30.84, Z:-1.17 [[ 9.91335109e-01 1.31321422e-01 3.06357597e-03 3.80944588e+02] [-1.31320914e-01 9.91339842e-01 -3.67158360e-04 -3.08396526e+01] [-3.08526067e-03 -3.83346235e-05 9.99995240e-01 -1.17454290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters Centerline goodness : 0.991602 with order 1 Centerline is valid? [True, True] Translation: X:381.00, Y:-30.85, Z:-1.18 [[ 9.91163697e-01 1.32608977e-01 3.06357166e-03 3.81003882e+02] [-1.32608475e-01 9.91168430e-01 -3.67194275e-04 -3.08455245e+01] [-3.08520877e-03 -4.23059326e-05 9.99995240e-01 -1.17571220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters Centerline goodness : 0.991426 with order 1 Centerline is valid? [True, True] Translation: X:381.06, Y:-30.84, Z:-1.18 [[ 9.91071103e-01 1.33299221e-01 3.06357166e-03 3.81064956e+02] [-1.33298723e-01 9.91075837e-01 -3.67194275e-04 -3.08440136e+01] [-3.08517856e-03 -4.44545552e-05 9.99995240e-01 -1.17999504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters Centerline goodness : 0.991256 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:-30.84, Z:-1.18 [[ 9.91410819e-01 1.30748623e-01 3.06357166e-03 3.81125628e+02] [-1.30748113e-01 9.91415552e-01 -3.67194275e-04 -3.08438862e+01] [-3.08528274e-03 -3.65158371e-05 9.99995240e-01 -1.17871594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters Centerline goodness : 0.992349 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:-30.85, Z:-1.17 [[ 9.92098391e-01 1.25424865e-01 3.06357166e-03 3.81186138e+02] [-1.25424329e-01 9.92103121e-01 -3.67194275e-04 -3.08454011e+01] [-3.08543430e-03 -1.99535702e-05 9.99995240e-01 -1.17453181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters Centerline goodness : 0.991718 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:-30.85, Z:-1.18 [[ 9.92336039e-01 1.23530567e-01 3.06357166e-03 3.81246044e+02] [-1.23530022e-01 9.92340767e-01 -3.67194275e-04 -3.08492152e+01] [-3.08546677e-03 -1.40629647e-05 9.99995240e-01 -1.17521929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters Centerline goodness : 0.991674 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:-30.85, Z:-1.17 [[ 9.92771909e-01 1.19977297e-01 3.06356763e-03 3.81306537e+02] [-1.19976736e-01 9.92776636e-01 -3.67227921e-04 -3.08544257e+01] [-3.08549738e-03 -2.98327949e-06 9.99995240e-01 -1.17470256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters Centerline goodness : 0.992080 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:-30.86, Z:-1.17 [[ 9.93408307e-01 1.14588616e-01 3.06356763e-03 3.81366485e+02] [-1.14588029e-01 9.93413030e-01 -3.67227921e-04 -3.08620399e+01] [-3.08546814e-03 1.37590909e-05 9.99995240e-01 -1.17289786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters Centerline goodness : 0.992442 with order 1 Centerline is valid? [True, True] Translation: X:381.43, Y:-30.87, Z:-1.17 [[ 9.93699261e-01 1.12037467e-01 3.06356332e-03 3.81427214e+02] [-1.12036867e-01 9.93703983e-01 -3.67263912e-04 -3.08724208e+01] [-3.08542239e-03 2.17178409e-05 9.99995240e-01 -1.17335121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters Centerline goodness : 0.991746 with order 1 Centerline is valid? [True, True] Translation: X:381.49, Y:-30.88, Z:-1.18 [[ 9.93860263e-01 1.10600147e-01 3.06355474e-03 3.81488015e+02] [-1.10599540e-01 9.93864984e-01 -3.67335431e-04 -3.08833553e+01] [-3.08538714e-03 2.62523417e-05 9.99995240e-01 -1.17746609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters Centerline goodness : 0.991850 with order 1 Centerline is valid? [True, True] Translation: X:381.55, Y:-30.90, Z:-1.17 [[ 9.93834970e-01 1.10827190e-01 3.06354605e-03 3.81548190e+02] [-1.10826584e-01 9.93839692e-01 -3.67407915e-04 -3.08960636e+01] [-3.08539245e-03 2.56204904e-05 9.99995240e-01 -1.17403917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters Centerline goodness : 0.992801 with order 1 Centerline is valid? [True, True] Translation: X:381.61, Y:-30.91, Z:-1.18 [[ 9.93847521e-01 1.10714591e-01 3.06353718e-03 3.81607836e+02] [-1.10713984e-01 9.93852242e-01 -3.67481875e-04 -3.09105134e+01] [-3.08538890e-03 2.60445450e-05 9.99995240e-01 -1.17986764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters Centerline goodness : 0.992523 with order 1 Centerline is valid? [True, True] Translation: X:381.67, Y:-30.92, Z:-1.17 [[ 9.93885597e-01 1.10372255e-01 3.06347545e-03 3.81669000e+02] [-1.10371645e-01 9.93890318e-01 -3.67995746e-04 -3.09232453e+01] [-3.08537511e-03 2.76248463e-05 9.99995240e-01 -1.17436778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters Centerline goodness : 0.991755 with order 1 Centerline is valid? [True, True] Translation: X:381.73, Y:-30.94, Z:-1.18 [[ 9.93862899e-01 1.10576457e-01 3.06341491e-03 3.81730922e+02] [-1.10575846e-01 9.93867620e-01 -3.68499011e-04 -3.09367849e+01] [-3.08537620e-03 2.74977987e-05 9.99995240e-01 -1.17626327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters Centerline goodness : 0.991718 with order 1 Centerline is valid? [True, True] Translation: X:381.79, Y:-30.95, Z:-1.18 [[ 9.93646299e-01 1.12506218e-01 3.06334451e-03 3.81791605e+02] [-1.12505615e-01 9.93651020e-01 -3.69083295e-04 -3.09535383e+01] [-3.08541957e-03 2.20947916e-05 9.99995240e-01 -1.18267222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters Centerline goodness : 0.992223 with order 1 Centerline is valid? [True, True] Translation: X:381.85, Y:-30.96, Z:-1.18 [[ 9.92615134e-01 1.21267519e-01 3.06328017e-03 3.81852475e+02] [-1.21266956e-01 9.92619861e-01 -3.69616578e-04 -3.09622246e+01] [-3.08549522e-03 -4.58765161e-06 9.99995240e-01 -1.17678004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters Centerline goodness : 0.992429 with order 1 Centerline is valid? [True, True] Translation: X:381.91, Y:-30.97, Z:-1.18 [[ 9.91719707e-01 1.28384735e-01 3.06324543e-03 3.81913599e+02] [-1.28384204e-01 9.91724437e-01 -3.69904263e-04 -3.09697341e+01] [-3.08538541e-03 -2.64309801e-05 9.99995240e-01 -1.17555599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters Centerline goodness : 0.992257 with order 1 Centerline is valid? [True, True] Translation: X:381.97, Y:-30.97, Z:-1.18 [[ 9.90942779e-01 1.34249865e-01 3.06323682e-03 3.81974918e+02] [-1.34249362e-01 9.90947512e-01 -3.69975540e-04 -3.09734250e+01] [-3.08517607e-03 -4.46129996e-05 9.99995240e-01 -1.17950035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters Centerline goodness : 0.991455 with order 1 Centerline is valid? [True, True] Translation: X:382.04, Y:-30.98, Z:-1.17 [[ 9.91233368e-01 1.32087193e-01 3.06322829e-03 3.82036599e+02] [-1.32086680e-01 9.91238101e-01 -3.70046166e-04 -3.09785334e+01] [-3.08526695e-03 -3.78095483e-05 9.99995240e-01 -1.17316878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters Centerline goodness : 0.991768 with order 1 Centerline is valid? [True, True] Translation: X:382.10, Y:-30.98, Z:-1.17 [[ 9.91457195e-01 1.30396502e-01 3.06316767e-03 3.82097574e+02] [-1.30395980e-01 9.91461926e-01 -3.70547295e-04 -3.09818903e+01] [-3.08533219e-03 -3.20429669e-05 9.99995240e-01 -1.17427074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters Centerline goodness : 0.992219 with order 1 Centerline is valid? [True, True] Translation: X:382.16, Y:-30.98, Z:-1.18 [[ 9.91584357e-01 1.29425964e-01 3.06311187e-03 3.82159113e+02] [-1.29425436e-01 9.91589088e-01 -3.71007978e-04 -3.09826992e+01] [-3.08536637e-03 -2.85588813e-05 9.99995240e-01 -1.17792081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters Centerline goodness : 0.991202 with order 1 Centerline is valid? [True, True] Translation: X:382.22, Y:-30.99, Z:-1.18 [[ 9.91904087e-01 1.26952351e-01 3.06310315e-03 3.82220577e+02] [-1.26951810e-01 9.91908816e-01 -3.71079956e-04 -3.09851641e+01] [-3.08542849e-03 -2.07907656e-05 9.99995240e-01 -1.18091142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters Centerline goodness : 0.991456 with order 1 Centerline is valid? [True, True] Translation: X:382.28, Y:-30.99, Z:-1.18 [[ 9.92587296e-01 1.21495175e-01 3.06309422e-03 3.82280865e+02] [-1.21494608e-01 9.92592022e-01 -3.71153607e-04 -3.09921893e+01] [-3.08549626e-03 -3.74707749e-06 9.99995240e-01 -1.17695303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters Centerline goodness : 0.991204 with order 1 Centerline is valid? [True, True] Translation: X:382.34, Y:-31.00, Z:-1.18 [[ 9.92890894e-01 1.18988611e-01 3.06304526e-03 3.82341886e+02] [-1.18988031e-01 9.92895619e-01 -3.71557248e-04 -3.09971840e+01] [-3.08549530e-03 4.45008505e-06 9.99995240e-01 -1.17510044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters Centerline goodness : 0.991723 with order 1 Centerline is valid? [True, True] Translation: X:382.40, Y:-31.00, Z:-1.17 [[ 9.92665073e-01 1.20858060e-01 3.06303684e-03 3.82401832e+02] [-1.20857488e-01 9.92669799e-01 -3.71626646e-04 -3.10019803e+01] [-3.08549824e-03 -1.29014671e-06 9.99995240e-01 -1.17301173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters Centerline goodness : 0.991567 with order 1 Centerline is valid? [True, True] Translation: X:382.46, Y:-31.01, Z:-1.17 [[ 9.92063692e-01 1.25699042e-01 3.06303684e-03 3.82461450e+02] [-1.25698494e-01 9.92068420e-01 -3.71626646e-04 -3.10052673e+01] [-3.08545523e-03 -1.63418149e-05 9.99995240e-01 -1.17301799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters Centerline goodness : 0.991695 with order 1 Centerline is valid? [True, True] Translation: X:382.52, Y:-31.01, Z:-1.17 [[ 9.91729620e-01 1.28308137e-01 3.06304556e-03 3.82522235e+02] [-1.28307602e-01 9.91734350e-01 -3.71554782e-04 -3.10055158e+01] [-3.08540100e-03 -2.45301470e-05 9.99995240e-01 -1.16926619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters Centerline goodness : 0.991816 with order 1 Centerline is valid? [True, True] Translation: X:382.58, Y:-31.01, Z:-1.17 [[ 9.91974486e-01 1.26401092e-01 3.06304556e-03 3.82583021e+02] [-1.26400548e-01 9.91979215e-01 -3.71554782e-04 -3.10082711e+01] [-3.08544246e-03 -1.85977718e-05 9.99995240e-01 -1.17404573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters Centerline goodness : 0.991978 with order 1 Centerline is valid? [True, True] Translation: X:382.64, Y:-31.02, Z:-1.18 [[ 9.92608685e-01 1.21320306e-01 3.06304556e-03 3.82642238e+02] [-1.21319737e-01 9.92613411e-01 -3.71554782e-04 -3.10152712e+01] [-3.08549724e-03 -2.79937693e-06 9.99995240e-01 -1.17684911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters Centerline goodness : 0.991982 with order 1 Centerline is valid? [True, True] Translation: X:382.70, Y:-31.02, Z:-1.18 [[ 9.93222885e-01 1.16184843e-01 3.06304111e-03 3.82702383e+02] [-1.16184249e-01 9.93227608e-01 -3.71591435e-04 -3.10219489e+01] [-3.08547029e-03 1.31959851e-05 9.99995240e-01 -1.17673013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters Centerline goodness : 0.992130 with order 1 Centerline is valid? [True, True] Translation: X:382.76, Y:-31.03, Z:-1.18 [[ 9.93065890e-01 1.17519174e-01 3.06304111e-03 3.82763121e+02] [-1.17518587e-01 9.93070614e-01 -3.71591435e-04 -3.10264498e+01] [-3.08548523e-03 9.05051451e-06 9.99995240e-01 -1.18256847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters Centerline goodness : 0.991956 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:-31.03, Z:-1.18 [[ 9.91980129e-01 1.26356801e-01 3.06304111e-03 3.82822811e+02] [-1.26356256e-01 9.91984858e-01 -3.71591435e-04 -3.10306709e+01] [-3.08544351e-03 -1.84230883e-05 9.99995240e-01 -1.18024437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters Centerline goodness : 0.992207 with order 1 Centerline is valid? [True, True] Translation: X:382.88, Y:-31.04, Z:-1.18 [[ 9.91449740e-01 1.30453174e-01 3.06304989e-03 3.82880021e+02] [-1.30452649e-01 9.91454471e-01 -3.71519091e-04 -3.10352450e+01] [-3.08534035e-03 -3.12404645e-05 9.99995240e-01 -1.17989373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters Centerline goodness : 0.992187 with order 1 Centerline is valid? [True, True] Translation: X:382.94, Y:-31.04, Z:-1.18 [[ 9.91338592e-01 1.31295136e-01 3.06307345e-03 3.82938197e+02] [-1.31294615e-01 9.91343324e-01 -3.71324699e-04 -3.10410734e+01] [-3.08531054e-03 -3.40565461e-05 9.99995240e-01 -1.18124208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters Centerline goodness : 0.991983 with order 1 Centerline is valid? [True, True] Translation: X:383.00, Y:-31.04, Z:-1.18 [[ 9.91241762e-01 1.32024192e-01 3.06308983e-03 3.82996352e+02] [-1.32023675e-01 9.91246494e-01 -3.71189563e-04 -3.10442457e+01] [-3.08528305e-03 -3.64617789e-05 9.99995240e-01 -1.18007965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:383.05, Y:-31.05, Z:-1.18 [[ 9.91059829e-01 1.33383030e-01 3.06311008e-03 3.83054743e+02] [-1.33382520e-01 9.91064562e-01 -3.71022378e-04 -3.10473741e+01] [-3.08522794e-03 -4.08599679e-05 9.99995240e-01 -1.17557557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters Centerline goodness : 0.991483 with order 1 Centerline is valid? [True, True] Translation: X:383.11, Y:-31.05, Z:-1.17 [[ 9.91138986e-01 1.32793551e-01 3.06313118e-03 3.83112670e+02] [-1.32793039e-01 9.91143719e-01 -3.70848069e-04 -3.10461866e+01] [-3.08524946e-03 -3.92005189e-05 9.99995240e-01 -1.17399732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters Centerline goodness : 0.991896 with order 1 Centerline is valid? [True, True] Translation: X:383.17, Y:-31.05, Z:-1.18 [[ 9.91953051e-01 1.26569196e-01 3.06315201e-03 3.83171602e+02] [-1.26568655e-01 9.91957780e-01 -3.70675947e-04 -3.10466575e+01] [-3.08543363e-03 -2.00058936e-05 9.99995240e-01 -1.17945662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:383.23, Y:-31.05, Z:-1.18 [[ 9.93292674e-01 1.15586684e-01 3.06316952e-03 3.83230247e+02] [-1.15586091e-01 9.93297397e-01 -3.70531169e-04 -3.10528468e+01] [-3.08546678e-03 1.39861044e-05 9.99995240e-01 -1.18067309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters Centerline goodness : 0.992330 with order 1 Centerline is valid? [True, True] Translation: X:383.29, Y:-31.06, Z:-1.18 [[ 9.94181755e-01 1.07671982e-01 3.06317846e-03 3.83288730e+02] [-1.07671351e-01 9.94186473e-01 -3.70457289e-04 -3.10599050e+01] [-3.08525846e-03 3.84853145e-05 9.99995240e-01 -1.17804965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters Centerline goodness : 0.992835 with order 1 Centerline is valid? [True, True] Translation: X:383.35, Y:-31.07, Z:-1.18 [[ 9.94426358e-01 1.05388971e-01 3.06318652e-03 3.83348315e+02] [-1.05388330e-01 9.94431075e-01 -3.70390595e-04 -3.10670716e+01] [-3.08516295e-03 4.55020566e-05 9.99995240e-01 -1.17593899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters Centerline goodness : 0.992125 with order 1 Centerline is valid? [True, True] Translation: X:383.41, Y:-31.07, Z:-1.18 [[ 9.93812736e-01 1.11026405e-01 3.06319421e-03 3.83407246e+02] [-1.11025791e-01 9.93817456e-01 -3.70326973e-04 -3.10724776e+01] [-3.08537195e-03 2.79421023e-05 9.99995240e-01 -1.18194143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters Centerline goodness : 0.992337 with order 1 Centerline is valid? [True, True] Translation: X:383.47, Y:-31.08, Z:-1.18 [[ 9.93484496e-01 1.13926174e-01 3.06321078e-03 3.83465058e+02] [-1.13925575e-01 9.93489218e-01 -3.70189912e-04 -3.10823556e+01] [-3.08544120e-03 1.87998904e-05 9.99995240e-01 -1.18030602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters Centerline goodness : 0.992130 with order 1 Centerline is valid? [True, True] Translation: X:383.52, Y:-31.10, Z:-1.18 [[ 9.93629423e-01 1.12655163e-01 3.06322798e-03 3.83522791e+02] [-1.12654557e-01 9.93634145e-01 -3.70047534e-04 -3.10951582e+01] [-3.08541568e-03 2.26035260e-05 9.99995240e-01 -1.18039149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters Centerline goodness : 0.992020 with order 1 Centerline is valid? [True, True] Translation: X:383.58, Y:-31.11, Z:-1.18 [[ 9.93600701e-01 1.12908204e-01 3.06324075e-03 3.83581495e+02] [-1.12907600e-01 9.93605423e-01 -3.69941752e-04 -3.11063053e+01] [-3.08542208e-03 2.17112209e-05 9.99995240e-01 -1.18115376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters Centerline goodness : 0.992022 with order 1 Centerline is valid? [True, True] Translation: X:383.64, Y:-31.11, Z:-1.18 [[ 9.92358185e-01 1.23352543e-01 3.06324954e-03 3.83639362e+02] [-1.23351989e-01 9.92362912e-01 -3.69868994e-04 -3.11138288e+01] [-3.08547951e-03 -1.08154003e-05 9.99995240e-01 -1.17908935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters Centerline goodness : 0.991827 with order 1 Centerline is valid? [True, True] Translation: X:383.70, Y:-31.12, Z:-1.19 [[ 9.90794501e-01 1.35339843e-01 3.06326690e-03 3.83696787e+02] [-1.35339346e-01 9.90799235e-01 -3.69725171e-04 -3.11202003e+01] [-3.08512104e-03 -4.82588725e-05 9.99995240e-01 -1.18507130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters Centerline goodness : 0.991307 with order 1 Centerline is valid? [True, True] Translation: X:383.76, Y:-31.12, Z:-1.18 [[ 9.90282245e-01 1.39038455e-01 3.06328850e-03 3.83755825e+02] [-1.39037976e-01 9.90286981e-01 -3.69546073e-04 -3.11243359e+01] [-3.08491584e-03 -5.99585193e-05 9.99995240e-01 -1.18446941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters Centerline goodness : 0.991905 with order 1 Centerline is valid? [True, True] Translation: X:383.81, Y:-31.13, Z:-1.18 [[ 9.90681521e-01 1.36164385e-01 3.06330574e-03 3.83813279e+02] [-1.36163894e-01 9.90686256e-01 -3.69403136e-04 -3.11308867e+01] [-3.08507444e-03 -5.11507768e-05 9.99995240e-01 -1.18055363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters Centerline goodness : 0.992389 with order 1 Centerline is valid? [True, True] Translation: X:383.87, Y:-31.14, Z:-1.18 [[ 9.91968953e-01 1.26444507e-01 3.06332699e-03 3.83872476e+02] [-1.26443969e-01 9.91973682e-01 -3.69226823e-04 -3.11376223e+01] [-3.08542646e-03 -2.10776797e-05 9.99995240e-01 -1.18163331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:383.93, Y:-31.15, Z:-1.19 [[ 9.92932925e-01 1.18637360e-01 3.06333540e-03 3.83931112e+02] [-1.18636786e-01 9.92937650e-01 -3.69157035e-04 -3.11473066e+01] [-3.08549687e-03 3.12390898e-06 9.99995240e-01 -1.18654090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters Centerline goodness : 0.991286 with order 1 Centerline is valid? [True, True] Translation: X:383.99, Y:-31.16, Z:-1.18 [[ 9.93596614e-01 1.12944170e-01 3.06334373e-03 3.83989451e+02] [-1.12943569e-01 9.93601336e-01 -3.69087871e-04 -3.11573101e+01] [-3.08542875e-03 2.07394853e-05 9.99995240e-01 -1.18372383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters Centerline goodness : 0.991200 with order 1 Centerline is valid? [True, True] Translation: X:384.05, Y:-31.17, Z:-1.18 [[ 9.93789435e-01 1.11234773e-01 3.06335613e-03 3.84048828e+02] [-1.11234164e-01 9.93794156e-01 -3.68984980e-04 -3.11668607e+01] [-3.08538938e-03 2.59435171e-05 9.99995240e-01 -1.18304980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters Centerline goodness : 0.991537 with order 1 Centerline is valid? [True, True] Translation: X:384.11, Y:-31.18, Z:-1.19 [[ 9.94033962e-01 1.09027969e-01 3.06336423e-03 3.84108384e+02] [-1.09027349e-01 9.94038682e-01 -3.68917713e-04 -3.11776743e+01] [-3.08532489e-03 3.27262544e-05 9.99995240e-01 -1.18602332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters Centerline goodness : 0.991554 with order 1 Centerline is valid? [True, True] Translation: X:384.17, Y:-31.19, Z:-1.19 [[ 9.94071432e-01 1.08685806e-01 3.06336423e-03 3.84167156e+02] [-1.08685185e-01 9.94076151e-01 -3.68917713e-04 -3.11907328e+01] [-3.08531344e-03 3.37882508e-05 9.99995240e-01 -1.18806541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters Centerline goodness : 0.991151 with order 1 Centerline is valid? [True, True] Translation: X:384.23, Y:-31.20, Z:-1.19 [[ 9.93762179e-01 1.11478016e-01 3.06336819e-03 3.84226973e+02] [-1.11477408e-01 9.93766900e-01 -3.68884766e-04 -3.12008235e+01] [-3.08539646e-03 2.50873824e-05 9.99995240e-01 -1.18886023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters Centerline goodness : 0.991131 with order 1 Centerline is valid? [True, True] Translation: X:384.29, Y:-31.21, Z:-1.19 [[ 9.93147472e-01 1.16827716e-01 3.06336819e-03 3.84285315e+02] [-1.16827134e-01 9.93152196e-01 -3.68884766e-04 -3.12098599e+01] [-3.08548681e-03 8.47244554e-06 9.99995240e-01 -1.19138902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters Centerline goodness : 0.991664 with order 1 Centerline is valid? [True, True] Translation: X:384.35, Y:-31.22, Z:-1.19 [[ 9.92852118e-01 1.19311725e-01 3.06337212e-03 3.84345416e+02] [-1.19311155e-01 9.92856844e-01 -3.68852152e-04 -3.12181627e+01] [-3.08549836e-03 7.21175279e-07 9.99995240e-01 -1.19148340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters Centerline goodness : 0.992259 with order 1 Centerline is valid? [True, True] Translation: X:384.41, Y:-31.23, Z:-1.19 [[ 9.92661441e-01 1.20887883e-01 3.06337212e-03 3.84405354e+02] [-1.20887320e-01 9.92666167e-01 -3.68852152e-04 -3.12296452e+01] [-3.08549562e-03 -4.17753785e-06 9.99995240e-01 -1.18854973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters Centerline goodness : 0.991418 with order 1 Centerline is valid? [True, True] Translation: X:384.46, Y:-31.24, Z:-1.18 [[ 9.92121862e-01 1.25239074e-01 3.06337212e-03 3.84464138e+02] [-1.25238532e-01 9.92126592e-01 -3.68852152e-04 -3.12390931e+01] [-3.08544764e-03 -1.77059448e-05 9.99995240e-01 -1.18490893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters Centerline goodness : 0.991274 with order 1 Centerline is valid? [True, True] Translation: X:384.52, Y:-31.24, Z:-1.18 [[ 9.90949449e-01 1.34200619e-01 3.06338095e-03 3.84522553e+02] [-1.34200120e-01 9.90954183e-01 -3.68778813e-04 -3.12433450e+01] [-3.08516051e-03 -4.56649297e-05 9.99995240e-01 -1.18035383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:384.58, Y:-31.25, Z:-1.18 [[ 9.89734696e-01 1.42884035e-01 3.06339406e-03 3.84580094e+02] [-1.42883578e-01 9.89739434e-01 -3.68669856e-04 -3.12481660e+01] [-3.08463894e-03 -7.28233580e-05 9.99995240e-01 -1.17769497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters Centerline goodness : 0.991415 with order 1 Centerline is valid? [True, True] Translation: X:384.64, Y:-31.25, Z:-1.18 [[ 9.89342375e-01 1.45575685e-01 3.06341545e-03 3.84638973e+02] [-1.45575241e-01 9.89347115e-01 -3.68492070e-04 -3.12507209e+01] [-3.08442472e-03 -8.13926233e-05 9.99995240e-01 -1.18287562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters Centerline goodness : 0.991557 with order 1 Centerline is valid? [True, True] Translation: X:384.70, Y:-31.25, Z:-1.19 [[ 9.89420941e-01 1.45040740e-01 3.06343265e-03 3.84696897e+02] [-1.45040295e-01 9.89425681e-01 -3.68349000e-04 -3.12513884e+01] [-3.08446455e-03 -7.98689606e-05 9.99995240e-01 -1.18575079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters Centerline goodness : 0.991927 with order 1 Centerline is valid? [True, True] Translation: X:384.75, Y:-31.26, Z:-1.18 [[ 9.89721320e-01 1.42976655e-01 3.06345395e-03 3.84754724e+02] [-1.42976200e-01 9.89726058e-01 -3.68171744e-04 -3.12559261e+01] [-3.08462017e-03 -7.36135802e-05 9.99995240e-01 -1.18488589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters Centerline goodness : 0.991332 with order 1 Centerline is valid? [True, True] Translation: X:384.81, Y:-31.26, Z:-1.19 [[ 9.89989626e-01 1.41106892e-01 3.06347481e-03 3.84813922e+02] [-1.41106428e-01 9.89994364e-01 -3.67998112e-04 -3.12590306e+01] [-3.08474987e-03 -6.79616753e-05 9.99995240e-01 -1.18511364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters Centerline goodness : 0.991221 with order 1 Centerline is valid? [True, True] Translation: X:384.87, Y:-31.26, Z:-1.19 [[ 9.90001966e-01 1.41020289e-01 3.06349246e-03 3.84871581e+02] [-1.41019826e-01 9.90006704e-01 -3.67851156e-04 -3.12622200e+01] [-3.08475255e-03 -6.78398047e-05 9.99995240e-01 -1.18840210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters Centerline goodness : 0.991838 with order 1 Centerline is valid? [True, True] Translation: X:384.93, Y:-31.27, Z:-1.19 [[ 9.89820031e-01 1.42291676e-01 3.06351431e-03 3.84930212e+02] [-1.42291219e-01 9.89824769e-01 -3.67669118e-04 -3.12668964e+01] [-3.08465860e-03 -7.19849261e-05 9.99995240e-01 -1.18739875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters Centerline goodness : 0.991771 with order 1 Centerline is valid? [True, True] Translation: X:384.99, Y:-31.27, Z:-1.18 [[ 9.89982872e-01 1.41154267e-01 3.06353137e-03 3.84987578e+02] [-1.41153805e-01 9.89987610e-01 -3.67526892e-04 -3.12736830e+01] [-3.08473609e-03 -6.85837809e-05 9.99995240e-01 -1.18039502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters Centerline goodness : 0.992038 with order 1 Centerline is valid? [True, True] Translation: X:385.04, Y:-31.28, Z:-1.18 [[ 9.90350495e-01 1.38551477e-01 3.06355246e-03 3.85044257e+02] [-1.38551003e-01 9.90355231e-01 -3.67351018e-04 -3.12832768e+01] [-3.08490223e-03 -6.06520041e-05 9.99995240e-01 -1.17861457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters Centerline goodness : 0.991820 with order 1 Centerline is valid? [True, True] Translation: X:385.10, Y:-31.29, Z:-1.18 [[ 9.91111604e-01 1.32997755e-01 3.06357311e-03 3.85102493e+02] [-1.32997255e-01 9.91116338e-01 -3.67178678e-04 -3.12918419e+01] [-3.08519130e-03 -4.35317668e-05 9.99995240e-01 -1.18102815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters Centerline goodness : 0.992539 with order 1 Centerline is valid? [True, True] Translation: X:385.16, Y:-31.30, Z:-1.18 [[ 9.91343912e-01 1.31254954e-01 3.06358949e-03 3.85160637e+02] [-1.31254447e-01 9.91348645e-01 -3.67041987e-04 -3.13014139e+01] [-3.08526137e-03 -3.82449033e-05 9.99995240e-01 -1.18298071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters Centerline goodness : 0.991561 with order 1 Centerline is valid? [True, True] Translation: X:385.22, Y:-31.31, Z:-1.18 [[ 9.91122778e-01 1.32914459e-01 3.06360655e-03 3.85219633e+02] [-1.32913960e-01 9.91127512e-01 -3.66899505e-04 -3.13075528e+01] [-3.08519099e-03 -4.35536214e-05 9.99995240e-01 -1.18293713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters Centerline goodness : 0.991953 with order 1 Centerline is valid? [True, True] Translation: X:385.28, Y:-31.31, Z:-1.18 [[ 9.90278670e-01 1.39063903e-01 3.06362353e-03 3.85277317e+02] [-1.39063434e-01 9.90283407e-01 -3.66757651e-04 -3.13093528e+01] [-3.08485830e-03 -6.28457287e-05 9.99995240e-01 -1.17866864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters Centerline goodness : 0.991529 with order 1 Centerline is valid? [True, True] Translation: X:385.34, Y:-31.31, Z:-1.18 [[ 9.89535122e-01 1.44259683e-01 3.06364457e-03 3.85336526e+02] [-1.44259239e-01 9.89539862e-01 -3.66581832e-04 -3.13086670e+01] [-3.08448140e-03 -7.92134367e-05 9.99995240e-01 -1.18232980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters Centerline goodness : 0.991032 with order 1 Centerline is valid? [True, True] Translation: X:385.40, Y:-31.31, Z:-1.18 [[ 9.89815027e-01 1.42326481e-01 3.06366117e-03 3.85395434e+02] [-1.42326028e-01 9.89819765e-01 -3.66443045e-04 -3.13074396e+01] [-3.08462693e-03 -7.33278946e-05 9.99995240e-01 -1.18338901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters Centerline goodness : 0.991354 with order 1 Centerline is valid? [True, True] Translation: X:385.46, Y:-31.30, Z:-1.19 [[ 9.91145584e-01 1.32744284e-01 3.06367802e-03 3.85455472e+02] [-1.32743786e-01 9.91150318e-01 -3.66302147e-04 -3.13046013e+01] [-3.08518996e-03 -4.36254627e-05 9.99995240e-01 -1.18794407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters Centerline goodness : 0.991986 with order 1 Centerline is valid? [True, True] Translation: X:385.51, Y:-31.31, Z:-1.19 [[ 9.92400917e-01 1.23008264e-01 3.06369498e-03 3.85513137e+02] [-1.23007720e-01 9.92405646e-01 -3.66160243e-04 -3.13099051e+01] [-3.08546893e-03 -1.34803722e-05 9.99995240e-01 -1.18787515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters Centerline goodness : 0.991866 with order 1 Centerline is valid? [True, True] Translation: X:385.57, Y:-31.31, Z:-1.18 [[ 9.93594603e-01 1.12961848e-01 3.06371605e-03 3.85572134e+02] [-1.12961257e-01 9.93599326e-01 -3.65983848e-04 -3.13149726e+01] [-3.08544841e-03 1.75583608e-05 9.99995240e-01 -1.18181576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters Centerline goodness : 0.991619 with order 1 Centerline is valid? [True, True] Translation: X:385.63, Y:-31.32, Z:-1.19 [[ 9.94012527e-01 1.09223210e-01 3.06372872e-03 3.85629704e+02] [-1.09222601e-01 9.94017248e-01 -3.65877733e-04 -3.13181173e+01] [-3.08536153e-03 2.90586292e-05 9.99995240e-01 -1.18571135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters Centerline goodness : 0.991197 with order 1 Centerline is valid? [True, True] Translation: X:385.69, Y:-31.32, Z:-1.19 [[ 9.94265991e-01 1.06891309e-01 3.06374950e-03 3.85688401e+02] [-1.06890690e-01 9.94270711e-01 -3.65703680e-04 -3.13244197e+01] [-3.08528694e-03 3.61204340e-05 9.99995240e-01 -1.19139297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters Centerline goodness : 0.991710 with order 1 Centerline is valid? [True, True] Translation: X:385.75, Y:-31.34, Z:-1.19 [[ 9.94886763e-01 1.00950192e-01 3.06376618e-03 3.85746812e+02] [-1.00949545e-01 9.94891479e-01 -3.65563837e-04 -3.13352144e+01] [-3.08501861e-03 5.44088195e-05 9.99995240e-01 -1.18905302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters Centerline goodness : 0.992248 with order 1 Centerline is valid? [True, True] Translation: X:385.81, Y:-31.35, Z:-1.18 [[ 9.95215226e-01 9.76589354e-02 3.06378267e-03 3.85805909e+02] [-9.76582730e-02 9.95219940e-01 -3.65425597e-04 -3.13460159e+01] [-3.08482468e-03 6.44733933e-05 9.99995240e-01 -1.18499035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters Centerline goodness : 0.992093 with order 1 Centerline is valid? [True, True] Translation: X:385.86, Y:-31.36, Z:-1.19 [[ 9.95091706e-01 9.89096092e-02 3.06379089e-03 3.85863741e+02] [-9.89089529e-02 9.95096420e-01 -3.65356679e-04 -3.13600204e+01] [-3.08490463e-03 6.05270523e-05 9.99995240e-01 -1.18924868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters Centerline goodness : 0.992073 with order 1 Centerline is valid? [True, True] Translation: X:385.92, Y:-31.37, Z:-1.19 [[ 9.94168384e-01 1.07795347e-01 3.06380309e-03 3.85920962e+02] [-1.07794733e-01 9.94173105e-01 -3.65254386e-04 -3.13739392e+01] [-3.08532335e-03 3.28625269e-05 9.99995240e-01 -1.18717957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters Centerline goodness : 0.992169 with order 1 Centerline is valid? [True, True] Translation: X:385.98, Y:-31.39, Z:-1.18 [[ 9.92919438e-01 1.18750171e-01 3.06382008e-03 3.85978480e+02] [-1.18749610e-01 9.92924165e-01 -3.65111767e-04 -3.13859647e+01] [-3.08549808e-03 -1.30087022e-06 9.99995240e-01 -1.18455053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters Centerline goodness : 0.991964 with order 1 Centerline is valid? [True, True] Translation: X:386.04, Y:-31.39, Z:-1.19 [[ 9.91491296e-01 1.30136936e-01 3.06383698e-03 3.86037182e+02] [-1.30136429e-01 9.91496030e-01 -3.64969951e-04 -3.13931924e+01] [-3.08527827e-03 -3.68522741e-05 9.99995240e-01 -1.18737736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters Centerline goodness : 0.992300 with order 1 Centerline is valid? [True, True] Translation: X:386.09, Y:-31.40, Z:-1.19 [[ 9.91012753e-01 1.33732331e-01 3.06385391e-03 3.86094015e+02] [-1.33731842e-01 9.91017488e-01 -3.64827749e-04 -3.14016541e+01] [-3.08512207e-03 -4.81858741e-05 9.99995240e-01 -1.19081051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters Centerline goodness : 0.992679 with order 1 Centerline is valid? [True, True] Translation: X:386.15, Y:-31.41, Z:-1.19 [[ 9.90994947e-01 1.33864213e-01 3.06387490e-03 3.86152160e+02] [-1.33863726e-01 9.90999682e-01 -3.64651404e-04 -3.14088226e+01] [-3.08511282e-03 -4.87740095e-05 9.99995240e-01 -1.18745413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters Centerline goodness : 0.992706 with order 1 Centerline is valid? [True, True] Translation: X:386.21, Y:-31.41, Z:-1.18 [[ 9.91134374e-01 1.32827953e-01 3.06389036e-03 3.86210348e+02] [-1.32827461e-01 9.91139109e-01 -3.64521415e-04 -3.14129414e+01] [-3.08516019e-03 -4.56790734e-05 9.99995240e-01 -1.18471202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters Centerline goodness : 0.992319 with order 1 Centerline is valid? [True, True] Translation: X:386.27, Y:-31.42, Z:-1.19 [[ 9.90877974e-01 1.34727327e-01 3.06390941e-03 3.86269147e+02] [-1.34726844e-01 9.90882710e-01 -3.64361216e-04 -3.14155340e+01] [-3.08506427e-03 -5.17533415e-05 9.99995240e-01 -1.18866410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters Centerline goodness : 0.992035 with order 1 Centerline is valid? [True, True] Translation: X:386.33, Y:-31.42, Z:-1.19 [[ 9.90817206e-01 1.35173507e-01 3.06392632e-03 3.86327512e+02] [-1.35173027e-01 9.90821942e-01 -3.64219019e-04 -3.14167211e+01] [-3.08503818e-03 -5.32857232e-05 9.99995240e-01 -1.18822590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters Centerline goodness : 0.993121 with order 1 Centerline is valid? [True, True] Translation: X:386.39, Y:-31.42, Z:-1.19 [[ 9.91107458e-01 1.33028637e-01 3.06394717e-03 3.86385277e+02] [-1.33028147e-01 9.91112193e-01 -3.64043538e-04 -3.14186565e+01] [-3.08514361e-03 -4.67849476e-05 9.99995240e-01 -1.18504157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters Centerline goodness : 0.992983 with order 1 Centerline is valid? [True, True] Translation: X:386.44, Y:-31.42, Z:-1.18 [[ 9.91210440e-01 1.32259122e-01 3.06396775e-03 3.86443583e+02] [-1.32258629e-01 9.91215175e-01 -3.63870225e-04 -3.14225365e+01] [-3.08517648e-03 -4.45642077e-05 9.99995240e-01 -1.18440207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters Centerline goodness : 0.992721 with order 1 Centerline is valid? [True, True] Translation: X:386.50, Y:-31.42, Z:-1.19 [[ 9.91092693e-01 1.33138594e-01 3.06398414e-03 3.86503121e+02] [-1.33138106e-01 9.91097428e-01 -3.63732177e-04 -3.14209760e+01] [-3.08513359e-03 -4.74407402e-05 9.99995240e-01 -1.18542581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters Centerline goodness : 0.992452 with order 1 Centerline is valid? [True, True] Translation: X:386.56, Y:-31.42, Z:-1.18 [[ 9.91050551e-01 1.33451931e-01 3.06400041e-03 3.86561883e+02] [-1.33451444e-01 9.91055286e-01 -3.63595036e-04 -3.14198109e+01] [-3.08511626e-03 -4.85542198e-05 9.99995240e-01 -1.18089871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters Centerline goodness : 0.992605 with order 1 Centerline is valid? [True, True] Translation: X:386.62, Y:-31.42, Z:-1.18 [[ 9.91147254e-01 1.32731804e-01 3.06402055e-03 3.86619308e+02] [-1.32731314e-01 9.91151989e-01 -3.63425198e-04 -3.14239100e+01] [-3.08514815e-03 -4.64835884e-05 9.99995240e-01 -1.17903291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters Centerline goodness : 0.992198 with order 1 Centerline is valid? [True, True] Translation: X:386.68, Y:-31.42, Z:-1.18 [[ 9.91493497e-01 1.30120164e-01 3.06404510e-03 3.86678028e+02] [-1.30119663e-01 9.91498231e-01 -3.63218117e-04 -3.14247345e+01] [-3.08525730e-03 -3.85641163e-05 9.99995240e-01 -1.17955186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters Centerline goodness : 0.992666 with order 1 Centerline is valid? [True, True] Translation: X:386.74, Y:-31.43, Z:-1.18 [[ 9.92121297e-01 1.25243537e-01 3.06406270e-03 3.86736628e+02] [-1.25243013e-01 9.92126028e-01 -3.63069584e-04 -3.14277535e+01] [-3.08540848e-03 -2.35433781e-05 9.99995240e-01 -1.18225007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [True, True] Translation: X:386.79, Y:-31.43, Z:-1.19 [[ 9.92763193e-01 1.20049385e-01 3.06408028e-03 3.86794009e+02] [-1.20048837e-01 9.92767921e-01 -3.62921146e-04 -3.14321133e+01] [-3.08548907e-03 -7.54451939e-06 9.99995240e-01 -1.18872945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters Centerline goodness : 0.991845 with order 1 Centerline is valid? [True, True] Translation: X:386.85, Y:-31.44, Z:-1.19 [[ 9.93186012e-01 1.16499599e-01 3.06410198e-03 3.86852436e+02] [-1.16499035e-01 9.93190739e-01 -3.62737844e-04 -3.14421923e+01] [-3.08549653e-03 3.30122977e-06 9.99995240e-01 -1.19126946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters Centerline goodness : 0.991885 with order 1 Centerline is valid? [True, True] Translation: X:386.91, Y:-31.45, Z:-1.19 [[ 9.93749898e-01 1.11587417e-01 3.06411899e-03 3.86910329e+02] [-1.11586829e-01 9.93754622e-01 -3.62594110e-04 -3.14532873e+01] [-3.08544335e-03 1.84125364e-05 9.99995240e-01 -1.19131586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters Centerline goodness : 0.991768 with order 1 Centerline is valid? [True, True] Translation: X:386.97, Y:-31.46, Z:-1.20 [[ 9.93517109e-01 1.13641386e-01 3.06413686e-03 3.86967531e+02] [-1.13640808e-01 9.93521834e-01 -3.62443067e-04 -3.14627448e+01] [-3.08547540e-03 1.18823987e-05 9.99995240e-01 -1.19622495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters Centerline goodness : 0.992607 with order 1 Centerline is valid? [True, True] Translation: X:387.03, Y:-31.47, Z:-1.19 [[ 9.93172970e-01 1.16610733e-01 3.06415911e-03 3.87025393e+02] [-1.16610171e-01 9.93177697e-01 -3.62254893e-04 -3.14715745e+01] [-3.08549729e-03 2.46965144e-06 9.99995240e-01 -1.19173294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters Centerline goodness : 0.991925 with order 1 Centerline is valid? [True, True] Translation: X:387.08, Y:-31.48, Z:-1.19 [[ 9.92646969e-01 1.21006638e-01 3.06417579e-03 3.87083652e+02] [-1.21006096e-01 9.92651698e-01 -3.62113686e-04 -3.14757427e+01] [-3.08547746e-03 -1.13328986e-05 9.99995240e-01 -1.19183581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:387.14, Y:-31.48, Z:-1.19 [[ 9.92514133e-01 1.22091383e-01 3.06419305e-03 3.87142647e+02] [-1.22090847e-01 9.92518863e-01 -3.61967592e-04 -3.14815205e+01] [-3.08546253e-03 -1.48519736e-05 9.99995240e-01 -1.19272344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters Centerline goodness : 0.991849 with order 1 Centerline is valid? [True, True] Translation: X:387.20, Y:-31.49, Z:-1.19 [[ 9.93033750e-01 1.17790418e-01 3.06421057e-03 3.87200074e+02] [-1.17789863e-01 9.93038477e-01 -3.61819200e-04 -3.14878697e+01] [-3.08549784e-03 -1.63426581e-06 9.99995240e-01 -1.19274297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters Centerline goodness : 0.992085 with order 1 Centerline is valid? [True, True] Translation: X:387.26, Y:-31.50, Z:-1.19 [[ 9.93343629e-01 1.15147928e-01 3.06423228e-03 3.87256902e+02] [-1.15147361e-01 9.93348355e-01 -3.61635282e-04 -3.14984730e+01] [-3.08549165e-03 6.38984438e-06 9.99995240e-01 -1.18777968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters Centerline goodness : 0.992278 with order 1 Centerline is valid? [True, True] Translation: X:387.32, Y:-31.51, Z:-1.19 [[ 9.93537287e-01 1.13464842e-01 3.06425558e-03 3.87315465e+02] [-1.13464267e-01 9.93542012e-01 -3.61437763e-04 -3.15065634e+01] [-3.08547713e-03 1.14183821e-05 9.99995240e-01 -1.19038936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters Centerline goodness : 0.991351 with order 1 Centerline is valid? [True, True] Translation: X:387.37, Y:-31.52, Z:-1.19 [[ 9.93718518e-01 1.11866519e-01 3.06427256e-03 3.87372625e+02] [-1.11865937e-01 9.93723242e-01 -3.61293674e-04 -3.15175101e+01] [-3.08545553e-03 1.62364931e-05 9.99995240e-01 -1.19214591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters Centerline goodness : 0.992313 with order 1 Centerline is valid? [True, True] Translation: X:387.43, Y:-31.53, Z:-1.19 [[ 9.93491906e-01 1.13861504e-01 3.06429509e-03 3.87430935e+02] [-1.13860932e-01 9.93496632e-01 -3.61102506e-04 -3.15260174e+01] [-3.08548253e-03 9.84892327e-06 9.99995240e-01 -1.18608460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters Centerline goodness : 0.991809 with order 1 Centerline is valid? [True, True] Translation: X:387.49, Y:-31.53, Z:-1.19 [[ 9.92828414e-01 1.19508785e-01 3.06431193e-03 3.87488805e+02] [-1.19508240e-01 9.92833143e-01 -3.60959522e-04 -3.15319103e+01] [-3.08548828e-03 -7.83965598e-06 9.99995240e-01 -1.19122267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters Centerline goodness : 0.991780 with order 1 Centerline is valid? [True, True] Translation: X:387.55, Y:-31.54, Z:-1.19 [[ 9.91958776e-01 1.26524295e-01 3.06433510e-03 3.87547280e+02] [-1.26523785e-01 9.91963508e-01 -3.60762766e-04 -3.15371729e+01] [-3.08535385e-03 -2.98494831e-05 9.99995240e-01 -1.18992337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters Centerline goodness : 0.992638 with order 1 Centerline is valid? [True, True] Translation: X:387.61, Y:-31.54, Z:-1.19 [[ 9.91917462e-01 1.26847776e-01 3.06435227e-03 3.87605914e+02] [-1.26847267e-01 9.91922195e-01 -3.60616838e-04 -3.15436141e+01] [-3.08534248e-03 -3.10025726e-05 9.99995240e-01 -1.18844525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters Centerline goodness : 0.991904 with order 1 Centerline is valid? [True, True] Translation: X:387.66, Y:-31.55, Z:-1.19 [[ 9.92076650e-01 1.25596700e-01 3.06436939e-03 3.87663451e+02] [-1.25596186e-01 9.92081382e-01 -3.60471306e-04 -3.15516011e+01] [-3.08537783e-03 -2.72579418e-05 9.99995240e-01 -1.19104131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:387.72, Y:-31.56, Z:-1.19 [[ 9.92194931e-01 1.24658852e-01 3.06439243e-03 3.87721917e+02] [-1.24658334e-01 9.92199662e-01 -3.60275378e-04 -3.15601833e+01] [-3.08540065e-03 -2.45386506e-05 9.99995240e-01 -1.18531408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters Centerline goodness : 0.991891 with order 1 Centerline is valid? [True, True] Translation: X:387.78, Y:-31.57, Z:-1.19 [[ 9.92084614e-01 1.25533774e-01 3.06440935e-03 3.87779883e+02] [-1.25533260e-01 9.92089346e-01 -3.60131371e-04 -3.15684985e+01] [-3.08537652e-03 -2.74045038e-05 9.99995240e-01 -1.19262518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters Centerline goodness : 0.991979 with order 1 Centerline is valid? [True, True] Translation: X:387.84, Y:-31.58, Z:-1.19 [[ 9.91889095e-01 1.27069402e-01 3.06442643e-03 3.87837473e+02] [-1.27068897e-01 9.91893828e-01 -3.59985960e-04 -3.15754980e+01] [-3.08532886e-03 -3.23271379e-05 9.99995240e-01 -1.19075757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters Centerline goodness : 0.991929 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:-31.58, Z:-1.19 [[ 9.91656934e-01 1.28868670e-01 3.06444759e-03 3.87896487e+02] [-1.28868173e-01 9.91661668e-01 -3.59805767e-04 -3.15801500e+01] [-3.08526290e-03 -3.81058783e-05 9.99995240e-01 -1.19059303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:387.95, Y:-31.59, Z:-1.19 [[ 9.92135631e-01 1.25129924e-01 3.06446435e-03 3.87953683e+02] [-1.25129410e-01 9.92140364e-01 -3.59662951e-04 -3.15904836e+01] [-3.08538337e-03 -2.66201855e-05 9.99995240e-01 -1.18830427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters Centerline goodness : 0.991909 with order 1 Centerline is valid? [True, True] Translation: X:388.01, Y:-31.60, Z:-1.19 [[ 9.92843340e-01 1.19384716e-01 3.06448682e-03 3.88011165e+02] [-1.19384175e-01 9.92848070e-01 -3.59471422e-04 -3.16042714e+01] [-3.08548521e-03 -8.95242436e-06 9.99995240e-01 -1.19364773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters Centerline goodness : 0.991468 with order 1 Centerline is valid? [True, True] Translation: X:388.07, Y:-31.62, Z:-1.19 [[ 9.92897222e-01 1.18935765e-01 3.06450308e-03 3.88068814e+02] [-1.18935223e-01 9.92901951e-01 -3.59332717e-04 -3.16183211e+01] [-3.08548860e-03 -7.69690055e-06 9.99995240e-01 -1.19389743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters Centerline goodness : 0.992023 with order 1 Centerline is valid? [True, True] Translation: X:388.13, Y:-31.63, Z:-1.19 [[ 9.92058467e-01 1.25740234e-01 3.06451939e-03 3.88126189e+02] [-1.25739724e-01 9.92063200e-01 -3.59193577e-04 -3.16274134e+01] [-3.08536200e-03 -2.89907943e-05 9.99995240e-01 -1.18843370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters Centerline goodness : 0.991545 with order 1 Centerline is valid? [True, True] Translation: X:388.18, Y:-31.64, Z:-1.19 [[ 9.91284060e-01 1.31706192e-01 3.06454175e-03 3.88183175e+02] [-1.31705711e-01 9.91288796e-01 -3.59002672e-04 -3.16353111e+01] [-3.08512878e-03 -4.77440255e-05 9.99995240e-01 -1.18885570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters Centerline goodness : 0.991749 with order 1 Centerline is valid? [True, True] Translation: X:388.24, Y:-31.64, Z:-1.19 [[ 9.90766112e-01 1.35547478e-01 3.06456155e-03 3.88242098e+02] [-1.35547017e-01 9.90770850e-01 -3.58833575e-04 -3.16420314e+01] [-3.08491724e-03 -5.98720304e-05 9.99995240e-01 -1.19027530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters Centerline goodness : 0.991938 with order 1 Centerline is valid? [True, True] Translation: X:388.30, Y:-31.65, Z:-1.19 [[ 9.90655496e-01 1.36353574e-01 3.06457796e-03 3.88300762e+02] [-1.36353116e-01 9.90660234e-01 -3.58693365e-04 -3.16501388e+01] [-3.08486465e-03 -6.25232020e-05 9.99995240e-01 -1.19135489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters Centerline goodness : 0.991981 with order 1 Centerline is valid? [True, True] Translation: X:388.36, Y:-31.66, Z:-1.19 [[ 9.90687255e-01 1.36122634e-01 3.06459474e-03 3.88357667e+02] [-1.36122176e-01 9.90691993e-01 -3.58550024e-04 -3.16573053e+01] [-3.08487624e-03 -6.19483633e-05 9.99995240e-01 -1.19089956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters Centerline goodness : 0.992077 with order 1 Centerline is valid? [True, True] Translation: X:388.42, Y:-31.66, Z:-1.19 [[ 9.90747196e-01 1.35685670e-01 3.06461548e-03 3.88415869e+02] [-1.35685211e-01 9.90751934e-01 -3.58372593e-04 -3.16622183e+01] [-3.08489974e-03 -6.07663564e-05 9.99995240e-01 -1.18987628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters Centerline goodness : 0.992184 with order 1 Centerline is valid? [True, True] Translation: X:388.47, Y:-31.67, Z:-1.19 [[ 9.90757225e-01 1.35612423e-01 3.06463151e-03 3.88474062e+02] [-1.35611964e-01 9.90761963e-01 -3.58235469e-04 -3.16689671e+01] [-3.08490151e-03 -6.06763192e-05 9.99995240e-01 -1.19095902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters Centerline goodness : 0.991863 with order 1 Centerline is valid? [True, True] Translation: X:388.53, Y:-31.68, Z:-1.19 [[ 9.91139625e-01 1.32788747e-01 3.06464750e-03 3.88532195e+02] [-1.32788275e-01 9.91144362e-01 -3.58098650e-04 -3.16769556e+01] [-3.08505956e-03 -5.20234928e-05 9.99995240e-01 -1.19194172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters Centerline goodness : 0.992544 with order 1 Centerline is valid? [True, True] Translation: X:388.59, Y:-31.69, Z:-1.19 [[ 9.91857116e-01 1.27318770e-01 3.06466447e-03 3.88589683e+02] [-1.27318272e-01 9.91861850e-01 -3.57953327e-04 -3.16854941e+01] [-3.08529795e-03 -3.51492305e-05 9.99995240e-01 -1.18999722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters Centerline goodness : 0.992193 with order 1 Centerline is valid? [True, True] Translation: X:388.65, Y:-31.69, Z:-1.19 [[ 9.92186281e-01 1.24727669e-01 3.06468548e-03 3.88648567e+02] [-1.24727159e-01 9.92191014e-01 -3.57773394e-04 -3.16895097e+01] [-3.08537763e-03 -2.72716596e-05 9.99995240e-01 -1.18950180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters Centerline goodness : 0.991957 with order 1 Centerline is valid? [True, True] Translation: X:388.71, Y:-31.69, Z:-1.19 [[ 9.92267498e-01 1.24079892e-01 3.06470224e-03 3.88707571e+02] [-1.24079379e-01 9.92272231e-01 -3.57629761e-04 -3.16947496e+01] [-3.08539359e-03 -2.54019637e-05 9.99995240e-01 -1.19457602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters Centerline goodness : 0.991658 with order 1 Centerline is valid? [True, True] Translation: X:388.77, Y:-31.70, Z:-1.19 [[ 9.92766308e-01 1.20023600e-01 3.06471922e-03 3.88765367e+02] [-1.20023068e-01 9.92771039e-01 -3.57484162e-04 -3.17001475e+01] [-3.08547102e-03 -1.29387722e-05 9.99995240e-01 -1.19352592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:388.82, Y:-31.71, Z:-1.19 [[ 9.93738921e-01 1.11685110e-01 3.06474203e-03 3.88824371e+02] [-1.11684539e-01 9.93743647e-01 -3.57288533e-04 -3.17103116e+01] [-3.08547173e-03 1.27672208e-05 9.99995240e-01 -1.19133275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters Centerline goodness : 0.992152 with order 1 Centerline is valid? [True, True] Translation: X:388.88, Y:-31.72, Z:-1.19 [[ 9.94428478e-01 1.05368924e-01 3.06475023e-03 3.88883015e+02] [-1.05368324e-01 9.94433200e-01 -3.57218181e-04 -3.17209823e+01] [-3.08532907e-03 3.23003372e-05 9.99995240e-01 -1.19288315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters Centerline goodness : 0.992733 with order 1 Centerline is valid? [True, True] Translation: X:388.94, Y:-31.74, Z:-1.19 [[ 9.95089259e-01 9.89341921e-02 3.06475900e-03 3.88942066e+02] [-9.89335613e-02 9.95093977e-01 -3.57142951e-04 -3.17393400e+01] [-3.08505687e-03 5.21815929e-05 9.99995240e-01 -1.19171362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters Centerline goodness : 0.989634 with order 1 Centerline is valid? [True, True] Translation: X:389.00, Y:-31.75, Z:-1.18 [[ 9.94960324e-01 1.00222552e-01 3.06475900e-03 3.89001136e+02] [-1.00221927e-01 9.94965043e-01 -3.57142951e-04 -3.17545233e+01] [-3.08512185e-03 4.81870135e-05 9.99995240e-01 -1.18428776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters Centerline goodness : 0.992445 with order 1 Centerline is valid? [True, True] Translation: X:389.06, Y:-31.77, Z:-1.19 [[ 9.94249303e-01 1.07046400e-01 3.06475900e-03 3.89059764e+02] [-1.07045807e-01 9.94254026e-01 -3.57142951e-04 -3.17654270e+01] [-3.08537984e-03 2.70195291e-05 9.99995240e-01 -1.19197252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:389.12, Y:-31.77, Z:-1.19 [[ 9.93049667e-01 1.17656133e-01 3.06476321e-03 3.89118443e+02] [-1.17655591e-01 9.93054396e-01 -3.57106770e-04 -3.17746673e+01] [-3.08549238e-03 -5.96176912e-06 9.99995240e-01 -1.19218649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:389.18, Y:-31.78, Z:-1.20 [[ 9.91940324e-01 1.26668864e-01 3.06477171e-03 3.89177852e+02] [-1.26668365e-01 9.91945058e-01 -3.57033860e-04 -3.17825097e+01] [-3.08531022e-03 -3.40533400e-05 9.99995240e-01 -1.19755400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters Centerline goodness : 0.992082 with order 1 Centerline is valid? [True, True] Translation: X:389.24, Y:-31.79, Z:-1.20 [[ 9.90992332e-01 1.33883553e-01 3.06478024e-03 3.89237018e+02] [-1.33883089e-01 9.90997069e-01 -3.56960621e-04 -3.17858607e+01] [-3.08497939e-03 -5.65770072e-05 9.99995240e-01 -1.19714848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:389.30, Y:-31.79, Z:-1.19 [[ 9.89935982e-01 1.41482714e-01 3.06479287e-03 3.89296256e+02] [-1.41482287e-01 9.89940723e-01 -3.56852143e-04 -3.17850903e+01] [-3.08445168e-03 -8.03531259e-05 9.99995240e-01 -1.19437758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters Centerline goodness : 0.992453 with order 1 Centerline is valid? [True, True] Translation: X:389.35, Y:-31.79, Z:-1.19 [[ 9.89357012e-01 1.45476149e-01 3.06480954e-03 3.89353868e+02] [-1.45475742e-01 9.89361755e-01 -3.56708890e-04 -3.17876930e+01] [-3.08409798e-03 -9.29429997e-05 9.99995240e-01 -1.19465903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters Centerline goodness : 0.992317 with order 1 Centerline is valid? [True, True] Translation: X:389.41, Y:-31.78, Z:-1.19 [[ 9.88922035e-01 1.48404228e-01 3.06483008e-03 3.89413503e+02] [-1.48403835e-01 9.88926779e-01 -3.56532335e-04 -3.17831316e+01] [-3.08380344e-03 -1.02249855e-04 9.99995240e-01 -1.19335339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters Centerline goodness : 0.992901 with order 1 Centerline is valid? [True, True] Translation: X:389.47, Y:-31.78, Z:-1.20 [[ 9.88781551e-01 1.49337376e-01 3.06484647e-03 3.89472217e+02] [-1.49336988e-01 9.88786295e-01 -3.56391374e-04 -3.17821817e+01] [-3.08370074e-03 -1.05301725e-04 9.99995240e-01 -1.19620483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters Centerline goodness : 0.992875 with order 1 Centerline is valid? [True, True] Translation: X:389.53, Y:-31.78, Z:-1.20 [[ 9.89537253e-01 1.44245039e-01 3.06486672e-03 3.89531243e+02] [-1.44244627e-01 9.89541995e-01 -3.56217165e-04 -3.17812667e+01] [-3.08419689e-03 -8.96004027e-05 9.99995240e-01 -1.19602930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters Centerline goodness : 0.993196 with order 1 Centerline is valid? [True, True] Translation: X:389.59, Y:-31.79, Z:-1.19 [[ 9.91366326e-01 1.31085523e-01 3.06488272e-03 3.89589116e+02] [-1.31085048e-01 9.91371062e-01 -3.56079432e-04 -3.17866083e+01] [-3.08511290e-03 -4.87551407e-05 9.99995240e-01 -1.19349165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters Centerline goodness : 0.993160 with order 1 Centerline is valid? [True, True] Translation: X:389.65, Y:-31.79, Z:-1.19 [[ 9.92823508e-01 1.19549525e-01 3.06490253e-03 3.89647266e+02] [-1.19548996e-01 9.92828238e-01 -3.55908823e-04 -3.17944851e+01] [-3.08547051e-03 -1.30513754e-05 9.99995240e-01 -1.18980573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters Centerline goodness : 0.992874 with order 1 Centerline is valid? [True, True] Translation: X:389.71, Y:-31.80, Z:-1.19 [[ 9.93370072e-01 1.14919564e-01 3.06491929e-03 3.89705391e+02] [-1.14919014e-01 9.93374800e-01 -3.55764484e-04 -3.18037175e+01] [-3.08549788e-03 1.18828946e-06 9.99995240e-01 -1.19302940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters Centerline goodness : 0.993166 with order 1 Centerline is valid? [True, True] Translation: X:389.76, Y:-31.81, Z:-1.19 [[ 9.93623742e-01 1.12705215e-01 3.06493610e-03 3.89763876e+02] [-1.12704654e-01 9.93628469e-01 -3.55619533e-04 -3.18094092e+01] [-3.08548795e-03 7.91944758e-06 9.99995240e-01 -1.19440438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:389.82, Y:-31.82, Z:-1.19 [[ 9.94117858e-01 1.08260295e-01 3.06495271e-03 3.89821724e+02] [-1.08259713e-01 9.94122582e-01 -3.55476351e-04 -3.18209123e+01] [-3.08542268e-03 2.15744878e-05 9.99995240e-01 -1.19458369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:389.88, Y:-31.83, Z:-1.20 [[ 9.94452628e-01 1.05140743e-01 3.06496150e-03 3.89880793e+02] [-1.05140147e-01 9.94457351e-01 -3.55400515e-04 -3.18304472e+01] [-3.08534057e-03 3.11784742e-05 9.99995240e-01 -1.19686598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters Centerline goodness : 0.994182 with order 1 Centerline is valid? [True, True] Translation: X:389.94, Y:-31.85, Z:-1.19 [[ 9.94940702e-01 1.00417162e-01 3.06496998e-03 3.89938343e+02] [-1.00416544e-01 9.94945421e-01 -3.55327401e-04 -3.18464416e+01] [-3.08515882e-03 4.57560009e-05 9.99995240e-01 -1.19489716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters Centerline goodness : 0.993523 with order 1 Centerline is valid? [True, True] Translation: X:390.00, Y:-31.86, Z:-1.20 [[ 9.95259987e-01 9.72016671e-02 3.06497837e-03 3.89996777e+02] [-9.72010339e-02 9.95264705e-01 -3.55255012e-04 -3.18636331e+01] [-3.08499617e-03 5.56520326e-05 9.99995240e-01 -1.19794895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:390.06, Y:-31.88, Z:-1.20 [[ 9.95064217e-01 9.91857396e-02 3.06497837e-03 3.90056059e+02] [-9.91851158e-02 9.95068936e-01 -3.55255012e-04 -3.18819179e+01] [-3.08510100e-03 4.95013161e-05 9.99995240e-01 -1.19727929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters Centerline goodness : 0.993699 with order 1 Centerline is valid? [True, True] Translation: X:390.12, Y:-31.89, Z:-1.20 [[ 9.94166272e-01 1.07814789e-01 3.06497837e-03 3.90115412e+02] [-1.07814206e-01 9.94170997e-01 -3.55255012e-04 -3.18944932e+01] [-3.08541435e-03 2.27343426e-05 9.99995240e-01 -1.19748011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters Centerline goodness : 0.993797 with order 1 Centerline is valid? [True, True] Translation: X:390.18, Y:-31.91, Z:-1.20 [[ 9.93577337e-01 1.13113575e-01 3.06497837e-03 3.90175546e+02] [-1.13113017e-01 9.93582065e-01 -3.55255012e-04 -3.19052008e+01] [-3.08549170e-03 6.28437845e-06 9.99995240e-01 -1.19983099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:390.24, Y:-31.92, Z:-1.20 [[ 9.93472420e-01 1.14031381e-01 3.06497837e-03 3.90236288e+02] [-1.14030828e-01 9.93477148e-01 -3.55255012e-04 -3.19180467e+01] [-3.08549619e-03 3.43403712e-06 9.99995240e-01 -1.19847949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters Centerline goodness : 0.993957 with order 1 Centerline is valid? [True, True] Translation: X:390.30, Y:-31.93, Z:-1.20 [[ 9.94149135e-01 1.07972699e-01 3.06496999e-03 3.90297705e+02] [-1.07972117e-01 9.94153859e-01 -3.55327274e-04 -3.19345091e+01] [-3.08541739e-03 2.23170038e-05 9.99995240e-01 -1.19931552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters Centerline goodness : 0.993896 with order 1 Centerline is valid? [True, True] Translation: X:390.36, Y:-31.94, Z:-1.20 [[ 9.94276185e-01 1.06796417e-01 3.06490038e-03 3.90358517e+02] [-1.06795827e-01 9.94280908e-01 -3.55926695e-04 -3.19444091e+01] [-3.08538363e-03 2.65708663e-05 9.99995240e-01 -1.19908786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters Centerline goodness : 0.993792 with order 1 Centerline is valid? [True, True] Translation: X:390.42, Y:-31.96, Z:-1.20 [[ 9.94204521e-01 1.07461514e-01 3.06483606e-03 3.90419683e+02] [-1.07460925e-01 9.94209245e-01 -3.56479688e-04 -3.19571841e+01] [-3.08539619e-03 2.50635973e-05 9.99995240e-01 -1.19684094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters Centerline goodness : 0.993934 with order 1 Centerline is valid? [True, True] Translation: X:390.48, Y:-31.97, Z:-1.20 [[ 9.93900346e-01 1.10239329e-01 3.06479446e-03 3.90482039e+02] [-1.10238753e-01 9.93905071e-01 -3.56837001e-04 -3.19698795e+01] [-3.08545223e-03 1.68012998e-05 9.99995240e-01 -1.19882707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters Centerline goodness : 0.993692 with order 1 Centerline is valid? [True, True] Translation: X:390.54, Y:-31.98, Z:-1.20 [[ 9.93851620e-01 1.10677752e-01 3.06472741e-03 3.90544431e+02] [-1.10677176e-01 9.93856345e-01 -3.57411983e-04 -3.19821544e+01] [-3.08545633e-03 1.60191053e-05 9.99995240e-01 -1.20186390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters Centerline goodness : 0.993408 with order 1 Centerline is valid? [True, True] Translation: X:390.61, Y:-31.99, Z:-1.20 [[ 9.93799309e-01 1.11146484e-01 3.06466009e-03 3.90605366e+02] [-1.11145909e-01 9.93804034e-01 -3.57988218e-04 -3.19920328e+01] [-3.08546070e-03 1.51440128e-05 9.99995240e-01 -1.20232229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters Centerline goodness : 0.993921 with order 1 Centerline is valid? [True, True] Translation: X:390.67, Y:-32.00, Z:-1.20 [[ 9.93312949e-01 1.15412280e-01 3.06459755e-03 3.90668254e+02] [-1.15411723e-01 9.93317676e-01 -3.58522818e-04 -3.20006115e+01] [-3.08549685e-03 2.43487207e-06 9.99995240e-01 -1.19975333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters Centerline goodness : 0.994391 with order 1 Centerline is valid? [True, True] Translation: X:390.73, Y:-32.01, Z:-1.20 [[ 9.92715717e-01 1.20441327e-01 3.06452945e-03 3.90731186e+02] [-1.20440793e-01 9.92720447e-01 -3.59104011e-04 -3.20082146e+01] [-3.08547201e-03 -1.26061601e-05 9.99995240e-01 -1.19905010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters Centerline goodness : 0.994203 with order 1 Centerline is valid? [True, True] Translation: X:390.79, Y:-32.01, Z:-1.20 [[ 9.92269371e-01 1.24064919e-01 3.06445643e-03 3.90792812e+02] [-1.24064400e-01 9.92274103e-01 -3.59725999e-04 -3.20145799e+01] [-3.08541014e-03 -2.32448574e-05 9.99995240e-01 -1.20101917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters Centerline goodness : 0.994142 with order 1 Centerline is valid? [True, True] Translation: X:390.85, Y:-32.02, Z:-1.20 [[ 9.91941110e-01 1.26662716e-01 3.06438896e-03 3.90854604e+02] [-1.26662208e-01 9.91945843e-01 -3.60299915e-04 -3.20187877e+01] [-3.08534445e-03 -3.07459719e-05 9.99995240e-01 -1.19938600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters Centerline goodness : 0.994526 with order 1 Centerline is valid? [True, True] Translation: X:390.92, Y:-32.02, Z:-1.20 [[ 9.92265656e-01 1.24094633e-01 3.06433155e-03 3.90916932e+02] [-1.24094110e-01 9.92270387e-01 -3.60787521e-04 -3.20208628e+01] [-3.08541725e-03 -2.22684300e-05 9.99995240e-01 -1.19810677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters Centerline goodness : 0.994375 with order 1 Centerline is valid? [True, True] Translation: X:390.98, Y:-32.02, Z:-1.20 [[ 9.92182703e-01 1.24756138e-01 3.06427400e-03 3.90978562e+02] [-1.24755618e-01 9.92187435e-01 -3.61275612e-04 -3.20203172e+01] [-3.08540551e-03 -2.38339823e-05 9.99995240e-01 -1.19891118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters Centerline goodness : 0.994960 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:-32.02, Z:-1.20 [[ 9.92096729e-01 1.25437993e-01 3.06426557e-03 3.91038705e+02] [-1.25437475e-01 9.92101461e-01 -3.61347084e-04 -3.20186673e+01] [-3.08538900e-03 -2.58824763e-05 9.99995240e-01 -1.20215509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters Centerline goodness : 0.994455 with order 1 Centerline is valid? [True, True] Translation: X:391.10, Y:-32.02, Z:-1.20 [[ 9.92227250e-01 1.24401342e-01 3.06426975e-03 3.91098932e+02] [-1.24400819e-01 9.92231982e-01 -3.61311634e-04 -3.20175485e+01] [-3.08541410e-03 -2.26944176e-05 9.99995240e-01 -1.19856600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters Centerline goodness : 0.994394 with order 1 Centerline is valid? [True, True] Translation: X:391.16, Y:-32.02, Z:-1.20 [[ 9.92517526e-01 1.22063802e-01 3.06427374e-03 3.91160176e+02] [-1.22063268e-01 9.92522256e-01 -3.61277847e-04 -3.20171975e+01] [-3.08545883e-03 -1.54606720e-05 9.99995240e-01 -1.20281069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters Centerline goodness : 0.993929 with order 1 Centerline is valid? [True, True] Translation: X:391.22, Y:-32.02, Z:-1.21 [[ 9.92886548e-01 1.19024846e-01 3.06427374e-03 3.91220158e+02] [-1.19024297e-01 9.92891276e-01 -3.61277847e-04 -3.20177944e+01] [-3.08549170e-03 -6.01511428e-06 9.99995240e-01 -1.20552038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters Centerline goodness : 0.993730 with order 1 Centerline is valid? [True, True] Translation: X:391.28, Y:-32.02, Z:-1.21 [[ 9.92994179e-01 1.18123538e-01 3.06427791e-03 3.91280056e+02] [-1.18122986e-01 9.92998907e-01 -3.61242406e-04 -3.20223822e+01] [-3.08549585e-03 -3.25004950e-06 9.99995240e-01 -1.20594426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters Centerline goodness : 0.994149 with order 1 Centerline is valid? [True, True] Translation: X:391.34, Y:-32.03, Z:-1.21 [[ 9.93141544e-01 1.16878072e-01 3.06428603e-03 3.91340207e+02] [-1.16877513e-01 9.93146271e-01 -3.61173514e-04 -3.20279256e+01] [-3.08549751e-03 5.50289459e-07 9.99995240e-01 -1.20847467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters Centerline goodness : 0.994177 with order 1 Centerline is valid? [True, True] Translation: X:391.40, Y:-32.03, Z:-1.21 [[ 9.93286222e-01 1.15642081e-01 3.06428603e-03 3.91399200e+02] [-1.15641517e-01 9.93290949e-01 -3.61173514e-04 -3.20333816e+01] [-3.08549444e-03 4.38999052e-06 9.99995240e-01 -1.20502142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters Centerline goodness : 0.994721 with order 1 Centerline is valid? [True, True] Translation: X:391.46, Y:-32.04, Z:-1.21 [[ 9.93923518e-01 1.10030222e-01 3.06429026e-03 3.91459184e+02] [-1.10029632e-01 9.93928242e-01 -3.61137642e-04 -3.20428822e+01] [-3.08542069e-03 2.17804665e-05 9.99995240e-01 -1.20807963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters Centerline goodness : 0.994290 with order 1 Centerline is valid? [True, True] Translation: X:391.52, Y:-32.05, Z:-1.21 [[ 9.94690006e-01 1.02870802e-01 3.06429026e-03 3.91518766e+02] [-1.02870177e-01 9.94694725e-01 -3.61137642e-04 -3.20537117e+01] [-3.08518388e-03 4.39959207e-05 9.99995240e-01 -1.20676952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters Centerline goodness : 0.994735 with order 1 Centerline is valid? [True, True] Translation: X:391.58, Y:-32.06, Z:-1.20 [[ 9.94788080e-01 1.01918037e-01 3.06427113e-03 3.91578732e+02] [-1.01917407e-01 9.94792798e-01 -3.61299863e-04 -3.20641680e+01] [-3.08513783e-03 4.71142273e-05 9.99995240e-01 -1.20272653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters Centerline goodness : 0.994420 with order 1 Centerline is valid? [True, True] Translation: X:391.64, Y:-32.07, Z:-1.20 [[ 9.94736536e-01 1.02419890e-01 3.06427113e-03 3.91639105e+02] [-1.02419263e-01 9.94741255e-01 -3.61299863e-04 -3.20747074e+01] [-3.08516121e-03 4.55577829e-05 9.99995240e-01 -1.20333126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters Centerline goodness : 0.994813 with order 1 Centerline is valid? [True, True] Translation: X:391.70, Y:-32.09, Z:-1.21 [[ 9.94623116e-01 1.03515540e-01 3.06426242e-03 3.91698536e+02] [-1.03514918e-01 9.94627836e-01 -3.61373746e-04 -3.20865033e+01] [-3.08520850e-03 4.22338079e-05 9.99995240e-01 -1.20693888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters Centerline goodness : 0.995030 with order 1 Centerline is valid? [True, True] Translation: X:391.76, Y:-32.10, Z:-1.21 [[ 9.94802347e-01 1.01778685e-01 3.06425368e-03 3.91758669e+02] [-1.01778055e-01 9.94807065e-01 -3.61447854e-04 -3.20969202e+01] [-3.08512890e-03 4.76953953e-05 9.99995240e-01 -1.20682209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:391.82, Y:-32.10, Z:-1.21 [[ 9.94397944e-01 1.05656707e-01 3.06424516e-03 3.91819817e+02] [-1.05656095e-01 9.94402664e-01 -3.61520099e-04 -3.21022911e+01] [-3.08529057e-03 3.57386662e-05 9.99995240e-01 -1.20767898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters Centerline goodness : 0.994162 with order 1 Centerline is valid? [True, True] Translation: X:391.88, Y:-32.11, Z:-1.20 [[ 9.93710148e-01 1.11940844e-01 3.06423671e-03 3.91880447e+02] [-1.11940261e-01 9.93714872e-01 -3.61591674e-04 -3.21050857e+01] [-3.08545447e-03 1.63058578e-05 9.99995240e-01 -1.19724623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters Centerline goodness : 0.994977 with order 1 Centerline is valid? [True, True] Translation: X:391.94, Y:-32.11, Z:-1.20 [[ 9.93253048e-01 1.15926672e-01 3.06423671e-03 3.91940292e+02] [-1.15926108e-01 9.93257775e-01 -3.61591674e-04 -3.21067755e+01] [-3.08549505e-03 3.92699471e-06 9.99995240e-01 -1.19953318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters Centerline goodness : 0.994595 with order 1 Centerline is valid? [True, True] Translation: X:392.00, Y:-32.10, Z:-1.20 [[ 9.93129406e-01 1.16981167e-01 3.06424524e-03 3.92001080e+02] [-1.16980608e-01 9.93134133e-01 -3.61519372e-04 -3.21035037e+01] [-3.08549750e-03 5.78247033e-07 9.99995240e-01 -1.20176002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters Centerline goodness : 0.994700 with order 1 Centerline is valid? [True, True] Translation: X:392.06, Y:-32.11, Z:-1.20 [[ 9.93430316e-01 1.14397632e-01 3.06425371e-03 3.92060433e+02] [-1.14397062e-01 9.93435041e-01 -3.61447543e-04 -3.21061025e+01] [-3.08548576e-03 8.53132653e-06 9.99995240e-01 -1.20058414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters Centerline goodness : 0.994433 with order 1 Centerline is valid? [True, True] Translation: X:392.12, Y:-32.11, Z:-1.20 [[ 9.93846454e-01 1.10724142e-01 3.06426247e-03 3.92118808e+02] [-1.10723554e-01 9.93851178e-01 -3.61373296e-04 -3.21130667e+01] [-3.08543361e-03 1.98635388e-05 9.99995240e-01 -1.19717371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters Centerline goodness : 0.994861 with order 1 Centerline is valid? [True, True] Translation: X:392.18, Y:-32.12, Z:-1.20 [[ 9.94389510e-01 1.05736051e-01 3.06427545e-03 3.92178032e+02] [-1.05735440e-01 9.94394231e-01 -3.61263179e-04 -3.21223255e+01] [-3.08529637e-03 3.52338032e-05 9.99995240e-01 -1.20072680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:392.24, Y:-32.13, Z:-1.20 [[ 9.94561950e-01 1.04101579e-01 3.06427196e-03 3.92238245e+02] [-1.04100960e-01 9.94566669e-01 -3.61292788e-04 -3.21320035e+01] [-3.08523391e-03 4.03344064e-05 9.99995240e-01 -1.20118624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters Centerline goodness : 0.994487 with order 1 Centerline is valid? [True, True] Translation: X:392.30, Y:-32.15, Z:-1.20 [[ 9.95133600e-01 9.84871993e-02 3.06427196e-03 3.92296953e+02] [-9.84865535e-02 9.95138316e-01 -3.61292788e-04 -3.21497348e+01] [-3.08495715e-03 5.77450082e-05 9.99995240e-01 -1.20061817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:392.36, Y:-32.16, Z:-1.20 [[ 9.95063673e-01 9.91912104e-02 3.06426779e-03 3.92357240e+02] [-9.91905679e-02 9.95068390e-01 -3.61328140e-04 -3.21632537e+01] [-3.08499659e-03 5.55980441e-05 9.99995240e-01 -1.20214247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters Centerline goodness : 0.994664 with order 1 Centerline is valid? [True, True] Translation: X:392.42, Y:-32.18, Z:-1.20 [[ 9.94718536e-01 1.02594566e-01 3.06425974e-03 3.92417325e+02] [-1.02593940e-01 9.94723254e-01 -3.61396385e-04 -3.21762023e+01] [-3.08516773e-03 4.51132037e-05 9.99995240e-01 -1.19989711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters Centerline goodness : 0.994810 with order 1 Centerline is valid? [True, True] Translation: X:392.48, Y:-32.19, Z:-1.21 [[ 9.94430417e-01 1.05350633e-01 3.06425124e-03 3.92478129e+02] [-1.05350020e-01 9.94435138e-01 -3.61468430e-04 -3.21898277e+01] [-3.08528004e-03 3.66362736e-05 9.99995240e-01 -1.20613022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters Centerline goodness : 0.994867 with order 1 Centerline is valid? [True, True] Translation: X:392.54, Y:-32.20, Z:-1.21 [[ 9.94235838e-01 1.07171400e-01 3.06419157e-03 3.92538741e+02] [-1.07170794e-01 9.94240559e-01 -3.61973559e-04 -3.22007182e+01] [-3.08533676e-03 3.14952426e-05 9.99995240e-01 -1.20941864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters Centerline goodness : 0.994673 with order 1 Centerline is valid? [True, True] Translation: X:392.60, Y:-32.21, Z:-1.21 [[ 9.94079141e-01 1.08615249e-01 3.06413648e-03 3.92599932e+02] [-1.08614648e-01 9.94083863e-01 -3.62439336e-04 -3.22145897e+01] [-3.08537507e-03 2.74832802e-05 9.99995240e-01 -1.20666736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters Centerline goodness : 0.993987 with order 1 Centerline is valid? [True, True] Translation: X:392.66, Y:-32.23, Z:-1.21 [[ 9.93505183e-01 1.13745610e-01 3.06407739e-03 3.92660762e+02] [-1.13745031e-01 9.93509907e-01 -3.62938164e-04 -3.22250494e+01] [-3.08547387e-03 1.20573669e-05 9.99995240e-01 -1.21289775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters Centerline goodness : 0.994170 with order 1 Centerline is valid? [True, True] Translation: X:392.72, Y:-32.24, Z:-1.21 [[ 9.92984639e-01 1.18203717e-01 3.06401888e-03 3.92722022e+02] [-1.18203158e-01 9.92989366e-01 -3.63431504e-04 -3.22357463e+01] [-3.08549712e-03 -1.29480751e-06 9.99995240e-01 -1.20937250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters Centerline goodness : 0.995251 with order 1 Centerline is valid? [True, True] Translation: X:392.78, Y:-32.25, Z:-1.21 [[ 9.92596712e-01 1.21418201e-01 3.06395959e-03 3.92783581e+02] [-1.21417656e-01 9.92601441e-01 -3.63930609e-04 -3.22465528e+01] [-3.08547851e-03 -1.07824667e-05 9.99995240e-01 -1.20531604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters Centerline goodness : 0.994775 with order 1 Centerline is valid? [True, True] Translation: X:392.84, Y:-32.26, Z:-1.21 [[ 9.91876435e-01 1.27168197e-01 3.06390048e-03 3.92843250e+02] [-1.27167678e-01 9.91881167e-01 -3.64427568e-04 -3.22560368e+01] [-3.08536878e-03 -2.81619926e-05 9.99995240e-01 -1.20843341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters Centerline goodness : 0.995251 with order 1 Centerline is valid? [True, True] Translation: X:392.90, Y:-32.26, Z:-1.20 [[ 9.91036327e-01 1.33557523e-01 3.06389630e-03 3.92904149e+02] [-1.33557034e-01 9.91041062e-01 -3.64462730e-04 -3.22607254e+01] [-3.08512378e-03 -4.80090971e-05 9.99995240e-01 -1.20343182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters Centerline goodness : 0.994927 with order 1 Centerline is valid? [True, True] Translation: X:392.96, Y:-32.26, Z:-1.21 [[ 9.90277457e-01 1.39072541e-01 3.06388770e-03 3.92964179e+02] [-1.39072078e-01 9.90282194e-01 -3.64535027e-04 -3.22644201e+01] [-3.08481025e-03 -6.51104114e-05 9.99995240e-01 -1.21249777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters Centerline goodness : 0.994909 with order 1 Centerline is valid? [True, True] Translation: X:393.02, Y:-32.27, Z:-1.21 [[ 9.90369475e-01 1.38415736e-01 3.06388346e-03 3.93024351e+02] [-1.38415270e-01 9.90374212e-01 -3.64570667e-04 -3.22685299e+01] [-3.08485348e-03 -6.30285964e-05 9.99995240e-01 -1.20747595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters Centerline goodness : 0.995159 with order 1 Centerline is valid? [True, True] Translation: X:393.08, Y:-32.27, Z:-1.20 [[ 9.91038590e-01 1.33540730e-01 3.06388346e-03 3.93084231e+02] [-1.33540241e-01 9.91043325e-01 -3.64570667e-04 -3.22732467e+01] [-3.08512628e-03 -4.78481364e-05 9.99995240e-01 -1.20151401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:393.14, Y:-32.28, Z:-1.20 [[ 9.91655992e-01 1.28875936e-01 3.06387943e-03 3.93144371e+02] [-1.28875425e-01 9.91660724e-01 -3.64604560e-04 -3.22807104e+01] [-3.08531764e-03 -3.32964665e-05 9.99995240e-01 -1.20461731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters Centerline goodness : 0.995670 with order 1 Centerline is valid? [True, True] Translation: X:393.21, Y:-32.29, Z:-1.21 [[ 9.92264970e-01 1.24100130e-01 3.06387543e-03 3.93205389e+02] [-1.24099596e-01 9.92269700e-01 -3.64638115e-04 -3.22875539e+01] [-3.08544239e-03 -1.84080737e-05 9.99995240e-01 -1.20844372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters Centerline goodness : 0.995297 with order 1 Centerline is valid? [True, True] Translation: X:393.27, Y:-32.29, Z:-1.21 [[ 9.92373072e-01 1.23232702e-01 3.06386726e-03 3.93266485e+02] [-1.23232163e-01 9.92377802e-01 -3.64706765e-04 -3.22949728e+01] [-3.08545766e-03 -1.56418166e-05 9.99995240e-01 -1.20822979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters Centerline goodness : 0.995439 with order 1 Centerline is valid? [True, True] Translation: X:393.33, Y:-32.30, Z:-1.21 [[ 9.92161664e-01 1.24923354e-01 3.06385902e-03 3.93326580e+02] [-1.24922823e-01 9.92166395e-01 -3.64775988e-04 -3.22990200e+01] [-3.08542700e-03 -2.08291674e-05 9.99995240e-01 -1.20794398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:393.39, Y:-32.30, Z:-1.21 [[ 9.92272583e-01 1.24039246e-01 3.06385494e-03 3.93388029e+02] [-1.24038711e-01 9.92277313e-01 -3.64810220e-04 -3.23040728e+01] [-3.08544453e-03 -1.80454383e-05 9.99995240e-01 -1.21372223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:393.45, Y:-32.31, Z:-1.22 [[ 9.92580768e-01 1.21548479e-01 3.06384698e-03 3.93448550e+02] [-1.21547932e-01 9.92585496e-01 -3.64877090e-04 -3.23075822e+01] [-3.08548033e-03 -1.02342807e-05 9.99995240e-01 -1.21833423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:393.51, Y:-32.31, Z:-1.21 [[ 9.92926823e-01 1.18688407e-01 3.06384303e-03 3.93509757e+02] [-1.18687846e-01 9.92931550e-01 -3.64910237e-04 -3.23122856e+01] [-3.08549702e-03 -1.31176657e-06 9.99995240e-01 -1.20663907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters Centerline goodness : 0.995468 with order 1 Centerline is valid? [True, True] Translation: X:393.57, Y:-32.32, Z:-1.21 [[ 9.92989172e-01 1.18165633e-01 3.06383499e-03 3.93570860e+02] [-1.18165070e-01 9.92993899e-01 -3.64977709e-04 -3.23168214e+01] [-3.08549728e-03 3.80637454e-07 9.99995240e-01 -1.20693764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters Centerline goodness : 0.995692 with order 1 Centerline is valid? [True, True] Translation: X:393.63, Y:-32.32, Z:-1.22 [[ 9.93217649e-01 1.16229577e-01 3.06382634e-03 3.93631281e+02] [-1.16229003e-01 9.93222375e-01 -3.65050336e-04 -3.23236252e+01] [-3.08549052e-03 6.46895420e-06 9.99995240e-01 -1.21564579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters Centerline goodness : 0.995656 with order 1 Centerline is valid? [True, True] Translation: X:393.69, Y:-32.33, Z:-1.21 [[ 9.93467612e-01 1.14073299e-01 3.06381777e-03 3.93691978e+02] [-1.14072715e-01 9.93472336e-01 -3.65122247e-04 -3.23323089e+01] [-3.08546890e-03 1.32391142e-05 9.99995240e-01 -1.21111648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters Centerline goodness : 0.995103 with order 1 Centerline is valid? [True, True] Translation: X:393.75, Y:-32.35, Z:-1.21 [[ 9.93995398e-01 1.09378978e-01 3.06380943e-03 3.93752335e+02] [-1.09378372e-01 9.94000120e-01 -3.65192189e-04 -3.23455983e+01] [-3.08537129e-03 2.78848666e-05 9.99995240e-01 -1.21050213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters Centerline goodness : 0.994510 with order 1 Centerline is valid? [True, True] Translation: X:393.81, Y:-32.36, Z:-1.21 [[ 9.94237577e-01 1.07155280e-01 3.06375578e-03 3.93813589e+02] [-1.07154662e-01 9.94242297e-01 -3.65641780e-04 -3.23581331e+01] [-3.08529603e-03 3.52390828e-05 9.99995240e-01 -1.20834182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters Centerline goodness : 0.994837 with order 1 Centerline is valid? [True, True] Translation: X:393.87, Y:-32.37, Z:-1.22 [[ 9.93933984e-01 1.09935656e-01 3.06369727e-03 3.93874128e+02] [-1.09935049e-01 9.93938706e-01 -3.66131340e-04 -3.23749397e+01] [-3.08537819e-03 2.71026714e-05 9.99995240e-01 -1.21573677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters Centerline goodness : 0.994365 with order 1 Centerline is valid? [True, True] Translation: X:393.94, Y:-32.39, Z:-1.21 [[ 9.93136981e-01 1.16916857e-01 3.06363605e-03 3.93935586e+02] [-1.16916282e-01 9.93141706e-01 -3.66642896e-04 -3.23874577e+01] [-3.08549147e-03 5.93768125e-06 9.99995240e-01 -1.21313691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters Centerline goodness : 0.994608 with order 1 Centerline is valid? [True, True] Translation: X:394.00, Y:-32.40, Z:-1.22 [[ 9.92336335e-01 1.23528182e-01 3.06357311e-03 3.93997426e+02] [-1.23527638e-01 9.92341064e-01 -3.67168082e-04 -3.23964784e+01] [-3.08546501e-03 -1.40817194e-05 9.99995240e-01 -1.21543289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters Centerline goodness : 0.993822 with order 1 Centerline is valid? [True, True] Translation: X:394.06, Y:-32.41, Z:-1.22 [[ 9.91940985e-01 1.26663719e-01 3.06350609e-03 3.94059185e+02] [-1.26663187e-01 9.91945715e-01 -3.67726389e-04 -3.24066977e+01] [-3.08540933e-03 -2.32705694e-05 9.99995240e-01 -1.21602780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters Centerline goodness : 0.994243 with order 1 Centerline is valid? [True, True] Translation: X:394.12, Y:-32.42, Z:-1.21 [[ 9.92136448e-01 1.25123472e-01 3.06343557e-03 3.94119929e+02] [-1.25122932e-01 9.92141178e-01 -3.68312925e-04 -3.24177398e+01] [-3.08544517e-03 -1.78893621e-05 9.99995240e-01 -1.20964390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:394.18, Y:-32.43, Z:-1.21 [[ 9.91877465e-01 1.27160174e-01 3.06340200e-03 3.94180964e+02] [-1.27159643e-01 9.91882195e-01 -3.68591989e-04 -3.24256459e+01] [-3.08540412e-03 -2.39430156e-05 9.99995240e-01 -1.21134769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters Centerline goodness : 0.994383 with order 1 Centerline is valid? [True, True] Translation: X:394.24, Y:-32.43, Z:-1.21 [[ 9.91589564e-01 1.29386059e-01 3.06333780e-03 3.94242700e+02] [-1.29385536e-01 9.91594295e-01 -3.69124724e-04 -3.24316320e+01] [-3.08534788e-03 -3.03313812e-05 9.99995240e-01 -1.21108194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters Centerline goodness : 0.994042 with order 1 Centerline is valid? [True, True] Translation: X:394.30, Y:-32.43, Z:-1.21 [[ 9.91047003e-01 1.33478292e-01 3.06327791e-03 3.94304716e+02] [-1.33477787e-01 9.91051736e-01 -3.69621070e-04 -3.24330885e+01] [-3.08520328e-03 -4.25677046e-05 9.99995240e-01 -1.21405271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters Centerline goodness : 0.993547 with order 1 Centerline is valid? [True, True] Translation: X:394.37, Y:-32.44, Z:-1.21 [[ 9.90891329e-01 1.34629086e-01 3.06326942e-03 3.94365508e+02] [-1.34628586e-01 9.90896063e-01 -3.69691430e-04 -3.24364465e+01] [-3.08515283e-03 -4.60795992e-05 9.99995240e-01 -1.21419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:394.43, Y:-32.43, Z:-1.21 [[ 9.90533728e-01 1.37235385e-01 3.06326523e-03 3.94426187e+02] [-1.37234897e-01 9.90538463e-01 -3.69726188e-04 -3.24348739e+01] [-3.08502154e-03 -5.41606291e-05 9.99995240e-01 -1.20930782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters Centerline goodness : 0.993969 with order 1 Centerline is valid? [True, True] Translation: X:394.49, Y:-32.43, Z:-1.21 [[ 9.90167133e-01 1.39855874e-01 3.06326523e-03 3.94485600e+02] [-1.39855399e-01 9.90171869e-01 -3.69726188e-04 -3.24309828e+01] [-3.08486743e-03 -6.23234614e-05 9.99995240e-01 -1.21210596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters Centerline goodness : 0.993508 with order 1 Centerline is valid? [True, True] Translation: X:394.55, Y:-32.43, Z:-1.22 [[ 9.90526918e-01 1.37284528e-01 3.06327393e-03 3.94546011e+02] [-1.37284042e-01 9.90531653e-01 -3.69654085e-04 -3.24285713e+01] [-3.08501757e-03 -5.43863041e-05 9.99995240e-01 -1.21701899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters Centerline goodness : 0.993965 with order 1 Centerline is valid? [True, True] Translation: X:394.61, Y:-32.43, Z:-1.22 [[ 9.91074609e-01 1.33273160e-01 3.06328202e-03 3.94606594e+02] [-1.33272654e-01 9.91079342e-01 -3.69586988e-04 -3.24257740e+01] [-3.08521156e-03 -4.19634460e-05 9.99995240e-01 -1.21555590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:394.67, Y:-32.42, Z:-1.21 [[ 9.91598341e-01 1.29318778e-01 3.06329055e-03 3.94665668e+02] [-1.29318254e-01 9.91603072e-01 -3.69516340e-04 -3.24231720e+01] [-3.08535372e-03 -2.97275939e-05 9.99995240e-01 -1.21425629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters Centerline goodness : 0.994404 with order 1 Centerline is valid? [True, True] Translation: X:394.72, Y:-32.43, Z:-1.21 [[ 9.92048195e-01 1.25821284e-01 3.06330325e-03 3.94724063e+02] [-1.25820743e-01 9.92052924e-01 -3.69410983e-04 -3.24263808e+01] [-3.08543871e-03 -1.89535931e-05 9.99995240e-01 -1.21242786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters Centerline goodness : 0.994711 with order 1 Centerline is valid? [True, True] Translation: X:394.78, Y:-32.43, Z:-1.22 [[ 9.92457177e-01 1.22553527e-01 3.06331537e-03 3.94782348e+02] [-1.22552971e-01 9.92461905e-01 -3.69310416e-04 -3.24322433e+01] [-3.08548411e-03 -8.89362729e-06 9.99995240e-01 -1.22102003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters Centerline goodness : 0.994297 with order 1 Centerline is valid? [True, True] Translation: X:394.84, Y:-32.44, Z:-1.23 [[ 9.92726312e-01 1.20353998e-01 3.06332723e-03 3.94840910e+02] [-1.20353431e-01 9.92731039e-01 -3.69212068e-04 -3.24354093e+01] [-3.08549617e-03 -2.15540827e-06 9.99995240e-01 -1.22629039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters Centerline goodness : 0.993519 with order 1 Centerline is valid? [True, True] Translation: X:394.90, Y:-32.45, Z:-1.22 [[ 9.93208235e-01 1.16310010e-01 3.06334300e-03 3.94899496e+02] [-1.16309425e-01 9.93212959e-01 -3.69081147e-04 -3.24454360e+01] [-3.08547980e-03 1.02787710e-05 9.99995240e-01 -1.21684964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters Centerline goodness : 0.993303 with order 1 Centerline is valid? [True, True] Translation: X:394.96, Y:-32.45, Z:-1.22 [[ 9.92952875e-01 1.18470262e-01 3.06335126e-03 3.94958912e+02] [-1.18469687e-01 9.92957601e-01 -3.69012611e-04 -3.24523537e+01] [-3.08549494e-03 3.49786839e-06 9.99995240e-01 -1.21677785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:395.02, Y:-32.46, Z:-1.22 [[ 9.92913796e-01 1.18797348e-01 3.06336020e-03 3.95017236e+02] [-1.18796775e-01 9.92918521e-01 -3.68938391e-04 -3.24581370e+01] [-3.08549598e-03 2.40670602e-06 9.99995240e-01 -1.21979055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters Centerline goodness : 0.993506 with order 1 Centerline is valid? [True, True] Translation: X:395.08, Y:-32.47, Z:-1.21 [[ 9.92780638e-01 1.19905044e-01 3.06337352e-03 3.95075304e+02] [-1.19904477e-01 9.92785365e-01 -3.68827769e-04 -3.24653009e+01] [-3.08549670e-03 -1.14713023e-06 9.99995240e-01 -1.21408717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters Centerline goodness : 0.993975 with order 1 Centerline is valid? [True, True] Translation: X:395.13, Y:-32.47, Z:-1.21 [[ 9.92673890e-01 1.20785609e-01 3.06339083e-03 3.95134542e+02] [-1.20785047e-01 9.92678617e-01 -3.68683931e-04 -3.24689418e+01] [-3.08549428e-03 -4.02889238e-06 9.99995240e-01 -1.21268888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters Centerline goodness : 0.993154 with order 1 Centerline is valid? [True, True] Translation: X:395.19, Y:-32.47, Z:-1.21 [[ 9.92474038e-01 1.22416905e-01 3.06340824e-03 3.95193244e+02] [-1.22416351e-01 9.92478766e-01 -3.68539223e-04 -3.24709989e+01] [-3.08548306e-03 -9.24564702e-06 9.99995240e-01 -1.21049763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters Centerline goodness : 0.993482 with order 1 Centerline is valid? [True, True] Translation: X:395.25, Y:-32.47, Z:-1.21 [[ 9.92516804e-01 1.22069693e-01 3.06342574e-03 3.95252463e+02] [-1.22069137e-01 9.92521531e-01 -3.68393695e-04 -3.24743959e+01] [-3.08548571e-03 -8.31280264e-06 9.99995240e-01 -1.21277696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters Centerline goodness : 0.993574 with order 1 Centerline is valid? [True, True] Translation: X:395.31, Y:-32.48, Z:-1.22 [[ 9.92839957e-01 1.19412875e-01 3.06344309e-03 3.95311032e+02] [-1.19412307e-01 9.92844683e-01 -3.68249346e-04 -3.24793260e+01] [-3.08549690e-03 -2.00142363e-07 9.99995240e-01 -1.21698879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:395.37, Y:-32.48, Z:-1.22 [[ 9.92914856e-01 1.18788481e-01 3.06346048e-03 3.95369989e+02] [-1.18787911e-01 9.92919582e-01 -3.68104645e-04 -3.24810792e+01] [-3.08549649e-03 1.59450054e-06 9.99995240e-01 -1.21574448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:395.43, Y:-32.49, Z:-1.22 [[ 9.92979800e-01 1.18244374e-01 3.06347795e-03 3.95428051e+02] [-1.18243801e-01 9.92984526e-01 -3.67959147e-04 -3.24850322e+01] [-3.08549530e-03 3.13872195e-06 9.99995240e-01 -1.21849794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:395.49, Y:-32.49, Z:-1.22 [[ 9.93315597e-01 1.15389513e-01 3.06349951e-03 3.95486203e+02] [-1.15388927e-01 9.93320321e-01 -3.67779555e-04 -3.24927020e+01] [-3.08547422e-03 1.18272457e-05 9.99995240e-01 -1.21821700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters Centerline goodness : 0.994012 with order 1 Centerline is valid? [True, True] Translation: X:395.54, Y:-32.50, Z:-1.21 [[ 9.93442271e-01 1.14293787e-01 3.06351686e-03 3.95543396e+02] [-1.14293196e-01 9.93446994e-01 -3.67634983e-04 -3.24995680e+01] [-3.08546001e-03 1.50849979e-05 9.99995240e-01 -1.21492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:395.60, Y:-32.51, Z:-1.21 [[ 9.93563662e-01 1.13233674e-01 3.06353824e-03 3.95601594e+02] [-1.13233080e-01 9.93568385e-01 -3.67456765e-04 -3.25086167e+01] [-3.08544322e-03 1.81978198e-05 9.99995240e-01 -1.21319291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters Centerline goodness : 0.994641 with order 1 Centerline is valid? [True, True] Translation: X:395.66, Y:-32.52, Z:-1.22 [[ 9.93505981e-01 1.13738646e-01 3.06355100e-03 3.95658755e+02] [-1.13738054e-01 9.93510705e-01 -3.67350357e-04 -3.25181445e+01] [-3.08545264e-03 1.65224478e-05 9.99995240e-01 -1.21531735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters Centerline goodness : 0.994584 with order 1 Centerline is valid? [True, True] Translation: X:395.72, Y:-32.53, Z:-1.22 [[ 9.93431242e-01 1.14389606e-01 3.06357226e-03 3.95716198e+02] [-1.14389018e-01 9.93435966e-01 -3.67172938e-04 -3.25262157e+01] [-3.08546363e-03 1.43220450e-05 9.99995240e-01 -1.21658793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters Centerline goodness : 0.994294 with order 1 Centerline is valid? [True, True] Translation: X:395.77, Y:-32.53, Z:-1.21 [[ 9.93181665e-01 1.16536670e-01 3.06359357e-03 3.95774957e+02] [-1.16536093e-01 9.93186390e-01 -3.66995025e-04 -3.25342505e+01] [-3.08548782e-03 7.47350564e-06 9.99995240e-01 -1.21476234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters Centerline goodness : 0.994498 with order 1 Centerline is valid? [True, True] Translation: X:395.83, Y:-32.54, Z:-1.21 [[ 9.92924891e-01 1.18704569e-01 3.06360980e-03 3.95833595e+02] [-1.18704002e-01 9.92929617e-01 -3.66859479e-04 -3.25368962e+01] [-3.08549681e-03 6.01163074e-07 9.99995240e-01 -1.21136162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters Centerline goodness : 0.993909 with order 1 Centerline is valid? [True, True] Translation: X:395.89, Y:-32.54, Z:-1.22 [[ 9.92762798e-01 1.20052663e-01 3.06362702e-03 3.95892657e+02] [-1.20052103e-01 9.92767525e-01 -3.66715670e-04 -3.25423558e+01] [-3.08549460e-03 -3.73319158e-06 9.99995240e-01 -1.21650286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters Centerline goodness : 0.993964 with order 1 Centerline is valid? [True, True] Translation: X:395.95, Y:-32.55, Z:-1.22 [[ 9.92887298e-01 1.19018605e-01 3.06364436e-03 3.95951309e+02] [-1.19018041e-01 9.92892024e-01 -3.66570739e-04 -3.25455478e+01] [-3.08549679e-03 -6.65518491e-07 9.99995240e-01 -1.21737266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters Centerline goodness : 0.993711 with order 1 Centerline is valid? [True, True] Translation: X:396.01, Y:-32.55, Z:-1.21 [[ 9.93121001e-01 1.17052515e-01 3.06366149e-03 3.96009119e+02] [-1.17051942e-01 9.93125727e-01 -3.66427539e-04 -3.25491794e+01] [-3.08549231e-03 5.29935866e-06 9.99995240e-01 -1.21441141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:396.07, Y:-32.56, Z:-1.22 [[ 9.93288116e-01 1.15625830e-01 3.06368262e-03 3.96066586e+02] [-1.15625250e-01 9.93292841e-01 -3.66250728e-04 -3.25584037e+01] [-3.08548206e-03 9.55342514e-06 9.99995240e-01 -1.21547341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters Centerline goodness : 0.993739 with order 1 Centerline is valid? [True, True] Translation: X:396.12, Y:-32.57, Z:-1.22 [[ 9.93510879e-01 1.13695856e-01 3.06370518e-03 3.96124530e+02] [-1.13695268e-01 9.93515602e-01 -3.66061936e-04 -3.25662804e+01] [-3.08545862e-03 1.53577356e-05 9.99995240e-01 -1.21989886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:396.18, Y:-32.58, Z:-1.22 [[ 9.93590024e-01 1.13002118e-01 3.06372171e-03 3.96182772e+02] [-1.13001527e-01 9.93594747e-01 -3.65923580e-04 -3.25781165e+01] [-3.08544793e-03 1.73727887e-05 9.99995240e-01 -1.21726622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters Centerline goodness : 0.993958 with order 1 Centerline is valid? [True, True] Translation: X:396.24, Y:-32.59, Z:-1.21 [[ 9.93480532e-01 1.13960722e-01 3.06373817e-03 3.96239922e+02] [-1.13960136e-01 9.93485256e-01 -3.65785671e-04 -3.25891270e+01] [-3.08546390e-03 1.42569243e-05 9.99995240e-01 -1.21304710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters Centerline goodness : 0.993683 with order 1 Centerline is valid? [True, True] Translation: X:396.30, Y:-32.60, Z:-1.22 [[ 9.93572646e-01 1.13154810e-01 3.06376039e-03 3.96298020e+02] [-1.13154221e-01 9.93577369e-01 -3.65599456e-04 -3.26018933e+01] [-3.08545233e-03 1.65721981e-05 9.99995240e-01 -1.21887706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters Centerline goodness : 0.993922 with order 1 Centerline is valid? [True, True] Translation: X:396.36, Y:-32.61, Z:-1.22 [[ 9.93818892e-01 1.10971276e-01 3.06376890e-03 3.96356087e+02] [-1.10970677e-01 9.93823614e-01 -3.65528125e-04 -3.26134691e+01] [-3.08540901e-03 2.32802480e-05 9.99995240e-01 -1.22204979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:396.41, Y:-32.62, Z:-1.22 [[ 9.93786857e-01 1.11257788e-01 3.06377311e-03 3.96414664e+02] [-1.11257190e-01 9.93791580e-01 -3.65492846e-04 -3.26248031e+01] [-3.08541585e-03 2.23551989e-05 9.99995240e-01 -1.22260690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters Centerline goodness : 0.994428 with order 1 Centerline is valid? [True, True] Translation: X:396.47, Y:-32.63, Z:-1.22 [[ 9.93226209e-01 1.16156408e-01 3.06378107e-03 3.96473782e+02] [-1.16155833e-01 9.93230934e-01 -3.65426129e-04 -3.26300991e+01] [-3.08548872e-03 7.07476543e-06 9.99995240e-01 -1.21677777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:396.53, Y:-32.63, Z:-1.22 [[ 9.92323715e-01 1.23629522e-01 3.06378983e-03 3.96531961e+02] [-1.23628983e-01 9.92328444e-01 -3.65352641e-04 -3.26341568e+01] [-3.08545417e-03 -1.62251309e-05 9.99995240e-01 -1.21500414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters Centerline goodness : 0.994557 with order 1 Centerline is valid? [True, True] Translation: X:396.59, Y:-32.64, Z:-1.22 [[ 9.92234799e-01 1.24341127e-01 3.06381158e-03 3.96590739e+02] [-1.24340593e-01 9.92239529e-01 -3.65170191e-04 -3.26379580e+01] [-3.08544063e-03 -1.86215763e-05 9.99995240e-01 -1.21642217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:396.65, Y:-32.64, Z:-1.22 [[ 9.92403190e-01 1.22989923e-01 3.06382910e-03 3.96650124e+02] [-1.22989382e-01 9.92407919e-01 -3.65023084e-04 -3.26399583e+01] [-3.08546243e-03 -1.45683753e-05 9.99995240e-01 -1.21543389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters Centerline goodness : 0.994702 with order 1 Centerline is valid? [True, True] Translation: X:396.71, Y:-32.64, Z:-1.22 [[ 9.92106957e-01 1.25357084e-01 3.06384650e-03 3.96707926e+02] [-1.25356555e-01 9.92111688e-01 -3.64877006e-04 -3.26420313e+01] [-3.08541784e-03 -2.20762260e-05 9.99995240e-01 -1.22155698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters Centerline goodness : 0.994610 with order 1 Centerline is valid? [True, True] Translation: X:396.77, Y:-32.64, Z:-1.22 [[ 9.91528832e-01 1.29850641e-01 3.06386797e-03 3.96766503e+02] [-1.29850134e-01 9.91533565e-01 -3.64696636e-04 -3.26430809e+01] [-3.08528402e-03 -3.62364360e-05 9.99995240e-01 -1.21786529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:396.83, Y:-32.65, Z:-1.23 [[ 9.91285541e-01 1.31695061e-01 3.06389120e-03 3.96825312e+02] [-1.31694564e-01 9.91290275e-01 -3.64501359e-04 -3.26453378e+01] [-3.08520858e-03 -4.21728884e-05 9.99995240e-01 -1.22539546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters Centerline goodness : 0.994147 with order 1 Centerline is valid? [True, True] Translation: X:396.88, Y:-32.65, Z:-1.22 [[ 9.91210398e-01 1.32259443e-01 3.06390804e-03 3.96884411e+02] [-1.32258948e-01 9.91215132e-01 -3.64359781e-04 -3.26463198e+01] [-3.08518203e-03 -4.40720508e-05 9.99995240e-01 -1.22182487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters Centerline goodness : 0.994648 with order 1 Centerline is valid? [True, True] Translation: X:396.94, Y:-32.65, Z:-1.21 [[ 9.91077558e-01 1.33251214e-01 3.06392581e-03 3.96942271e+02] [-1.33250725e-01 9.91082293e-01 -3.64210287e-04 -3.26469771e+01] [-3.08513408e-03 -4.73096925e-05 9.99995240e-01 -1.21068733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters Centerline goodness : 0.994743 with order 1 Centerline is valid? [True, True] Translation: X:397.00, Y:-32.65, Z:-1.22 [[ 9.91238400e-01 1.32049413e-01 3.06394359e-03 3.97001711e+02] [-1.32048919e-01 9.91243134e-01 -3.64060662e-04 -3.26465738e+01] [-3.08518704e-03 -4.37195302e-05 9.99995240e-01 -1.21923612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters Centerline goodness : 0.994246 with order 1 Centerline is valid? [True, True] Translation: X:397.06, Y:-32.65, Z:-1.22 [[ 9.90987028e-01 1.33922824e-01 3.06396139e-03 3.97060377e+02] [-1.33922338e-01 9.90991763e-01 -3.63910790e-04 -3.26483954e+01] [-3.08509646e-03 -4.97020018e-05 9.99995240e-01 -1.22022753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters Centerline goodness : 0.995253 with order 1 Centerline is valid? [True, True] Translation: X:397.12, Y:-32.65, Z:-1.21 [[ 9.90819688e-01 1.35155311e-01 3.06397884e-03 3.97118065e+02] [-1.35154832e-01 9.90824424e-01 -3.63763810e-04 -3.26487776e+01] [-3.08502968e-03 -5.36872006e-05 9.99995240e-01 -1.21238685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters Centerline goodness : 0.995402 with order 1 Centerline is valid? [True, True] Translation: X:397.18, Y:-32.65, Z:-1.22 [[ 9.91363854e-01 1.31104236e-01 3.06400468e-03 3.97176103e+02] [-1.31103739e-01 9.91368588e-01 -3.63546052e-04 -3.26508931e+01] [-3.08522042e-03 -4.12960527e-05 9.99995240e-01 -1.21583909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters Centerline goodness : 0.995280 with order 1 Centerline is valid? [True, True] Translation: X:397.23, Y:-32.65, Z:-1.22 [[ 9.92093318e-01 1.25464975e-01 3.06403034e-03 3.97234076e+02] [-1.25464451e-01 9.92098049e-01 -3.63329601e-04 -3.26542552e+01] [-3.08540366e-03 -2.39700167e-05 9.99995240e-01 -1.21563481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters Centerline goodness : 0.995018 with order 1 Centerline is valid? [True, True] Translation: X:397.29, Y:-32.66, Z:-1.22 [[ 9.93102975e-01 1.17205342e-01 3.06405593e-03 3.97292660e+02] [-1.17204780e-01 9.93107702e-01 -3.63113671e-04 -3.26600256e+01] [-3.08549641e-03 1.48726677e-06 9.99995240e-01 -1.21954463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters Centerline goodness : 0.995462 with order 1 Centerline is valid? [True, True] Translation: X:397.35, Y:-32.66, Z:-1.22 [[ 9.93507805e-01 1.13722705e-01 3.06407277e-03 3.97350576e+02] [-1.13722126e-01 9.93512530e-01 -3.62971506e-04 -3.26617024e+01] [-3.08547279e-03 1.21621543e-05 9.99995240e-01 -1.21909632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters Centerline goodness : 0.995527 with order 1 Centerline is valid? [True, True] Translation: X:397.41, Y:-32.67, Z:-1.21 [[ 9.93678147e-01 1.12224556e-01 3.06409353e-03 3.97408056e+02] [-1.12223971e-01 9.93682871e-01 -3.62796169e-04 -3.26667396e+01] [-3.08545190e-03 1.66378810e-05 9.99995240e-01 -1.21368456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters Centerline goodness : 0.995202 with order 1 Centerline is valid? [True, True] Translation: X:397.47, Y:-32.67, Z:-1.21 [[ 9.93910365e-01 1.10148979e-01 3.06411401e-03 3.97466440e+02] [-1.10148385e-01 9.93915088e-01 -3.62623147e-04 -3.26716755e+01] [-3.08541171e-03 2.29076951e-05 9.99995240e-01 -1.21442045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:397.52, Y:-32.68, Z:-1.22 [[ 9.93998756e-01 1.09348450e-01 3.06413005e-03 3.97523692e+02] [-1.09347853e-01 9.94003479e-01 -3.62487543e-04 -3.26760554e+01] [-3.08539338e-03 2.52561264e-05 9.99995240e-01 -1.21772077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:397.58, Y:-32.68, Z:-1.21 [[ 9.93892554e-01 1.10309575e-01 3.06414989e-03 3.97581994e+02] [-1.10308982e-01 9.93897277e-01 -3.62319785e-04 -3.26802033e+01] [-3.08541757e-03 2.21036809e-05 9.99995240e-01 -1.21404659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters Centerline goodness : 0.995733 with order 1 Centerline is valid? [True, True] Translation: X:397.64, Y:-32.68, Z:-1.21 [[ 9.93712491e-01 1.11920042e-01 3.06416697e-03 3.97640330e+02] [-1.11919457e-01 9.93717215e-01 -3.62175222e-04 -3.26837685e+01] [-3.08545014e-03 1.69581369e-05 9.99995240e-01 -1.21142858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters Centerline goodness : 0.995513 with order 1 Centerline is valid? [True, True] Translation: X:397.70, Y:-32.69, Z:-1.21 [[ 9.94029597e-01 1.09067736e-01 3.06418438e-03 3.97698034e+02] [-1.09067138e-01 9.94034319e-01 -3.62027921e-04 -3.26882589e+01] [-3.08539000e-03 2.56646469e-05 9.99995240e-01 -1.21316091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:397.76, Y:-32.69, Z:-1.22 [[ 9.94513072e-01 1.04567494e-01 3.06420591e-03 3.97755515e+02] [-1.04566875e-01 9.94517792e-01 -3.61845562e-04 -3.26919539e+01] [-3.08524458e-03 3.94457052e-05 9.99995240e-01 -1.21754750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters Centerline goodness : 0.996026 with order 1 Centerline is valid? [True, True] Translation: X:397.81, Y:-32.70, Z:-1.21 [[ 9.95062780e-01 9.92001723e-02 3.06422704e-03 3.97814008e+02] [-9.91995288e-02 9.95067497e-01 -3.61666570e-04 -3.26978556e+01] [-3.08499011e-03 5.59110642e-05 9.99995240e-01 -1.21433353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters Centerline goodness : 0.996446 with order 1 Centerline is valid? [True, True] Translation: X:397.87, Y:-32.71, Z:-1.21 [[ 9.95547682e-01 9.42094701e-02 3.06424379e-03 3.97872017e+02] [-9.42088034e-02 9.95552395e-01 -3.61524601e-04 -3.27072615e+01] [-3.08467428e-03 7.12362375e-05 9.99995240e-01 -1.20695930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters Centerline goodness : 0.996353 with order 1 Centerline is valid? [True, True] Translation: X:397.93, Y:-32.72, Z:-1.21 [[ 9.95769652e-01 9.18336028e-02 3.06426044e-03 3.97930528e+02] [-9.18329253e-02 9.95774364e-01 -3.61383419e-04 -3.27171977e+01] [-3.08449913e-03 7.84546418e-05 9.99995240e-01 -1.20670226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:397.99, Y:-32.74, Z:-1.21 [[ 9.96643335e-01 8.18087538e-02 3.06427712e-03 3.97986221e+02] [-8.18080293e-02 9.96648040e-01 -3.61241911e-04 -3.27362709e+01] [-3.08355854e-03 1.09346871e-04 9.99995240e-01 -1.21134628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters Centerline goodness : 0.996703 with order 1 Centerline is valid? [True, True] Translation: X:398.04, Y:-32.76, Z:-1.21 [[ 9.96958561e-01 7.78732217e-02 3.06429775e-03 3.98043037e+02] [-7.78724791e-02 9.96963262e-01 -3.61066869e-04 -3.27571283e+01] [-3.08310972e-03 1.21344243e-04 9.99995240e-01 -1.21402334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters Centerline goodness : 0.997027 with order 1 Centerline is valid? [True, True] Translation: X:398.10, Y:-32.78, Z:-1.21 [[ 9.96674897e-01 8.14233329e-02 3.06431043e-03 3.98099099e+02] [-8.14226074e-02 9.96679602e-01 -3.60959190e-04 -3.27796769e+01] [-3.08352620e-03 1.10254818e-04 9.99995240e-01 -1.21350216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:398.16, Y:-32.80, Z:-1.21 [[ 9.95868422e-01 9.07562482e-02 3.06432311e-03 3.98156011e+02] [-9.07555671e-02 9.95873133e-01 -3.60851468e-04 -3.27987293e+01] [-3.08442659e-03 8.12561996e-05 9.99995240e-01 -1.21194882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters Centerline goodness : 0.996867 with order 1 Centerline is valid? [True, True] Translation: X:398.21, Y:-32.81, Z:-1.21 [[ 9.95165684e-01 9.81624746e-02 3.06433153e-03 3.98214270e+02] [-9.81618289e-02 9.95170400e-01 -3.60780021e-04 -3.28126964e+01] [-3.08494709e-03 5.82355088e-05 9.99995240e-01 -1.21202189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters Centerline goodness : 0.996429 with order 1 Centerline is valid? [True, True] Translation: X:398.27, Y:-32.83, Z:-1.22 [[ 9.94246008e-01 1.07077010e-01 3.06433974e-03 3.98271529e+02] [-1.07076406e-01 9.94250729e-01 -3.60710210e-04 -3.28281498e+01] [-3.08534580e-03 3.05161980e-05 9.99995240e-01 -1.21685761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters Centerline goodness : 0.996587 with order 1 Centerline is valid? [True, True] Translation: X:398.33, Y:-32.84, Z:-1.22 [[ 9.93102080e-01 1.17212921e-01 3.06435628e-03 3.98328068e+02] [-1.17212367e-01 9.93106807e-01 -3.60569689e-04 -3.28383691e+01] [-3.08549651e-03 -1.09794372e-06 9.99995240e-01 -1.22022834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters Centerline goodness : 0.996346 with order 1 Centerline is valid? [True, True] Translation: X:398.39, Y:-32.85, Z:-1.22 [[ 9.92154322e-01 1.24981642e-01 3.06437679e-03 3.98385742e+02] [-1.24981125e-01 9.92159054e-01 -3.60395251e-04 -3.28480583e+01] [-3.08539197e-03 -2.54215528e-05 9.99995240e-01 -1.21846717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters Centerline goodness : 0.995937 with order 1 Centerline is valid? [True, True] Translation: X:398.44, Y:-32.86, Z:-1.22 [[ 9.91865528e-01 1.27253224e-01 3.06439313e-03 3.98443087e+02] [-1.27252719e-01 9.91870262e-01 -3.60256265e-04 -3.28554918e+01] [-3.08532419e-03 -3.26265865e-05 9.99995240e-01 -1.21973158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters Centerline goodness : 0.996140 with order 1 Centerline is valid? [True, True] Translation: X:398.50, Y:-32.86, Z:-1.22 [[ 9.91745948e-01 1.28181841e-01 3.06441341e-03 3.98501090e+02] [-1.28181341e-01 9.91750682e-01 -3.60083730e-04 -3.28643005e+01] [-3.08529028e-03 -3.56890390e-05 9.99995240e-01 -1.22100832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters Centerline goodness : 0.995350 with order 1 Centerline is valid? [True, True] Translation: X:398.56, Y:-32.87, Z:-1.22 [[ 9.91472823e-01 1.30277587e-01 3.06442951e-03 3.98559587e+02] [-1.30277096e-01 9.91477558e-01 -3.59946615e-04 -3.28688954e+01] [-3.08520607e-03 -4.23476928e-05 9.99995240e-01 -1.21872107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters Centerline goodness : 0.995958 with order 1 Centerline is valid? [True, True] Translation: X:398.62, Y:-32.88, Z:-1.22 [[ 9.91554556e-01 1.29654043e-01 3.06444690e-03 3.98617511e+02] [-1.29653550e-01 9.91559291e-01 -3.59798517e-04 -3.28757407e+01] [-3.08523013e-03 -4.05565613e-05 9.99995240e-01 -1.21527635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters Centerline goodness : 0.995314 with order 1 Centerline is valid? [True, True] Translation: X:398.68, Y:-32.88, Z:-1.22 [[ 9.91700174e-01 1.28535493e-01 3.06446835e-03 3.98676590e+02] [-1.28534996e-01 9.91704909e-01 -3.59615707e-04 -3.28800744e+01] [-3.08527169e-03 -3.72604668e-05 9.99995240e-01 -1.21988942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters Centerline goodness : 0.995901 with order 1 Centerline is valid? [True, True] Translation: X:398.73, Y:-32.89, Z:-1.22 [[ 9.92560680e-01 1.21712388e-01 3.06448525e-03 3.98734672e+02] [-1.21711858e-01 9.92565411e-01 -3.59471688e-04 -3.28885602e+01] [-3.08545422e-03 -1.61867294e-05 9.99995240e-01 -1.21891550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters Centerline goodness : 0.995334 with order 1 Centerline is valid? [True, True] Translation: X:398.79, Y:-32.90, Z:-1.22 [[ 9.93305032e-01 1.15480400e-01 3.06449783e-03 3.98793283e+02] [-1.15479841e-01 9.93309759e-01 -3.59364352e-04 -3.28977206e+01] [-3.08549514e-03 3.07069519e-06 9.99995240e-01 -1.21781700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters Centerline goodness : 0.996136 with order 1 Centerline is valid? [True, True] Translation: X:398.85, Y:-32.91, Z:-1.22 [[ 9.93977934e-01 1.09537555e-01 3.06450601e-03 3.98851730e+02] [-1.09536968e-01 9.93982658e-01 -3.59294598e-04 -3.29108283e+01] [-3.08542208e-03 2.14542052e-05 9.99995240e-01 -1.22011401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters Centerline goodness : 0.995541 with order 1 Centerline is valid? [True, True] Translation: X:398.91, Y:-32.92, Z:-1.22 [[ 9.93816528e-01 1.10992418e-01 3.06451004e-03 3.98911133e+02] [-1.10991838e-01 9.93821253e-01 -3.59260229e-04 -3.29187294e+01] [-3.08545037e-03 1.69031515e-05 9.99995240e-01 -1.21777730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:398.97, Y:-32.92, Z:-1.22 [[ 9.93385045e-01 1.14790072e-01 3.06451813e-03 3.98970074e+02] [-1.14789510e-01 9.93389772e-01 -3.59191218e-04 -3.29240874e+01] [-3.08549255e-03 5.04064902e-06 9.99995240e-01 -1.22253931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters Centerline goodness : 0.995385 with order 1 Centerline is valid? [True, True] Translation: X:399.03, Y:-32.93, Z:-1.22 [[ 9.93230857e-01 1.16116637e-01 3.06452613e-03 3.99029113e+02] [-1.16116082e-01 9.93235585e-01 -3.59122929e-04 -3.29304279e+01] [-3.08549655e-03 8.51208292e-07 9.99995240e-01 -1.22244065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters Centerline goodness : 0.994885 with order 1 Centerline is valid? [True, True] Translation: X:399.09, Y:-32.94, Z:-1.22 [[ 9.93542852e-01 1.13416094e-01 3.06453464e-03 3.99089147e+02] [-1.13415526e-01 9.93547578e-01 -3.59050354e-04 -3.29363402e+01] [-3.08548305e-03 9.16610371e-06 9.99995240e-01 -1.22135924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters Centerline goodness : 0.995541 with order 1 Centerline is valid? [True, True] Translation: X:399.15, Y:-32.94, Z:-1.22 [[ 9.93577604e-01 1.13111243e-01 3.06453464e-03 3.99148875e+02] [-1.13110674e-01 9.93582330e-01 -3.59050354e-04 -3.29427021e+01] [-3.08548010e-03 1.01128139e-05 9.99995240e-01 -1.21725381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:399.21, Y:-32.95, Z:-1.22 [[ 9.93095440e-01 1.17269157e-01 3.06454324e-03 3.99207749e+02] [-1.17268608e-01 9.93100169e-01 -3.58976915e-04 -3.29470971e+01] [-3.08549533e-03 -2.87638085e-06 9.99995240e-01 -1.21622949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters Centerline goodness : 0.994957 with order 1 Centerline is valid? [True, True] Translation: X:399.27, Y:-32.95, Z:-1.22 [[ 9.92431126e-01 1.22764282e-01 3.06455604e-03 3.99266035e+02] [-1.22763759e-01 9.92435857e-01 -3.58867620e-04 -3.29512460e+01] [-3.08543142e-03 -2.00650230e-05 9.99995240e-01 -1.22240241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters Centerline goodness : 0.995288 with order 1 Centerline is valid? [True, True] Translation: X:399.32, Y:-32.96, Z:-1.22 [[ 9.92394750e-01 1.23057992e-01 3.06457236e-03 3.99324780e+02] [-1.23057471e-01 9.92399481e-01 -3.58728142e-04 -3.29551022e+01] [-3.08542439e-03 -2.11186003e-05 9.99995240e-01 -1.21892780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters Centerline goodness : 0.995370 with order 1 Centerline is valid? [True, True] Translation: X:399.38, Y:-32.96, Z:-1.21 [[ 9.92716048e-01 1.20438596e-01 3.06458948e-03 3.99382236e+02] [-1.20438063e-01 9.92720779e-01 -3.58581845e-04 -3.29599884e+01] [-3.08546875e-03 -1.31232688e-05 9.99995240e-01 -1.21441984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters Centerline goodness : 0.995100 with order 1 Centerline is valid? [True, True] Translation: X:399.44, Y:-32.96, Z:-1.22 [[ 9.92796495e-01 1.19773656e-01 3.06461071e-03 3.99441288e+02] [-1.19773120e-01 9.92801224e-01 -3.58400288e-04 -3.29643127e+01] [-3.08547618e-03 -1.12394376e-05 9.99995240e-01 -1.21679660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters Centerline goodness : 0.995045 with order 1 Centerline is valid? [True, True] Translation: X:399.50, Y:-32.97, Z:-1.22 [[ 9.92525171e-01 1.22001609e-01 3.06462803e-03 3.99498727e+02] [-1.22001085e-01 9.92529902e-01 -3.58252192e-04 -3.29694088e+01] [-3.08544230e-03 -1.83136256e-05 9.99995240e-01 -1.22097348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters Centerline goodness : 0.995267 with order 1 Centerline is valid? [True, True] Translation: X:399.56, Y:-32.97, Z:-1.22 [[ 9.91925233e-01 1.26786987e-01 3.06465143e-03 3.99556529e+02] [-1.26786486e-01 9.91929967e-01 -3.58051852e-04 -3.29699102e+01] [-3.08531591e-03 -3.33957188e-05 9.99995240e-01 -1.22096217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters Centerline goodness : 0.994743 with order 1 Centerline is valid? [True, True] Translation: X:399.62, Y:-32.97, Z:-1.22 [[ 9.91520829e-01 1.29911711e-01 3.06467421e-03 3.99615586e+02] [-1.29911225e-01 9.91525565e-01 -3.57856808e-04 -3.29703005e+01] [-3.08519262e-03 -4.33131029e-05 9.99995240e-01 -1.21628251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters Centerline goodness : 0.995015 with order 1 Centerline is valid? [True, True] Translation: X:399.68, Y:-32.97, Z:-1.23 [[ 9.91582343e-01 1.29441355e-01 3.06469113e-03 3.99675196e+02] [-1.29440868e-01 9.91587078e-01 -3.57711828e-04 -3.29710848e+01] [-3.08521083e-03 -4.19955470e-05 9.99995240e-01 -1.22599035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:399.73, Y:-32.97, Z:-1.23 [[ 9.91869147e-01 1.27225012e-01 3.06470380e-03 3.99732639e+02] [-1.27224515e-01 9.91873881e-01 -3.57603268e-04 -3.29745602e+01] [-3.08529573e-03 -3.52098048e-05 9.99995240e-01 -1.22684545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters Centerline goodness : 0.994819 with order 1 Centerline is valid? [True, True] Translation: X:399.79, Y:-32.98, Z:-1.22 [[ 9.92052036e-01 1.25790960e-01 3.06472466e-03 3.99790910e+02] [-1.25790456e-01 9.92056769e-01 -3.57424345e-04 -3.29813546e+01] [-3.08534160e-03 -3.09295636e-05 9.99995240e-01 -1.21844953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters Centerline goodness : 0.994881 with order 1 Centerline is valid? [True, True] Translation: X:399.85, Y:-32.99, Z:-1.22 [[ 9.92443438e-01 1.22664705e-01 3.06474119e-03 3.99848675e+02] [-1.22664186e-01 9.92448170e-01 -3.57282565e-04 -3.29906247e+01] [-3.08542275e-03 -2.13512471e-05 9.99995240e-01 -1.22003711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters Centerline goodness : 0.995024 with order 1 Centerline is valid? [True, True] Translation: X:399.91, Y:-33.00, Z:-1.23 [[ 9.92439549e-01 1.22696168e-01 3.06475771e-03 3.99907157e+02] [-1.22695650e-01 9.92444280e-01 -3.57140823e-04 -3.30009812e+01] [-3.08542107e-03 -2.15917629e-05 9.99995240e-01 -1.22613860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:399.96, Y:-33.01, Z:-1.22 [[ 9.91722530e-01 1.28362887e-01 3.06477473e-03 3.99964810e+02] [-1.28362397e-01 9.91727265e-01 -3.56994692e-04 -3.30089890e+01] [-3.08524553e-03 -3.93621520e-05 9.99995240e-01 -1.22324946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters Centerline goodness : 0.995508 with order 1 Centerline is valid? [True, True] Translation: X:400.02, Y:-33.01, Z:-1.22 [[ 9.90959683e-01 1.34124990e-01 3.06479582e-03 4.00023631e+02] [-1.34124528e-01 9.90964421e-01 -3.56813565e-04 -3.30130980e+01] [-3.08496123e-03 -5.74764349e-05 9.99995240e-01 -1.22244375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:400.08, Y:-33.02, Z:-1.22 [[ 9.90653026e-01 1.36371509e-01 3.06481258e-03 4.00082334e+02] [-1.36371058e-01 9.90657765e-01 -3.56669579e-04 -3.30182866e+01] [-3.08481995e-03 -6.46159365e-05 9.99995240e-01 -1.21629002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters Centerline goodness : 0.994824 with order 1 Centerline is valid? [True, True] Translation: X:400.14, Y:-33.01, Z:-1.22 [[ 9.89564237e-01 1.44059808e-01 3.06482506e-03 4.00142263e+02] [-1.44059394e-01 9.89568979e-01 -3.56562303e-04 -3.30133537e+01] [-3.08422210e-03 -8.86755387e-05 9.99995240e-01 -1.22298455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters Centerline goodness : 0.994825 with order 1 Centerline is valid? [True, True] Translation: X:400.20, Y:-33.01, Z:-1.22 [[ 9.88837285e-01 1.48967887e-01 3.06484208e-03 4.00201001e+02] [-1.48967497e-01 9.88842029e-01 -3.56415943e-04 -3.30084195e+01] [-3.08373919e-03 -1.04124479e-04 9.99995240e-01 -1.22183227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:400.26, Y:-33.00, Z:-1.22 [[ 9.88459203e-01 1.51456299e-01 3.06486741e-03 4.00259426e+02] [-1.51455921e-01 9.88463948e-01 -3.56197938e-04 -3.29974018e+01] [-3.08345937e-03 -1.12105187e-04 9.99995240e-01 -1.21953657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters Centerline goodness : 0.994684 with order 1 Centerline is valid? [True, True] Translation: X:400.32, Y:-32.99, Z:-1.22 [[ 9.89870630e-01 1.41939224e-01 3.06489664e-03 4.00318957e+02] [-1.41938801e-01 9.89875371e-01 -3.55946304e-04 -3.29909210e+01] [-3.08438844e-03 -8.26869634e-05 9.99995240e-01 -1.22463234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters Centerline goodness : 0.994392 with order 1 Centerline is valid? [True, True] Translation: X:400.38, Y:-32.98, Z:-1.23 [[ 9.91520396e-01 1.29915010e-01 3.06492128e-03 4.00377903e+02] [-1.29914531e-01 9.91525132e-01 -3.55733991e-04 -3.29841199e+01] [-3.08516166e-03 -4.54603044e-05 9.99995240e-01 -1.22511283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters Centerline goodness : 0.995109 with order 1 Centerline is valid? [True, True] Translation: X:400.44, Y:-32.98, Z:-1.22 [[ 9.92642716e-01 1.21041496e-01 3.06494687e-03 4.00436408e+02] [-1.21040976e-01 9.92647448e-01 -3.55513368e-04 -3.29817732e+01] [-3.08544356e-03 -1.80864042e-05 9.99995240e-01 -1.22181619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:400.49, Y:-32.99, Z:-1.23 [[ 9.93177277e-01 1.16574020e-01 3.06496799e-03 4.00494221e+02] [-1.16573479e-01 9.93182006e-01 -3.55331244e-04 -3.29853120e+01] [-3.08549344e-03 -4.38706324e-06 9.99995240e-01 -1.22528926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:400.55, Y:-32.99, Z:-1.22 [[ 9.94430708e-01 1.05347864e-01 3.06498832e-03 4.00551526e+02] [-1.05347270e-01 9.94435431e-01 -3.55155761e-04 -3.29949521e+01] [-3.08534788e-03 3.02896442e-05 9.99995240e-01 -1.21876828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters Centerline goodness : 0.995134 with order 1 Centerline is valid? [True, True] Translation: X:400.61, Y:-33.00, Z:-1.22 [[ 9.94848188e-01 1.01329600e-01 3.06501303e-03 4.00609485e+02] [-1.01328988e-01 9.94852909e-01 -3.54942351e-04 -3.30017964e+01] [-3.08520330e-03 4.25390870e-05 9.99995240e-01 -1.21568528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:400.67, Y:-33.01, Z:-1.22 [[ 9.95058103e-01 9.92470492e-02 3.06502860e-03 4.00668084e+02] [-9.92464270e-02 9.95062823e-01 -3.54807888e-04 -3.30095886e+01] [-3.08510964e-03 4.88613268e-05 9.99995240e-01 -1.22215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters Centerline goodness : 0.995074 with order 1 Centerline is valid? [True, True] Translation: X:400.73, Y:-33.02, Z:-1.22 [[ 9.95167204e-01 9.81470447e-02 3.06504520e-03 4.00725419e+02] [-9.81464177e-02 9.95171922e-01 -3.54664397e-04 -3.30188963e+01] [-3.08505619e-03 5.21271697e-05 9.99995240e-01 -1.22282528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters Centerline goodness : 0.994253 with order 1 Centerline is valid? [True, True] Translation: X:400.78, Y:-33.03, Z:-1.22 [[ 9.95569460e-01 9.39790159e-02 3.06506576e-03 4.00782811e+02] [-9.39783697e-02 9.95574176e-01 -3.54486674e-04 -3.30310313e+01] [-3.08481462e-03 6.48662235e-05 9.99995240e-01 -1.22215637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:400.84, Y:-33.04, Z:-1.23 [[ 9.95728716e-01 9.22763743e-02 3.06508319e-03 4.00840430e+02] [-9.22757206e-02 9.95733431e-01 -3.54335912e-04 -3.30391096e+01] [-3.08470263e-03 6.99896831e-05 9.99995240e-01 -1.23007377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:400.90, Y:-33.05, Z:-1.23 [[ 9.95744390e-01 9.21070835e-02 3.06510464e-03 4.00898218e+02] [-9.21064295e-02 9.95749105e-01 -3.54150239e-04 -3.30502900e+01] [-3.08469495e-03 7.03272698e-05 9.99995240e-01 -1.23239365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters Centerline goodness : 0.993899 with order 1 Centerline is valid? [True, True] Translation: X:400.95, Y:-33.06, Z:-1.23 [[ 9.95228926e-01 9.75191756e-02 3.06512115e-03 4.00954766e+02] [-9.75185476e-02 9.95233645e-01 -3.54007266e-04 -3.30616302e+01] [-3.08503419e-03 5.34121081e-05 9.99995240e-01 -1.23237941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters Centerline goodness : 0.994043 with order 1 Centerline is valid? [True, True] Translation: X:401.01, Y:-33.07, Z:-1.23 [[ 9.94844897e-01 1.01361902e-01 3.06514163e-03 4.01012739e+02] [-1.01361292e-01 9.94849618e-01 -3.53829901e-04 -3.30700866e+01] [-3.08521985e-03 4.13191548e-05 9.99995240e-01 -1.22912822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters Centerline goodness : 0.994494 with order 1 Centerline is valid? [True, True] Translation: X:401.07, Y:-33.08, Z:-1.23 [[ 9.94414092e-01 1.05504586e-01 3.06515795e-03 4.01071454e+02] [-1.05503997e-01 9.94418816e-01 -3.53688429e-04 -3.30777688e+01] [-3.08536649e-03 2.83263438e-05 9.99995240e-01 -1.22653227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:401.13, Y:-33.08, Z:-1.22 [[ 9.94021075e-01 1.09145353e-01 3.06517483e-03 4.01128977e+02] [-1.09144781e-01 9.94025800e-01 -3.53542053e-04 -3.30845223e+01] [-3.08545034e-03 1.68804145e-05 9.99995240e-01 -1.22405216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters Centerline goodness : 0.994500 with order 1 Centerline is valid? [True, True] Translation: X:401.19, Y:-33.09, Z:-1.23 [[ 9.93640817e-01 1.12554568e-01 3.06520040e-03 4.01187201e+02] [-1.12554014e-01 9.93645545e-01 -3.53320207e-04 -3.30873780e+01] [-3.08549053e-03 6.07277126e-06 9.99995240e-01 -1.22503588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters Centerline goodness : 0.994122 with order 1 Centerline is valid? [True, True] Translation: X:401.25, Y:-33.09, Z:-1.22 [[ 9.93763389e-01 1.11467179e-01 3.06522143e-03 4.01246147e+02] [-1.11466620e-01 9.93768116e-01 -3.53137685e-04 -3.30909274e+01] [-3.08548259e-03 9.26543023e-06 9.99995240e-01 -1.22340179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters Centerline goodness : 0.994201 with order 1 Centerline is valid? [True, True] Translation: X:401.30, Y:-33.09, Z:-1.22 [[ 9.93755685e-01 1.11535839e-01 3.06523782e-03 4.01304461e+02] [-1.11535281e-01 9.93760412e-01 -3.52995428e-04 -3.30931090e+01] [-3.08548364e-03 8.90905189e-06 9.99995240e-01 -1.22477364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters Centerline goodness : 0.994218 with order 1 Centerline is valid? [True, True] Translation: X:401.36, Y:-33.10, Z:-1.23 [[ 9.93730579e-01 1.11759296e-01 3.06526239e-03 4.01363300e+02] [-1.11758740e-01 9.93735307e-01 -3.52781903e-04 -3.30969933e+01] [-3.08548612e-03 8.00030375e-06 9.99995240e-01 -1.23029814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters Centerline goodness : 0.994332 with order 1 Centerline is valid? [True, True] Translation: X:401.42, Y:-33.10, Z:-1.23 [[ 9.94010792e-01 1.09238958e-01 3.06527865e-03 4.01422837e+02] [-1.09238390e-01 9.94015518e-01 -3.52640551e-04 -3.30985816e+01] [-3.08545663e-03 1.56824082e-05 9.99995240e-01 -1.22580971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters Centerline goodness : 0.994483 with order 1 Centerline is valid? [True, True] Translation: X:401.48, Y:-33.11, Z:-1.23 [[ 9.94110441e-01 1.08328368e-01 3.06529518e-03 4.01479636e+02] [-1.08327796e-01 9.94115167e-01 -3.52496791e-04 -3.31061584e+01] [-3.08544183e-03 1.83640698e-05 9.99995240e-01 -1.22978119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:401.54, Y:-33.11, Z:-1.23 [[ 9.94131705e-01 1.08133049e-01 3.06532367e-03 4.01538281e+02] [-1.08132477e-01 9.94136431e-01 -3.52248914e-04 -3.31085218e+01] [-3.08543968e-03 1.87207729e-05 9.99995240e-01 -1.23199734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters Centerline goodness : 0.994805 with order 1 Centerline is valid? [True, True] Translation: X:401.60, Y:-33.12, Z:-1.23 [[ 9.94176937e-01 1.07716398e-01 3.06533981e-03 4.01595473e+02] [-1.07715825e-01 9.94181662e-01 -3.52108386e-04 -3.31161923e+01] [-3.08543247e-03 1.98724315e-05 9.99995240e-01 -1.22589708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:401.65, Y:-33.12, Z:-1.23 [[ 9.94222085e-01 1.07298881e-01 3.06535976e-03 4.01653116e+02] [-1.07298306e-01 9.94226810e-01 -3.51934648e-04 -3.31233470e+01] [-3.08542505e-03 2.09932893e-05 9.99995240e-01 -1.22735273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters Centerline goodness : 0.994433 with order 1 Centerline is valid? [True, True] Translation: X:401.71, Y:-33.13, Z:-1.23 [[ 9.94403655e-01 1.05602906e-01 3.06538406e-03 4.01710471e+02] [-1.05602324e-01 9.94408380e-01 -3.51722806e-04 -3.31289435e+01] [-3.08538655e-03 2.60427635e-05 9.99995240e-01 -1.22844702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters Centerline goodness : 0.995441 with order 1 Centerline is valid? [True, True] Translation: X:401.77, Y:-33.14, Z:-1.22 [[ 9.94459042e-01 1.05080048e-01 3.06540869e-03 4.01768347e+02] [-1.05079464e-01 9.94463766e-01 -3.51508055e-04 -3.31363512e+01] [-3.08537435e-03 2.74488633e-05 9.99995240e-01 -1.22402160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters Centerline goodness : 0.995070 with order 1 Centerline is valid? [True, True] Translation: X:401.82, Y:-33.14, Z:-1.23 [[ 9.94370273e-01 1.05916779e-01 3.06543370e-03 4.01824807e+02] [-1.05916199e-01 9.94374997e-01 -3.51289799e-04 -3.31409882e+01] [-3.08539811e-03 2.46330474e-05 9.99995240e-01 -1.22875370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters Centerline goodness : 0.994895 with order 1 Centerline is valid? [True, True] Translation: X:401.88, Y:-33.15, Z:-1.23 [[ 9.94811335e-01 1.01690756e-01 3.06546257e-03 4.01882871e+02] [-1.01690157e-01 9.94816058e-01 -3.51037682e-04 -3.31508207e+01] [-3.08526868e-03 3.74888954e-05 9.99995240e-01 -1.22916026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:401.94, Y:-33.16, Z:-1.23 [[ 9.95364044e-01 9.61302341e-02 3.06547887e-03 4.01939807e+02] [-9.61296092e-02 9.95368763e-01 -3.50895317e-04 -3.31590086e+01] [-3.08501356e-03 5.45852963e-05 9.99995240e-01 -1.22842231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters Centerline goodness : 0.995031 with order 1 Centerline is valid? [True, True] Translation: X:402.00, Y:-33.17, Z:-1.23 [[ 9.95795890e-01 9.15486100e-02 3.06549896e-03 4.01997522e+02] [-9.15479639e-02 9.95800606e-01 -3.50719699e-04 -3.31704047e+01] [-3.08473362e-03 6.86050463e-05 9.99995240e-01 -1.23468018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters Centerline goodness : 0.995106 with order 1 Centerline is valid? [True, True] Translation: X:402.06, Y:-33.18, Z:-1.23 [[ 9.95755732e-01 9.19843673e-02 3.06551484e-03 4.02055713e+02] [-9.19837237e-02 9.95760449e-01 -3.50580865e-04 -3.31801711e+01] [-3.08476639e-03 6.71154365e-05 9.99995240e-01 -1.23158579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:402.11, Y:-33.19, Z:-1.23 [[ 9.95463953e-01 9.50900666e-02 3.06553086e-03 4.02112636e+02] [-9.50894381e-02 9.95468672e-01 -3.50440706e-04 -3.31905149e+01] [-3.08496336e-03 5.73514836e-05 9.99995240e-01 -1.23352920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters Centerline goodness : 0.995442 with order 1 Centerline is valid? [True, True] Translation: X:402.17, Y:-33.20, Z:-1.24 [[ 9.95424905e-01 9.54979657e-02 3.06555070e-03 4.02171371e+02] [-9.54973397e-02 9.95429624e-01 -3.50267061e-04 -3.31987691e+01] [-3.08498977e-03 5.59126192e-05 9.99995240e-01 -1.23530524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters Centerline goodness : 0.995065 with order 1 Centerline is valid? [True, True] Translation: X:402.23, Y:-33.21, Z:-1.23 [[ 9.95571317e-01 9.39593239e-02 3.06556607e-03 4.02229792e+02] [-9.39586911e-02 9.95576035e-01 -3.50132496e-04 -3.32067611e+01] [-3.08490233e-03 6.05452949e-05 9.99995240e-01 -1.23166219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters Centerline goodness : 0.994962 with order 1 Centerline is valid? [True, True] Translation: X:402.29, Y:-33.21, Z:-1.23 [[ 9.95958699e-01 8.97600790e-02 3.06558220e-03 4.02287728e+02] [-8.97594267e-02 9.95963414e-01 -3.49991254e-04 -3.32140322e+01] [-3.08462295e-03 7.34119333e-05 9.99995240e-01 -1.23419363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters Centerline goodness : 0.995535 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:-33.23, Z:-1.23 [[ 9.96756806e-01 8.04143722e-02 3.06559818e-03 4.02344220e+02] [-8.04136761e-02 9.96761515e-01 -3.49851214e-04 -3.32257706e+01] [-3.08380335e-03 1.02200560e-04 9.99995240e-01 -1.23439117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters Centerline goodness : 0.995593 with order 1 Centerline is valid? [True, True] Translation: X:402.40, Y:-33.24, Z:-1.23 [[ 9.97301223e-01 7.33544340e-02 3.06561801e-03 4.02401694e+02] [-7.33537051e-02 9.97305927e-01 -3.49677310e-04 -3.32391789e+01] [-3.08300939e-03 1.23859169e-04 9.99995240e-01 -1.23496394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters Centerline goodness : 0.996192 with order 1 Centerline is valid? [True, True] Translation: X:402.46, Y:-33.25, Z:-1.23 [[ 9.97509774e-01 7.04617129e-02 3.06563384e-03 4.02459954e+02] [-7.04609708e-02 9.97514476e-01 -3.49538480e-04 -3.32543292e+01] [-3.08264321e-03 1.32660514e-04 9.99995240e-01 -1.22794298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters Centerline goodness : 0.996134 with order 1 Centerline is valid? [True, True] Translation: X:402.52, Y:-33.27, Z:-1.23 [[ 9.97561253e-01 6.97291034e-02 3.06564170e-03 4.02518391e+02] [-6.97283580e-02 9.97565955e-01 -3.49469521e-04 -3.32682964e+01] [-3.08254799e-03 1.34855091e-04 9.99995240e-01 -1.23016380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters Centerline goodness : 0.995989 with order 1 Centerline is valid? [True, True] Translation: X:402.58, Y:-33.29, Z:-1.23 [[ 9.97871126e-01 6.51445919e-02 3.06564949e-03 4.02576474e+02] [-6.51438251e-02 9.97875824e-01 -3.49401226e-04 -3.32898891e+01] [-3.08189911e-03 1.48949260e-04 9.99995240e-01 -1.23489772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters Centerline goodness : 0.996114 with order 1 Centerline is valid? [True, True] Translation: X:402.63, Y:-33.31, Z:-1.24 [[ 9.98234720e-01 5.93131081e-02 3.06565345e-03 4.02634817e+02] [-5.93123141e-02 9.98239414e-01 -3.49366442e-04 -3.33121660e+01] [-3.08097811e-03 1.66918712e-04 9.99995240e-01 -1.23704667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters Centerline goodness : 0.995960 with order 1 Centerline is valid? [True, True] Translation: X:402.69, Y:-33.34, Z:-1.24 [[ 9.98269623e-01 5.87227445e-02 3.06565345e-03 4.02694038e+02] [-5.87219477e-02 9.98274316e-01 -3.49366442e-04 -3.33372353e+01] [-3.08087886e-03 1.68740764e-04 9.99995240e-01 -1.23591846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters Centerline goodness : 0.996280 with order 1 Centerline is valid? [True, True] Translation: X:402.75, Y:-33.36, Z:-1.23 [[ 9.97883502e-01 6.49547430e-02 3.06562215e-03 4.02752753e+02] [-6.49539746e-02 9.97888200e-01 -3.49640852e-04 -3.33604480e+01] [-3.08185900e-03 1.49776494e-04 9.99995240e-01 -1.23145641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters Centerline goodness : 0.996326 with order 1 Centerline is valid? [True, True] Translation: X:402.81, Y:-33.38, Z:-1.24 [[ 9.97167751e-01 7.51470435e-02 3.06561420e-03 4.02811815e+02] [-7.51463230e-02 9.97172456e-01 -3.49710592e-04 -3.33803668e+01] [-3.08322576e-03 1.18350490e-04 9.99995240e-01 -1.23826909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters Centerline goodness : 0.995881 with order 1 Centerline is valid? [True, True] Translation: X:402.87, Y:-33.40, Z:-1.23 [[ 9.96390784e-01 8.48292851e-02 3.06560622e-03 4.02871056e+02] [-8.48286101e-02 9.96395496e-01 -3.49780477e-04 -3.33986320e+01] [-3.08422786e-03 8.84669285e-05 9.99995240e-01 -1.23485676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:402.93, Y:-33.41, Z:-1.23 [[ 9.95808515e-01 9.14111813e-02 3.06559822e-03 4.02932169e+02] [-9.14105372e-02 9.95813231e-01 -3.49850582e-04 -3.34116347e+01] [-3.08474353e-03 6.81562084e-05 9.99995240e-01 -1.22945107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters Centerline goodness : 0.996150 with order 1 Centerline is valid? [True, True] Translation: X:402.99, Y:-33.42, Z:-1.23 [[ 9.94894623e-01 1.00872655e-01 3.06554210e-03 4.02991363e+02] [-1.00872054e-01 9.94899345e-01 -3.50341651e-04 -3.34225356e+01] [-3.08524572e-03 3.93254948e-05 9.99995240e-01 -1.23188086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters Centerline goodness : 0.995895 with order 1 Centerline is valid? [True, True] Translation: X:403.05, Y:-33.43, Z:-1.23 [[ 9.94516861e-01 1.04531412e-01 3.06553812e-03 4.03053065e+02] [-1.04530828e-01 9.94521585e-01 -3.50376475e-04 -3.34340890e+01] [-3.08536918e-03 2.80120730e-05 9.99995240e-01 -1.23373446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters Centerline goodness : 0.995377 with order 1 Centerline is valid? [True, True] Translation: X:403.11, Y:-33.44, Z:-1.23 [[ 9.93976282e-01 1.09552516e-01 3.06548145e-03 4.03113991e+02] [-1.09551955e-01 9.93981009e-01 -3.50871645e-04 -3.34406126e+01] [-3.08546921e-03 1.29286084e-05 9.99995240e-01 -1.23383091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters Centerline goodness : 0.995263 with order 1 Centerline is valid? [True, True] Translation: X:403.18, Y:-33.45, Z:-1.23 [[ 9.93074891e-01 1.17443021e-01 3.06542930e-03 4.03175008e+02] [-1.17442496e-01 9.93079623e-01 -3.51326643e-04 -3.34458237e+01] [-3.08547623e-03 -1.11179989e-05 9.99995240e-01 -1.23431412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:403.23, Y:-33.45, Z:-1.24 [[ 9.92158074e-01 1.24951828e-01 3.06542140e-03 4.03233878e+02] [-1.24951339e-01 9.92162809e-01 -3.51395541e-04 -3.34508853e+01] [-3.08530462e-03 -3.43885851e-05 9.99995240e-01 -1.23869515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters Centerline goodness : 0.994780 with order 1 Centerline is valid? [True, True] Translation: X:403.29, Y:-33.45, Z:-1.24 [[ 9.91576230e-01 1.29488159e-01 3.06542531e-03 4.03294545e+02] [-1.29487691e-01 9.91580967e-01 -3.51361463e-04 -3.34549614e+01] [-3.08511454e-03 -4.85331701e-05 9.99995240e-01 -1.23720657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters Centerline goodness : 0.995348 with order 1 Centerline is valid? [True, True] Translation: X:403.36, Y:-33.46, Z:-1.24 [[ 9.91483438e-01 1.30196753e-01 3.06542531e-03 4.03355161e+02] [-1.30196288e-01 9.91488176e-01 -3.51361463e-04 -3.34570764e+01] [-3.08507907e-03 -5.07379256e-05 9.99995240e-01 -1.23729798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters Centerline goodness : 0.994539 with order 1 Centerline is valid? [True, True] Translation: X:403.41, Y:-33.46, Z:-1.24 [[ 9.91595497e-01 1.29340536e-01 3.06542531e-03 4.03414351e+02] [-1.29340067e-01 9.91600234e-01 -3.51361463e-04 -3.34588043e+01] [-3.08512173e-03 -4.80738716e-05 9.99995240e-01 -1.24019282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters Centerline goodness : 0.994859 with order 1 Centerline is valid? [True, True] Translation: X:403.47, Y:-33.46, Z:-1.24 [[ 9.92010657e-01 1.26116853e-01 3.06542130e-03 4.03474895e+02] [-1.26116369e-01 9.92015392e-01 -3.51396418e-04 -3.34626345e+01] [-3.08526212e-03 -3.80108124e-05 9.99995240e-01 -1.23788559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters Centerline goodness : 0.994917 with order 1 Centerline is valid? [True, True] Translation: X:403.53, Y:-33.47, Z:-1.24 [[ 9.93419597e-01 1.14490644e-01 3.06542130e-03 4.03534332e+02] [-1.14490105e-01 9.93424326e-01 -3.51396418e-04 -3.34700405e+01] [-3.08549569e-03 -1.87631888e-06 9.99995240e-01 -1.23708599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters Centerline goodness : 0.994732 with order 1 Centerline is valid? [True, True] Translation: X:403.60, Y:-33.48, Z:-1.23 [[ 9.94153361e-01 1.07933765e-01 3.06541720e-03 4.03595463e+02] [-1.07933195e-01 9.94158087e-01 -3.51432204e-04 -3.34773867e+01] [-3.08544070e-03 1.85172353e-05 9.99995240e-01 -1.23341106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters Centerline goodness : 0.994674 with order 1 Centerline is valid? [True, True] Translation: X:403.66, Y:-33.49, Z:-1.24 [[ 9.94467682e-01 1.04998255e-01 3.06540964e-03 4.03656039e+02] [-1.04997670e-01 9.94472406e-01 -3.51498140e-04 -3.34912287e+01] [-3.08537199e-03 2.76926700e-05 9.99995240e-01 -1.23924030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters Centerline goodness : 0.994794 with order 1 Centerline is valid? [True, True] Translation: X:403.72, Y:-33.50, Z:-1.24 [[ 9.94174433e-01 1.07739501e-01 3.06540145e-03 4.03716967e+02] [-1.07738929e-01 9.94179159e-01 -3.51569512e-04 -3.35007985e+01] [-3.08543616e-03 1.92583513e-05 9.99995240e-01 -1.23718066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters Centerline goodness : 0.995136 with order 1 Centerline is valid? [True, True] Translation: X:403.78, Y:-33.51, Z:-1.23 [[ 9.92989337e-01 1.18164206e-01 3.06539332e-03 4.03775595e+02] [-1.18163684e-01 9.92994069e-01 -3.51640379e-04 -3.35124725e+01] [-3.08546869e-03 -1.30430200e-05 9.99995240e-01 -1.23210851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters Centerline goodness : 0.994923 with order 1 Centerline is valid? [True, True] Translation: X:403.84, Y:-33.52, Z:-1.24 [[ 9.92413675e-01 1.22905252e-01 3.06539735e-03 4.03836623e+02] [-1.22904752e-01 9.92418409e-01 -3.51605226e-04 -3.35199999e+01] [-3.08537089e-03 -2.78140676e-05 9.99995240e-01 -1.23594420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters Centerline goodness : 0.994495 with order 1 Centerline is valid? [True, True] Translation: X:403.90, Y:-33.52, Z:-1.24 [[ 9.91191724e-01 1.32399283e-01 3.06538899e-03 4.03896141e+02] [-1.32398828e-01 9.91196462e-01 -3.51678150e-04 -3.35244832e+01] [-3.08496465e-03 -5.72734383e-05 9.99995240e-01 -1.23844942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters Centerline goodness : 0.994723 with order 1 Centerline is valid? [True, True] Translation: X:403.96, Y:-33.52, Z:-1.24 [[ 9.90278854e-01 1.39062558e-01 3.06538423e-03 4.03956730e+02] [-1.39062135e-01 9.90283595e-01 -3.51719580e-04 -3.35230662e+01] [-3.08451074e-03 -7.79784130e-05 9.99995240e-01 -1.23614158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters Centerline goodness : 0.994250 with order 1 Centerline is valid? [True, True] Translation: X:404.02, Y:-33.52, Z:-1.24 [[ 9.89881097e-01 1.41866198e-01 3.06539261e-03 4.04015931e+02] [-1.41865788e-01 9.89885839e-01 -3.51646573e-04 -3.35210613e+01] [-3.08427550e-03 -8.67860436e-05 9.99995240e-01 -1.24174336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters Centerline goodness : 0.994356 with order 1 Centerline is valid? [True, True] Translation: X:404.07, Y:-33.52, Z:-1.24 [[ 9.90576286e-01 1.36927806e-01 3.06540498e-03 4.04074990e+02] [-1.36927373e-01 9.90581027e-01 -3.51538724e-04 -3.35218226e+01] [-3.08466744e-03 -7.15119274e-05 9.99995240e-01 -1.23947843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:404.13, Y:-33.52, Z:-1.24 [[ 9.91131950e-01 1.32846007e-01 3.06541691e-03 4.04134601e+02] [-1.32845555e-01 9.91136688e-01 -3.51434634e-04 -3.35177524e+01] [-3.08493385e-03 -5.89089163e-05 9.99995240e-01 -1.23978789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:404.19, Y:-33.52, Z:-1.24 [[ 9.91447532e-01 1.30469899e-01 3.06543347e-03 4.04193984e+02] [-1.30469436e-01 9.91452270e-01 -3.51290091e-04 -3.35173691e+01] [-3.08506376e-03 -5.16596841e-05 9.99995240e-01 -1.24243336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters Centerline goodness : 0.994056 with order 1 Centerline is valid? [True, True] Translation: X:404.25, Y:-33.52, Z:-1.24 [[ 9.91799341e-01 1.27768029e-01 3.06545000e-03 4.04252635e+02] [-1.27767554e-01 9.91804078e-01 -3.51145817e-04 -3.35223717e+01] [-3.08519102e-03 -4.33988584e-05 9.99995240e-01 -1.24034966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:404.31, Y:-33.52, Z:-1.24 [[ 9.91821581e-01 1.27595277e-01 3.06546651e-03 4.04311847e+02] [-1.27594801e-01 9.91826317e-01 -3.51001662e-04 -3.35247279e+01] [-3.08519651e-03 -4.30065669e-05 9.99995240e-01 -1.23793106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:404.37, Y:-33.53, Z:-1.24 [[ 9.91900827e-01 1.26977766e-01 3.06548363e-03 4.04368956e+02] [-1.26977288e-01 9.91905563e-01 -3.50852049e-04 -3.35301285e+01] [-3.08522067e-03 -4.12363594e-05 9.99995240e-01 -1.23963915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters Centerline goodness : 0.994976 with order 1 Centerline is valid? [True, True] Translation: X:404.43, Y:-33.54, Z:-1.24 [[ 9.92301509e-01 1.23807582e-01 3.06550472e-03 4.04427069e+02] [-1.23807089e-01 9.92306244e-01 -3.50667652e-04 -3.35368905e+01] [-3.08533479e-03 -3.15631772e-05 9.99995240e-01 -1.23886270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters Centerline goodness : 0.994740 with order 1 Centerline is valid? [True, True] Translation: X:404.49, Y:-33.55, Z:-1.24 [[ 9.93180510e-01 1.16546459e-01 3.06552131e-03 4.04485972e+02] [-1.16545932e-01 9.93185241e-01 -3.50522592e-04 -3.35480110e+01] [-3.08548269e-03 -9.14183140e-06 9.99995240e-01 -1.23610076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters Centerline goodness : 0.994912 with order 1 Centerline is valid? [True, True] Translation: X:404.54, Y:-33.56, Z:-1.24 [[ 9.93787492e-01 1.11252070e-01 3.06552992e-03 4.04544105e+02] [-1.11251518e-01 9.93792220e-01 -3.50447251e-04 -3.35581474e+01] [-3.08548777e-03 7.22523801e-06 9.99995240e-01 -1.23720840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters Centerline goodness : 0.994400 with order 1 Centerline is valid? [True, True] Translation: X:404.60, Y:-33.57, Z:-1.24 [[ 9.93785486e-01 1.11269984e-01 3.06554268e-03 4.04602844e+02] [-1.11269432e-01 9.93790215e-01 -3.50335628e-04 -3.35694756e+01] [-3.08548816e-03 7.05726780e-06 9.99995240e-01 -1.24458182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters Centerline goodness : 0.994804 with order 1 Centerline is valid? [True, True] Translation: X:404.66, Y:-33.58, Z:-1.25 [[ 9.93705307e-01 1.11983771e-01 3.06555092e-03 4.04661112e+02] [-1.11983224e-01 9.93710036e-01 -3.50263485e-04 -3.35786439e+01] [-3.08549254e-03 4.76840986e-06 9.99995240e-01 -1.24727195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:404.72, Y:-33.59, Z:-1.24 [[ 9.93700835e-01 1.12023450e-01 3.06556316e-03 4.04721024e+02] [-1.12022903e-01 9.93705563e-01 -3.50156391e-04 -3.35889909e+01] [-3.08549289e-03 4.53741325e-06 9.99995240e-01 -1.23823604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters Centerline goodness : 0.995093 with order 1 Centerline is valid? [True, True] Translation: X:404.78, Y:-33.60, Z:-1.24 [[ 9.93741725e-01 1.11660142e-01 3.06556316e-03 4.04779902e+02] [-1.11659593e-01 9.93746453e-01 -3.50156391e-04 -3.35976374e+01] [-3.08549102e-03 5.66548264e-06 9.99995240e-01 -1.23867235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters Centerline goodness : 0.995206 with order 1 Centerline is valid? [True, True] Translation: X:404.84, Y:-33.61, Z:-1.24 [[ 9.93472201e-01 1.14033276e-01 3.06557135e-03 4.04838967e+02] [-1.14032738e-01 9.93476931e-01 -3.50084660e-04 -3.36055478e+01] [-3.08549571e-03 -1.77611695e-06 9.99995240e-01 -1.24265520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:404.90, Y:-33.61, Z:-1.24 [[ 9.93165354e-01 1.16675543e-01 3.06557968e-03 4.04898204e+02] [-1.16675018e-01 9.93170085e-01 -3.50011649e-04 -3.36131152e+01] [-3.08547983e-03 -1.00571229e-05 9.99995240e-01 -1.23897151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters Centerline goodness : 0.995444 with order 1 Centerline is valid? [True, True] Translation: X:404.96, Y:-33.62, Z:-1.24 [[ 9.92870745e-01 1.19156560e-01 3.06558831e-03 4.04956952e+02] [-1.19156047e-01 9.92875478e-01 -3.49936088e-04 -3.36220331e+01] [-3.08544464e-03 -1.78420805e-05 9.99995240e-01 -1.23894252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters Centerline goodness : 0.995619 with order 1 Centerline is valid? [True, True] Translation: X:405.02, Y:-33.63, Z:-1.24 [[ 9.92466074e-01 1.22481403e-01 3.06559257e-03 4.05016994e+02] [-1.22480906e-01 9.92470808e-01 -3.49898765e-04 -3.36265568e+01] [-3.08536723e-03 -2.82139020e-05 9.99995240e-01 -1.24449689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters Centerline goodness : 0.995289 with order 1 Centerline is valid? [True, True] Translation: X:405.08, Y:-33.63, Z:-1.24 [[ 9.91817474e-01 1.27627190e-01 3.06559659e-03 4.05075556e+02] [-1.27626718e-01 9.91822211e-01 -3.49863495e-04 -3.36320479e+01] [-3.08517889e-03 -4.42513047e-05 9.99995240e-01 -1.23907009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters Centerline goodness : 0.995671 with order 1 Centerline is valid? [True, True] Translation: X:405.13, Y:-33.64, Z:-1.24 [[ 9.91315085e-01 1.31472448e-01 3.06561255e-03 4.05133804e+02] [-1.31471995e-01 9.91319823e-01 -3.49723605e-04 -3.36353331e+01] [-3.08498151e-03 -5.63559134e-05 9.99995240e-01 -1.23925298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters Centerline goodness : 0.995115 with order 1 Centerline is valid? [True, True] Translation: X:405.19, Y:-33.64, Z:-1.24 [[ 9.90493969e-01 1.37521999e-01 3.06563223e-03 4.05191485e+02] [-1.37521576e-01 9.90498710e-01 -3.49551047e-04 -3.36378663e+01] [-3.08457573e-03 -7.53623702e-05 9.99995240e-01 -1.23666278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:405.25, Y:-33.64, Z:-1.24 [[ 9.90204455e-01 1.39591327e-01 3.06565147e-03 4.05250826e+02] [-1.39590913e-01 9.90209198e-01 -3.49382218e-04 -3.36405671e+01] [-3.08440701e-03 -8.19772594e-05 9.99995240e-01 -1.23846528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters Centerline goodness : 0.995606 with order 1 Centerline is valid? [True, True] Translation: X:405.31, Y:-33.65, Z:-1.24 [[ 9.90317175e-01 1.38789386e-01 3.06566669e-03 4.05309525e+02] [-1.38788970e-01 9.90321917e-01 -3.49248580e-04 -3.36471073e+01] [-3.08446891e-03 -7.96138541e-05 9.99995240e-01 -1.23908489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters Centerline goodness : 0.995140 with order 1 Centerline is valid? [True, True] Translation: X:405.37, Y:-33.65, Z:-1.24 [[ 9.91003366e-01 1.33801829e-01 3.06568284e-03 4.05367901e+02] [-1.33801389e-01 9.91008106e-01 -3.49106756e-04 -3.36525764e+01] [-3.08482767e-03 -6.42266513e-05 9.99995240e-01 -1.23976993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters Centerline goodness : 0.994954 with order 1 Centerline is valid? [True, True] Translation: X:405.43, Y:-33.66, Z:-1.24 [[ 9.92049801e-01 1.25808562e-01 3.06569884e-03 4.05425823e+02] [-1.25808084e-01 9.92054537e-01 -3.48966222e-04 -3.36614425e+01] [-3.08524338e-03 -3.94978260e-05 9.99995240e-01 -1.23913410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters Centerline goodness : 0.995596 with order 1 Centerline is valid? [True, True] Translation: X:405.49, Y:-33.67, Z:-1.24 [[ 9.92317922e-01 1.23675962e-01 3.06571076e-03 4.05485243e+02] [-1.23675474e-01 9.92322657e-01 -3.48861487e-04 -3.36666037e+01] [-3.08532003e-03 -3.29717264e-05 9.99995240e-01 -1.24279914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters Centerline goodness : 0.995417 with order 1 Centerline is valid? [True, True] Translation: X:405.54, Y:-33.68, Z:-1.24 [[ 9.91882139e-01 1.27123656e-01 3.06571862e-03 4.05542947e+02] [-1.27123185e-01 9.91886876e-01 -3.48792408e-04 -3.36753557e+01] [-3.08518583e-03 -4.37629561e-05 9.99995240e-01 -1.23988915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters Centerline goodness : 0.995914 with order 1 Centerline is valid? [True, True] Translation: X:405.60, Y:-33.68, Z:-1.24 [[ 9.91418589e-01 1.30689641e-01 3.06573807e-03 4.05601263e+02] [-1.30689188e-01 9.91423328e-01 -3.48621315e-04 -3.36826489e+01] [-3.08500544e-03 -5.50291665e-05 9.99995240e-01 -1.23988678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters Centerline goodness : 0.995152 with order 1 Centerline is valid? [True, True] Translation: X:405.66, Y:-33.69, Z:-1.24 [[ 9.91201319e-01 1.32327421e-01 3.06575384e-03 4.05659560e+02] [-1.32326976e-01 9.91206058e-01 -3.48482600e-04 -3.36927653e+01] [-3.08490758e-03 -6.02655234e-05 9.99995240e-01 -1.23732151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters Centerline goodness : 0.995390 with order 1 Centerline is valid? [True, True] Translation: X:405.72, Y:-33.70, Z:-1.24 [[ 9.90090115e-01 1.40400020e-01 3.06576944e-03 4.05718184e+02] [-1.40399614e-01 9.90094858e-01 -3.48345344e-04 -3.36958402e+01] [-3.08431025e-03 -8.55395644e-05 9.99995240e-01 -1.23856134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters Centerline goodness : 0.994891 with order 1 Centerline is valid? [True, True] Translation: X:405.78, Y:-33.70, Z:-1.24 [[ 9.88982761e-01 1.47998984e-01 3.06578488e-03 4.05777331e+02] [-1.47998615e-01 9.88987507e-01 -3.48209401e-04 -3.36977433e+01] [-3.08355758e-03 -1.09358820e-04 9.99995240e-01 -1.24385064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters Centerline goodness : 0.995094 with order 1 Centerline is valid? [True, True] Translation: X:405.84, Y:-33.70, Z:-1.25 [[ 9.88214600e-01 1.53044126e-01 3.06580054e-03 4.05835618e+02] [-1.53043782e-01 9.88219348e-01 -3.48071427e-04 -3.36955278e+01] [-3.08295370e-03 -1.25232443e-04 9.99995240e-01 -1.24647880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters Centerline goodness : 0.995616 with order 1 Centerline is valid? [True, True] Translation: X:405.89, Y:-33.69, Z:-1.24 [[ 9.89159825e-01 1.46810900e-01 3.06581987e-03 4.05894576e+02] [-1.46810526e-01 9.89164571e-01 -3.47901101e-04 -3.36949426e+01] [-3.08367607e-03 -1.05964836e-04 9.99995240e-01 -1.23734131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters Centerline goodness : 0.995833 with order 1 Centerline is valid? [True, True] Translation: X:405.95, Y:-33.70, Z:-1.24 [[ 9.90292135e-01 1.38967936e-01 3.06583633e-03 4.05952368e+02] [-1.38967525e-01 9.90296878e-01 -3.47756017e-04 -3.36979253e+01] [-3.08441508e-03 -8.16716374e-05 9.99995240e-01 -1.23965006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters Centerline goodness : 0.995684 with order 1 Centerline is valid? [True, True] Translation: X:406.01, Y:-33.70, Z:-1.25 [[ 9.90679928e-01 1.36175917e-01 3.06585828e-03 4.06011995e+02] [-1.36175493e-01 9.90684669e-01 -3.47562327e-04 -3.36981956e+01] [-3.08462842e-03 -7.31717425e-05 9.99995240e-01 -1.24673318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters Centerline goodness : 0.995847 with order 1 Centerline is valid? [True, True] Translation: X:406.07, Y:-33.70, Z:-1.24 [[ 9.91325478e-01 1.31394052e-01 3.06588291e-03 4.06070062e+02] [-1.31393606e-01 9.91330217e-01 -3.47344982e-04 -3.37034534e+01] [-3.08494143e-03 -5.85054796e-05 9.99995240e-01 -1.24315567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:406.13, Y:-33.71, Z:-1.25 [[ 9.92597695e-01 1.21410116e-01 3.06590193e-03 4.06128295e+02] [-1.21409623e-01 9.92602429e-01 -3.47177031e-04 -3.37136782e+01] [-3.08537250e-03 -2.76228761e-05 9.99995240e-01 -1.24715047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters Centerline goodness : 0.995767 with order 1 Centerline is valid? [True, True] Translation: X:406.19, Y:-33.73, Z:-1.25 [[ 9.93717962e-01 1.11871410e-01 3.06591868e-03 4.06185468e+02] [-1.11870872e-01 9.93722692e-01 -3.47029009e-04 -3.37264782e+01] [-3.08549559e-03 1.86196507e-06 9.99995240e-01 -1.24723559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters Centerline goodness : 0.995882 with order 1 Centerline is valid? [True, True] Translation: X:406.24, Y:-33.75, Z:-1.24 [[ 9.94432791e-01 1.05328171e-01 3.06593122e-03 4.06243145e+02] [-1.05327602e-01 9.94437517e-01 -3.46918194e-04 -3.37462511e+01] [-3.08541729e-03 2.20596457e-05 9.99995240e-01 -1.24232033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters Centerline goodness : 0.995490 with order 1 Centerline is valid? [True, True] Translation: X:406.30, Y:-33.77, Z:-1.25 [[ 9.94411457e-01 1.05529397e-01 3.06592822e-03 4.06301617e+02] [-1.05528829e-01 9.94416183e-01 -3.46944749e-04 -3.37655634e+01] [-3.08542150e-03 2.14620186e-05 9.99995240e-01 -1.24567066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters Centerline goodness : 0.995843 with order 1 Centerline is valid? [True, True] Translation: X:406.36, Y:-33.78, Z:-1.24 [[ 9.93503386e-01 1.13761251e-01 3.06592822e-03 4.06359321e+02] [-1.13760722e-01 9.93508117e-01 -3.46944749e-04 -3.37836988e+01] [-3.08549344e-03 -4.09142376e-06 9.99995240e-01 -1.23759763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters Centerline goodness : 0.996009 with order 1 Centerline is valid? [True, True] Translation: X:406.42, Y:-33.80, Z:-1.24 [[ 9.92320703e-01 1.23653638e-01 3.06593230e-03 4.06417499e+02] [-1.23653157e-01 9.92325439e-01 -3.46908664e-04 -3.37982111e+01] [-3.08529913e-03 -3.48675575e-05 9.99995240e-01 -1.24096415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:406.48, Y:-33.81, Z:-1.25 [[ 9.91370692e-01 1.31052474e-01 3.06594052e-03 4.06475635e+02] [-1.31052028e-01 9.91375431e-01 -3.46835974e-04 -3.38067311e+01] [-3.08495182e-03 -5.79547029e-05 9.99995240e-01 -1.24725105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters Centerline goodness : 0.995926 with order 1 Centerline is valid? [True, True] Translation: X:406.54, Y:-33.81, Z:-1.24 [[ 9.90744572e-01 1.35704803e-01 3.06594854e-03 4.06535647e+02] [-1.35704379e-01 9.90749313e-01 -3.46765099e-04 -3.38131686e+01] [-3.08464410e-03 -7.25070038e-05 9.99995240e-01 -1.24205857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters Centerline goodness : 0.996249 with order 1 Centerline is valid? [True, True] Translation: X:406.60, Y:-33.81, Z:-1.25 [[ 9.89521154e-01 1.44355415e-01 3.06594854e-03 4.06595372e+02] [-1.44355033e-01 9.89525899e-01 -3.46765099e-04 -3.38122509e+01] [-3.08389290e-03 -9.94537024e-05 9.99995240e-01 -1.24526219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters Centerline goodness : 0.996273 with order 1 Centerline is valid? [True, True] Translation: X:406.65, Y:-33.82, Z:-1.25 [[ 9.89227723e-01 1.46352700e-01 3.06596441e-03 4.06654265e+02] [-1.46352328e-01 9.89232468e-01 -3.46624712e-04 -3.38168082e+01] [-3.08368100e-03 -1.05820254e-04 9.99995240e-01 -1.24615742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters Centerline goodness : 0.996483 with order 1 Centerline is valid? [True, True] Translation: X:406.71, Y:-33.82, Z:-1.25 [[ 9.90200178e-01 1.39621657e-01 3.06597613e-03 4.06713927e+02] [-1.39621253e-01 9.90204921e-01 -3.46521017e-04 -3.38166167e+01] [-3.08432649e-03 -8.49502563e-05 9.99995240e-01 -1.24554278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:406.77, Y:-33.82, Z:-1.24 [[ 9.90855307e-01 1.34893885e-01 3.06598379e-03 4.06773999e+02] [-1.34893458e-01 9.90860048e-01 -3.46453194e-04 -3.38202038e+01] [-3.08469527e-03 -7.02961702e-05 9.99995240e-01 -1.24111649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:406.83, Y:-33.82, Z:-1.24 [[ 9.91155302e-01 1.32671652e-01 3.06599197e-03 4.06834013e+02] [-1.32671215e-01 9.91160042e-01 -3.46380826e-04 -3.38248472e+01] [-3.08484364e-03 -6.34516888e-05 9.99995240e-01 -1.24093823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters Centerline goodness : 0.996432 with order 1 Centerline is valid? [True, True] Translation: X:406.89, Y:-33.83, Z:-1.24 [[ 9.92230999e-01 1.24371401e-01 3.06600012e-03 4.06892941e+02] [-1.24370924e-01 9.92235735e-01 -3.46308678e-04 -3.38313950e+01] [-3.08526577e-03 -3.77030624e-05 9.99995240e-01 -1.24214724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters Centerline goodness : 0.995727 with order 1 Centerline is valid? [True, True] Translation: X:406.95, Y:-33.84, Z:-1.24 [[ 9.92895035e-01 1.18953978e-01 3.06600820e-03 4.06952011e+02] [-1.18953476e-01 9.92899769e-01 -3.46237104e-04 -3.38404909e+01] [-3.08542511e-03 -2.09352299e-05 9.99995240e-01 -1.24007393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters Centerline goodness : 0.995988 with order 1 Centerline is valid? [True, True] Translation: X:407.01, Y:-33.85, Z:-1.24 [[ 9.93036254e-01 1.17769256e-01 3.06601220e-03 4.07012400e+02] [-1.17768749e-01 9.93040987e-01 -3.46201644e-04 -3.38465186e+01] [-3.08544770e-03 -1.72896380e-05 9.99995240e-01 -1.24237393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters Centerline goodness : 0.995893 with order 1 Centerline is valid? [True, True] Translation: X:407.07, Y:-33.86, Z:-1.24 [[ 9.92855086e-01 1.19286959e-01 3.06601220e-03 4.07071402e+02] [-1.19286459e-01 9.92859819e-01 -3.46201644e-04 -3.38589089e+01] [-3.08541766e-03 -2.20056756e-05 9.99995240e-01 -1.24268389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters Centerline goodness : 0.995012 with order 1 Centerline is valid? [True, True] Translation: X:407.13, Y:-33.87, Z:-1.25 [[ 9.92852233e-01 1.19310697e-01 3.06602038e-03 4.07130130e+02] [-1.19310197e-01 9.92856967e-01 -3.46129230e-04 -3.38693223e+01] [-3.08541661e-03 -2.21523153e-05 9.99995240e-01 -1.24606166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:407.19, Y:-33.88, Z:-1.25 [[ 9.92615465e-01 1.21264743e-01 3.06602442e-03 4.07190081e+02] [-1.21264252e-01 9.92620200e-01 -3.46093463e-04 -3.38751886e+01] [-3.08536670e-03 -2.82614342e-05 9.99995240e-01 -1.24581481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters Centerline goodness : 0.995673 with order 1 Centerline is valid? [True, True] Translation: X:407.25, Y:-33.88, Z:-1.24 [[ 9.91854040e-01 1.27342699e-01 3.06602442e-03 4.07249078e+02] [-1.27342238e-01 9.91858778e-01 -3.46093463e-04 -3.38806567e+01] [-3.08513571e-03 -4.71602103e-05 9.99995240e-01 -1.24305791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters Centerline goodness : 0.995647 with order 1 Centerline is valid? [True, True] Translation: X:407.31, Y:-33.88, Z:-1.24 [[ 9.91206657e-01 1.32287421e-01 3.06603248e-03 4.07307790e+02] [-1.32286983e-01 9.91211397e-01 -3.46021996e-04 -3.38818613e+01] [-3.08486070e-03 -6.26168822e-05 9.99995240e-01 -1.24317479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters Centerline goodness : 0.995627 with order 1 Centerline is valid? [True, True] Translation: X:407.37, Y:-33.88, Z:-1.25 [[ 9.90879382e-01 1.34716925e-01 3.06604864e-03 4.07366167e+02] [-1.34716500e-01 9.90884123e-01 -3.45878764e-04 -3.38814068e+01] [-3.08469464e-03 -7.03232046e-05 9.99995240e-01 -1.24560605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters Centerline goodness : 0.995632 with order 1 Centerline is valid? [True, True] Translation: X:407.42, Y:-33.88, Z:-1.24 [[ 9.91155132e-01 1.32672922e-01 3.06606856e-03 4.07424955e+02] [-1.32672487e-01 9.91159872e-01 -3.45702137e-04 -3.38818843e+01] [-3.08482943e-03 -6.41384929e-05 9.99995240e-01 -1.24280133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters Centerline goodness : 0.996116 with order 1 Centerline is valid? [True, True] Translation: X:407.48, Y:-33.88, Z:-1.24 [[ 9.91739080e-01 1.28234925e-01 3.06608421e-03 4.07483136e+02] [-1.28234469e-01 9.91743819e-01 -3.45563195e-04 -3.38780437e+01] [-3.08508334e-03 -5.04691555e-05 9.99995240e-01 -1.24057970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:407.54, Y:-33.88, Z:-1.24 [[ 9.91919048e-01 1.26835330e-01 3.06610359e-03 4.07541580e+02] [-1.26834869e-01 9.91923786e-01 -3.45391157e-04 -3.38804595e+01] [-3.08514889e-03 -4.62887794e-05 9.99995240e-01 -1.24248432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters Centerline goodness : 0.996173 with order 1 Centerline is valid? [True, True] Translation: X:407.60, Y:-33.88, Z:-1.24 [[ 9.92398132e-01 1.23030670e-01 3.06611903e-03 4.07600030e+02] [-1.23030191e-01 9.92402868e-01 -3.45254074e-04 -3.38836522e+01] [-3.08530216e-03 -3.45957109e-05 9.99995240e-01 -1.23954210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:407.66, Y:-33.89, Z:-1.24 [[ 9.92921927e-01 1.18729293e-01 3.06613585e-03 4.07657254e+02] [-1.18728794e-01 9.92926661e-01 -3.45104611e-04 -3.38943859e+01] [-3.08542206e-03 -2.13766759e-05 9.99995240e-01 -1.24095666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters Centerline goodness : 0.996199 with order 1 Centerline is valid? [True, True] Translation: X:407.72, Y:-33.90, Z:-1.24 [[ 9.93126338e-01 1.17007158e-01 3.06615843e-03 4.07715965e+02] [-1.17006650e-01 9.93131071e-01 -3.44903913e-04 -3.39025790e+01] [-3.08545343e-03 -1.62277677e-05 9.99995240e-01 -1.24225374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters Centerline goodness : 0.995880 with order 1 Centerline is valid? [True, True] Translation: X:407.77, Y:-33.92, Z:-1.24 [[ 9.93244661e-01 1.15998457e-01 3.06617403e-03 4.07773139e+02] [-1.15997945e-01 9.93249394e-01 -3.44765132e-04 -3.39158715e+01] [-3.08546772e-03 -1.32337612e-05 9.99995240e-01 -1.24409461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters Centerline goodness : 0.995594 with order 1 Centerline is valid? [True, True] Translation: X:407.83, Y:-33.93, Z:-1.25 [[ 9.93428987e-01 1.14409122e-01 3.06619484e-03 4.07832452e+02] [-1.14408603e-01 9.93433718e-01 -3.44580002e-04 -3.39315834e+01] [-3.08548444e-03 -8.48330630e-06 9.99995240e-01 -1.25190958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters Centerline goodness : 0.996169 with order 1 Centerline is valid? [True, True] Translation: X:407.89, Y:-33.94, Z:-1.25 [[ 9.93436379e-01 1.14344912e-01 3.06619484e-03 4.07891168e+02] [-1.14344393e-01 9.93441111e-01 -3.44580002e-04 -3.39437651e+01] [-3.08548498e-03 -8.28387823e-06 9.99995240e-01 -1.25111351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters Centerline goodness : 0.995951 with order 1 Centerline is valid? [True, True] Translation: X:407.95, Y:-33.96, Z:-1.25 [[ 9.93173671e-01 1.16604710e-01 3.06620295e-03 4.07949574e+02] [-1.16604202e-01 9.93178404e-01 -3.44507779e-04 -3.39579181e+01] [-3.08545778e-03 -1.53760931e-05 9.99995240e-01 -1.24993231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters Centerline goodness : 0.996038 with order 1 Centerline is valid? [True, True] Translation: X:408.01, Y:-33.97, Z:-1.25 [[ 9.91885788e-01 1.27095167e-01 3.06621106e-03 4.08007722e+02] [-1.27094709e-01 9.91890526e-01 -3.44435606e-04 -3.39698059e+01] [-3.08512180e-03 -4.80584191e-05 9.99995240e-01 -1.25267015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters Centerline goodness : 0.996474 with order 1 Centerline is valid? [True, True] Translation: X:408.07, Y:-33.98, Z:-1.25 [[ 9.91284392e-01 1.31703654e-01 3.06622306e-03 4.08066278e+02] [-1.31703219e-01 9.91289132e-01 -3.44328774e-04 -3.39760747e+01] [-3.08486295e-03 -6.25037078e-05 9.99995240e-01 -1.25053792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters Centerline goodness : 0.995703 with order 1 Centerline is valid? [True, True] Translation: X:408.12, Y:-33.99, Z:-1.25 [[ 9.91010512e-01 1.33748882e-01 3.06623849e-03 4.08124886e+02] [-1.33748457e-01 9.91015253e-01 -3.44191298e-04 -3.39856335e+01] [-3.08472431e-03 -6.90074722e-05 9.99995240e-01 -1.25037806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters Centerline goodness : 0.996506 with order 1 Centerline is valid? [True, True] Translation: X:408.18, Y:-33.99, Z:-1.24 [[ 9.91275157e-01 1.31773143e-01 3.06624625e-03 4.08182749e+02] [-1.31772709e-01 9.91279897e-01 -3.44122189e-04 -3.39924961e+01] [-3.08485433e-03 -6.29277967e-05 9.99995240e-01 -1.23983988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:408.24, Y:-34.00, Z:-1.24 [[ 9.91049985e-01 1.33456079e-01 3.06625466e-03 4.08242536e+02] [-1.33455653e-01 9.91054726e-01 -3.44047225e-04 -3.39986331e+01] [-3.08474136e-03 -6.82410187e-05 9.99995240e-01 -1.23760624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:408.30, Y:-34.00, Z:-1.25 [[ 9.90385327e-01 1.38302211e-01 3.06626785e-03 4.08301356e+02] [-1.38301808e-01 9.90390070e-01 -3.43929608e-04 -3.40011743e+01] [-3.08436746e-03 -8.34475508e-05 9.99995240e-01 -1.24666725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:408.36, Y:-34.00, Z:-1.24 [[ 9.90200716e-01 1.39617837e-01 3.06628440e-03 4.08360028e+02] [-1.39617441e-01 9.90205460e-01 -3.43781977e-04 -3.40029562e+01] [-3.08424965e-03 -8.76936210e-05 9.99995240e-01 -1.24090785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:408.42, Y:-34.00, Z:-1.25 [[ 9.90397784e-01 1.38212978e-01 3.06630046e-03 4.08418714e+02] [-1.38212576e-01 9.90402527e-01 -3.43638645e-04 -3.40039225e+01] [-3.08436705e-03 -8.34623346e-05 9.99995240e-01 -1.24635950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters Centerline goodness : 0.996154 with order 1 Centerline is valid? [True, True] Translation: X:408.48, Y:-34.01, Z:-1.25 [[ 9.91365971e-01 1.31088173e-01 3.06631638e-03 4.08477076e+02] [-1.31087738e-01 9.91370711e-01 -3.43496541e-04 -3.40063263e+01] [-3.08488459e-03 -6.14256960e-05 9.99995240e-01 -1.25042840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:408.54, Y:-34.01, Z:-1.24 [[ 9.92522579e-01 1.22022653e-01 3.06632827e-03 4.08536935e+02] [-1.22022175e-01 9.92527315e-01 -3.43390400e-04 -3.40094025e+01] [-3.08531597e-03 -3.33373180e-05 9.99995240e-01 -1.24466212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:408.60, Y:-34.02, Z:-1.25 [[ 9.93441538e-01 1.14300083e-01 3.06633622e-03 4.08597029e+02] [-1.14299568e-01 9.93446270e-01 -3.43319374e-04 -3.40178390e+01] [-3.08548171e-03 -9.41317942e-06 9.99995240e-01 -1.24558408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters Centerline goodness : 0.996931 with order 1 Centerline is valid? [True, True] Translation: X:408.66, Y:-34.03, Z:-1.25 [[ 9.94111246e-01 1.08320951e-01 3.06633622e-03 4.08655617e+02] [-1.08320407e-01 9.94115975e-01 -3.43319374e-04 -3.40270898e+01] [-3.08548250e-03 9.15086183e-06 9.99995240e-01 -1.24718995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters Centerline goodness : 0.996494 with order 1 Centerline is valid? [True, True] Translation: X:408.71, Y:-34.04, Z:-1.25 [[ 9.94401866e-01 1.05619724e-01 3.06634028e-03 4.08714773e+02] [-1.05619167e-01 9.94406594e-01 -3.43283131e-04 -3.40418652e+01] [-3.08544646e-03 1.74970795e-05 9.99995240e-01 -1.24966078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:408.77, Y:-34.06, Z:-1.25 [[ 9.94595447e-01 1.03780996e-01 3.06634028e-03 4.08774519e+02] [-1.03780431e-01 9.94600173e-01 -3.43283131e-04 -3.40570318e+01] [-3.08540884e-03 2.32017235e-05 9.99995240e-01 -1.25185839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters Centerline goodness : 0.996663 with order 1 Centerline is valid? [True, True] Translation: X:408.83, Y:-34.08, Z:-1.25 [[ 9.94523915e-01 1.04464250e-01 3.06633219e-03 4.08833796e+02] [-1.04463688e-01 9.94528642e-01 -3.43355420e-04 -3.40752059e+01] [-3.08542355e-03 2.11548083e-05 9.99995240e-01 -1.25006749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters Centerline goodness : 0.996940 with order 1 Centerline is valid? [True, True] Translation: X:408.89, Y:-34.09, Z:-1.24 [[ 9.94337795e-01 1.06221219e-01 3.06627996e-03 4.08892878e+02] [-1.06220664e-01 9.94342523e-01 -3.43821171e-04 -3.40929399e+01] [-3.08545366e-03 1.61720909e-05 9.99995240e-01 -1.24467935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters Centerline goodness : 0.996731 with order 1 Centerline is valid? [True, True] Translation: X:408.95, Y:-34.11, Z:-1.25 [[ 9.94170834e-01 1.07772684e-01 3.06623603e-03 4.08954443e+02] [-1.07772135e-01 9.94175562e-01 -3.44212535e-04 -3.41119626e+01] [-3.08547363e-03 1.17512603e-05 9.99995240e-01 -1.24618074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters Centerline goodness : 0.995798 with order 1 Centerline is valid? [True, True] Translation: X:409.02, Y:-34.13, Z:-1.25 [[ 9.93719074e-01 1.11861520e-01 3.06617058e-03 4.09016230e+02] [-1.11860988e-01 9.93723805e-01 -3.44794566e-04 -3.41267481e+01] [-3.08549594e-03 -3.55934122e-07 9.99995240e-01 -1.24941476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters Centerline goodness : 0.996433 with order 1 Centerline is valid? [True, True] Translation: X:409.08, Y:-34.14, Z:-1.24 [[ 9.93498709e-01 1.13802082e-01 3.06610313e-03 4.09076797e+02] [-1.13801558e-01 9.93503440e-01 -3.45393310e-04 -3.41415127e+01] [-3.08549048e-03 -5.77950673e-06 9.99995240e-01 -1.24360298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters Centerline goodness : 0.996400 with order 1 Centerline is valid? [True, True] Translation: X:409.14, Y:-34.15, Z:-1.25 [[ 9.93513752e-01 1.13670679e-01 3.06604072e-03 4.09139460e+02] [-1.13670152e-01 9.93518483e-01 -3.45946430e-04 -3.41500118e+01] [-3.08549209e-03 -4.81477980e-06 9.99995240e-01 -1.24503755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters Centerline goodness : 0.996336 with order 1 Centerline is valid? [True, True] Translation: X:409.20, Y:-34.17, Z:-1.25 [[ 9.93404446e-01 1.14622016e-01 3.06597667e-03 4.09200389e+02] [-1.14621492e-01 9.93409177e-01 -3.46513152e-04 -3.41656843e+01] [-3.08548740e-03 -7.19911588e-06 9.99995240e-01 -1.24569921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters Centerline goodness : 0.996386 with order 1 Centerline is valid? [True, True] Translation: X:409.26, Y:-34.18, Z:-1.25 [[ 9.93149282e-01 1.16812257e-01 3.06591723e-03 4.09262486e+02] [-1.16811743e-01 9.93154014e-01 -3.47038266e-04 -3.41786197e+01] [-3.08546633e-03 -1.34743295e-05 9.99995240e-01 -1.24892412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:409.32, Y:-34.20, Z:-1.25 [[ 9.93077462e-01 1.17421272e-01 3.06585439e-03 4.09323250e+02] [-1.17420758e-01 9.93082194e-01 -3.47592515e-04 -3.41961517e+01] [-3.08546016e-03 -1.48086554e-05 9.99995240e-01 -1.25323034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters Centerline goodness : 0.996114 with order 1 Centerline is valid? [True, True] Translation: X:409.38, Y:-34.21, Z:-1.25 [[ 9.92870911e-01 1.19155173e-01 3.06579990e-03 4.09384602e+02] [-1.19154666e-01 9.92875644e-01 -3.48072436e-04 -3.42097131e+01] [-3.08543269e-03 -1.97133665e-05 9.99995240e-01 -1.24772787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters Centerline goodness : 0.995736 with order 1 Centerline is valid? [True, True] Translation: X:409.44, Y:-34.22, Z:-1.25 [[ 9.91563961e-01 1.29582070e-01 3.06574503e-03 4.09444805e+02] [-1.29581612e-01 9.91568699e-01 -3.48555099e-04 -3.42191666e+01] [-3.08506330e-03 -5.16495079e-05 9.99995240e-01 -1.25245829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters Centerline goodness : 0.996364 with order 1 Centerline is valid? [True, True] Translation: X:409.51, Y:-34.22, Z:-1.25 [[ 9.90041986e-01 1.40739004e-01 3.06569463e-03 4.09507303e+02] [-1.40738598e-01 9.90046729e-01 -3.48997780e-04 -3.42241603e+01] [-3.08429854e-03 -8.59391078e-05 9.99995240e-01 -1.24832932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters Centerline goodness : 0.996762 with order 1 Centerline is valid? [True, True] Translation: X:409.57, Y:-34.23, Z:-1.25 [[ 9.89147289e-01 1.46895347e-01 3.06563227e-03 4.09570222e+02] [-1.46894968e-01 9.89152034e-01 -3.49544734e-04 -3.42297474e+01] [-3.08372289e-03 -1.04574730e-04 9.99995240e-01 -1.24907537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters Centerline goodness : 0.996787 with order 1 Centerline is valid? [True, True] Translation: X:409.63, Y:-34.23, Z:-1.25 [[ 9.89004283e-01 1.47855098e-01 3.06556666e-03 4.09632389e+02] [-1.47854722e-01 9.89009029e-01 -3.50119171e-04 -3.42304960e+01] [-3.08364001e-03 -1.06989147e-04 9.99995240e-01 -1.24912729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters Centerline goodness : 0.996494 with order 1 Centerline is valid? [True, True] Translation: X:409.69, Y:-34.23, Z:-1.25 [[ 9.88593401e-01 1.50577856e-01 3.06550591e-03 4.09694697e+02] [-1.50577492e-01 9.88598147e-01 -3.50650319e-04 -3.42319935e+01] [-3.08335363e-03 -1.14945599e-04 9.99995240e-01 -1.25016100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:409.76, Y:-34.23, Z:-1.26 [[ 9.87878460e-01 1.55199068e-01 3.06544570e-03 4.09756834e+02] [-1.55198724e-01 9.87883208e-01 -3.51175891e-04 -3.42308298e+01] [-3.08280450e-03 -1.28834163e-04 9.99995240e-01 -1.25524639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters Centerline goodness : 0.996614 with order 1 Centerline is valid? [True, True] Translation: X:409.82, Y:-34.23, Z:-1.25 [[ 9.87324162e-01 1.58687123e-01 3.06543806e-03 4.09818230e+02] [-1.58686795e-01 9.87328911e-01 -3.51242578e-04 -3.42314978e+01] [-3.08233329e-03 -1.39654258e-04 9.99995240e-01 -1.25265185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters Centerline goodness : 0.996615 with order 1 Centerline is valid? [True, True] Translation: X:409.88, Y:-34.23, Z:-1.25 [[ 9.87016504e-01 1.60589611e-01 3.06543022e-03 4.09880302e+02] [-1.60589292e-01 9.87021254e-01 -3.51310969e-04 -3.42285861e+01] [-3.08206167e-03 -1.45525545e-04 9.99995240e-01 -1.24880998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters Centerline goodness : 0.996556 with order 1 Centerline is valid? [True, True] Translation: X:409.94, Y:-34.22, Z:-1.25 [[ 9.86877545e-01 1.61441362e-01 3.06542192e-03 4.09941476e+02] [-1.61441048e-01 9.86882295e-01 -3.51383412e-04 -3.42248037e+01] [-3.08193843e-03 -1.48112526e-04 9.99995240e-01 -1.24604722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:410.00, Y:-34.22, Z:-1.25 [[ 9.86531286e-01 1.63543952e-01 3.06540298e-03 4.10002493e+02] [-1.63543647e-01 9.86536037e-01 -3.51548541e-04 -3.42203761e+01] [-3.08162414e-03 -1.54513547e-04 9.99995240e-01 -1.24769839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters Centerline goodness : 0.996356 with order 1 Centerline is valid? [True, True] Translation: X:410.06, Y:-34.22, Z:-1.25 [[ 9.86916622e-01 1.61202308e-01 3.06541107e-03 4.10062437e+02] [-1.61201992e-01 9.86921372e-01 -3.51477969e-04 -3.42176388e+01] [-3.08197876e-03 -1.47270922e-04 9.99995240e-01 -1.25234682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters Centerline goodness : 0.996514 with order 1 Centerline is valid? [True, True] Translation: X:410.12, Y:-34.22, Z:-1.25 [[ 9.87544877e-01 1.57307722e-01 3.06541925e-03 4.10121569e+02] [-1.57307388e-01 9.87549625e-01 -3.51406580e-04 -3.42156338e+01] [-3.08253260e-03 -1.35183327e-04 9.99995240e-01 -1.25256895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:410.18, Y:-34.21, Z:-1.25 [[ 9.88104483e-01 1.53753486e-01 3.06543142e-03 4.10181531e+02] [-1.53753134e-01 9.88109230e-01 -3.51300377e-04 -3.42135173e+01] [-3.08299474e-03 -1.24198212e-04 9.99995240e-01 -1.24612548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters Centerline goodness : 0.996823 with order 1 Centerline is valid? [True, True] Translation: X:410.24, Y:-34.21, Z:-1.24 [[ 9.88933371e-01 1.48328661e-01 3.06544734e-03 4.10240837e+02] [-1.48328284e-01 9.88938116e-01 -3.51161426e-04 -3.42138982e+01] [-3.08362502e-03 -1.07417292e-04 9.99995240e-01 -1.24115549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters Centerline goodness : 0.996300 with order 1 Centerline is valid? [True, True] Translation: X:410.30, Y:-34.21, Z:-1.24 [[ 9.89009686e-01 1.47818955e-01 3.06546363e-03 4.10299270e+02] [-1.47818576e-01 9.89014431e-01 -3.51019158e-04 -3.42126670e+01] [-3.08367506e-03 -1.05971122e-04 9.99995240e-01 -1.24052969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters Centerline goodness : 0.996331 with order 1 Centerline is valid? [True, True] Translation: X:410.36, Y:-34.21, Z:-1.25 [[ 9.88261084e-01 1.52743680e-01 3.06548534e-03 4.10357910e+02] [-1.52743326e-01 9.88265831e-01 -3.50829474e-04 -3.42050238e+01] [-3.08310140e-03 -1.21521310e-04 9.99995240e-01 -1.25025760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters Centerline goodness : 0.996130 with order 1 Centerline is valid? [True, True] Translation: X:410.42, Y:-34.20, Z:-1.25 [[ 9.88096405e-01 1.53805389e-01 3.06550499e-03 4.10417570e+02] [-1.53805040e-01 9.88101152e-01 -3.50657718e-04 -3.41993521e+01] [-3.08296206e-03 -1.25006488e-04 9.99995240e-01 -1.24688611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters Centerline goodness : 0.996388 with order 1 Centerline is valid? [True, True] Translation: X:410.48, Y:-34.20, Z:-1.25 [[ 9.89188818e-01 1.46615430e-01 3.06552056e-03 4.10476780e+02] [-1.46615047e-01 9.89193563e-01 -3.50521513e-04 -3.41953710e+01] [-3.08378507e-03 -1.02719480e-04 9.99995240e-01 -1.24515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters Centerline goodness : 0.996238 with order 1 Centerline is valid? [True, True] Translation: X:410.54, Y:-34.20, Z:-1.25 [[ 9.90485922e-01 1.37579945e-01 3.06553685e-03 4.10536241e+02] [-1.37579519e-01 9.90490663e-01 -3.50379028e-04 -3.41964361e+01] [-3.08459075e-03 -7.47095906e-05 9.99995240e-01 -1.25075505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters Centerline goodness : 0.995613 with order 1 Centerline is valid? [True, True] Translation: X:410.60, Y:-34.20, Z:-1.25 [[ 9.91113647e-01 1.32982482e-01 3.06555304e-03 4.10595189e+02] [-1.32982034e-01 9.91118386e-01 -3.50237259e-04 -3.41959702e+01] [-3.08490141e-03 -6.05385530e-05 9.99995240e-01 -1.25278220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:410.65, Y:-34.20, Z:-1.25 [[ 9.91519765e-01 1.29919810e-01 3.06556966e-03 4.10652515e+02] [-1.29919348e-01 9.91524503e-01 -3.50091752e-04 -3.42039013e+01] [-3.08507129e-03 -5.11539208e-05 9.99995240e-01 -1.25101136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters Centerline goodness : 0.995345 with order 1 Centerline is valid? [True, True] Translation: X:410.71, Y:-34.21, Z:-1.25 [[ 9.91600854e-01 1.29299453e-01 3.06559027e-03 4.10711786e+02] [-1.29298989e-01 9.91605591e-01 -3.49911179e-04 -3.42067050e+01] [-3.08509978e-03 -4.94055001e-05 9.99995240e-01 -1.24857249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters Centerline goodness : 0.995531 with order 1 Centerline is valid? [True, True] Translation: X:410.77, Y:-34.21, Z:-1.25 [[ 9.91262682e-01 1.31866966e-01 3.06560610e-03 4.10769510e+02] [-1.31866515e-01 9.91267421e-01 -3.49772470e-04 -3.42128085e+01] [-3.08495889e-03 -5.75343950e-05 9.99995240e-01 -1.24689490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters Centerline goodness : 0.994981 with order 1 Centerline is valid? [True, True] Translation: X:410.83, Y:-34.22, Z:-1.24 [[ 9.91078282e-01 1.33245794e-01 3.06563011e-03 4.10827940e+02] [-1.33245350e-01 9.91083021e-01 -3.49561908e-04 -3.42168055e+01] [-3.08487160e-03 -6.20377399e-05 9.99995240e-01 -1.24482704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters Centerline goodness : 0.994753 with order 1 Centerline is valid? [True, True] Translation: X:410.89, Y:-34.22, Z:-1.24 [[ 9.91048922e-01 1.33463988e-01 3.06564682e-03 4.10885376e+02] [-1.33463546e-01 9.91053661e-01 -3.49415294e-04 -3.42205774e+01] [-3.08485486e-03 -6.28644446e-05 9.99995240e-01 -1.24380720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters Centerline goodness : 0.994549 with order 1 Centerline is valid? [True, True] Translation: X:410.94, Y:-34.22, Z:-1.25 [[ 9.91076417e-01 1.33259663e-01 3.06567154e-03 4.10943538e+02] [-1.33259221e-01 9.91081156e-01 -3.49198261e-04 -3.42235714e+01] [-3.08486334e-03 -6.24468386e-05 9.99995240e-01 -1.24742236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters Centerline goodness : 0.994540 with order 1 Centerline is valid? [True, True] Translation: X:411.00, Y:-34.23, Z:-1.25 [[ 9.91230729e-01 1.32106939e-01 3.06569577e-03 4.11000356e+02] [-1.32106491e-01 9.91235468e-01 -3.48985447e-04 -3.42302561e+01] [-3.08492978e-03 -5.90732103e-05 9.99995240e-01 -1.24874767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters Centerline goodness : 0.994705 with order 1 Centerline is valid? [True, True] Translation: X:411.06, Y:-34.23, Z:-1.25 [[ 9.91707859e-01 1.28476163e-01 3.06572905e-03 4.11058410e+02] [-1.28475699e-01 9.91712596e-01 -3.48692831e-04 -3.42348511e+01] [-3.08512083e-03 -4.80702606e-05 9.99995240e-01 -1.24951462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters Centerline goodness : 0.994620 with order 1 Centerline is valid? [True, True] Translation: X:411.11, Y:-34.25, Z:-1.25 [[ 9.91717892e-01 1.28398693e-01 3.06575358e-03 4.11114940e+02] [-1.28398229e-01 9.91722629e-01 -3.48476975e-04 -3.42461550e+01] [-3.08512119e-03 -4.80464811e-05 9.99995240e-01 -1.25359102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters Centerline goodness : 0.994896 with order 1 Centerline is valid? [True, True] Translation: X:411.17, Y:-34.25, Z:-1.25 [[ 9.91235812e-01 1.32068790e-01 3.06577389e-03 4.11173359e+02] [-1.32068344e-01 9.91240552e-01 -3.48298260e-04 -3.42533297e+01] [-3.08491873e-03 -5.96459705e-05 9.99995240e-01 -1.25289623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters Centerline goodness : 0.994045 with order 1 Centerline is valid? [True, True] Translation: X:411.23, Y:-34.27, Z:-1.25 [[ 9.91120110e-01 1.32934304e-01 3.06579058e-03 4.11230640e+02] [-1.32933863e-01 9.91124849e-01 -3.48151287e-04 -3.42650061e+01] [-3.08486247e-03 -6.24876420e-05 9.99995240e-01 -1.24841158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters Centerline goodness : 0.993964 with order 1 Centerline is valid? [True, True] Translation: X:411.29, Y:-34.27, Z:-1.25 [[ 9.90862844e-01 1.34838518e-01 3.06581112e-03 4.11287418e+02] [-1.34838086e-01 9.90867584e-01 -3.47970263e-04 -3.42739262e+01] [-3.08473266e-03 -6.85972996e-05 9.99995240e-01 -1.25017116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters Centerline goodness : 0.993887 with order 1 Centerline is valid? [True, True] Translation: X:411.35, Y:-34.28, Z:-1.25 [[ 9.90507598e-01 1.37423793e-01 3.06583113e-03 4.11345010e+02] [-1.37423374e-01 9.90512340e-01 -3.47793902e-04 -3.42800476e+01] [-3.08453872e-03 -7.68243573e-05 9.99995240e-01 -1.25170944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters Centerline goodness : 0.993087 with order 1 Centerline is valid? [True, True] Translation: X:411.40, Y:-34.29, Z:-1.25 [[ 9.90334341e-01 1.38666844e-01 3.06585563e-03 4.11402808e+02] [-1.38666432e-01 9.90339083e-01 -3.47577770e-04 -3.42854626e+01] [-3.08443417e-03 -8.09130582e-05 9.99995240e-01 -1.25307461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters Centerline goodness : 0.993310 with order 1 Centerline is valid? [True, True] Translation: X:411.46, Y:-34.29, Z:-1.25 [[ 9.90100595e-01 1.40326090e-01 3.06588016e-03 4.11460077e+02] [-1.40325687e-01 9.90105338e-01 -3.47361323e-04 -3.42894126e+01] [-3.08428817e-03 -8.62990857e-05 9.99995240e-01 -1.25306619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters Centerline goodness : 0.993108 with order 1 Centerline is valid? [True, True] Translation: X:411.52, Y:-34.29, Z:-1.26 [[ 9.90056060e-01 1.40639961e-01 3.06590838e-03 4.11518670e+02] [-1.40639560e-01 9.90060803e-01 -3.47112062e-04 -3.42928333e+01] [-3.08425354e-03 -8.75276057e-05 9.99995240e-01 -1.25615000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters Centerline goodness : 0.993649 with order 1 Centerline is valid? [True, True] Translation: X:411.58, Y:-34.29, Z:-1.25 [[ 9.90267720e-01 1.39141811e-01 3.06592465e-03 4.11575601e+02] [-1.39141403e-01 9.90272462e-01 -3.46968233e-04 -3.42944852e+01] [-3.08437854e-03 -8.30056169e-05 9.99995240e-01 -1.25452333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters Centerline goodness : 0.992896 with order 1 Centerline is valid? [True, True] Translation: X:411.63, Y:-34.30, Z:-1.25 [[ 9.90468157e-01 1.37707767e-01 3.06595816e-03 4.11634454e+02] [-1.37707353e-01 9.90472900e-01 -3.46671885e-04 -3.42958587e+01] [-3.08448788e-03 -7.88375192e-05 9.99995240e-01 -1.25295748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters Centerline goodness : 0.993035 with order 1 Centerline is valid? [True, True] Translation: X:411.69, Y:-34.29, Z:-1.25 [[ 9.90562683e-01 1.37026169e-01 3.06597419e-03 4.11693480e+02] [-1.37025753e-01 9.90567425e-01 -3.46530096e-04 -3.42937137e+01] [-3.08453785e-03 -7.68576394e-05 9.99995240e-01 -1.25219600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters Centerline goodness : 0.993745 with order 1 Centerline is valid? [True, True] Translation: X:411.75, Y:-34.29, Z:-1.25 [[ 9.90378655e-01 1.38349990e-01 3.06599803e-03 4.11750611e+02] [-1.38349580e-01 9.90383397e-01 -3.46319012e-04 -3.42930774e+01] [-3.08442678e-03 -8.11925825e-05 9.99995240e-01 -1.25430453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters Centerline goodness : 0.993082 with order 1 Centerline is valid? [True, True] Translation: X:411.81, Y:-34.29, Z:-1.25 [[ 9.90517067e-01 1.37355525e-01 3.06603868e-03 4.11809424e+02] [-1.37355112e-01 9.90521809e-01 -3.45958757e-04 -3.42923238e+01] [-3.08449753e-03 -7.84580327e-05 9.99995240e-01 -1.25420592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters Centerline goodness : 0.993283 with order 1 Centerline is valid? [True, True] Translation: X:411.87, Y:-34.29, Z:-1.25 [[ 9.92004193e-01 1.26167665e-01 3.06605437e-03 4.11866524e+02] [-1.26167198e-01 9.92008931e-01 -3.45819696e-04 -3.42947053e+01] [-3.08518458e-03 -4.37809006e-05 9.99995240e-01 -1.25422535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters Centerline goodness : 0.993119 with order 1 Centerline is valid? [True, True] Translation: X:411.92, Y:-34.30, Z:-1.25 [[ 9.93613591e-01 1.12794640e-01 3.06608845e-03 4.11923867e+02] [-1.12794111e-01 9.93618322e-01 -3.45517207e-04 -3.43001071e+01] [-3.08549415e-03 -2.52612769e-06 9.99995240e-01 -1.25337409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters Centerline goodness : 0.993392 with order 1 Centerline is valid? [True, True] Translation: X:411.98, Y:-34.31, Z:-1.25 [[ 9.94323351e-01 1.06356344e-01 3.06611250e-03 4.11981235e+02] [-1.06355785e-01 9.94328079e-01 -3.45303682e-04 -3.43053643e+01] [-3.08544699e-03 1.72447121e-05 9.99995240e-01 -1.24859032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters Centerline goodness : 0.993100 with order 1 Centerline is valid? [True, True] Translation: X:412.04, Y:-34.31, Z:-1.25 [[ 9.94204817e-01 1.07458736e-01 3.06613218e-03 4.12039234e+02] [-1.07458183e-01 9.94209545e-01 -3.45128887e-04 -3.43083031e+01] [-3.08546499e-03 1.36478096e-05 9.99995240e-01 -1.25029271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:412.10, Y:-34.32, Z:-1.25 [[ 9.94730481e-01 1.02478630e-01 3.06615665e-03 4.12096065e+02] [-1.02478054e-01 9.94735206e-01 -3.44911307e-04 -3.43173802e+01] [-3.08536001e-03 2.88800230e-05 9.99995240e-01 -1.25180956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:412.15, Y:-34.33, Z:-1.25 [[ 9.95784936e-01 9.16676631e-02 3.06617684e-03 4.12154053e+02] [-9.16670360e-02 9.95789654e-01 -3.44731769e-04 -3.43311291e+01] [-3.08486793e-03 6.22113600e-05 9.99995240e-01 -1.24860874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters Centerline goodness : 0.993730 with order 1 Centerline is valid? [True, True] Translation: X:412.21, Y:-34.35, Z:-1.25 [[ 9.97017864e-01 7.71101681e-02 3.06619217e-03 4.12211615e+02] [-7.71094725e-02 9.97022573e-01 -3.44595302e-04 -3.43488625e+01] [-3.08363461e-03 1.07135211e-04 9.99995240e-01 -1.25311329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters Centerline goodness : 0.993332 with order 1 Centerline is valid? [True, True] Translation: X:412.27, Y:-34.37, Z:-1.25 [[ 9.97693974e-01 6.78036348e-02 3.06620822e-03 4.12268347e+02] [-6.78028957e-02 9.97698676e-01 -3.44452493e-04 -3.43711229e+01] [-3.08250701e-03 1.35760381e-04 9.99995240e-01 -1.25380685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:412.33, Y:-34.39, Z:-1.26 [[ 9.97738506e-01 6.71451596e-02 3.06621693e-03 4.12326158e+02] [-6.71444177e-02 9.97743208e-01 -3.44374933e-04 -3.43911669e+01] [-3.08242022e-03 1.37716781e-04 9.99995240e-01 -1.25784288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:412.38, Y:-34.41, Z:-1.26 [[ 9.97371311e-01 7.23952092e-02 3.06622474e-03 4.12383859e+02] [-7.23944923e-02 9.97376017e-01 -3.44305400e-04 -3.44123415e+01] [-3.08310507e-03 1.21422545e-04 9.99995240e-01 -1.26342961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters Centerline goodness : 0.993911 with order 1 Centerline is valid? [True, True] Translation: X:412.44, Y:-34.43, Z:-1.26 [[ 9.96909417e-01 7.84997609e-02 3.06622863e-03 4.12442396e+02] [-7.84990729e-02 9.96914127e-01 -3.44270704e-04 -3.44321831e+01] [-3.08379181e-03 1.02510601e-04 9.99995240e-01 -1.25676009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters Centerline goodness : 0.993826 with order 1 Centerline is valid? [True, True] Translation: X:412.50, Y:-34.45, Z:-1.26 [[ 9.96574065e-01 8.26482357e-02 3.06622863e-03 4.12500870e+02] [-8.26475673e-02 9.96578778e-01 -3.44270704e-04 -3.44470259e+01] [-3.08419175e-03 8.96749175e-05 9.99995240e-01 -1.25734146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters Centerline goodness : 0.994125 with order 1 Centerline is valid? [True, True] Translation: X:412.56, Y:-34.47, Z:-1.25 [[ 9.95613555e-01 9.35106797e-02 3.06623260e-03 4.12559694e+02] [-9.35100628e-02 9.95618275e-01 -3.44235375e-04 -3.44682550e+01] [-3.08498689e-03 5.60018025e-05 9.99995240e-01 -1.25452956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters Centerline goodness : 0.993473 with order 1 Centerline is valid? [True, True] Translation: X:412.62, Y:-34.48, Z:-1.26 [[ 9.94906073e-01 1.00759638e-01 3.06623260e-03 4.12618248e+02] [-1.00759056e-01 9.94910797e-01 -3.44235375e-04 -3.44788196e+01] [-3.08531295e-03 3.35311641e-05 9.99995240e-01 -1.25576093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters Centerline goodness : 0.993676 with order 1 Centerline is valid? [True, True] Translation: X:412.68, Y:-34.49, Z:-1.26 [[ 9.93704294e-01 1.11992743e-01 3.06623651e-03 4.12677524e+02] [-1.11992214e-01 9.93709025e-01 -3.44200558e-04 -3.44866644e+01] [-3.08549485e-03 -1.36104163e-06 9.99995240e-01 -1.25558894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters Centerline goodness : 0.993983 with order 1 Centerline is valid? [True, True] Translation: X:412.74, Y:-34.48, Z:-1.26 [[ 9.92540083e-01 1.21880195e-01 3.06624428e-03 4.12737002e+02] [-1.21879713e-01 9.92544819e-01 -3.44131324e-04 -3.44830922e+01] [-3.08532766e-03 -3.21488402e-05 9.99995240e-01 -1.25613666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters Centerline goodness : 0.994388 with order 1 Centerline is valid? [True, True] Translation: X:412.80, Y:-34.48, Z:-1.25 [[ 9.92297527e-01 1.23839476e-01 3.06626037e-03 4.12796314e+02] [-1.23839004e-01 9.92302264e-01 -3.43987826e-04 -3.44835099e+01] [-3.08525638e-03 -3.83843629e-05 9.99995240e-01 -1.25309508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:412.85, Y:-34.48, Z:-1.25 [[ 9.92553243e-01 1.21772978e-01 3.06627666e-03 4.12854750e+02] [-1.21772496e-01 9.92557979e-01 -3.43842549e-04 -3.44831658e+01] [-3.08532810e-03 -3.21061274e-05 9.99995240e-01 -1.25363668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters Centerline goodness : 0.994652 with order 1 Centerline is valid? [True, True] Translation: X:412.91, Y:-34.48, Z:-1.26 [[ 9.93780767e-01 1.11312103e-01 3.06629683e-03 4.12914514e+02] [-1.11311573e-01 9.93785498e-01 -3.43662633e-04 -3.44813441e+01] [-3.08549513e-03 2.10992416e-07 9.99995240e-01 -1.25595510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters Centerline goodness : 0.994237 with order 1 Centerline is valid? [True, True] Translation: X:412.97, Y:-34.48, Z:-1.26 [[ 9.94740978e-01 1.02376680e-01 3.06630489e-03 4.12973476e+02] [-1.02376107e-01 9.94745703e-01 -3.43590736e-04 -3.44799819e+01] [-3.08536929e-03 2.78674261e-05 9.99995240e-01 -1.25974780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters Centerline goodness : 0.994647 with order 1 Centerline is valid? [True, True] Translation: X:413.03, Y:-34.48, Z:-1.26 [[ 9.95436661e-01 9.53753183e-02 3.06631683e-03 4.13033486e+02] [-9.53747126e-02 9.95441383e-01 -3.43484090e-04 -3.44832384e+01] [-3.08509857e-03 4.94675689e-05 9.99995240e-01 -1.25641443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [True, True] Translation: X:413.09, Y:-34.49, Z:-1.25 [[ 9.96098848e-01 8.81911680e-02 3.06632484e-03 4.13092009e+02] [-8.81905285e-02 9.96103565e-01 -3.43412572e-04 -3.44899053e+01] [-3.08466306e-03 7.16520595e-05 9.99995240e-01 -1.25066174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters Centerline goodness : 0.995384 with order 1 Centerline is valid? [True, True] Translation: X:413.15, Y:-34.50, Z:-1.25 [[ 9.96490694e-01 8.36474433e-02 3.06633670e-03 4.13150258e+02] [-8.36467826e-02 9.96495408e-01 -3.43306618e-04 -3.45022135e+01] [-3.08430717e-03 8.56126507e-05 9.99995240e-01 -1.25475205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters Centerline goodness : 0.994681 with order 1 Centerline is valid? [True, True] Translation: X:413.21, Y:-34.52, Z:-1.26 [[ 9.96796127e-01 7.99254597e-02 3.06634466e-03 4.13209739e+02] [-7.99247816e-02 9.96800838e-01 -3.43235587e-04 -3.45190898e+01] [-3.08396819e-03 9.70589771e-05 9.99995240e-01 -1.25606066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters Centerline goodness : 0.995220 with order 1 Centerline is valid? [True, True] Translation: X:413.27, Y:-34.54, Z:-1.25 [[ 9.96719041e-01 8.08810965e-02 3.06634466e-03 4.13267979e+02] [-8.08804230e-02 9.96723753e-01 -3.43235587e-04 -3.45372150e+01] [-3.08405982e-03 9.41021926e-05 9.99995240e-01 -1.25307057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:413.33, Y:-34.55, Z:-1.26 [[ 9.96051192e-01 8.87277921e-02 3.06632613e-03 4.13327721e+02] [-8.87271552e-02 9.96055909e-01 -3.43400989e-04 -3.45517466e+01] [-3.08470147e-03 6.99785701e-05 9.99995240e-01 -1.25974076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters Centerline goodness : 0.994479 with order 1 Centerline is valid? [True, True] Translation: X:413.39, Y:-34.56, Z:-1.26 [[ 9.95049241e-01 9.93358194e-02 3.06632212e-03 4.13387366e+02] [-9.93352326e-02 9.95053965e-01 -3.43436769e-04 -3.45641172e+01] [-3.08527156e-03 3.71426753e-05 9.99995240e-01 -1.26106847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters Centerline goodness : 0.994861 with order 1 Centerline is valid? [True, True] Translation: X:413.45, Y:-34.57, Z:-1.26 [[ 9.93835389e-01 1.10823361e-01 3.06632212e-03 4.13446346e+02] [-1.10822829e-01 9.93840119e-01 -3.43436769e-04 -3.45714999e+01] [-3.08549476e-03 1.50112241e-06 9.99995240e-01 -1.25833603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters Centerline goodness : 0.995061 with order 1 Centerline is valid? [True, True] Translation: X:413.51, Y:-34.58, Z:-1.26 [[ 9.92471963e-01 1.22433656e-01 3.06633009e-03 4.13505197e+02] [-1.22433179e-01 9.92476699e-01 -3.43365676e-04 -3.45765154e+01] [-3.08530068e-03 -3.46397344e-05 9.99995240e-01 -1.25730370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters Centerline goodness : 0.995464 with order 1 Centerline is valid? [True, True] Translation: X:413.56, Y:-34.58, Z:-1.26 [[ 9.91332989e-01 1.31337359e-01 3.06634639e-03 4.13563361e+02] [-1.31336925e-01 9.91337730e-01 -3.43220041e-04 -3.45764676e+01] [-3.08486248e-03 -6.24791569e-05 9.99995240e-01 -1.25625639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters Centerline goodness : 0.995214 with order 1 Centerline is valid? [True, True] Translation: X:413.62, Y:-34.58, Z:-1.26 [[ 9.90911902e-01 1.34477509e-01 3.06636654e-03 4.13622181e+02] [-1.34477091e-01 9.90916643e-01 -3.43039847e-04 -3.45781360e+01] [-3.08464479e-03 -7.24337856e-05 9.99995240e-01 -1.25946102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [True, True] Translation: X:413.68, Y:-34.57, Z:-1.26 [[ 9.90413102e-01 1.38103165e-01 3.06638250e-03 4.13682981e+02] [-1.38102765e-01 9.90417846e-01 -3.42897196e-04 -3.45677947e+01] [-3.08435513e-03 -8.38660255e-05 9.99995240e-01 -1.25666995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters Centerline goodness : 0.994822 with order 1 Centerline is valid? [True, True] Translation: X:413.74, Y:-34.56, Z:-1.26 [[ 9.90455303e-01 1.37800183e-01 3.06639828e-03 4.13742073e+02] [-1.37799782e-01 9.90460046e-01 -3.42756011e-04 -3.45637795e+01] [-3.08437682e-03 -8.30645047e-05 9.99995240e-01 -1.26070781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters Centerline goodness : 0.995150 with order 1 Centerline is valid? [True, True] Translation: X:413.80, Y:-34.56, Z:-1.26 [[ 9.90562954e-01 1.37024200e-01 3.06641777e-03 4.13800676e+02] [-1.37023796e-01 9.90567697e-01 -3.42581562e-04 -3.45587636e+01] [-3.08443635e-03 -8.08235980e-05 9.99995240e-01 -1.25850428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters Centerline goodness : 0.995894 with order 1 Centerline is valid? [True, True] Translation: X:413.86, Y:-34.56, Z:-1.26 [[ 9.90169464e-01 1.39839298e-01 3.06644088e-03 4.13859185e+02] [-1.39838908e-01 9.90174208e-01 -3.42374565e-04 -3.45576000e+01] [-3.08418809e-03 -8.97989036e-05 9.99995240e-01 -1.25805742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters Centerline goodness : 0.995538 with order 1 Centerline is valid? [True, True] Translation: X:413.92, Y:-34.56, Z:-1.25 [[ 9.90206293e-01 1.39578274e-01 3.06646030e-03 4.13918003e+02] [-1.39577883e-01 9.90211037e-01 -3.42200571e-04 -3.45556263e+01] [-3.08420659e-03 -8.91608787e-05 9.99995240e-01 -1.25458093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters Centerline goodness : 0.994818 with order 1 Centerline is valid? [True, True] Translation: X:413.98, Y:-34.55, Z:-1.26 [[ 9.90104953e-01 1.40295330e-01 3.06647971e-03 4.13976369e+02] [-1.40294943e-01 9.90109697e-01 -3.42026515e-04 -3.45468493e+01] [-3.08413602e-03 -9.15694489e-05 9.99995240e-01 -1.25996346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters Centerline goodness : 0.995348 with order 1 Centerline is valid? [True, True] Translation: X:414.04, Y:-34.54, Z:-1.26 [[ 9.90891560e-01 1.34627310e-01 3.06650606e-03 4.14035647e+02] [-1.34626897e-01 9.90896302e-01 -3.41790083e-04 -3.45435340e+01] [-3.08460380e-03 -7.41572867e-05 9.99995240e-01 -1.25755514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters Centerline goodness : 0.995256 with order 1 Centerline is valid? [True, True] Translation: X:414.10, Y:-34.54, Z:-1.26 [[ 9.91958252e-01 1.26528345e-01 3.06652239e-03 4.14095257e+02] [-1.26527893e-01 9.91962991e-01 -3.41643519e-04 -3.45414116e+01] [-3.08510431e-03 -4.91045096e-05 9.99995240e-01 -1.26121066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters Centerline goodness : 0.996049 with order 1 Centerline is valid? [True, True] Translation: X:414.15, Y:-34.54, Z:-1.25 [[ 9.92138952e-01 1.25103545e-01 3.06653877e-03 4.14153885e+02] [-1.25103087e-01 9.92143690e-01 -3.41496406e-04 -3.45406919e+01] [-3.08516950e-03 -4.48215790e-05 9.99995240e-01 -1.25491774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:414.21, Y:-34.54, Z:-1.26 [[ 9.91831376e-01 1.27519086e-01 3.06655904e-03 4.14211918e+02] [-1.27518640e-01 9.91836115e-01 -3.41314353e-04 -3.45412819e+01] [-3.08504810e-03 -5.25171543e-05 9.99995240e-01 -1.25751469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters Centerline goodness : 0.995517 with order 1 Centerline is valid? [True, True] Translation: X:414.27, Y:-34.54, Z:-1.26 [[ 9.91842199e-01 1.27434881e-01 3.06658317e-03 4.14271604e+02] [-1.27434435e-01 9.91846938e-01 -3.41097391e-04 -3.45394230e+01] [-3.08504883e-03 -5.24735075e-05 9.99995240e-01 -1.26016551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:414.33, Y:-34.54, Z:-1.26 [[ 9.92012336e-01 1.26103613e-01 3.06659928e-03 4.14330508e+02] [-1.26103162e-01 9.92017075e-01 -3.40952502e-04 -3.45413356e+01] [-3.08511419e-03 -4.84787771e-05 9.99995240e-01 -1.25827048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters Centerline goodness : 0.995714 with order 1 Centerline is valid? [True, True] Translation: X:414.39, Y:-34.54, Z:-1.26 [[ 9.92262485e-01 1.24119927e-01 3.06661531e-03 4.14388752e+02] [-1.24119467e-01 9.92267223e-01 -3.40808213e-04 -3.45416091e+01] [-3.08520295e-03 -4.24554525e-05 9.99995240e-01 -1.25977205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:414.45, Y:-34.54, Z:-1.26 [[ 9.92188431e-01 1.24710517e-01 3.06663948e-03 4.14446725e+02] [-1.24710059e-01 9.92193169e-01 -3.40590599e-04 -3.45436846e+01] [-3.08517398e-03 -4.45107404e-05 9.99995240e-01 -1.25796797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters Centerline goodness : 0.995855 with order 1 Centerline is valid? [True, True] Translation: X:414.50, Y:-34.55, Z:-1.26 [[ 9.92084964e-01 1.25530951e-01 3.06665961e-03 4.14504691e+02] [-1.25530498e-01 9.92089703e-01 -3.40409311e-04 -3.45455040e+01] [-3.08513332e-03 -4.72443495e-05 9.99995240e-01 -1.25504281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters Centerline goodness : 0.995454 with order 1 Centerline is valid? [True, True] Translation: X:414.56, Y:-34.55, Z:-1.26 [[ 9.92276863e-01 1.24004927e-01 3.06668367e-03 4.14563954e+02] [-1.24004468e-01 9.92281601e-01 -3.40192402e-04 -3.45480040e+01] [-3.08519932e-03 -4.27174267e-05 9.99995240e-01 -1.26134424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:414.62, Y:-34.55, Z:-1.26 [[ 9.92553776e-01 1.21768621e-01 3.06669969e-03 4.14621094e+02] [-1.21768152e-01 9.92558513e-01 -3.40047899e-04 -3.45514204e+01] [-3.08528605e-03 -3.59105273e-05 9.99995240e-01 -1.25960083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters Centerline goodness : 0.995483 with order 1 Centerline is valid? [True, True] Translation: X:414.68, Y:-34.56, Z:-1.26 [[ 9.93052340e-01 1.17633521e-01 3.06672741e-03 4.14679441e+02] [-1.17633032e-01 9.93057075e-01 -3.39797769e-04 -3.45563073e+01] [-3.08540696e-03 -2.33114748e-05 9.99995240e-01 -1.25657046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:414.74, Y:-34.56, Z:-1.26 [[ 9.93684391e-01 1.12169188e-01 3.06674294e-03 4.14736579e+02] [-1.12168674e-01 9.93689123e-01 -3.39657545e-04 -3.45646263e+01] [-3.08548821e-03 -6.48008684e-06 9.99995240e-01 -1.25879763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters Centerline goodness : 0.995385 with order 1 Centerline is valid? [True, True] Translation: X:414.80, Y:-34.57, Z:-1.26 [[ 9.94491460e-01 1.04772756e-01 3.06676616e-03 4.14795157e+02] [-1.04772208e-01 9.94496189e-01 -3.39447696e-04 -3.45744207e+01] [-3.08545213e-03 1.62659731e-05 9.99995240e-01 -1.26192238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters Centerline goodness : 0.995833 with order 1 Centerline is valid? [True, True] Translation: X:414.85, Y:-34.59, Z:-1.26 [[ 9.95077213e-01 9.90552132e-02 3.06678240e-03 4.14852099e+02] [-9.90546378e-02 9.95081938e-01 -3.39300944e-04 -3.45860411e+01] [-3.08530930e-03 3.38516176e-05 9.99995240e-01 -1.25831535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters Centerline goodness : 0.995741 with order 1 Centerline is valid? [True, True] Translation: X:414.91, Y:-34.60, Z:-1.26 [[ 9.95136395e-01 9.84588743e-02 3.06680240e-03 4.14908918e+02] [-9.84582967e-02 9.95141120e-01 -3.39120126e-04 -3.45987147e+01] [-3.08529056e-03 3.55186389e-05 9.99995240e-01 -1.25984771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters Centerline goodness : 0.995117 with order 1 Centerline is valid? [True, True] Translation: X:414.97, Y:-34.61, Z:-1.27 [[ 9.94927618e-01 1.00546653e-01 3.06682629e-03 4.14965823e+02] [-1.00546086e-01 9.94932344e-01 -3.38903866e-04 -3.46104882e+01] [-3.08536032e-03 2.88274371e-05 9.99995240e-01 -1.26585380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:415.02, Y:-34.63, Z:-1.26 [[ 9.94944847e-01 1.00376022e-01 3.06684602e-03 4.15023357e+02] [-1.00375454e-01 9.94949573e-01 -3.38725297e-04 -3.46254623e+01] [-3.08535703e-03 2.91769265e-05 9.99995240e-01 -1.26151359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:415.08, Y:-34.64, Z:-1.26 [[ 9.94926656e-01 1.00556174e-01 3.06686156e-03 4.15081210e+02] [-1.00555608e-01 9.94931382e-01 -3.38584500e-04 -3.46409668e+01] [-3.08536357e-03 2.84766149e-05 9.99995240e-01 -1.25954810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters Centerline goodness : 0.996639 with order 1 Centerline is valid? [True, True] Translation: X:415.14, Y:-34.65, Z:-1.25 [[ 9.94439769e-01 1.05262245e-01 3.06687709e-03 4.15138486e+02] [-1.05261702e-01 9.94444498e-01 -3.38443788e-04 -3.46532473e+01] [-3.08546440e-03 1.37372597e-05 9.99995240e-01 -1.25075826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:415.20, Y:-34.66, Z:-1.26 [[ 9.93914145e-01 1.10114786e-01 3.06690049e-03 4.15195784e+02] [-1.10114267e-01 9.93918877e-01 -3.38231597e-04 -3.46617830e+01] [-3.08549459e-03 -1.53633043e-06 9.99995240e-01 -1.25549298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters Centerline goodness : 0.995226 with order 1 Centerline is valid? [True, True] Translation: X:415.25, Y:-34.67, Z:-1.26 [[ 9.93932289e-01 1.09950889e-01 3.06691981e-03 4.15254641e+02] [-1.09950369e-01 9.93937021e-01 -3.38056299e-04 -3.46672385e+01] [-3.08549473e-03 -1.20389451e-06 9.99995240e-01 -1.26426394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters Centerline goodness : 0.995804 with order 1 Centerline is valid? [True, True] Translation: X:415.31, Y:-34.67, Z:-1.26 [[ 9.94437157e-01 1.05286919e-01 3.06693491e-03 4.15313399e+02] [-1.05286378e-01 9.94441886e-01 -3.37919306e-04 -3.46737051e+01] [-3.08546701e-03 1.31330468e-05 9.99995240e-01 -1.25836903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters Centerline goodness : 0.996226 with order 1 Centerline is valid? [True, True] Translation: X:415.37, Y:-34.68, Z:-1.26 [[ 9.94585921e-01 1.03872227e-01 3.06695084e-03 4.15371306e+02] [-1.03871680e-01 9.94590650e-01 -3.37774661e-04 -3.46772811e+01] [-3.08544603e-03 1.73765879e-05 9.99995240e-01 -1.25773245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:415.43, Y:-34.68, Z:-1.26 [[ 9.94814116e-01 1.01663501e-01 3.06697451e-03 4.15430018e+02] [-1.01662943e-01 9.94818844e-01 -3.37559609e-04 -3.46811531e+01] [-3.08540152e-03 2.40114092e-05 9.99995240e-01 -1.26070346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters Centerline goodness : 0.995859 with order 1 Centerline is valid? [True, True] Translation: X:415.49, Y:-34.69, Z:-1.26 [[ 9.95454908e-01 9.51846580e-02 3.06699020e-03 4.15486916e+02] [-9.51840701e-02 9.95459632e-01 -3.37416930e-04 -3.46891781e+01] [-3.08518185e-03 4.39547284e-05 9.99995240e-01 -1.25934415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters Centerline goodness : 0.996558 with order 1 Centerline is valid? [True, True] Translation: X:415.54, Y:-34.70, Z:-1.26 [[ 9.96161828e-01 8.74768855e-02 3.06700958e-03 4.15543839e+02] [-8.74762616e-02 9.96166547e-01 -3.37240715e-04 -3.46991634e+01] [-3.08475311e-03 6.76557947e-05 9.99995240e-01 -1.25642371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters Centerline goodness : 0.996350 with order 1 Centerline is valid? [True, True] Translation: X:415.60, Y:-34.71, Z:-1.25 [[ 9.96522516e-01 8.32674473e-02 3.06702845e-03 4.15601721e+02] [-8.32668040e-02 9.96527233e-01 -3.37069020e-04 -3.47097886e+01] [-3.08444425e-03 8.05152116e-05 9.99995240e-01 -1.25448065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters Centerline goodness : 0.996587 with order 1 Centerline is valid? [True, True] Translation: X:415.66, Y:-34.73, Z:-1.25 [[ 9.96869298e-01 7.90075661e-02 3.06704352e-03 4.15659420e+02] [-7.90069031e-02 9.96874012e-01 -3.36931816e-04 -3.47253844e+01] [-3.08407614e-03 9.35593725e-05 9.99995240e-01 -1.25458745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters Centerline goodness : 0.996518 with order 1 Centerline is valid? [True, True] Translation: X:415.72, Y:-34.74, Z:-1.25 [[ 9.96729143e-01 8.07564767e-02 3.06705887e-03 4.15716951e+02] [-8.07558224e-02 9.96733858e-01 -3.36792066e-04 -3.47432224e+01] [-3.08423956e-03 8.80076063e-05 9.99995240e-01 -1.25374019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters Centerline goodness : 0.996451 with order 1 Centerline is valid? [True, True] Translation: X:415.77, Y:-34.75, Z:-1.25 [[ 9.96397661e-01 8.47484194e-02 3.06707443e-03 4.15774149e+02] [-8.47477844e-02 9.96402378e-01 -3.36650265e-04 -3.47547474e+01] [-3.08457084e-03 7.55097739e-05 9.99995240e-01 -1.25158077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:415.83, Y:-34.77, Z:-1.26 [[ 9.95962310e-01 8.97199479e-02 3.06709371e-03 4.15831635e+02] [-8.97193369e-02 9.95967031e-01 -3.36474555e-04 -3.47680473e+01] [-3.08491269e-03 5.99383618e-05 9.99995240e-01 -1.25720261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters Centerline goodness : 0.995973 with order 1 Centerline is valid? [True, True] Translation: X:415.89, Y:-34.79, Z:-1.26 [[ 9.95368285e-01 9.60862613e-02 3.06710907e-03 4.15888966e+02] [-9.60856810e-02 9.95373010e-01 -3.36334475e-04 -3.47864933e+01] [-3.08523471e-03 4.00714065e-05 9.99995240e-01 -1.26086481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters Centerline goodness : 0.996540 with order 1 Centerline is valid? [True, True] Translation: X:415.95, Y:-34.80, Z:-1.26 [[ 9.95067651e-01 9.91512157e-02 3.06712456e-03 4.15946623e+02] [-9.91506504e-02 9.95072377e-01 -3.36193171e-04 -3.48012039e+01] [-3.08534489e-03 3.04275540e-05 9.99995240e-01 -1.25836237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters Centerline goodness : 0.996167 with order 1 Centerline is valid? [True, True] Translation: X:416.01, Y:-34.81, Z:-1.26 [[ 9.94679407e-01 1.02973152e-01 3.06714026e-03 4.16005165e+02] [-1.02972605e-01 9.94684136e-01 -3.36049809e-04 -3.48108863e+01] [-3.08543987e-03 1.84304016e-05 9.99995240e-01 -1.26205844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters Centerline goodness : 0.995898 with order 1 Centerline is valid? [True, True] Translation: X:416.06, Y:-34.82, Z:-1.26 [[ 9.93775744e-01 1.11356920e-01 3.06715590e-03 4.16062999e+02] [-1.11356414e-01 9.93780477e-01 -3.35907073e-04 -3.48191623e+01] [-3.08548523e-03 -7.73118026e-06 9.99995240e-01 -1.26150939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters Centerline goodness : 0.996525 with order 1 Centerline is valid? [True, True] Translation: X:416.12, Y:-34.82, Z:-1.26 [[ 9.92986988e-01 1.18183901e-01 3.06717151e-03 4.16120961e+02] [-1.18183427e-01 9.92991724e-01 -3.35764464e-04 -3.48236329e+01] [-3.08535788e-03 -2.90790969e-05 9.99995240e-01 -1.26211940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters Centerline goodness : 0.996689 with order 1 Centerline is valid? [True, True] Translation: X:416.18, Y:-34.83, Z:-1.26 [[ 9.93033118e-01 1.17795667e-01 3.06719098e-03 4.16179641e+02] [-1.17795192e-01 9.93037854e-01 -3.35586508e-04 -3.48276164e+01] [-3.08536738e-03 -2.80518339e-05 9.99995240e-01 -1.25668101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters Centerline goodness : 0.996630 with order 1 Centerline is valid? [True, True] Translation: X:416.24, Y:-34.83, Z:-1.25 [[ 9.93610134e-01 1.12825062e-01 3.06720652e-03 4.16237639e+02] [-1.12824564e-01 9.93614868e-01 -3.35444411e-04 -3.48312990e+01] [-3.08546854e-03 -1.27552731e-05 9.99995240e-01 -1.25271177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters Centerline goodness : 0.996705 with order 1 Centerline is valid? [True, True] Translation: X:416.30, Y:-34.83, Z:-1.26 [[ 9.93659101e-01 1.12392985e-01 3.06722581e-03 4.16296530e+02] [-1.12392485e-01 9.93663835e-01 -3.35267922e-04 -3.48341711e+01] [-3.08547312e-03 -1.15911098e-05 9.99995240e-01 -1.25919031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters Centerline goodness : 0.997142 with order 1 Centerline is valid? [True, True] Translation: X:416.36, Y:-34.83, Z:-1.25 [[ 9.92988398e-01 1.18172053e-01 3.06724072e-03 4.16356210e+02] [-1.18171581e-01 9.92993134e-01 -3.35131488e-04 -3.48331898e+01] [-3.08535215e-03 -2.96790055e-05 9.99995240e-01 -1.25332016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters Centerline goodness : 0.996829 with order 1 Centerline is valid? [True, True] Translation: X:416.42, Y:-34.83, Z:-1.26 [[ 9.92418817e-01 1.22863677e-01 3.06725576e-03 4.16415580e+02] [-1.22863229e-01 9.92423556e-01 -3.34993767e-04 -3.48320401e+01] [-3.08517543e-03 -4.43988275e-05 9.99995240e-01 -1.25507748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters Centerline goodness : 0.995832 with order 1 Centerline is valid? [True, True] Translation: X:416.47, Y:-34.83, Z:-1.26 [[ 9.92294837e-01 1.23861002e-01 3.06727077e-03 4.16473337e+02] [-1.23860559e-01 9.92299577e-01 -3.34856281e-04 -3.48268878e+01] [-3.08512712e-03 -4.76377125e-05 9.99995240e-01 -1.25965734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters Centerline goodness : 0.995618 with order 1 Centerline is valid? [True, True] Translation: X:416.53, Y:-34.83, Z:-1.26 [[ 9.92806089e-01 1.19694035e-01 3.06729677e-03 4.16532277e+02] [-1.19693573e-01 9.92810826e-01 -3.34617906e-04 -3.48286462e+01] [-3.08529721e-03 -3.49250141e-05 9.99995240e-01 -1.26022956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters Centerline goodness : 0.995874 with order 1 Centerline is valid? [True, True] Translation: X:416.59, Y:-34.83, Z:-1.26 [[ 9.93482009e-01 1.13947747e-01 3.06731259e-03 4.16590038e+02] [-1.13947257e-01 9.93486744e-01 -3.34472893e-04 -3.48320022e+01] [-3.08544683e-03 -1.72190552e-05 9.99995240e-01 -1.26060806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters Centerline goodness : 0.994911 with order 1 Centerline is valid? [True, True] Translation: X:416.65, Y:-34.84, Z:-1.26 [[ 9.94762135e-01 1.02170864e-01 3.06733212e-03 4.16648501e+02] [-1.02170319e-01 9.94766864e-01 -3.34293658e-04 -3.48421104e+01] [-3.08543543e-03 1.91523720e-05 9.99995240e-01 -1.25936772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters Centerline goodness : 0.994746 with order 1 Centerline is valid? [True, True] Translation: X:416.71, Y:-34.85, Z:-1.26 [[ 9.95593591e-01 9.37229600e-02 3.06734807e-03 4.16705970e+02] [-9.37223752e-02 9.95598315e-01 -3.34147280e-04 -3.48521776e+01] [-3.08516384e-03 4.51957443e-05 9.99995240e-01 -1.26259218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters Centerline goodness : 0.994855 with order 1 Centerline is valid? [True, True] Translation: X:416.76, Y:-34.87, Z:-1.26 [[ 9.95612130e-01 9.35258176e-02 3.06736931e-03 4.16763238e+02] [-9.35252325e-02 9.95616854e-01 -3.33952129e-04 -3.48679220e+01] [-3.08515773e-03 4.56103620e-05 9.99995240e-01 -1.26210773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters Centerline goodness : 0.994321 with order 1 Centerline is valid? [True, True] Translation: X:416.82, Y:-34.88, Z:-1.26 [[ 9.95496238e-01 9.47514228e-02 3.06738481e-03 4.16820950e+02] [-9.47508439e-02 9.95500962e-01 -3.33809762e-04 -3.48800371e+01] [-3.08521348e-03 4.16690635e-05 9.99995240e-01 -1.25690842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters Centerline goodness : 0.994644 with order 1 Centerline is valid? [True, True] Translation: X:416.88, Y:-34.90, Z:-1.26 [[ 9.94925515e-01 1.00567441e-01 3.06740045e-03 4.16877662e+02] [-1.00566890e-01 9.94930243e-01 -3.33665914e-04 -3.48954731e+01] [-3.08540541e-03 2.34938064e-05 9.99995240e-01 -1.26228893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters Centerline goodness : 0.995067 with order 1 Centerline is valid? [True, True] Translation: X:416.94, Y:-34.90, Z:-1.27 [[ 9.94251599e-01 1.07024988e-01 3.06741973e-03 4.16936408e+02] [-1.07024468e-01 9.94256331e-01 -3.33488574e-04 -3.49033958e+01] [-3.08549310e-03 3.28258251e-06 9.99995240e-01 -1.26779050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters Centerline goodness : 0.994382 with order 1 Centerline is valid? [True, True] Translation: X:416.99, Y:-34.91, Z:-1.26 [[ 9.93673957e-01 1.12261563e-01 3.06743509e-03 4.16993597e+02] [-1.12261069e-01 9.93678691e-01 -3.33347293e-04 -3.49125870e+01] [-3.08546697e-03 -1.31150165e-05 9.99995240e-01 -1.26361001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters Centerline goodness : 0.994545 with order 1 Centerline is valid? [True, True] Translation: X:417.05, Y:-34.92, Z:-1.26 [[ 9.93805635e-01 1.11089828e-01 3.06745411e-03 4.17052164e+02] [-1.11089329e-01 9.93810369e-01 -3.33172118e-04 -3.49201210e+01] [-3.08547974e-03 -9.65309100e-06 9.99995240e-01 -1.25843802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters Centerline goodness : 0.994439 with order 1 Centerline is valid? [True, True] Translation: X:417.11, Y:-34.93, Z:-1.26 [[ 9.94221250e-01 1.07306555e-01 3.06746920e-03 4.17110044e+02] [-1.07306038e-01 9.94225982e-01 -3.33033196e-04 -3.49324944e+01] [-3.08549422e-03 1.95071443e-06 9.99995240e-01 -1.25516203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters Centerline goodness : 0.994355 with order 1 Centerline is valid? [True, True] Translation: X:417.17, Y:-34.94, Z:-1.26 [[ 9.94620295e-01 1.03542546e-01 3.06748413e-03 4.17168296e+02] [-1.03542012e-01 9.94625025e-01 -3.32895628e-04 -3.49425363e+01] [-3.08546534e-03 1.34912707e-05 9.99995240e-01 -1.26074415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters Centerline goodness : 0.994072 with order 1 Centerline is valid? [True, True] Translation: X:417.23, Y:-34.95, Z:-1.26 [[ 9.94203509e-01 1.07470802e-01 3.06749518e-03 4.17226859e+02] [-1.07470287e-01 9.94208241e-01 -3.32793731e-04 -3.49510954e+01] [-3.08549460e-03 1.20010746e-06 9.99995240e-01 -1.26055672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters Centerline goodness : 0.994065 with order 1 Centerline is valid? [True, True] Translation: X:417.28, Y:-34.96, Z:-1.26 [[ 9.93500250e-01 1.13788589e-01 3.06751109e-03 4.17284647e+02] [-1.13788104e-01 9.93504986e-01 -3.32646975e-04 -3.49561998e+01] [-3.08543900e-03 -1.85614195e-05 9.99995240e-01 -1.26179973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:417.34, Y:-34.96, Z:-1.27 [[ 9.92999135e-01 1.18081790e-01 3.06753086e-03 4.17343497e+02] [-1.18081326e-01 9.93003872e-01 -3.32464635e-04 -3.49580215e+01] [-3.08532804e-03 -3.20810166e-05 9.99995240e-01 -1.26550978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters Centerline goodness : 0.994677 with order 1 Centerline is valid? [True, True] Translation: X:417.40, Y:-34.96, Z:-1.26 [[ 9.92789350e-01 1.19832787e-01 3.06754661e-03 4.17401440e+02] [-1.19832332e-01 9.92794088e-01 -3.32319207e-04 -3.49574990e+01] [-3.08526488e-03 -3.76682958e-05 9.99995240e-01 -1.26499359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters Centerline goodness : 0.994804 with order 1 Centerline is valid? [True, True] Translation: X:417.46, Y:-34.96, Z:-1.26 [[ 9.93077346e-01 1.17422209e-01 3.06756612e-03 4.17460497e+02] [-1.17421743e-01 9.93082083e-01 -3.32138993e-04 -3.49610701e+01] [-3.08534545e-03 -3.03592510e-05 9.99995240e-01 -1.25736879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters Centerline goodness : 0.994097 with order 1 Centerline is valid? [True, True] Translation: X:417.52, Y:-34.97, Z:-1.26 [[ 9.94114271e-01 1.08293152e-01 3.06758145e-03 4.17519500e+02] [-1.08292643e-01 9.94119004e-01 -3.31997409e-04 -3.49694958e+01] [-3.08549406e-03 -2.15313909e-06 9.99995240e-01 -1.26406357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters Centerline goodness : 0.994446 with order 1 Centerline is valid? [True, True] Translation: X:417.58, Y:-34.98, Z:-1.26 [[ 9.94811103e-01 1.01692963e-01 3.06758912e-03 4.17578399e+02] [-1.01692423e-01 9.94815833e-01 -3.31926494e-04 -3.49816361e+01] [-3.08544081e-03 1.82535917e-05 9.99995240e-01 -1.25876677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters Centerline goodness : 0.994304 with order 1 Centerline is valid? [True, True] Translation: X:417.64, Y:-34.99, Z:-1.27 [[ 9.94984071e-01 9.99864427e-02 3.06759690e-03 4.17636172e+02] [-9.99858948e-02 9.94988799e-01 -3.31854632e-04 -3.49920475e+01] [-3.08540552e-03 2.34736520e-05 9.99995240e-01 -1.26578961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters Centerline goodness : 0.994180 with order 1 Centerline is valid? [True, True] Translation: X:417.69, Y:-35.00, Z:-1.26 [[ 9.94466389e-01 1.05010436e-01 3.06760540e-03 4.17694336e+02] [-1.05009912e-01 9.94471120e-01 -3.31775949e-04 -3.50003609e+01] [-3.08548492e-03 7.81105523e-06 9.99995240e-01 -1.26128340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters Centerline goodness : 0.994169 with order 1 Centerline is valid? [True, True] Translation: X:417.75, Y:-35.01, Z:-1.26 [[ 9.94288237e-01 1.06684077e-01 3.06762075e-03 4.17753687e+02] [-1.06683561e-01 9.94292969e-01 -3.31633997e-04 -3.50095087e+01] [-3.08549381e-03 2.47507568e-06 9.99995240e-01 -1.26177183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters Centerline goodness : 0.994258 with order 1 Centerline is valid? [True, True] Translation: X:417.81, Y:-35.02, Z:-1.26 [[ 9.94540758e-01 1.04303745e-01 3.06762840e-03 4.17811079e+02] [-1.04303218e-01 9.94545489e-01 -3.31563269e-04 -3.50209337e+01] [-3.08547927e-03 9.78967037e-06 9.99995240e-01 -1.26401580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters Centerline goodness : 0.994409 with order 1 Centerline is valid? [True, True] Translation: X:417.87, Y:-35.03, Z:-1.27 [[ 9.94626376e-01 1.03484112e-01 3.06763979e-03 4.17869289e+02] [-1.03483582e-01 9.94631107e-01 -3.31457855e-04 -3.50314133e+01] [-3.08547058e-03 1.22263729e-05 9.99995240e-01 -1.26614286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters Centerline goodness : 0.994628 with order 1 Centerline is valid? [True, True] Translation: X:417.93, Y:-35.04, Z:-1.27 [[ 9.94088335e-01 1.08530976e-01 3.06765093e-03 4.17927618e+02] [-1.08530470e-01 9.94093068e-01 -3.31354725e-04 -3.50350834e+01] [-3.08549277e-03 -3.53773026e-06 9.99995240e-01 -1.26733883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:417.99, Y:-35.04, Z:-1.27 [[ 9.93846232e-01 1.10726046e-01 3.06766582e-03 4.17986950e+02] [-1.10725551e-01 9.93850966e-01 -3.31216794e-04 -3.50408527e+01] [-3.08547696e-03 -1.04904251e-05 9.99995240e-01 -1.26575401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters Centerline goodness : 0.994323 with order 1 Centerline is valid? [True, True] Translation: X:418.05, Y:-35.05, Z:-1.26 [[ 9.93951066e-01 1.09781003e-01 3.06767358e-03 4.18045861e+02] [-1.09780503e-01 9.93955800e-01 -3.31144905e-04 -3.50459611e+01] [-3.08548536e-03 -7.62891874e-06 9.99995240e-01 -1.26428426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters Centerline goodness : 0.994746 with order 1 Centerline is valid? [True, True] Translation: X:418.10, Y:-35.05, Z:-1.27 [[ 9.93858000e-01 1.10620365e-01 3.06768508e-03 4.18104681e+02] [-1.10619870e-01 9.93862734e-01 -3.31038277e-04 -3.50512916e+01] [-3.08547746e-03 -1.03418857e-05 9.99995240e-01 -1.26810545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters Centerline goodness : 0.995104 with order 1 Centerline is valid? [True, True] Translation: X:418.16, Y:-35.05, Z:-1.27 [[ 9.93366897e-01 1.14946928e-01 3.06770048e-03 4.18163490e+02] [-1.14946454e-01 9.93371634e-01 -3.30895525e-04 -3.50529873e+01] [-3.08540206e-03 -2.39206316e-05 9.99995240e-01 -1.27069260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters Centerline goodness : 0.995212 with order 1 Centerline is valid? [True, True] Translation: X:418.22, Y:-35.05, Z:-1.26 [[ 9.93174924e-01 1.16593991e-01 3.06771639e-03 4.18221432e+02] [-1.16593525e-01 9.93179662e-01 -3.30747951e-04 -3.50545302e+01] [-3.08535675e-03 -2.91852971e-05 9.99995240e-01 -1.26189164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters Centerline goodness : 0.994810 with order 1 Centerline is valid? [True, True] Translation: X:418.28, Y:-35.06, Z:-1.26 [[ 9.93352638e-01 1.15070088e-01 3.06773799e-03 4.18279051e+02] [-1.15069616e-01 9.93357375e-01 -3.30547486e-04 -3.50581928e+01] [-3.08539629e-03 -2.46532151e-05 9.99995240e-01 -1.25839242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:418.34, Y:-35.06, Z:-1.27 [[ 9.93251832e-01 1.15936994e-01 3.06775867e-03 4.18338201e+02] [-1.15936527e-01 9.93256569e-01 -3.30355515e-04 -3.50583074e+01] [-3.08537187e-03 -2.75390643e-05 9.99995240e-01 -1.26833303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters Centerline goodness : 0.995647 with order 1 Centerline is valid? [True, True] Translation: X:418.40, Y:-35.06, Z:-1.27 [[ 9.93174099e-01 1.16601022e-01 3.06777457e-03 4.18396832e+02] [-1.16600558e-01 9.93178836e-01 -3.30207802e-04 -3.50612699e+01] [-3.08535134e-03 -2.97503910e-05 9.99995240e-01 -1.26850515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters Centerline goodness : 0.995672 with order 1 Centerline is valid? [True, True] Translation: X:418.46, Y:-35.06, Z:-1.26 [[ 9.93413239e-01 1.14545732e-01 3.06779036e-03 4.18455396e+02] [-1.14545259e-01 9.93417976e-01 -3.30061033e-04 -3.50633061e+01] [-3.08540517e-03 -2.35138419e-05 9.99995240e-01 -1.26444892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters Centerline goodness : 0.995344 with order 1 Centerline is valid? [True, True] Translation: X:418.51, Y:-35.07, Z:-1.27 [[ 9.93673734e-01 1.12263523e-01 3.06780624e-03 4.18512640e+02] [-1.12263039e-01 9.93678470e-01 -3.29913319e-04 -3.50698691e+01] [-3.08545024e-03 -1.65750530e-05 9.99995240e-01 -1.26723888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters Centerline goodness : 0.995023 with order 1 Centerline is valid? [True, True] Translation: X:418.57, Y:-35.08, Z:-1.27 [[ 9.93826153e-01 1.10906114e-01 3.06782589e-03 4.18570660e+02] [-1.10905624e-01 9.93830888e-01 -3.29730527e-04 -3.50796502e+01] [-3.08546926e-03 -1.25443239e-05 9.99995240e-01 -1.27012607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters Centerline goodness : 0.995070 with order 1 Centerline is valid? [True, True] Translation: X:418.63, Y:-35.09, Z:-1.27 [[ 9.93604409e-01 1.12875444e-01 3.06784141e-03 4.18628150e+02] [-1.12874965e-01 9.93609145e-01 -3.29586010e-04 -3.50892040e+01] [-3.08543745e-03 -1.88043785e-05 9.99995240e-01 -1.26988799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:418.69, Y:-35.10, Z:-1.27 [[ 9.93065488e-01 1.17522444e-01 3.06786056e-03 4.18686620e+02] [-1.17521987e-01 9.93070226e-01 -3.29407711e-04 -3.50960135e+01] [-3.08531378e-03 -3.34176394e-05 9.99995240e-01 -1.27175336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters Centerline goodness : 0.996026 with order 1 Centerline is valid? [True, True] Translation: X:418.74, Y:-35.10, Z:-1.27 [[ 9.92992729e-01 1.18135634e-01 3.06787618e-03 4.18744720e+02] [-1.18135180e-01 9.92997468e-01 -3.29262136e-04 -3.51026778e+01] [-3.08529087e-03 -3.54691990e-05 9.99995240e-01 -1.27185570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters Centerline goodness : 0.995378 with order 1 Centerline is valid? [True, True] Translation: X:418.80, Y:-35.11, Z:-1.26 [[ 9.93086773e-01 1.17342446e-01 3.06789188e-03 4.18802336e+02] [-1.17341989e-01 9.93091511e-01 -3.29115814e-04 -3.51063025e+01] [-3.08531664e-03 -3.31519745e-05 9.99995240e-01 -1.26452371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters Centerline goodness : 0.995827 with order 1 Centerline is valid? [True, True] Translation: X:418.86, Y:-35.11, Z:-1.26 [[ 9.94061947e-01 1.08772390e-01 3.06791279e-03 4.18861938e+02] [-1.08771893e-01 9.94066681e-01 -3.28920795e-04 -3.51134177e+01] [-3.08548738e-03 -6.73503493e-06 9.99995240e-01 -1.26289939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters Centerline goodness : 0.995944 with order 1 Centerline is valid? [True, True] Translation: X:418.92, Y:-35.12, Z:-1.27 [[ 9.94635345e-01 1.03397861e-01 3.06792050e-03 4.18921275e+02] [-1.03397338e-01 9.94640077e-01 -3.28848860e-04 -3.51235511e+01] [-3.08547895e-03 9.86988646e-06 9.99995240e-01 -1.26800765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters Centerline goodness : 0.995514 with order 1 Centerline is valid? [True, True] Translation: X:418.98, Y:-35.13, Z:-1.27 [[ 9.94732265e-01 1.02461254e-01 3.06792854e-03 4.18979816e+02] [-1.02460727e-01 9.94736996e-01 -3.28773807e-04 -3.51318357e+01] [-3.08546860e-03 1.26997246e-05 9.99995240e-01 -1.27092959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:419.04, Y:-35.14, Z:-1.27 [[ 9.94240405e-01 1.07128912e-01 3.06794053e-03 4.19038340e+02] [-1.07128408e-01 9.94245139e-01 -3.28661889e-04 -3.51379143e+01] [-3.08549415e-03 -1.89465536e-06 9.99995240e-01 -1.26848213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:419.10, Y:-35.14, Z:-1.27 [[ 9.93572914e-01 1.13152337e-01 3.06795647e-03 4.19095829e+02] [-1.13151862e-01 9.93577651e-01 -3.28513040e-04 -3.51421942e+01] [-3.08542500e-03 -2.07433293e-05 9.99995240e-01 -1.26905422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters Centerline goodness : 0.996351 with order 1 Centerline is valid? [True, True] Translation: X:419.15, Y:-35.15, Z:-1.27 [[ 9.93346321e-01 1.15124606e-01 3.06797622e-03 4.19153777e+02] [-1.15124141e-01 9.93351058e-01 -3.28328495e-04 -3.51460376e+01] [-3.08537611e-03 -2.70542240e-05 9.99995240e-01 -1.26921138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters Centerline goodness : 0.995977 with order 1 Centerline is valid? [True, True] Translation: X:419.21, Y:-35.15, Z:-1.27 [[ 9.93818852e-01 1.10971510e-01 3.06799545e-03 4.19211009e+02] [-1.10971026e-01 9.93823588e-01 -3.28148739e-04 -3.51530004e+01] [-3.08546140e-03 -1.43381984e-05 9.99995240e-01 -1.26738535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:419.27, Y:-35.16, Z:-1.27 [[ 9.94661706e-01 1.03143966e-01 3.06801588e-03 4.19269518e+02] [-1.03143445e-01 9.94666438e-01 -3.27957534e-04 -3.51644180e+01] [-3.08547927e-03 9.76107159e-06 9.99995240e-01 -1.26868167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:419.33, Y:-35.18, Z:-1.27 [[ 9.94816145e-01 1.01643617e-01 3.06802356e-03 4.19327461e+02] [-1.01643089e-01 9.94820876e-01 -3.27885726e-04 -3.51769822e+01] [-3.08546137e-03 1.43426216e-05 9.99995240e-01 -1.26631331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters Centerline goodness : 0.996531 with order 1 Centerline is valid? [True, True] Translation: X:419.39, Y:-35.19, Z:-1.27 [[ 9.93884614e-01 1.10380984e-01 3.06803491e-03 4.19385256e+02] [-1.10380498e-01 9.93889349e-01 -3.27779497e-04 -3.51858304e+01] [-3.08546784e-03 -1.28762229e-05 9.99995240e-01 -1.26908891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters Centerline goodness : 0.996337 with order 1 Centerline is valid? [True, True] Translation: X:419.44, Y:-35.19, Z:-1.27 [[ 9.92539879e-01 1.21881807e-01 3.06804997e-03 4.19443549e+02] [-1.21881376e-01 9.92544620e-01 -3.27638437e-04 -3.51925185e+01] [-3.08510966e-03 -4.87439377e-05 9.99995240e-01 -1.27100480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters Centerline goodness : 0.996205 with order 1 Centerline is valid? [True, True] Translation: X:419.50, Y:-35.19, Z:-1.27 [[ 9.91644653e-01 1.28963055e-01 3.06806516e-03 4.19501269e+02] [-1.28962659e-01 9.91649396e-01 -3.27496126e-04 -3.51919835e+01] [-3.08467987e-03 -7.09060596e-05 9.99995240e-01 -1.27347863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters Centerline goodness : 0.995902 with order 1 Centerline is valid? [True, True] Translation: X:419.56, Y:-35.19, Z:-1.28 [[ 9.91854074e-01 1.27342382e-01 3.06808385e-03 4.19560279e+02] [-1.27341979e-01 9.91858817e-01 -3.27320926e-04 -3.51918848e+01] [-3.08478785e-03 -6.60412756e-05 9.99995240e-01 -1.27639381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters Centerline goodness : 0.996305 with order 1 Centerline is valid? [True, True] Translation: X:419.62, Y:-35.19, Z:-1.27 [[ 9.92617713e-01 1.21246287e-01 3.06809959e-03 4.19617932e+02] [-1.21245854e-01 9.92622454e-01 -3.27173343e-04 -3.51930666e+01] [-3.08513310e-03 -4.72363006e-05 9.99995240e-01 -1.26898106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters Centerline goodness : 0.996307 with order 1 Centerline is valid? [True, True] Translation: X:419.68, Y:-35.20, Z:-1.27 [[ 9.93703065e-01 1.12003593e-01 3.06811907e-03 4.19676687e+02] [-1.12003117e-01 9.93707802e-01 -3.26990585e-04 -3.52002366e+01] [-3.08543798e-03 -1.87073524e-05 9.99995240e-01 -1.27324514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters Centerline goodness : 0.996678 with order 1 Centerline is valid? [True, True] Translation: X:419.73, Y:-35.21, Z:-1.27 [[ 9.94535707e-01 1.04351874e-01 3.06813392e-03 4.19733952e+02] [-1.04351362e-01 9.94540440e-01 -3.26851197e-04 -3.52056223e+01] [-3.08549079e-03 4.90123312e-06 9.99995240e-01 -1.27470314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:419.79, Y:-35.21, Z:-1.27 [[ 9.95001973e-01 9.98081155e-02 3.06815229e-03 4.19792379e+02] [-9.98075826e-02 9.95006703e-01 -3.26678702e-04 -3.52109830e+01] [-3.08543728e-03 1.88210900e-05 9.99995240e-01 -1.27409038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters Centerline goodness : 0.996454 with order 1 Centerline is valid? [True, True] Translation: X:419.85, Y:-35.21, Z:-1.28 [[ 9.95209509e-01 9.77170385e-02 3.06816688e-03 4.19851584e+02] [-9.77164962e-02 9.95214238e-01 -3.26541564e-04 -3.52140444e+01] [-3.08539204e-03 2.51667524e-05 9.99995240e-01 -1.27579795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:419.91, Y:-35.22, Z:-1.27 [[ 9.95245116e-01 9.73537111e-02 3.06818188e-03 4.19910148e+02] [-9.73531674e-02 9.95249845e-01 -3.26400545e-04 -3.52156321e+01] [-3.08538385e-03 2.61513237e-05 9.99995240e-01 -1.27433332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters Centerline goodness : 0.996633 with order 1 Centerline is valid? [True, True] Translation: X:419.97, Y:-35.22, Z:-1.27 [[ 9.95435900e-01 9.53832066e-02 3.06819702e-03 4.19968969e+02] [-9.53826541e-02 9.95440627e-01 -3.26258228e-04 -3.52185528e+01] [-3.08532752e-03 3.21163782e-05 9.99995240e-01 -1.26998914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters Centerline goodness : 0.996784 with order 1 Centerline is valid? [True, True] Translation: X:420.03, Y:-35.22, Z:-1.27 [[ 9.95779805e-01 9.17233163e-02 3.06821198e-03 4.20028181e+02] [-9.17227467e-02 9.95784531e-01 -3.26117455e-04 -3.52193069e+01] [-3.08519060e-03 4.33163451e-05 9.99995240e-01 -1.27298784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters Centerline goodness : 0.997276 with order 1 Centerline is valid? [True, True] Translation: X:420.09, Y:-35.23, Z:-1.27 [[ 9.96826548e-01 7.95450746e-02 3.06822680e-03 4.20087377e+02] [-7.95444478e-02 9.96831267e-01 -3.25977979e-04 -3.52289596e+01] [-3.08443435e-03 8.08830969e-05 9.99995240e-01 -1.27240882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters Centerline goodness : 0.996891 with order 1 Centerline is valid? [True, True] Translation: X:420.15, Y:-35.24, Z:-1.27 [[ 9.97297962e-01 7.33986470e-02 3.06823045e-03 4.20146046e+02] [-7.33979913e-02 9.97302677e-01 -3.25943548e-04 -3.52428036e+01] [-3.08387826e-03 9.98608836e-05 9.99995240e-01 -1.27429263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:420.20, Y:-35.26, Z:-1.28 [[ 9.97248992e-01 7.40610139e-02 3.06823764e-03 4.20204292e+02] [-7.40603615e-02 9.97253707e-01 -3.25875903e-04 -3.52579617e+01] [-3.08394606e-03 9.77446271e-05 9.99995240e-01 -1.27580659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters Centerline goodness : 0.996956 with order 1 Centerline is valid? [True, True] Translation: X:420.26, Y:-35.27, Z:-1.28 [[ 9.97091049e-01 7.61578967e-02 3.06824118e-03 4.20264087e+02] [-7.61572543e-02 9.97095766e-01 -3.25842594e-04 -3.52679764e+01] [-3.08414577e-03 9.12259108e-05 9.99995240e-01 -1.27547080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters Centerline goodness : 0.997527 with order 1 Centerline is valid? [True, True] Translation: X:420.32, Y:-35.29, Z:-1.28 [[ 9.95937362e-01 8.99964216e-02 3.06824118e-03 4.20321640e+02] [-8.99958447e-02 9.95942088e-01 -3.25842594e-04 -3.52863026e+01] [-3.08511519e-03 4.83898575e-05 9.99995240e-01 -1.27947188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:420.38, Y:-35.30, Z:-1.28 [[ 9.95395203e-01 9.58069709e-02 3.06825518e-03 4.20379634e+02] [-9.58064221e-02 9.95399931e-01 -3.25710676e-04 -3.53024575e+01] [-3.08534635e-03 3.02522941e-05 9.99995240e-01 -1.27689915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters Centerline goodness : 0.997671 with order 1 Centerline is valid? [True, True] Translation: X:420.44, Y:-35.32, Z:-1.28 [[ 9.95510668e-01 9.45996617e-02 3.06826218e-03 4.20437437e+02] [-9.45991073e-02 9.95515396e-01 -3.25644681e-04 -3.53179384e+01] [-3.08530812e-03 3.39278908e-05 9.99995240e-01 -1.27936262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:420.50, Y:-35.33, Z:-1.28 [[ 9.95606654e-01 9.35840622e-02 3.06825818e-03 4.20497064e+02] [-9.35835028e-02 9.95611381e-01 -3.25682381e-04 -3.53338750e+01] [-3.08527145e-03 3.71131968e-05 9.99995240e-01 -1.28083576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:420.56, Y:-35.35, Z:-1.27 [[ 9.95421220e-01 9.55362782e-02 3.06825128e-03 4.20557814e+02] [-9.55357279e-02 9.95425948e-01 -3.25747363e-04 -3.53473923e+01] [-3.08533763e-03 3.11282181e-05 9.99995240e-01 -1.27318295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters Centerline goodness : 0.997870 with order 1 Centerline is valid? [True, True] Translation: X:420.62, Y:-35.36, Z:-1.28 [[ 9.95218523e-01 9.76251930e-02 3.06824366e-03 4.20618253e+02] [-9.76246524e-02 9.95223252e-01 -3.25819140e-04 -3.53555145e+01] [-3.08539559e-03 2.47250223e-05 9.99995240e-01 -1.28168204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters Centerline goodness : 0.997388 with order 1 Centerline is valid? [True, True] Translation: X:420.68, Y:-35.36, Z:-1.28 [[ 9.95305853e-01 9.67307884e-02 3.06819455e-03 4.20679449e+02] [-9.67302422e-02 9.95310582e-01 -3.26280932e-04 -3.53614474e+01] [-3.08536792e-03 2.79621193e-05 9.99995240e-01 -1.27768961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters Centerline goodness : 0.997577 with order 1 Centerline is valid? [True, True] Translation: X:420.74, Y:-35.37, Z:-1.28 [[ 9.95332075e-01 9.64605974e-02 3.06817997e-03 4.20740359e+02] [-9.64600494e-02 9.95336803e-01 -3.26418040e-04 -3.53654037e+01] [-3.08535892e-03 2.89375538e-05 9.99995240e-01 -1.27658308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:420.80, Y:-35.37, Z:-1.28 [[ 9.95237420e-01 9.74323571e-02 3.06817212e-03 4.20801480e+02] [-9.74318135e-02 9.95242149e-01 -3.26491813e-04 -3.53692111e+01] [-3.08538508e-03 2.59992963e-05 9.99995240e-01 -1.28087139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:420.86, Y:-35.38, Z:-1.28 [[ 9.95299311e-01 9.67980819e-02 3.06816443e-03 4.20863310e+02] [-9.67975351e-02 9.95304039e-01 -3.26564015e-04 -3.53778040e+01] [-3.08536722e-03 2.80381849e-05 9.99995240e-01 -1.28049745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters Centerline goodness : 0.997889 with order 1 Centerline is valid? [True, True] Translation: X:420.92, Y:-35.38, Z:-1.28 [[ 9.94985040e-01 9.99767843e-02 3.06810786e-03 4.20923526e+02] [-9.99762509e-02 9.94989770e-01 -3.27094693e-04 -3.53805883e+01] [-3.08543780e-03 1.87164056e-05 9.99995240e-01 -1.27783468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters Centerline goodness : 0.997262 with order 1 Centerline is valid? [True, True] Translation: X:420.98, Y:-35.39, Z:-1.28 [[ 9.94511812e-01 1.04579360e-01 3.06810386e-03 4.20984022e+02] [-1.04578848e-01 9.94516545e-01 -3.27132136e-04 -3.53854027e+01] [-3.08549132e-03 4.47800603e-06 9.99995240e-01 -1.27534151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:421.04, Y:-35.39, Z:-1.28 [[ 9.94383542e-01 1.05792049e-01 3.06810386e-03 4.21044585e+02] [-1.05791543e-01 9.94388275e-01 -3.27132136e-04 -3.53860732e+01] [-3.08549449e-03 7.15369180e-07 9.99995240e-01 -1.28371836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters Centerline goodness : 0.997776 with order 1 Centerline is valid? [True, True] Translation: X:421.10, Y:-35.39, Z:-1.28 [[ 9.94364940e-01 1.05966751e-01 3.06810386e-03 4.21104612e+02] [-1.05966246e-01 9.94369674e-01 -3.27132136e-04 -3.53906213e+01] [-3.08549457e-03 1.73279734e-07 9.99995240e-01 -1.28404652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters Centerline goodness : 0.997304 with order 1 Centerline is valid? [True, True] Translation: X:421.16, Y:-35.39, Z:-1.28 [[ 9.93908514e-01 1.10165572e-01 3.06810386e-03 4.21163636e+02] [-1.10165087e-01 9.93913249e-01 -3.27132136e-04 -3.53870615e+01] [-3.08546778e-03 -1.28585144e-05 9.99995240e-01 -1.28250407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters Centerline goodness : 0.997868 with order 1 Centerline is valid? [True, True] Translation: X:421.22, Y:-35.38, Z:-1.28 [[ 9.93241973e-01 1.16021419e-01 3.06811538e-03 4.21223161e+02] [-1.16020963e-01 9.93246711e-01 -3.27024058e-04 -3.53829111e+01] [-3.08533731e-03 -3.11516797e-05 9.99995240e-01 -1.27955773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters Centerline goodness : 0.997715 with order 1 Centerline is valid? [True, True] Translation: X:421.28, Y:-35.38, Z:-1.28 [[ 9.93373277e-01 1.14891769e-01 3.06813050e-03 4.21282808e+02] [-1.14891308e-01 9.93378015e-01 -3.26882169e-04 -3.53793193e+01] [-3.08536946e-03 -2.77855133e-05 9.99995240e-01 -1.28361739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:421.34, Y:-35.37, Z:-1.28 [[ 9.94200114e-01 1.07502185e-01 3.06814597e-03 4.21342594e+02] [-1.07501688e-01 9.94204848e-01 -3.26736935e-04 -3.53742610e+01] [-3.08549053e-03 -4.98897373e-06 9.99995240e-01 -1.28224782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:421.40, Y:-35.37, Z:-1.28 [[ 9.95052855e-01 9.92995601e-02 3.06816171e-03 4.21400956e+02] [-9.92990251e-02 9.95057585e-01 -3.26589036e-04 -3.53743207e+01] [-3.08542773e-03 2.03078856e-05 9.99995240e-01 -1.28193389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters Centerline goodness : 0.997003 with order 1 Centerline is valid? [True, True] Translation: X:421.46, Y:-35.38, Z:-1.29 [[ 9.95864499e-01 9.07991494e-02 3.06818113e-03 4.21460257e+02] [-9.07985746e-02 9.95869225e-01 -3.26406491e-04 -3.53787330e+01] [-3.08514459e-03 4.64701639e-05 9.99995240e-01 -1.28580997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:421.52, Y:-35.39, Z:-1.29 [[ 9.96550213e-01 8.29352742e-02 3.06818878e-03 4.21517760e+02] [-8.29346623e-02 9.96554933e-01 -3.26334531e-04 -3.53903692e+01] [-3.08468331e-03 7.07495452e-05 9.99995240e-01 -1.28563238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters Centerline goodness : 0.996696 with order 1 Centerline is valid? [True, True] Translation: X:421.58, Y:-35.40, Z:-1.28 [[ 9.96562466e-01 8.27879051e-02 3.06820005e-03 4.21575079e+02] [-8.27872929e-02 9.96567187e-01 -3.26228577e-04 -3.54029263e+01] [-3.08467527e-03 7.10991788e-05 9.99995240e-01 -1.27807415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters Centerline goodness : 0.996816 with order 1 Centerline is valid? [True, True] Translation: X:421.63, Y:-35.42, Z:-1.28 [[ 9.96275902e-01 8.61679413e-02 3.06821115e-03 4.21633233e+02] [-8.61673454e-02 9.96280624e-01 -3.26124093e-04 -3.54167202e+01] [-3.08490077e-03 6.05299639e-05 9.99995240e-01 -1.28149522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:-35.43, Z:-1.28 [[ 9.95844272e-01 9.10207265e-02 3.06821862e-03 4.21691226e+02] [-9.10201538e-02 9.95848997e-01 -3.26053869e-04 -3.54264504e+01] [-3.08516009e-03 4.54291469e-05 9.99995240e-01 -1.28079241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:421.75, Y:-35.44, Z:-1.28 [[ 9.95450684e-01 9.52287826e-02 3.06822974e-03 4.21750374e+02] [-9.52282302e-02 9.95455412e-01 -3.25949168e-04 -3.54352562e+01] [-3.08532564e-03 3.22842341e-05 9.99995240e-01 -1.27992283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters Centerline goodness : 0.996801 with order 1 Centerline is valid? [True, True] Translation: X:421.81, Y:-35.44, Z:-1.29 [[ 9.95251853e-01 9.72848169e-02 3.06823708e-03 4.21808538e+02] [-9.72842745e-02 9.95256582e-01 -3.25880054e-04 -3.54413735e+01] [-3.08538633e-03 2.58415094e-05 9.99995240e-01 -1.28652975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:421.87, Y:-35.45, Z:-1.28 [[ 9.95234956e-01 9.74575237e-02 3.06824799e-03 4.21866483e+02] [-9.74569825e-02 9.95239685e-01 -3.25777263e-04 -3.54477113e+01] [-3.08539161e-03 2.52027285e-05 9.99995240e-01 -1.28283755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters Centerline goodness : 0.996314 with order 1 Centerline is valid? [True, True] Translation: X:421.93, Y:-35.45, Z:-1.29 [[ 9.95069593e-01 9.91316895e-02 3.06825874e-03 4.21926104e+02] [-9.91311565e-02 9.95074323e-01 -3.25676019e-04 -3.54519594e+01] [-3.08543030e-03 1.99102660e-05 9.99995240e-01 -1.28673065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters Centerline goodness : 0.996492 with order 1 Centerline is valid? [True, True] Translation: X:421.99, Y:-35.46, Z:-1.28 [[ 9.95040639e-01 9.94218963e-02 3.06826586e-03 4.21985769e+02] [-9.94213649e-02 9.95045369e-01 -3.25608904e-04 -3.54563039e+01] [-3.08543639e-03 1.89429118e-05 9.99995240e-01 -1.28263673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters Centerline goodness : 0.996360 with order 1 Centerline is valid? [True, True] Translation: X:422.04, Y:-35.46, Z:-1.28 [[ 9.95176381e-01 9.80538419e-02 3.06827359e-03 4.22044062e+02] [-9.80533042e-02 9.95181111e-01 -3.25536089e-04 -3.54604417e+01] [-3.08540798e-03 2.31114629e-05 9.99995240e-01 -1.28403785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:422.10, Y:-35.46, Z:-1.28 [[ 9.95239224e-01 9.74139287e-02 3.06828165e-03 4.22102704e+02] [-9.74133882e-02 9.95243953e-01 -3.25460084e-04 -3.54618097e+01] [-3.08539310e-03 2.50189298e-05 9.99995240e-01 -1.28293623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:422.16, Y:-35.47, Z:-1.28 [[ 9.95432385e-01 9.54198785e-02 3.06829546e-03 4.22161167e+02] [-9.54193290e-02 9.95437113e-01 -3.25329835e-04 -3.54664647e+01] [-3.08533811e-03 3.10691593e-05 9.99995240e-01 -1.27835873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:422.22, Y:-35.47, Z:-1.28 [[ 9.95828299e-01 9.11953048e-02 3.06830916e-03 4.22220467e+02] [-9.11947356e-02 9.95833025e-01 -3.25200600e-04 -3.54731704e+01] [-3.08518036e-03 4.40303183e-05 9.99995240e-01 -1.27730183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:422.28, Y:-35.48, Z:-1.28 [[ 9.96077749e-01 8.84290853e-02 3.06831699e-03 4.22279493e+02] [-8.84285032e-02 9.96082474e-01 -3.25126691e-04 -3.54784968e+01] [-3.08504743e-03 5.25247840e-05 9.99995240e-01 -1.28234141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters Centerline goodness : 0.996058 with order 1 Centerline is valid? [True, True] Translation: X:422.34, Y:-35.49, Z:-1.28 [[ 9.96216973e-01 8.68465725e-02 3.06832474e-03 4.22338072e+02] [-8.68459832e-02 9.96221697e-01 -3.25053522e-04 -3.54854210e+01] [-3.08496146e-03 5.73521572e-05 9.99995240e-01 -1.27989313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters Centerline goodness : 0.995721 with order 1 Centerline is valid? [True, True] Translation: X:422.40, Y:-35.50, Z:-1.28 [[ 9.96832726e-01 7.94676169e-02 3.06833330e-03 4.22397402e+02] [-7.94669928e-02 9.96837445e-01 -3.24972729e-04 -3.54973819e+01] [-3.08445433e-03 8.01122313e-05 9.99995240e-01 -1.27777408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters Centerline goodness : 0.995619 with order 1 Centerline is valid? [True, True] Translation: X:422.46, Y:-35.52, Z:-1.28 [[ 9.97349033e-01 7.27013822e-02 3.06833330e-03 4.22455851e+02] [-7.27007261e-02 9.97353748e-01 -3.24972729e-04 -3.55176298e+01] [-3.08383968e-03 1.01041179e-04 9.99995240e-01 -1.27836199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters Centerline goodness : 0.995619 with order 1 Centerline is valid? [True, True] Translation: X:422.51, Y:-35.53, Z:-1.28 [[ 9.96908223e-01 7.85148360e-02 3.06832957e-03 4.22514894e+02] [-7.85142073e-02 9.96912942e-01 -3.25007892e-04 -3.55339320e+01] [-3.08437540e-03 8.30955763e-05 9.99995240e-01 -1.27988404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters Centerline goodness : 0.995784 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:-35.55, Z:-1.28 [[ 9.96012427e-01 8.91618248e-02 3.06832957e-03 4.22574862e+02] [-8.91612465e-02 9.96017152e-01 -3.25007892e-04 -3.55453043e+01] [-3.08508718e-03 5.01358101e-05 9.99995240e-01 -1.28218361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:422.63, Y:-35.56, Z:-1.28 [[ 9.95125980e-01 9.85640375e-02 3.06832957e-03 4.22634198e+02] [-9.85635039e-02 9.95130710e-01 -3.25007892e-04 -3.55561521e+01] [-3.08542308e-03 2.09984834e-05 9.99995240e-01 -1.28058372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:422.69, Y:-35.56, Z:-1.28 [[ 9.94502797e-01 1.04665046e-01 3.06832957e-03 4.22693576e+02] [-1.04664541e-01 9.94507530e-01 -3.25007892e-04 -3.55581766e+01] [-3.08549383e-03 2.07595109e-06 9.99995240e-01 -1.28259306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:422.75, Y:-35.56, Z:-1.28 [[ 9.94352275e-01 1.06085523e-01 3.06833680e-03 4.22753889e+02] [-1.06085026e-01 9.94357009e-01 -3.24939617e-04 -3.55649164e+01] [-3.08549360e-03 -2.40014121e-06 9.99995240e-01 -1.27863395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters Centerline goodness : 0.994625 with order 1 Centerline is valid? [True, True] Translation: X:422.81, Y:-35.57, Z:-1.28 [[ 9.94681631e-01 1.02951635e-01 3.06833680e-03 4.22813618e+02] [-1.02951123e-01 9.94686363e-01 -3.24939617e-04 -3.55716521e+01] [-3.08548584e-03 7.32274983e-06 9.99995240e-01 -1.28170173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters Centerline goodness : 0.995010 with order 1 Centerline is valid? [True, True] Translation: X:422.87, Y:-35.58, Z:-1.28 [[ 9.94903306e-01 1.00786892e-01 3.06833297e-03 4.22873877e+02] [-1.00786369e-01 9.94908037e-01 -3.24975814e-04 -3.55834527e+01] [-3.08546243e-03 1.40733719e-05 9.99995240e-01 -1.28166152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:422.93, Y:-35.59, Z:-1.28 [[ 9.94470858e-01 1.04968082e-01 3.06832537e-03 4.22933633e+02] [-1.04967579e-01 9.94475591e-01 -3.25047529e-04 -3.55909342e+01] [-3.08549431e-03 1.17560914e-06 9.99995240e-01 -1.28212792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:422.99, Y:-35.59, Z:-1.28 [[ 9.93342158e-01 1.15160505e-01 3.06832537e-03 4.22992576e+02] [-1.15160050e-01 9.93346897e-01 -3.25047529e-04 -3.55930842e+01] [-3.08534412e-03 -3.04650909e-05 9.99995240e-01 -1.28166985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters Centerline goodness : 0.994534 with order 1 Centerline is valid? [True, True] Translation: X:423.05, Y:-35.60, Z:-1.28 [[ 9.93010121e-01 1.17989338e-01 3.06833673e-03 4.23052574e+02] [-1.17988898e-01 9.93014861e-01 -3.24940308e-04 -3.55953500e+01] [-3.08524346e-03 -3.93606530e-05 9.99995240e-01 -1.28054344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters Centerline goodness : 0.993850 with order 1 Centerline is valid? [True, True] Translation: X:423.11, Y:-35.60, Z:-1.28 [[ 9.93537948e-01 1.13458944e-01 3.06834447e-03 4.23111825e+02] [-1.13458482e-01 9.93542685e-01 -3.24867205e-04 -3.56002180e+01] [-3.08539029e-03 -2.53618092e-05 9.99995240e-01 -1.28139508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters Centerline goodness : 0.994674 with order 1 Centerline is valid? [True, True] Translation: X:423.17, Y:-35.61, Z:-1.28 [[ 9.94642311e-01 1.03330822e-01 3.06835246e-03 4.23171383e+02] [-1.03330312e-01 9.94647044e-01 -3.24791724e-04 -3.56067523e+01] [-3.08548870e-03 5.99777466e-06 9.99995240e-01 -1.28303253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters Centerline goodness : 0.994167 with order 1 Centerline is valid? [True, True] Translation: X:423.23, Y:-35.61, Z:-1.29 [[ 9.94980526e-01 1.00021692e-01 3.06834850e-03 4.23231505e+02] [-1.00021166e-01 9.94985257e-01 -3.24829101e-04 -3.56130749e+01] [-3.08545148e-03 1.62988339e-05 9.99995240e-01 -1.28648659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters Centerline goodness : 0.994438 with order 1 Centerline is valid? [True, True] Translation: X:423.29, Y:-35.62, Z:-1.28 [[ 9.94894785e-01 1.00870970e-01 3.06834850e-03 4.23292145e+02] [-1.00870448e-01 9.94899516e-01 -3.24829101e-04 -3.56244531e+01] [-3.08546426e-03 1.36650901e-05 9.99995240e-01 -1.28094849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters Centerline goodness : 0.994116 with order 1 Centerline is valid? [True, True] Translation: X:423.35, Y:-35.64, Z:-1.28 [[ 9.94725991e-01 1.02522138e-01 3.06834075e-03 4.23351972e+02] [-1.02521624e-01 9.94730723e-01 -3.24902278e-04 -3.56379678e+01] [-3.08548249e-03 8.61746486e-06 9.99995240e-01 -1.27865858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters Centerline goodness : 0.994390 with order 1 Centerline is valid? [True, True] Translation: X:423.41, Y:-35.65, Z:-1.28 [[ 9.94208026e-01 1.07428979e-01 3.06834075e-03 4.23411150e+02] [-1.07428487e-01 9.94212761e-01 -3.24902278e-04 -3.56483217e+01] [-3.08548745e-03 -6.60675334e-06 9.99995240e-01 -1.27968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:423.47, Y:-35.66, Z:-1.28 [[ 9.93454878e-01 1.14184020e-01 3.06834465e-03 4.23470917e+02] [-1.14183562e-01 9.93459616e-01 -3.24865490e-04 -3.56574834e+01] [-3.08537094e-03 -2.76153144e-05 9.99995240e-01 -1.28163998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:423.53, Y:-35.66, Z:-1.28 [[ 9.92885225e-01 1.19035772e-01 3.06834465e-03 4.23530394e+02] [-1.19035336e-01 9.92889965e-01 -3.24865490e-04 -3.56620952e+01] [-3.08519922e-03 -4.26872923e-05 9.99995240e-01 -1.28109227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:423.59, Y:-35.66, Z:-1.28 [[ 9.92675592e-01 1.20771496e-01 3.06835211e-03 4.23590404e+02] [-1.20771069e-01 9.92680333e-01 -3.24794993e-04 -3.56639396e+01] [-3.08511877e-03 -4.81521028e-05 9.99995240e-01 -1.28211212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:423.65, Y:-35.66, Z:-1.28 [[ 9.92595425e-01 1.21428608e-01 3.06835969e-03 4.23650361e+02] [-1.21428185e-01 9.92600166e-01 -3.24723325e-04 -3.56634829e+01] [-3.08508504e-03 -5.02664610e-05 9.99995240e-01 -1.27987387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:423.71, Y:-35.66, Z:-1.28 [[ 9.92205909e-01 1.24571342e-01 3.06836736e-03 4.23711044e+02] [-1.24570934e-01 9.92210652e-01 -3.24650861e-04 -3.56614962e+01] [-3.08490897e-03 -6.01088844e-05 9.99995240e-01 -1.27897280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:423.77, Y:-35.65, Z:-1.28 [[ 9.91803881e-01 1.27732719e-01 3.06837526e-03 4.23770351e+02] [-1.27732326e-01 9.91808624e-01 -3.24576168e-04 -3.56532086e+01] [-3.08470004e-03 -7.00148075e-05 9.99995240e-01 -1.27922643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters Centerline goodness : 0.993982 with order 1 Centerline is valid? [True, True] Translation: X:423.83, Y:-35.65, Z:-1.28 [[ 9.92603332e-01 1.21363959e-01 3.06839481e-03 4.23830088e+02] [-1.21363536e-01 9.92608073e-01 -3.24391270e-04 -3.56503552e+01] [-3.08508287e-03 -5.03993883e-05 9.99995240e-01 -1.28032490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters Centerline goodness : 0.994057 with order 1 Centerline is valid? [True, True] Translation: X:423.89, Y:-35.65, Z:-1.28 [[ 9.93753638e-01 1.11553988e-01 3.06840993e-03 4.23890823e+02] [-1.11553519e-01 9.93758375e-01 -3.24248143e-04 -3.56468536e+01] [-3.08542924e-03 -2.00691528e-05 9.99995240e-01 -1.28396950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:423.95, Y:-35.64, Z:-1.28 [[ 9.94396194e-01 1.05673053e-01 3.06841756e-03 4.23950330e+02] [-1.05672555e-01 9.94400928e-01 -3.24175958e-04 -3.56449356e+01] [-3.08549393e-03 -1.88818580e-06 9.99995240e-01 -1.28419287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters Centerline goodness : 0.994123 with order 1 Centerline is valid? [True, True] Translation: X:424.01, Y:-35.65, Z:-1.28 [[ 9.94547318e-01 1.04241153e-01 3.06843300e-03 4.24009681e+02] [-1.04240649e-01 9.94552051e-01 -3.24029703e-04 -3.56455706e+01] [-3.08549357e-03 2.40742380e-06 9.99995240e-01 -1.27855959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters Centerline goodness : 0.993958 with order 1 Centerline is valid? [True, True] Translation: X:424.07, Y:-35.65, Z:-1.28 [[ 9.95015018e-01 9.96779722e-02 3.06844837e-03 4.24068172e+02] [-9.96774473e-02 9.95019749e-01 -3.23884151e-04 -3.56505671e+01] [-3.08545084e-03 1.64144935e-05 9.99995240e-01 -1.27590105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters Centerline goodness : 0.994008 with order 1 Centerline is valid? [True, True] Translation: X:424.13, Y:-35.66, Z:-1.27 [[ 9.95430524e-01 9.54392796e-02 3.06846352e-03 4.24126927e+02] [-9.54387351e-02 9.95435253e-01 -3.23740589e-04 -3.56633515e+01] [-3.08535432e-03 2.94109876e-05 9.99995240e-01 -1.27060614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters Centerline goodness : 0.993843 with order 1 Centerline is valid? [True, True] Translation: X:424.18, Y:-35.67, Z:-1.28 [[ 9.95379731e-01 9.59675797e-02 3.06847116e-03 4.24183637e+02] [-9.59670378e-02 9.95384460e-01 -3.23668142e-04 -3.56722686e+01] [-3.08537015e-03 2.77006208e-05 9.99995240e-01 -1.27801080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters Centerline goodness : 0.994010 with order 1 Centerline is valid? [True, True] Translation: X:424.24, Y:-35.69, Z:-1.28 [[ 9.95161337e-01 9.82064085e-02 3.06849288e-03 4.24241412e+02] [-9.82058780e-02 9.95166067e-01 -3.23462109e-04 -3.56861865e+01] [-3.08542604e-03 2.05529472e-05 9.99995240e-01 -1.27799308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters Centerline goodness : 0.993949 with order 1 Centerline is valid? [True, True] Translation: X:424.30, Y:-35.70, Z:-1.28 [[ 9.94916823e-01 1.00653366e-01 3.06850790e-03 4.24299201e+02] [-1.00652847e-01 9.94921555e-01 -3.23319476e-04 -3.56976375e+01] [-3.08546785e-03 1.28219283e-05 9.99995240e-01 -1.28170414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters Centerline goodness : 0.993624 with order 1 Centerline is valid? [True, True] Translation: X:424.36, Y:-35.71, Z:-1.28 [[ 9.94680186e-01 1.02965588e-01 3.06852292e-03 4.24358015e+02] [-1.02965081e-01 9.94684919e-01 -3.23176940e-04 -3.57091971e+01] [-3.08548957e-03 5.50698650e-06 9.99995240e-01 -1.28392409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters Centerline goodness : 0.993885 with order 1 Centerline is valid? [True, True] Translation: X:424.42, Y:-35.72, Z:-1.28 [[ 9.94184439e-01 1.07647041e-01 3.06853039e-03 4.24416375e+02] [-1.07646556e-01 9.94189174e-01 -3.23105984e-04 -3.57221737e+01] [-3.08548110e-03 -9.08978768e-06 9.99995240e-01 -1.28390640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters Centerline goodness : 0.993727 with order 1 Centerline is valid? [True, True] Translation: X:424.47, Y:-35.73, Z:-1.29 [[ 9.93567230e-01 1.13202224e-01 3.06853801e-03 4.24474118e+02] [-1.13201767e-01 9.93571968e-01 -3.23033581e-04 -3.57316707e+01] [-3.08538147e-03 -2.64083437e-05 9.99995240e-01 -1.28587412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:424.53, Y:-35.74, Z:-1.28 [[ 9.93264451e-01 1.15828816e-01 3.06854939e-03 4.24532819e+02] [-1.15828371e-01 9.93269190e-01 -3.22925427e-04 -3.57404276e+01] [-3.08529964e-03 -3.46747308e-05 9.99995240e-01 -1.27560156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters Centerline goodness : 0.993454 with order 1 Centerline is valid? [True, True] Translation: X:424.59, Y:-35.75, Z:-1.28 [[ 9.93263325e-01 1.15838467e-01 3.06856422e-03 4.24592258e+02] [-1.15838023e-01 9.93268065e-01 -3.22784467e-04 -3.57485340e+01] [-3.08529770e-03 -3.48464396e-05 9.99995240e-01 -1.27875241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:424.65, Y:-35.76, Z:-1.28 [[ 9.93125940e-01 1.17010473e-01 3.06857171e-03 4.24651168e+02] [-1.17010034e-01 9.93130680e-01 -3.22713195e-04 -3.57571995e+01] [-3.08525354e-03 -3.85588359e-05 9.99995240e-01 -1.28125706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters Centerline goodness : 0.993943 with order 1 Centerline is valid? [True, True] Translation: X:424.71, Y:-35.77, Z:-1.28 [[ 9.92699042e-01 1.20578592e-01 3.06857913e-03 4.24709268e+02] [-1.20578170e-01 9.92703783e-01 -3.22642678e-04 -3.57655426e+01] [-3.08509391e-03 -4.97165791e-05 9.99995240e-01 -1.28475101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:424.77, Y:-35.77, Z:-1.28 [[ 9.92485544e-01 1.22323459e-01 3.06858674e-03 4.24768343e+02] [-1.22323046e-01 9.92490286e-01 -3.22570260e-04 -3.57720956e+01] [-3.08500044e-03 -5.52125575e-05 9.99995240e-01 -1.28417946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters Centerline goodness : 0.994084 with order 1 Centerline is valid? [True, True] Translation: X:424.83, Y:-35.78, Z:-1.28 [[ 9.92474907e-01 1.22409731e-01 3.06859444e-03 4.24827298e+02] [-1.22409318e-01 9.92479650e-01 -3.22497059e-04 -3.57797506e+01] [-3.08499431e-03 -5.55543146e-05 9.99995240e-01 -1.28104899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters Centerline goodness : 0.994168 with order 1 Centerline is valid? [True, True] Translation: X:424.89, Y:-35.79, Z:-1.28 [[ 9.92242656e-01 1.24278297e-01 3.06860205e-03 4.24885383e+02] [-1.24277894e-01 9.92247399e-01 -3.22424569e-04 -3.57857159e+01] [-3.08488278e-03 -6.14359905e-05 9.99995240e-01 -1.28088455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:424.94, Y:-35.79, Z:-1.28 [[ 9.91554097e-01 1.29657457e-01 3.06861332e-03 4.24944592e+02] [-1.29657080e-01 9.91558842e-01 -3.22317243e-04 -3.57877497e+01] [-3.08450151e-03 -7.82724600e-05 9.99995240e-01 -1.28281477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters Centerline goodness : 0.994022 with order 1 Centerline is valid? [True, True] Translation: X:425.00, Y:-35.79, Z:-1.28 [[ 9.90509065e-01 1.37413159e-01 3.06862827e-03 4.25002573e+02] [-1.37412820e-01 9.90513813e-01 -3.22174867e-04 -3.57864671e+01] [-3.08378976e-03 -1.02551738e-04 9.99995240e-01 -1.28223068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters Centerline goodness : 0.993643 with order 1 Centerline is valid? [True, True] Translation: X:425.06, Y:-35.78, Z:-1.28 [[ 9.90037065e-01 1.40773554e-01 3.06864664e-03 4.25062249e+02] [-1.40773232e-01 9.90041814e-01 -3.21999788e-04 -3.57842032e+01] [-3.08341755e-03 -1.13191580e-04 9.99995240e-01 -1.28316069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:425.12, Y:-35.78, Z:-1.28 [[ 9.89796086e-01 1.42458037e-01 3.06866126e-03 4.25121747e+02] [-1.42457723e-01 9.89800835e-01 -3.21860413e-04 -3.57761050e+01] [-3.08321508e-03 -1.18578319e-04 9.99995240e-01 -1.27620372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters Centerline goodness : 0.994039 with order 1 Centerline is valid? [True, True] Translation: X:425.18, Y:-35.77, Z:-1.28 [[ 9.90075765e-01 1.40501112e-01 3.06867928e-03 4.25180585e+02] [-1.40500788e-01 9.90080514e-01 -3.21688524e-04 -3.57693501e+01] [-3.08343716e-03 -1.12655847e-04 9.99995240e-01 -1.27847140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters Centerline goodness : 0.994173 with order 1 Centerline is valid? [True, True] Translation: X:425.24, Y:-35.76, Z:-1.28 [[ 9.90781263e-01 1.35436599e-01 3.06870062e-03 4.25239344e+02] [-1.35436252e-01 9.90786010e-01 -3.21484823e-04 -3.57641988e+01] [-3.08396646e-03 -9.70921722e-05 9.99995240e-01 -1.28127596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters Centerline goodness : 0.994043 with order 1 Centerline is valid? [True, True] Translation: X:425.30, Y:-35.76, Z:-1.28 [[ 9.91688783e-01 1.28623250e-01 3.06872285e-03 4.25296787e+02] [-1.28622871e-01 9.91693528e-01 -3.21272492e-04 -3.57610683e+01] [-3.08455570e-03 -7.61056168e-05 9.99995240e-01 -1.28073248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters Centerline goodness : 0.993510 with order 1 Centerline is valid? [True, True] Translation: X:425.35, Y:-35.76, Z:-1.28 [[ 9.92636202e-01 1.21094814e-01 3.06874855e-03 4.25354335e+02] [-1.21094400e-01 9.92640944e-01 -3.21026856e-04 -3.57620897e+01] [-3.08504014e-03 -5.29453850e-05 9.99995240e-01 -1.28284317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters Centerline goodness : 0.994377 with order 1 Centerline is valid? [True, True] Translation: X:425.41, Y:-35.77, Z:-1.29 [[ 9.93167318e-01 1.16658736e-01 3.06876759e-03 4.25411891e+02] [-1.16658301e-01 9.93172059e-01 -3.20844754e-04 -3.57684316e+01] [-3.08524356e-03 -3.93446896e-05 9.99995240e-01 -1.28707611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters Centerline goodness : 0.994176 with order 1 Centerline is valid? [True, True] Translation: X:425.47, Y:-35.78, Z:-1.29 [[ 9.93426177e-01 1.14433446e-01 3.06878481e-03 4.25469555e+02] [-1.14433001e-01 9.93430916e-01 -3.20679914e-04 -3.57785636e+01] [-3.08532222e-03 -3.25984351e-05 9.99995240e-01 -1.28659020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:425.53, Y:-35.79, Z:-1.28 [[ 9.93710234e-01 1.11939958e-01 3.06879847e-03 4.25528002e+02] [-1.11939502e-01 9.93714972e-01 -3.20549154e-04 -3.57871873e+01] [-3.08539324e-03 -2.49867974e-05 9.99995240e-01 -1.28378481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters Centerline goodness : 0.993462 with order 1 Centerline is valid? [True, True] Translation: X:425.59, Y:-35.80, Z:-1.28 [[ 9.93796033e-01 1.11175660e-01 3.06881265e-03 4.25585825e+02] [-1.11175201e-01 9.93800771e-01 -3.20413378e-04 -3.57964223e+01] [-3.08541054e-03 -2.27503185e-05 9.99995240e-01 -1.28257620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters Centerline goodness : 0.993275 with order 1 Centerline is valid? [True, True] Translation: X:425.64, Y:-35.80, Z:-1.28 [[ 9.94077339e-01 1.08631609e-01 3.06882667e-03 4.25643035e+02] [-1.08631138e-01 9.94082076e-01 -3.20278973e-04 -3.58024859e+01] [-3.08545801e-03 -1.49880643e-05 9.99995240e-01 -1.28191954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters Centerline goodness : 0.993468 with order 1 Centerline is valid? [True, True] Translation: X:425.70, Y:-35.81, Z:-1.28 [[ 9.94175482e-01 1.07729722e-01 3.06884405e-03 4.25701560e+02] [-1.07729247e-01 9.94180219e-01 -3.20112352e-04 -3.58127562e+01] [-3.08546967e-03 -1.23564064e-05 9.99995240e-01 -1.28089535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters Centerline goodness : 0.993846 with order 1 Centerline is valid? [True, True] Translation: X:425.76, Y:-35.82, Z:-1.28 [[ 9.94053465e-01 1.08849851e-01 3.06885963e-03 4.25758916e+02] [-1.08849382e-01 9.94058202e-01 -3.19962949e-04 -3.58193849e+01] [-3.08545301e-03 -1.59831975e-05 9.99995240e-01 -1.27976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters Centerline goodness : 0.993420 with order 1 Centerline is valid? [True, True] Translation: X:425.82, Y:-35.83, Z:-1.29 [[ 9.93839494e-01 1.10786471e-01 3.06887893e-03 4.25816452e+02] [-1.10786011e-01 9.93844232e-01 -3.19777786e-04 -3.58261418e+01] [-3.08541467e-03 -2.21810628e-05 9.99995240e-01 -1.28529669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters Centerline goodness : 0.993631 with order 1 Centerline is valid? [True, True] Translation: X:425.88, Y:-35.83, Z:-1.29 [[ 9.93729982e-01 1.11764509e-01 3.06889731e-03 4.25875416e+02] [-1.11764055e-01 9.93734720e-01 -3.19601296e-04 -3.58313558e+01] [-3.08538989e-03 -2.53950167e-05 9.99995240e-01 -1.28562937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters Centerline goodness : 0.994030 with order 1 Centerline is valid? [True, True] Translation: X:425.93, Y:-35.83, Z:-1.29 [[ 9.93566193e-01 1.13211313e-01 3.06891195e-03 4.25934638e+02] [-1.13210866e-01 9.93570932e-01 -3.19460652e-04 -3.58346619e+01] [-3.08534826e-03 -3.00288763e-05 9.99995240e-01 -1.28540122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:425.99, Y:-35.84, Z:-1.28 [[ 9.93634901e-01 1.12606684e-01 3.06892714e-03 4.25994153e+02] [-1.12606235e-01 9.93639640e-01 -3.19314588e-04 -3.58353110e+01] [-3.08536462e-03 -2.82982118e-05 9.99995240e-01 -1.28342230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters Centerline goodness : 0.994239 with order 1 Centerline is valid? [True, True] Translation: X:426.05, Y:-35.84, Z:-1.28 [[ 9.94076971e-01 1.08634976e-01 3.06894237e-03 4.26051647e+02] [-1.08634508e-01 9.94081708e-01 -3.19168134e-04 -3.58377733e+01] [-3.08545230e-03 -1.61153534e-05 9.99995240e-01 -1.28177814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters Centerline goodness : 0.993461 with order 1 Centerline is valid? [True, True] Translation: X:426.11, Y:-35.84, Z:-1.29 [[ 9.94068299e-01 1.08714299e-01 3.06896115e-03 4.26110208e+02] [-1.08713832e-01 9.94073036e-01 -3.18987526e-04 -3.58410696e+01] [-3.08545003e-03 -1.65431388e-05 9.99995240e-01 -1.28627225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters Centerline goodness : 0.993839 with order 1 Centerline is valid? [True, True] Translation: X:426.17, Y:-35.84, Z:-1.28 [[ 9.93487115e-01 1.13903177e-01 3.06897612e-03 4.26168927e+02] [-1.13902735e-01 9.93491855e-01 -3.18843435e-04 -3.58403422e+01] [-3.08532005e-03 -3.27979296e-05 9.99995240e-01 -1.28314966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters Centerline goodness : 0.993732 with order 1 Centerline is valid? [True, True] Translation: X:426.23, Y:-35.84, Z:-1.28 [[ 9.92970234e-01 1.18324533e-01 3.06899480e-03 4.26226884e+02] [-1.18324113e-01 9.92974976e-01 -3.18663460e-04 -3.58377082e+01] [-3.08514075e-03 -4.67127575e-05 9.99995240e-01 -1.28072135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters Centerline goodness : 0.994251 with order 1 Centerline is valid? [True, True] Translation: X:426.29, Y:-35.84, Z:-1.28 [[ 9.93487458e-01 1.13900181e-01 3.06902071e-03 4.26285419e+02] [-1.13899741e-01 9.93492198e-01 -3.18413741e-04 -3.58390010e+01] [-3.08531552e-03 -3.32206067e-05 9.99995240e-01 -1.28028751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters Centerline goodness : 0.994086 with order 1 Centerline is valid? [True, True] Translation: X:426.34, Y:-35.84, Z:-1.28 [[ 9.94475857e-01 1.04920686e-01 3.06904279e-03 4.26344252e+02] [-1.04920203e-01 9.94480593e-01 -3.18200825e-04 -3.58398601e+01] [-3.08548934e-03 -5.56155498e-06 9.99995240e-01 -1.28283319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters Centerline goodness : 0.994600 with order 1 Centerline is valid? [True, True] Translation: X:426.40, Y:-35.85, Z:-1.28 [[ 9.95016047e-01 9.96676819e-02 3.06905767e-03 4.26401939e+02] [-9.96671750e-02 9.95020780e-01 -3.18057195e-04 -3.58458249e+01] [-3.08547618e-03 1.05877051e-05 9.99995240e-01 -1.27975216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters Centerline goodness : 0.994428 with order 1 Centerline is valid? [True, True] Translation: X:426.46, Y:-35.85, Z:-1.28 [[ 9.94630474e-01 1.03444672e-01 3.06907604e-03 4.26459460e+02] [-1.03444184e-01 9.94635209e-01 -3.17879916e-04 -3.58472884e+01] [-3.08549407e-03 -1.30501340e-06 9.99995240e-01 -1.27867187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters Centerline goodness : 0.994228 with order 1 Centerline is valid? [True, True] Translation: X:426.52, Y:-35.85, Z:-1.28 [[ 9.93846884e-01 1.10720152e-01 3.06909380e-03 4.26517559e+02] [-1.10719698e-01 9.93851622e-01 -3.17708298e-04 -3.58495902e+01] [-3.08540056e-03 -2.40557377e-05 9.99995240e-01 -1.28335264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters Centerline goodness : 0.994560 with order 1 Centerline is valid? [True, True] Translation: X:426.57, Y:-35.85, Z:-1.28 [[ 9.93782271e-01 1.11298600e-01 3.06911656e-03 4.26574572e+02] [-1.11298150e-01 9.93787010e-01 -3.17488322e-04 -3.58515101e+01] [-3.08538417e-03 -2.60727305e-05 9.99995240e-01 -1.28281629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:426.63, Y:-35.85, Z:-1.28 [[ 9.94104012e-01 1.08387241e-01 3.06914292e-03 4.26632678e+02] [-1.08386778e-01 9.94108749e-01 -3.17233297e-04 -3.58542224e+01] [-3.08544587e-03 -1.72916179e-05 9.99995240e-01 -1.28291526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters Centerline goodness : 0.995301 with order 1 Centerline is valid? [True, True] Translation: X:426.69, Y:-35.86, Z:-1.28 [[ 9.94693528e-01 1.02836592e-01 3.06916600e-03 4.26690775e+02] [-1.02836103e-01 9.94698263e-01 -3.17009850e-04 -3.58575928e+01] [-3.08549430e-03 -2.93425823e-07 9.99995240e-01 -1.28079061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters Centerline goodness : 0.995760 with order 1 Centerline is valid? [True, True] Translation: X:426.75, Y:-35.87, Z:-1.28 [[ 9.95031353e-01 9.95147516e-02 3.06918490e-03 4.26748205e+02] [-9.95142478e-02 9.95036087e-01 -3.16826746e-04 -3.58657367e+01] [-3.08547866e-03 9.82492004e-06 9.99995240e-01 -1.28058356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:426.81, Y:-35.87, Z:-1.28 [[ 9.95003424e-01 9.97936194e-02 3.06920745e-03 4.26806347e+02] [-9.97931175e-02 9.95008157e-01 -3.16608084e-04 -3.58691740e+01] [-3.08548192e-03 8.74034746e-06 9.99995240e-01 -1.27775055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:426.86, Y:-35.88, Z:-1.28 [[ 9.95148909e-01 9.83322367e-02 3.06923023e-03 4.26863250e+02] [-9.83317286e-02 9.95153642e-01 -3.16387168e-04 -3.58769950e+01] [-3.08546670e-03 1.30496316e-05 9.99995240e-01 -1.28153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters Centerline goodness : 0.995666 with order 1 Centerline is valid? [True, True] Translation: X:426.92, Y:-35.88, Z:-1.28 [[ 9.95323511e-01 9.65488946e-02 3.06924900e-03 4.26920413e+02] [-9.65483785e-02 9.95328243e-01 -3.16204955e-04 -3.58842658e+01] [-3.08543945e-03 1.83952116e-05 9.99995240e-01 -1.27920651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:426.98, Y:-35.89, Z:-1.28 [[ 9.95594344e-01 9.37148995e-02 3.06926722e-03 4.26978132e+02] [-9.37143706e-02 9.95599074e-01 -3.16028037e-04 -3.58930378e+01] [-3.08537613e-03 2.70012807e-05 9.99995240e-01 -1.28094626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters Centerline goodness : 0.994938 with order 1 Centerline is valid? [True, True] Translation: X:427.04, Y:-35.90, Z:-1.29 [[ 9.96011387e-01 8.91734042e-02 3.06928933e-03 4.27035716e+02] [-8.91728543e-02 9.96016115e-01 -3.15813147e-04 -3.59046406e+01] [-3.08522377e-03 4.08562004e-05 9.99995240e-01 -1.28528333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters Centerline goodness : 0.995744 with order 1 Centerline is valid? [True, True] Translation: X:427.09, Y:-35.92, Z:-1.29 [[ 9.96419175e-01 8.44950069e-02 3.06930388e-03 4.27093952e+02] [-8.44944352e-02 9.96423901e-01 -3.15671618e-04 -3.59167402e+01] [-3.08500042e-03 5.52021547e-05 9.99995240e-01 -1.28724607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters Centerline goodness : 0.995567 with order 1 Centerline is valid? [True, True] Translation: X:427.15, Y:-35.93, Z:-1.29 [[ 9.96688977e-01 8.12506183e-02 3.06931837e-03 4.27150526e+02] [-8.12500317e-02 9.96693701e-01 -3.15530699e-04 -3.59327574e+01] [-3.08480735e-03 6.51037548e-05 9.99995240e-01 -1.28675315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters Centerline goodness : 0.996078 with order 1 Centerline is valid? [True, True] Translation: X:427.21, Y:-35.95, Z:-1.28 [[ 9.96316529e-01 8.56968658e-02 3.06933622e-03 4.27207869e+02] [-8.56963009e-02 9.96321256e-01 -3.15356990e-04 -3.59476289e+01] [-3.08507002e-03 5.11646217e-05 9.99995240e-01 -1.28245007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters Centerline goodness : 0.995607 with order 1 Centerline is valid? [True, True] Translation: X:427.27, Y:-35.96, Z:-1.28 [[ 9.95706396e-01 9.25167676e-02 3.06935034e-03 4.27265719e+02] [-9.25162354e-02 9.95711126e-01 -3.15219492e-04 -3.59572331e+01] [-3.08534937e-03 2.99013260e-05 9.99995240e-01 -1.28495676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters Centerline goodness : 0.995929 with order 1 Centerline is valid? [True, True] Translation: X:427.32, Y:-35.96, Z:-1.28 [[ 9.95090692e-01 9.89196330e-02 3.06936525e-03 4.27323045e+02] [-9.89191317e-02 9.95095426e-01 -3.15074200e-04 -3.59639945e+01] [-3.08547835e-03 9.90845811e-06 9.99995240e-01 -1.28432138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:427.38, Y:-35.97, Z:-1.28 [[ 9.94705901e-01 1.02716839e-01 3.06938373e-03 4.27381640e+02] [-1.02716356e-01 9.94710637e-01 -3.14894103e-04 -3.59692062e+01] [-3.08549357e-03 -2.04889107e-06 9.99995240e-01 -1.28204621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters Centerline goodness : 0.995782 with order 1 Centerline is valid? [True, True] Translation: X:427.44, Y:-35.97, Z:-1.29 [[ 9.94834078e-01 1.01467909e-01 3.06939786e-03 4.27440096e+02] [-1.01467421e-01 9.94838813e-01 -3.14756294e-04 -3.59700620e+01] [-3.08549379e-03 1.68640335e-06 9.99995240e-01 -1.28634121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:427.50, Y:-35.97, Z:-1.29 [[ 9.95065643e-01 9.91712867e-02 3.06941540e-03 4.27498563e+02] [-9.91707882e-02 9.95070377e-01 -3.14585187e-04 -3.59738887e+01] [-3.08548215e-03 8.63656762e-06 9.99995240e-01 -1.28646099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters Centerline goodness : 0.995935 with order 1 Centerline is valid? [True, True] Translation: X:427.56, Y:-35.97, Z:-1.28 [[ 9.95504149e-01 9.46681982e-02 3.06943024e-03 4.27556675e+02] [-9.46676787e-02 9.95508881e-01 -3.14440326e-04 -3.59741987e+01] [-3.08541256e-03 2.24508133e-05 9.99995240e-01 -1.28446721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters Centerline goodness : 0.995863 with order 1 Centerline is valid? [True, True] Translation: X:427.62, Y:-35.98, Z:-1.28 [[ 9.95859585e-01 9.08529926e-02 3.06944852e-03 4.27615920e+02] [-9.08524555e-02 9.95864314e-01 -3.14261715e-04 -3.59755480e+01] [-3.08530587e-03 3.40936056e-05 9.99995240e-01 -1.28265571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters Centerline goodness : 0.995404 with order 1 Centerline is valid? [True, True] Translation: X:427.67, Y:-35.98, Z:-1.29 [[ 9.96031439e-01 8.89491430e-02 3.06946313e-03 4.27674719e+02] [-8.89485972e-02 9.96036168e-01 -3.14118999e-04 -3.59765587e+01] [-3.08523691e-03 3.98479593e-05 9.99995240e-01 -1.28627478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters Centerline goodness : 0.995660 with order 1 Centerline is valid? [True, True] Translation: X:427.73, Y:-35.98, Z:-1.29 [[ 9.96148573e-01 8.76276144e-02 3.06947781e-03 4.27732469e+02] [-8.76270629e-02 9.96153301e-01 -3.13975518e-04 -3.59818434e+01] [-3.08518337e-03 4.37969396e-05 9.99995240e-01 -1.28746643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters Centerline goodness : 0.995273 with order 1 Centerline is valid? [True, True] Translation: X:427.79, Y:-35.99, Z:-1.29 [[ 9.96614721e-01 8.21564170e-02 3.06949590e-03 4.27790833e+02] [-8.21558400e-02 9.96619446e-01 -3.13798539e-04 -3.59876859e+01] [-3.08489986e-03 6.05592289e-05 9.99995240e-01 -1.28793884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:427.85, Y:-36.00, Z:-1.29 [[ 9.96800919e-01 7.98655549e-02 3.06951071e-03 4.27849488e+02] [-7.98649675e-02 9.96805642e-01 -3.13653633e-04 -3.59956390e+01] [-3.08475571e-03 6.75038565e-05 9.99995240e-01 -1.28698103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters Centerline goodness : 0.995517 with order 1 Centerline is valid? [True, True] Translation: X:427.91, Y:-36.00, Z:-1.29 [[ 9.96674595e-01 8.14268336e-02 3.06952556e-03 4.27906958e+02] [-8.14262541e-02 9.96679320e-01 -3.13508161e-04 -3.60003324e+01] [-3.08486063e-03 6.25256513e-05 9.99995240e-01 -1.28515012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters Centerline goodness : 0.995569 with order 1 Centerline is valid? [True, True] Translation: X:427.97, Y:-36.01, Z:-1.29 [[ 9.96399371e-01 8.47282195e-02 3.06954529e-03 4.27965517e+02] [-8.47276562e-02 9.96404098e-01 -3.13314905e-04 -3.60075652e+01] [-3.08505412e-03 5.21113963e-05 9.99995240e-01 -1.28792403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters Centerline goodness : 0.994419 with order 1 Centerline is valid? [True, True] Translation: X:428.02, Y:-36.01, Z:-1.29 [[ 9.96090660e-01 8.82834898e-02 3.06955971e-03 4.28023831e+02] [-8.82829438e-02 9.96095389e-01 -3.13173565e-04 -3.60129754e+01] [-3.08522233e-03 4.09594961e-05 9.99995240e-01 -1.28582125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters Centerline goodness : 0.993956 with order 1 Centerline is valid? [True, True] Translation: X:428.08, Y:-36.02, Z:-1.29 [[ 9.95729102e-01 9.22720615e-02 3.06957427e-03 4.28082287e+02] [-9.22715349e-02 9.95733833e-01 -3.13030757e-04 -3.60159492e+01] [-3.08536295e-03 2.84595046e-05 9.99995240e-01 -1.28771280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:428.14, Y:-36.02, Z:-1.29 [[ 9.95519920e-01 9.45022087e-02 3.06958933e-03 4.28140763e+02] [-9.45016931e-02 9.95524652e-01 -3.12883060e-04 -3.60171682e+01] [-3.08541999e-03 2.13999304e-05 9.99995240e-01 -1.28942442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters Centerline goodness : 0.993236 with order 1 Centerline is valid? [True, True] Translation: X:428.20, Y:-36.02, Z:-1.29 [[ 9.95682095e-01 9.27779240e-02 3.06960802e-03 4.28197887e+02] [-9.27774008e-02 9.95686826e-01 -3.12699610e-04 -3.60227068e+01] [-3.08537988e-03 2.65591492e-05 9.99995240e-01 -1.29333389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:428.26, Y:-36.03, Z:-1.29 [[ 9.96352231e-01 8.52807622e-02 3.06962665e-03 4.28255908e+02] [-8.52802040e-02 9.96356959e-01 -3.12516607e-04 -3.60287855e+01] [-3.08509552e-03 4.95982323e-05 9.99995240e-01 -1.29156262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:428.31, Y:-36.04, Z:-1.29 [[ 9.97180881e-01 7.49724511e-02 3.06964100e-03 4.28312741e+02] [-7.49718444e-02 9.97185602e-01 -3.12375550e-04 -3.60380835e+01] [-3.08442137e-03 8.13582786e-05 9.99995240e-01 -1.28822476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters Centerline goodness : 0.992975 with order 1 Centerline is valid? [True, True] Translation: X:428.37, Y:-36.05, Z:-1.29 [[ 9.97728898e-01 6.72876157e-02 3.06965874e-03 4.28370375e+02] [-6.72869732e-02 9.97733615e-01 -3.12201115e-04 -3.60484728e+01] [-3.08370898e-03 1.04944029e-04 9.99995240e-01 -1.28909432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters Centerline goodness : 0.991312 with order 1 Centerline is valid? [True, True] Translation: X:428.43, Y:-36.06, Z:-1.28 [[ 9.98315360e-01 5.79397884e-02 3.06967335e-03 4.28428725e+02] [-5.79391023e-02 9.98320070e-01 -3.12057417e-04 -3.60627451e+01] [-3.08259706e-03 1.33677595e-04 9.99995240e-01 -1.28042018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters Centerline goodness : 0.992731 with order 1 Centerline is valid? [True, True] Translation: X:428.49, Y:-36.08, Z:-1.29 [[ 9.98495396e-01 5.47496215e-02 3.06968085e-03 4.28486540e+02] [-5.47489205e-02 9.98500104e-01 -3.11983611e-04 -3.60784204e+01] [-3.08215764e-03 1.43452486e-04 9.99995240e-01 -1.28878979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:428.55, Y:-36.09, Z:-1.29 [[ 9.98416063e-01 5.61777765e-02 3.06968455e-03 4.28545644e+02] [-5.61770823e-02 9.98420772e-01 -3.11947187e-04 -3.60931608e+01] [-3.08236132e-03 1.39007160e-04 9.99995240e-01 -1.28752081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:428.60, Y:-36.11, Z:-1.29 [[ 9.98059564e-01 6.21907073e-02 3.06968455e-03 4.28604078e+02] [-6.21900415e-02 9.98064277e-01 -3.11947187e-04 -3.61123248e+01] [-3.08314271e-03 1.20438063e-04 9.99995240e-01 -1.28819554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters Centerline goodness : 0.992729 with order 1 Centerline is valid? [True, True] Translation: X:428.66, Y:-36.13, Z:-1.29 [[ 9.97884745e-01 6.49354456e-02 3.06969181e-03 4.28662686e+02] [-6.49347931e-02 9.97889461e-01 -3.11875767e-04 -3.61267315e+01] [-3.08346490e-03 1.11886267e-04 9.99995240e-01 -1.29234568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters Centerline goodness : 0.993253 with order 1 Centerline is valid? [True, True] Translation: X:428.72, Y:-36.15, Z:-1.29 [[ 9.97384726e-01 7.22100039e-02 3.06969936e-03 4.28720874e+02] [-7.22093859e-02 9.97389446e-01 -3.11801456e-04 -3.61460583e+01] [-3.08420093e-03 8.93249042e-05 9.99995240e-01 -1.28775954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters Centerline goodness : 0.993854 with order 1 Centerline is valid? [True, True] Translation: X:428.78, Y:-36.16, Z:-1.29 [[ 9.96421446e-01 8.44682086e-02 3.06969518e-03 4.28779278e+02] [-8.44676486e-02 9.96426173e-01 -3.11842545e-04 -3.61563444e+01] [-3.08506541e-03 5.14366660e-05 9.99995240e-01 -1.29010042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters Centerline goodness : 0.993070 with order 1 Centerline is valid? [True, True] Translation: X:428.84, Y:-36.16, Z:-1.29 [[ 9.95412399e-01 9.56280951e-02 3.06970251e-03 4.28838644e+02] [-9.56275884e-02 9.95417132e-01 -3.11770420e-04 -3.61637476e+01] [-3.08544848e-03 1.67918939e-05 9.99995240e-01 -1.28759841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:428.90, Y:-36.16, Z:-1.29 [[ 9.94822329e-01 1.01583025e-01 3.06970995e-03 4.28897676e+02] [-1.01582547e-01 9.94827065e-01 -3.11697084e-04 -3.61638465e+01] [-3.08549368e-03 -1.74573726e-06 9.99995240e-01 -1.28938280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters Centerline goodness : 0.992904 with order 1 Centerline is valid? [True, True] Translation: X:428.96, Y:-36.16, Z:-1.29 [[ 9.94754995e-01 1.02240292e-01 3.06972448e-03 4.28957013e+02] [-1.02239817e-01 9.94759731e-01 -3.11553975e-04 -3.61647703e+01] [-3.08549167e-03 -3.92819578e-06 9.99995240e-01 -1.28726903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters Centerline goodness : 0.992098 with order 1 Centerline is valid? [True, True] Translation: X:429.02, Y:-36.17, Z:-1.29 [[ 9.95051020e-01 9.93179001e-02 3.06973903e-03 4.29016022e+02] [-9.93174120e-02 9.95055755e-01 -3.11410521e-04 -3.61670148e+01] [-3.08549013e-03 4.99082048e-06 9.99995240e-01 -1.28954859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters Centerline goodness : 0.991883 with order 1 Centerline is valid? [True, True] Translation: X:429.07, Y:-36.17, Z:-1.29 [[ 9.95212339e-01 9.76881643e-02 3.06975346e-03 4.29074999e+02] [-9.76876689e-02 9.95217073e-01 -3.11268210e-04 -3.61728035e+01] [-3.08547828e-03 9.90090346e-06 9.99995240e-01 -1.29235776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters Centerline goodness : 0.992422 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:-36.18, Z:-1.29 [[ 9.95236465e-01 9.74420589e-02 3.06976776e-03 4.29134320e+02] [-9.74415627e-02 9.95241199e-01 -3.11127147e-04 -3.61791059e+01] [-3.08547622e-03 1.05221146e-05 9.99995240e-01 -1.29393162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:429.19, Y:-36.19, Z:-1.29 [[ 9.95118326e-01 9.86412368e-02 3.06977513e-03 4.29191120e+02] [-9.86407466e-02 9.95123061e-01 -3.11054448e-04 -3.61883263e+01] [-3.08548681e-03 6.73107162e-06 9.99995240e-01 -1.29264761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters Centerline goodness : 0.992459 with order 1 Centerline is valid? [True, True] Translation: X:429.25, Y:-36.20, Z:-1.29 [[ 9.94879678e-01 1.01019811e-01 3.06979332e-03 4.29249454e+02] [-1.01019333e-01 9.94884414e-01 -3.10874749e-04 -3.62012974e+01] [-3.08549404e-03 -8.25504275e-07 9.99995240e-01 -1.29445050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters Centerline goodness : 0.992617 with order 1 Centerline is valid? [True, True] Translation: X:429.31, Y:-36.21, Z:-1.30 [[ 9.94598283e-01 1.03753704e-01 3.06980078e-03 4.29307715e+02] [-1.03753239e-01 9.94603021e-01 -3.10801100e-04 -3.62126131e+01] [-3.08547989e-03 -9.37953209e-06 9.99995240e-01 -1.29612402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters Centerline goodness : 0.992437 with order 1 Centerline is valid? [True, True] Translation: X:429.37, Y:-36.22, Z:-1.29 [[ 9.93731836e-01 1.11747992e-01 3.06981186e-03 4.29365788e+02] [-1.11747565e-01 9.93736577e-01 -3.10691625e-04 -3.62218599e+01] [-3.08530350e-03 -3.42998417e-05 9.99995240e-01 -1.29102162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters Centerline goodness : 0.992829 with order 1 Centerline is valid? [True, True] Translation: X:429.42, Y:-36.23, Z:-1.29 [[ 9.92206027e-01 1.24570363e-01 3.06982664e-03 4.29423416e+02] [-1.24569998e-01 9.92210774e-01 -3.10545569e-04 -3.62284364e+01] [-3.08459983e-03 -7.42831121e-05 9.99995240e-01 -1.28824563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:429.48, Y:-36.23, Z:-1.29 [[ 9.90909592e-01 1.34494450e-01 3.06984497e-03 4.29481845e+02] [-1.34494133e-01 9.90914341e-01 -3.10364257e-04 -3.62279497e+01] [-3.08369567e-03 -1.05333218e-04 9.99995240e-01 -1.28655805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters Centerline goodness : 0.993122 with order 1 Centerline is valid? [True, True] Translation: X:429.54, Y:-36.22, Z:-1.29 [[ 9.90145859e-01 1.40006263e-01 3.06986283e-03 4.29541518e+02] [-1.40005973e-01 9.90150610e-01 -3.10187460e-04 -3.62249844e+01] [-3.08305474e-03 -1.22668302e-04 9.99995240e-01 -1.28813395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters Centerline goodness : 0.993585 with order 1 Centerline is valid? [True, True] Translation: X:429.60, Y:-36.23, Z:-1.29 [[ 9.89986445e-01 1.41129070e-01 3.06987717e-03 4.29599050e+02] [-1.41128786e-01 9.89991197e-01 -3.10045520e-04 -3.62259935e+01] [-3.08290780e-03 -1.26307176e-04 9.99995240e-01 -1.28761533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters Centerline goodness : 0.992890 with order 1 Centerline is valid? [True, True] Translation: X:429.66, Y:-36.22, Z:-1.29 [[ 9.89727192e-01 1.42935863e-01 3.06989486e-03 4.29658144e+02] [-1.42935588e-01 9.89731944e-01 -3.09870205e-04 -3.62229899e+01] [-3.08266458e-03 -1.32110258e-04 9.99995240e-01 -1.28685371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters Centerline goodness : 0.992739 with order 1 Centerline is valid? [True, True] Translation: X:429.72, Y:-36.22, Z:-1.29 [[ 9.90033538e-01 1.40798329e-01 3.06990913e-03 4.29717695e+02] [-1.40798044e-01 9.90038290e-01 -3.09728763e-04 -3.62172802e+01] [-3.08293688e-03 -1.25595339e-04 9.99995240e-01 -1.29204141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters Centerline goodness : 0.992595 with order 1 Centerline is valid? [True, True] Translation: X:429.78, Y:-36.21, Z:-1.29 [[ 9.90236405e-01 1.39364408e-01 3.06992332e-03 4.29776420e+02] [-1.39364117e-01 9.90241156e-01 -3.09588064e-04 -3.62105139e+01] [-3.08310998e-03 -1.21271780e-04 9.99995240e-01 -1.29091176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters Centerline goodness : 0.992123 with order 1 Centerline is valid? [True, True] Translation: X:429.83, Y:-36.21, Z:-1.29 [[ 9.90565742e-01 1.37003962e-01 3.06994533e-03 4.29834425e+02] [-1.37003660e-01 9.90570493e-01 -3.09369623e-04 -3.62067084e+01] [-3.08338213e-03 -1.14142796e-04 9.99995240e-01 -1.29140040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters Centerline goodness : 0.991230 with order 1 Centerline is valid? [True, True] Translation: X:429.89, Y:-36.20, Z:-1.30 [[ 9.91573328e-01 1.29510273e-01 3.06997078e-03 4.29893103e+02] [-1.29509936e-01 9.91578076e-01 -3.09116892e-04 -3.62026987e+01] [-3.08414953e-03 -9.10796556e-05 9.99995240e-01 -1.29718082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters Centerline goodness : 0.991487 with order 1 Centerline is valid? [True, True] Translation: X:429.95, Y:-36.20, Z:-1.29 [[ 9.92922647e-01 1.18723172e-01 3.06999171e-03 4.29951218e+02] [-1.18722784e-01 9.92927392e-01 -3.08908885e-04 -3.62044316e+01] [-3.08495351e-03 -5.77553346e-05 9.99995240e-01 -1.29437145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters Centerline goodness : 0.991072 with order 1 Centerline is valid? [True, True] Translation: X:430.01, Y:-36.21, Z:-1.30 [[ 9.93616603e-01 1.12767993e-01 3.07001334e-03 4.30007888e+02] [-1.12767578e-01 9.93621345e-01 -3.08693812e-04 -3.62066472e+01] [-3.08524156e-03 -3.94746710e-05 9.99995240e-01 -1.29627547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters Centerline goodness : 0.991300 with order 1 Centerline is valid? [True, True] Translation: X:430.07, Y:-36.21, Z:-1.29 [[ 9.93511937e-01 1.13686434e-01 3.07003841e-03 4.30066139e+02] [-1.13686024e-01 9.93516680e-01 -3.08444231e-04 -3.62065335e+01] [-3.08520029e-03 -4.25774348e-05 9.99995240e-01 -1.29287717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters Centerline goodness : 0.991168 with order 1 Centerline is valid? [True, True] Translation: X:430.12, Y:-36.21, Z:-1.29 [[ 9.93732010e-01 1.11746437e-01 3.07005978e-03 4.30124419e+02] [-1.11746018e-01 9.93736752e-01 -3.08231433e-04 -3.62104527e+01] [-3.08527500e-03 -3.67675136e-05 9.99995240e-01 -1.29112503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters Centerline goodness : 0.991829 with order 1 Centerline is valid? [True, True] Translation: X:430.18, Y:-36.22, Z:-1.29 [[ 9.94808559e-01 1.01717775e-01 3.07008139e-03 4.30182174e+02] [-1.01717309e-01 9.94813296e-01 -3.08016030e-04 -3.62195024e+01] [-3.08548849e-03 -5.86343433e-06 9.99995240e-01 -1.29114118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters Centerline goodness : 0.991410 with order 1 Centerline is valid? [True, True] Translation: X:430.24, Y:-36.23, Z:-1.29 [[ 9.95864473e-01 9.07993686e-02 3.07009646e-03 4.30238844e+02] [-9.07988509e-02 9.95869205e-01 -3.07865717e-04 -3.62302038e+01] [-3.08536854e-03 2.78312993e-05 9.99995240e-01 -1.29244621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters Centerline goodness : 0.991618 with order 1 Centerline is valid? [True, True] Translation: X:430.30, Y:-36.24, Z:-1.29 [[ 9.96107349e-01 8.80949687e-02 3.07011690e-03 4.30297039e+02] [-8.80944389e-02 9.96112080e-01 -3.07661799e-04 -3.62401382e+01] [-3.08528398e-03 3.60039535e-05 9.99995240e-01 -1.29128409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters Centerline goodness : 0.991436 with order 1 Centerline is valid? [True, True] Translation: X:430.36, Y:-36.25, Z:-1.30 [[ 9.96148988e-01 8.76228767e-02 3.07013047e-03 4.30355309e+02] [-8.76223450e-02 9.96153718e-01 -3.07526308e-04 -3.62521233e+01] [-3.08526822e-03 3.73299896e-05 9.99995240e-01 -1.29798846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters Centerline goodness : 0.991711 with order 1 Centerline is valid? [True, True] Translation: X:430.41, Y:-36.26, Z:-1.30 [[ 9.96339149e-01 8.54334476e-02 3.07014394e-03 4.30412810e+02] [-8.54329059e-02 9.96343878e-01 -3.07391803e-04 -3.62630156e+01] [-3.08518066e-03 4.39751692e-05 9.99995240e-01 -1.30004297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters Centerline goodness : 0.991933 with order 1 Centerline is valid? [True, True] Translation: X:430.47, Y:-36.28, Z:-1.30 [[ 9.96570625e-01 8.26895621e-02 3.07016060e-03 4.30470430e+02] [-8.26890079e-02 9.96575353e-01 -3.07225291e-04 -3.62769480e+01] [-3.08505071e-03 5.23031662e-05 9.99995240e-01 -1.29801397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters Centerline goodness : 0.991753 with order 1 Centerline is valid? [True, True] Translation: X:430.53, Y:-36.29, Z:-1.30 [[ 9.96432790e-01 8.43342685e-02 3.07017454e-03 4.30526972e+02] [-8.43337225e-02 9.96437519e-01 -3.07085894e-04 -3.62916346e+01] [-3.08513497e-03 4.70712059e-05 9.99995240e-01 -1.30207584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters Centerline goodness : 0.992389 with order 1 Centerline is valid? [True, True] Translation: X:430.58, Y:-36.31, Z:-1.30 [[ 9.96168134e-01 8.74049314e-02 3.07019242e-03 4.30584484e+02] [-8.74044006e-02 9.96172865e-01 -3.06906995e-04 -3.63054912e+01] [-3.08526757e-03 3.73826402e-05 9.99995240e-01 -1.29972580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters Centerline goodness : 0.991675 with order 1 Centerline is valid? [True, True] Translation: X:430.64, Y:-36.32, Z:-1.30 [[ 9.95865295e-01 9.07903521e-02 3.07020680e-03 4.30641700e+02] [-9.07898378e-02 9.95870027e-01 -3.06763144e-04 -3.63189150e+01] [-3.08537806e-03 2.67511916e-05 9.99995240e-01 -1.29996280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters Centerline goodness : 0.991698 with order 1 Centerline is valid? [True, True] Translation: X:430.70, Y:-36.33, Z:-1.30 [[ 9.95550306e-01 9.41815379e-02 3.07022572e-03 4.30700076e+02] [-9.41810403e-02 9.95555040e-01 -3.06573674e-04 -3.63294019e+01] [-3.08545227e-03 1.60524629e-05 9.99995240e-01 -1.30035395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters Centerline goodness : 0.992999 with order 1 Centerline is valid? [True, True] Translation: X:430.76, Y:-36.34, Z:-1.29 [[ 9.95014539e-01 9.96827008e-02 3.07024052e-03 4.30758134e+02] [-9.96822298e-02 9.95019276e-01 -3.06425307e-04 -3.63416202e+01] [-3.08549380e-03 -1.15078630e-06 9.99995240e-01 -1.29343494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters Centerline goodness : 0.993258 with order 1 Centerline is valid? [True, True] Translation: X:430.82, Y:-36.35, Z:-1.29 [[ 9.94753637e-01 1.02253480e-01 3.07025151e-03 4.30815336e+02] [-1.02253022e-01 9.94758376e-01 -3.06315146e-04 -3.63514445e+01] [-3.08548020e-03 -9.23439004e-06 9.99995240e-01 -1.28846992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters Centerline goodness : 0.992700 with order 1 Centerline is valid? [True, True] Translation: X:430.87, Y:-36.36, Z:-1.29 [[ 9.94634559e-01 1.03405358e-01 3.07027150e-03 4.30873475e+02] [-1.03404906e-01 9.94639297e-01 -3.06114717e-04 -3.63577224e+01] [-3.08546659e-03 -1.30088583e-05 9.99995240e-01 -1.29453313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters Centerline goodness : 0.992907 with order 1 Centerline is valid? [True, True] Translation: X:430.93, Y:-36.36, Z:-1.29 [[ 9.95139891e-01 9.84234278e-02 3.07028576e-03 4.30933184e+02] [-9.84229522e-02 9.95144627e-01 -3.05971591e-04 -3.63642185e+01] [-3.08549315e-03 2.29794705e-06 9.99995240e-01 -1.29483745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters Centerline goodness : 0.993008 with order 1 Centerline is valid? [True, True] Translation: X:430.99, Y:-36.37, Z:-1.30 [[ 9.95654150e-01 9.30773156e-02 3.07029288e-03 4.30992306e+02] [-9.30768148e-02 9.95658884e-01 -3.05900172e-04 -3.63731912e+01] [-3.08543675e-03 1.87976945e-05 9.99995240e-01 -1.29661755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters Centerline goodness : 0.993326 with order 1 Centerline is valid? [True, True] Translation: X:431.05, Y:-36.38, Z:-1.30 [[ 9.96115039e-01 8.80079644e-02 3.07029998e-03 4.31050738e+02] [-8.80074398e-02 9.96119770e-01 -3.05828904e-04 -3.63822580e+01] [-3.08530189e-03 3.44315303e-05 9.99995240e-01 -1.30273445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters Centerline goodness : 0.992051 with order 1 Centerline is valid? [True, True] Translation: X:431.11, Y:-36.39, Z:-1.30 [[ 9.96209840e-01 8.69282906e-02 3.07030347e-03 4.31110046e+02] [-8.69277610e-02 9.96214571e-01 -3.05793797e-04 -3.63933221e+01] [-3.08526319e-03 3.77401830e-05 9.99995240e-01 -1.30351501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:431.17, Y:-36.40, Z:-1.31 [[ 9.96056542e-01 8.86675775e-02 3.07030347e-03 4.31170107e+02] [-8.86670561e-02 9.96061273e-01 -3.05793797e-04 -3.64026602e+01] [-3.08532438e-03 3.23531414e-05 9.99995240e-01 -1.30724149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters Centerline goodness : 0.992128 with order 1 Centerline is valid? [True, True] Translation: X:431.23, Y:-36.41, Z:-1.31 [[ 9.95829312e-01 9.11841774e-02 3.07030347e-03 4.31228578e+02] [-9.11836679e-02 9.95834045e-01 -3.05793797e-04 -3.64122288e+01] [-3.08539628e-03 2.45568939e-05 9.99995240e-01 -1.30743217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters Centerline goodness : 0.992904 with order 1 Centerline is valid? [True, True] Translation: X:431.29, Y:-36.42, Z:-1.30 [[ 9.95228930e-01 9.75189706e-02 3.07030704e-03 4.31288242e+02] [-9.75184914e-02 9.95233666e-01 -3.05758002e-04 -3.64169100e+01] [-3.08549013e-03 4.88749853e-06 9.99995240e-01 -1.29999247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters Centerline goodness : 0.993028 with order 1 Centerline is valid? [True, True] Translation: X:431.35, Y:-36.42, Z:-1.30 [[ 9.94233160e-01 1.07196066e-01 3.07031395e-03 4.31346799e+02] [-1.07195633e-01 9.94237901e-01 -3.05688598e-04 -3.64195696e+01] [-3.08539111e-03 -2.51985061e-05 9.99995240e-01 -1.29574518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters Centerline goodness : 0.993336 with order 1 Centerline is valid? [True, True] Translation: X:431.41, Y:-36.42, Z:-1.30 [[ 9.93865094e-01 1.10556541e-01 3.07032768e-03 4.31405732e+02] [-1.10556124e-01 9.93869836e-01 -3.05550630e-04 -3.64230540e+01] [-3.08528668e-03 -3.57674227e-05 9.99995240e-01 -1.29730967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters Centerline goodness : 0.992611 with order 1 Centerline is valid? [True, True] Translation: X:431.46, Y:-36.42, Z:-1.30 [[ 9.92805266e-01 1.19700779e-01 3.07034256e-03 4.31464618e+02] [-1.19700407e-01 9.92810012e-01 -3.05401004e-04 -3.64234779e+01] [-3.08482357e-03 -6.43175286e-05 9.99995240e-01 -1.30321046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters Centerline goodness : 0.993763 with order 1 Centerline is valid? [True, True] Translation: X:431.52, Y:-36.42, Z:-1.30 [[ 9.92120720e-01 1.25247951e-01 3.07035786e-03 4.31523140e+02] [-1.25247606e-01 9.92125468e-01 -3.05247136e-04 -3.64221561e+01] [-3.08441180e-03 -8.17129628e-05 9.99995240e-01 -1.29939625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters Centerline goodness : 0.993882 with order 1 Centerline is valid? [True, True] Translation: X:431.58, Y:-36.42, Z:-1.30 [[ 9.92105702e-01 1.25366853e-01 3.07037944e-03 4.31582701e+02] [-1.25366509e-01 9.92110450e-01 -3.05029937e-04 -3.64215726e+01] [-3.08439617e-03 -8.23008117e-05 9.99995240e-01 -1.29753106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters Centerline goodness : 0.993429 with order 1 Centerline is valid? [True, True] Translation: X:431.64, Y:-36.42, Z:-1.30 [[ 9.92678663e-01 1.20746202e-01 3.07039385e-03 4.31641038e+02] [-1.20745836e-01 9.92683409e-01 -3.04884768e-04 -3.64179891e+01] [-3.08474271e-03 -6.80846694e-05 9.99995240e-01 -1.30005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters Centerline goodness : 0.993736 with order 1 Centerline is valid? [True, True] Translation: X:431.70, Y:-36.41, Z:-1.30 [[ 9.93269920e-01 1.15781854e-01 3.07041172e-03 4.31701032e+02] [-1.15781465e-01 9.93274665e-01 -3.04704661e-04 -3.64130344e+01] [-3.08504145e-03 -5.28427950e-05 9.99995240e-01 -1.30116281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters Centerline goodness : 0.993942 with order 1 Centerline is valid? [True, True] Translation: X:431.76, Y:-36.41, Z:-1.30 [[ 9.93879507e-01 1.10426892e-01 3.07042643e-03 4.31760188e+02] [-1.10426478e-01 9.93884249e-01 -3.04556369e-04 -3.64068570e+01] [-3.08527968e-03 -3.63640426e-05 9.99995240e-01 -1.29752838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters Centerline goodness : 0.993252 with order 1 Centerline is valid? [True, True] Translation: X:431.82, Y:-36.40, Z:-1.30 [[ 9.94739635e-01 1.02389600e-01 3.07044464e-03 4.31819010e+02] [-1.02389149e-01 9.94744374e-01 -3.04372700e-04 -3.64034145e+01] [-3.08547213e-03 -1.16086235e-05 9.99995240e-01 -1.30407327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:431.88, Y:-36.40, Z:-1.30 [[ 9.95269995e-01 9.70989671e-02 3.07046224e-03 4.31878596e+02] [-9.70984908e-02 9.95274731e-01 -3.04195087e-04 -3.64023020e+01] [-3.08549051e-03 4.61899407e-06 9.99995240e-01 -1.30134743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters Centerline goodness : 0.994040 with order 1 Centerline is valid? [True, True] Translation: X:431.94, Y:-36.40, Z:-1.30 [[ 9.95763779e-01 9.18970535e-02 3.07047641e-03 4.31938297e+02] [-9.18965528e-02 9.95768513e-01 -3.04051952e-04 -3.64009076e+01] [-3.08542521e-03 2.05977237e-05 9.99995240e-01 -1.29829360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters Centerline goodness : 0.994185 with order 1 Centerline is valid? [True, True] Translation: X:432.00, Y:-36.40, Z:-1.30 [[ 9.96312928e-01 8.57386767e-02 3.07049087e-03 4.31996880e+02] [-8.57381472e-02 9.96317659e-01 -3.03905824e-04 -3.64004455e+01] [-3.08524076e-03 3.95271034e-05 9.99995240e-01 -1.30022048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters Centerline goodness : 0.994105 with order 1 Centerline is valid? [True, True] Translation: X:432.06, Y:-36.41, Z:-1.30 [[ 9.97202921e-01 7.46786849e-02 3.07050869e-03 4.32055749e+02] [-7.46781035e-02 9.97207646e-01 -3.03725661e-04 -3.64050060e+01] [-3.08461658e-03 7.35763503e-05 9.99995240e-01 -1.29920202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters Centerline goodness : 0.993699 with order 1 Centerline is valid? [True, True] Translation: X:432.11, Y:-36.41, Z:-1.30 [[ 9.97951393e-01 6.39029724e-02 3.07052274e-03 4.32113202e+02] [-6.39023404e-02 9.97956111e-01 -3.03583575e-04 -3.64127275e+01] [-3.08364683e-03 1.06748062e-04 9.99995240e-01 -1.30188829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters Centerline goodness : 0.993417 with order 1 Centerline is valid? [True, True] Translation: X:432.17, Y:-36.42, Z:-1.30 [[ 9.98049782e-01 6.23474525e-02 3.07053997e-03 4.32171862e+02] [-6.23468137e-02 9.98054499e-01 -3.03409194e-04 -3.64197306e+01] [-3.08348303e-03 1.11379097e-04 9.99995240e-01 -1.30381749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters Centerline goodness : 0.993095 with order 1 Centerline is valid? [True, True] Translation: X:432.23, Y:-36.43, Z:-1.31 [[ 9.98087156e-01 6.17462647e-02 3.07055014e-03 4.32230949e+02] [-6.17456234e-02 9.98091873e-01 -3.03306231e-04 -3.64291602e+01] [-3.08341917e-03 1.13133021e-04 9.99995240e-01 -1.30697984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters Centerline goodness : 0.992467 with order 1 Centerline is valid? [True, True] Translation: X:432.29, Y:-36.44, Z:-1.31 [[ 9.98132537e-01 6.10082808e-02 3.07055692e-03 4.32289696e+02] [-6.10076362e-02 9.98137253e-01 -3.03237597e-04 -3.64399466e+01] [-3.08333726e-03 1.15343892e-04 9.99995240e-01 -1.30700115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters Centerline goodness : 0.993372 with order 1 Centerline is valid? [True, True] Translation: X:432.35, Y:-36.46, Z:-1.31 [[ 9.98102394e-01 6.14994451e-02 3.07056363e-03 4.32348292e+02] [-6.14988030e-02 9.98107111e-01 -3.03169712e-04 -3.64553778e+01] [-3.08339616e-03 1.13758428e-04 9.99995240e-01 -1.30664072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters Centerline goodness : 0.993142 with order 1 Centerline is valid? [True, True] Translation: X:432.41, Y:-36.47, Z:-1.31 [[ 9.97983187e-01 6.34044959e-02 3.07057028e-03 4.32405869e+02] [-6.34038631e-02 9.97987905e-01 -3.03102247e-04 -3.64740011e+01] [-3.08361005e-03 1.07804929e-04 9.99995240e-01 -1.30645640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters Centerline goodness : 0.993889 with order 1 Centerline is valid? [True, True] Translation: X:432.46, Y:-36.49, Z:-1.31 [[ 9.97669214e-01 6.81667876e-02 3.07057703e-03 4.32463464e+02] [-6.81661775e-02 9.97673935e-01 -3.03033936e-04 -3.64898113e+01] [-3.08409151e-03 9.30181307e-05 9.99995240e-01 -1.30640620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters Centerline goodness : 0.993306 with order 1 Centerline is valid? [True, True] Translation: X:432.52, Y:-36.50, Z:-1.31 [[ 9.97390019e-01 7.21368295e-02 3.07058683e-03 4.32522482e+02] [-7.21362385e-02 9.97394742e-01 -3.02934543e-04 -3.65019738e+01] [-3.08443990e-03 8.06433058e-05 9.99995240e-01 -1.30577103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters Centerline goodness : 0.994445 with order 1 Centerline is valid? [True, True] Translation: X:432.58, Y:-36.51, Z:-1.30 [[ 9.96971788e-01 7.77034498e-02 3.07059362e-03 4.32580642e+02] [-7.77028854e-02 9.96976514e-01 -3.02865732e-04 -3.65119189e+01] [-3.08484344e-03 6.33546062e-05 9.99995240e-01 -1.30288804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters Centerline goodness : 0.993721 with order 1 Centerline is valid? [True, True] Translation: X:432.64, Y:-36.52, Z:-1.30 [[ 9.96854564e-01 7.91931183e-02 3.07060784e-03 4.32639026e+02] [-7.91925614e-02 9.96859291e-01 -3.02721465e-04 -3.65208622e+01] [-3.08493741e-03 5.85999740e-05 9.99995240e-01 -1.30285497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters Centerline goodness : 0.994132 with order 1 Centerline is valid? [True, True] Translation: X:432.70, Y:-36.53, Z:-1.30 [[ 9.96683254e-01 8.13207365e-02 3.07061847e-03 4.32698322e+02] [-8.13201900e-02 9.96687983e-01 -3.02613626e-04 -3.65287562e+01] [-3.08505729e-03 5.19066558e-05 9.99995240e-01 -1.30372015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters Centerline goodness : 0.994109 with order 1 Centerline is valid? [True, True] Translation: X:432.76, Y:-36.53, Z:-1.31 [[ 9.96241824e-01 8.65609598e-02 3.07062566e-03 4.32756655e+02] [-8.65604384e-02 9.96246555e-01 -3.02540688e-04 -3.65334594e+01] [-3.08528845e-03 3.56089841e-05 9.99995240e-01 -1.30735083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters Centerline goodness : 0.994380 with order 1 Centerline is valid? [True, True] Translation: X:432.82, Y:-36.54, Z:-1.30 [[ 9.96114878e-01 8.80097825e-02 3.07063629e-03 4.32815441e+02] [-8.80092684e-02 9.96119610e-01 -3.02432715e-04 -3.65395291e+01] [-3.08533806e-03 3.10132732e-05 9.99995240e-01 -1.30430370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters Centerline goodness : 0.994187 with order 1 Centerline is valid? [True, True] Translation: X:432.87, Y:-36.55, Z:-1.30 [[ 9.96334984e-01 8.54819951e-02 3.07064653e-03 4.32874967e+02] [-8.54814692e-02 9.96339715e-01 -3.02328744e-04 -3.65481971e+01] [-3.08525075e-03 3.87373279e-05 9.99995240e-01 -1.30428777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters Centerline goodness : 0.994459 with order 1 Centerline is valid? [True, True] Translation: X:432.93, Y:-36.56, Z:-1.30 [[ 9.96587972e-01 8.24802093e-02 3.07065283e-03 4.32933698e+02] [-8.24796694e-02 9.96592702e-01 -3.02264733e-04 -3.65611154e+01] [-3.08512106e-03 4.79669670e-05 9.99995240e-01 -1.30260490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters Centerline goodness : 0.994077 with order 1 Centerline is valid? [True, True] Translation: X:432.99, Y:-36.57, Z:-1.31 [[ 9.96465569e-01 8.39460589e-02 3.07065979e-03 4.32991881e+02] [-8.39455262e-02 9.96470299e-01 -3.02194020e-04 -3.65723185e+01] [-3.08518927e-03 4.33577851e-05 9.99995240e-01 -1.30720066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters Centerline goodness : 0.993671 with order 1 Centerline is valid? [True, True] Translation: X:433.05, Y:-36.58, Z:-1.31 [[ 9.96185476e-01 8.72070420e-02 3.07065574e-03 4.33050876e+02] [-8.72065246e-02 9.96190208e-01 -3.02235109e-04 -3.65829814e+01] [-3.08531421e-03 3.33010106e-05 9.99995240e-01 -1.30886098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters Centerline goodness : 0.994847 with order 1 Centerline is valid? [True, True] Translation: X:433.11, Y:-36.59, Z:-1.30 [[ 9.95804244e-01 9.14575212e-02 3.07066255e-03 4.33109893e+02] [-9.14570242e-02 9.95808978e-01 -3.02165941e-04 -3.65928990e+01] [-3.08542868e-03 2.00644677e-05 9.99995240e-01 -1.30371227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters Centerline goodness : 0.993416 with order 1 Centerline is valid? [True, True] Translation: X:433.17, Y:-36.60, Z:-1.29 [[ 9.95784392e-01 9.16734189e-02 3.07066982e-03 4.33169036e+02] [-9.16729232e-02 9.95789126e-01 -3.02092069e-04 -3.65996256e+01] [-3.08543343e-03 1.93212891e-05 9.99995240e-01 -1.29357441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters Centerline goodness : 0.995304 with order 1 Centerline is valid? [True, True] Translation: X:433.23, Y:-36.61, Z:-1.30 [[ 9.95630558e-01 9.33293263e-02 3.07066582e-03 4.33229385e+02] [-9.33288383e-02 9.95635293e-01 -3.02132664e-04 -3.66079109e+01] [-3.08546110e-03 1.42308383e-05 9.99995240e-01 -1.30037601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:433.29, Y:-36.61, Z:-1.30 [[ 9.95381636e-01 9.59477443e-02 3.07066582e-03 4.33288840e+02] [-9.59472688e-02 9.95386372e-01 -3.02132664e-04 -3.66145716e+01] [-3.08548786e-03 6.11530594e-06 9.99995240e-01 -1.30125923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters Centerline goodness : 0.995666 with order 1 Centerline is valid? [True, True] Translation: X:433.35, Y:-36.62, Z:-1.30 [[ 9.95068047e-01 9.91471263e-02 3.07066936e-03 4.33348512e+02] [-9.91466661e-02 9.95072785e-01 -3.02096736e-04 -3.66209706e+01] [-3.08549153e-03 -3.83982023e-06 9.99995240e-01 -1.30426260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters Centerline goodness : 0.995810 with order 1 Centerline is valid? [True, True] Translation: X:433.41, Y:-36.63, Z:-1.31 [[ 9.94947208e-01 1.00352503e-01 3.07067605e-03 4.33407864e+02] [-1.00352049e-01 9.94951946e-01 -3.02028694e-04 -3.66292768e+01] [-3.08548445e-03 -7.64602628e-06 9.99995240e-01 -1.30973194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters Centerline goodness : 0.995732 with order 1 Centerline is valid? [True, True] Translation: X:433.47, Y:-36.64, Z:-1.31 [[ 9.94796661e-01 1.01834049e-01 3.07068298e-03 4.33466651e+02] [-1.01833602e-01 9.94801400e-01 -3.01958186e-04 -3.66393585e+01] [-3.08546936e-03 -1.23117134e-05 9.99995240e-01 -1.30647693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters Centerline goodness : 0.995663 with order 1 Centerline is valid? [True, True] Translation: X:433.53, Y:-36.65, Z:-1.31 [[ 9.94780622e-01 1.01990611e-01 3.07069010e-03 4.33525776e+02] [-1.01990165e-01 9.94785361e-01 -3.01885773e-04 -3.66496578e+01] [-3.08546708e-03 -1.28700740e-05 9.99995240e-01 -1.30855311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters Centerline goodness : 0.996099 with order 1 Centerline is valid? [True, True] Translation: X:433.58, Y:-36.66, Z:-1.31 [[ 9.94482181e-01 1.04860681e-01 3.07069362e-03 4.33584732e+02] [-1.04860249e-01 9.94486922e-01 -3.01849964e-04 -3.66591863e+01] [-3.08541684e-03 -2.18092882e-05 9.99995240e-01 -1.31186430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:433.64, Y:-36.67, Z:-1.31 [[ 9.93895250e-01 1.10285094e-01 3.07070040e-03 4.33644591e+02] [-1.10284688e-01 9.93899993e-01 -3.01780968e-04 -3.66657732e+01] [-3.08525105e-03 -3.87125636e-05 9.99995240e-01 -1.30723176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:433.70, Y:-36.67, Z:-1.31 [[ 9.92595682e-01 1.21426454e-01 3.07070040e-03 4.33704000e+02] [-1.21426101e-01 9.92600429e-01 -3.01780968e-04 -3.66676524e+01] [-3.08462273e-03 -7.33166907e-05 9.99995240e-01 -1.30555863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters Centerline goodness : 0.996344 with order 1 Centerline is valid? [True, True] Translation: X:433.76, Y:-36.67, Z:-1.31 [[ 9.91610750e-01 1.29223414e-01 3.07070783e-03 4.33763344e+02] [-1.29223099e-01 9.91615500e-01 -3.01705375e-04 -3.66680796e+01] [-3.08394888e-03 -9.76320886e-05 9.99995240e-01 -1.30832146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters Centerline goodness : 0.996349 with order 1 Centerline is valid? [True, True] Translation: X:433.82, Y:-36.67, Z:-1.31 [[ 9.91001342e-01 1.33816705e-01 3.07071881e-03 4.33821522e+02] [-1.33816412e-01 9.91006093e-01 -3.01593635e-04 -3.66701112e+01] [-3.08345931e-03 -1.12032876e-04 9.99995240e-01 -1.30673730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:433.88, Y:-36.67, Z:-1.31 [[ 9.91317082e-01 1.31457266e-01 3.07073621e-03 4.33880883e+02] [-1.31456963e-01 9.91321833e-01 -3.01416368e-04 -3.66691554e+01] [-3.08371122e-03 -1.04870460e-04 9.99995240e-01 -1.30610186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters Centerline goodness : 0.996633 with order 1 Centerline is valid? [True, True] Translation: X:433.94, Y:-36.67, Z:-1.31 [[ 9.91677814e-01 1.28707745e-01 3.07075015e-03 4.33938672e+02] [-1.28707428e-01 9.91682564e-01 -3.01274223e-04 -3.66702907e+01] [-3.08398571e-03 -9.64613919e-05 9.99995240e-01 -1.30672046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:434.00, Y:-36.67, Z:-1.31 [[ 9.91849525e-01 1.27377744e-01 3.07076742e-03 4.33997318e+02] [-1.27377421e-01 9.91854275e-01 -3.01098101e-04 -3.66739958e+01] [-3.08410699e-03 -9.25024274e-05 9.99995240e-01 -1.30618154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters Centerline goodness : 0.997058 with order 1 Centerline is valid? [True, True] Translation: X:434.06, Y:-36.68, Z:-1.31 [[ 9.92237431e-01 1.24319953e-01 3.07078204e-03 4.34056484e+02] [-1.24319616e-01 9.92242179e-01 -3.00948924e-04 -3.66758148e+01] [-3.08437342e-03 -8.31456571e-05 9.99995240e-01 -1.30776974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:434.11, Y:-36.68, Z:-1.30 [[ 9.92986700e-01 1.18186229e-01 3.07079691e-03 4.34113946e+02] [-1.18185864e-01 9.92991446e-01 -3.00797168e-04 -3.66799470e+01] [-3.08482514e-03 -6.42371985e-05 9.99995240e-01 -1.30204062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:434.17, Y:-36.68, Z:-1.30 [[ 9.93309450e-01 1.15442220e-01 3.07081526e-03 4.34172646e+02] [-1.15441842e-01 9.93314195e-01 -3.00609695e-04 -3.66836079e+01] [-3.08498744e-03 -5.59021183e-05 9.99995240e-01 -1.30331764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters Centerline goodness : 0.997559 with order 1 Centerline is valid? [True, True] Translation: X:434.23, Y:-36.69, Z:-1.31 [[ 9.93417907e-01 1.14505160e-01 3.07082953e-03 4.34230346e+02] [-1.14504778e-01 9.93422652e-01 -3.00463806e-04 -3.66880942e+01] [-3.08503627e-03 -5.31385295e-05 9.99995240e-01 -1.30549822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters Centerline goodness : 0.997777 with order 1 Centerline is valid? [True, True] Translation: X:434.29, Y:-36.69, Z:-1.30 [[ 9.93127024e-01 1.17001218e-01 3.07084721e-03 4.34289811e+02] [-1.17000849e-01 9.93131769e-01 -3.00283075e-04 -3.66880764e+01] [-3.08488940e-03 -6.10724924e-05 9.99995240e-01 -1.30289222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:434.35, Y:-36.69, Z:-1.31 [[ 9.92338120e-01 1.23513662e-01 3.07086162e-03 4.34347528e+02] [-1.23513324e-01 9.92342869e-01 -3.00135620e-04 -3.66883070e+01] [-3.08441848e-03 -8.14563088e-05 9.99995240e-01 -1.30800658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters Centerline goodness : 0.997720 with order 1 Centerline is valid? [True, True] Translation: X:434.41, Y:-36.69, Z:-1.31 [[ 9.92034083e-01 1.25932311e-01 3.07087940e-03 4.34405812e+02] [-1.25931985e-01 9.92038832e-01 -2.99953577e-04 -3.66871112e+01] [-3.08420546e-03 -8.91577672e-05 9.99995240e-01 -1.30695249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters Centerline goodness : 0.997765 with order 1 Centerline is valid? [True, True] Translation: X:434.46, Y:-36.69, Z:-1.30 [[ 9.92058026e-01 1.25743558e-01 3.07089693e-03 4.34463333e+02] [-1.25743232e-01 9.92062775e-01 -2.99773986e-04 -3.66890625e+01] [-3.08421718e-03 -8.87513153e-05 9.99995240e-01 -1.30443197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters Centerline goodness : 0.997446 with order 1 Centerline is valid? [True, True] Translation: X:434.52, Y:-36.69, Z:-1.31 [[ 9.91934481e-01 1.26714461e-01 3.07091607e-03 4.34522146e+02] [-1.26714140e-01 9.91939230e-01 -2.99577755e-04 -3.66919337e+01] [-3.08412296e-03 -9.19669847e-05 9.99995240e-01 -1.31384570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:434.58, Y:-36.69, Z:-1.31 [[ 9.91317376e-01 1.31455048e-01 3.07093013e-03 4.34580250e+02] [-1.31454751e-01 9.91322127e-01 -2.99433602e-04 -3.66938564e+01] [-3.08364304e-03 -1.06854622e-04 9.99995240e-01 -1.30821518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:434.64, Y:-36.70, Z:-1.31 [[ 9.91018543e-01 1.33689252e-01 3.07094748e-03 4.34638829e+02] [-1.33688966e-01 9.91023295e-01 -2.99255538e-04 -3.66952992e+01] [-3.08338774e-03 -1.13984006e-04 9.99995240e-01 -1.30765858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters Centerline goodness : 0.997796 with order 1 Centerline is valid? [True, True] Translation: X:434.70, Y:-36.70, Z:-1.30 [[ 9.91027841e-01 1.33620311e-01 3.07096840e-03 4.34696499e+02] [-1.33620025e-01 9.91032593e-01 -2.99040663e-04 -3.66991309e+01] [-3.08338769e-03 -1.13985253e-04 9.99995240e-01 -1.30192942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:434.76, Y:-36.70, Z:-1.30 [[ 9.91307087e-01 1.31532616e-01 3.07098561e-03 4.34755341e+02] [-1.31532321e-01 9.91311838e-01 -2.98863909e-04 -3.66983660e+01] [-3.08361474e-03 -1.07667953e-04 9.99995240e-01 -1.29957783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters Centerline goodness : 0.997721 with order 1 Centerline is valid? [True, True] Translation: X:434.81, Y:-36.70, Z:-1.31 [[ 9.91506344e-01 1.30022073e-01 3.07099555e-03 4.34814259e+02] [-1.30021771e-01 9.91511094e-01 -2.98761641e-04 -3.67006773e+01] [-3.08377177e-03 -1.03072218e-04 9.99995240e-01 -1.30685177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:434.87, Y:-36.70, Z:-1.31 [[ 9.91923587e-01 1.26799708e-01 3.07100949e-03 4.34872582e+02] [-1.26799391e-01 9.91928337e-01 -2.98618304e-04 -3.66977063e+01] [-3.08408605e-03 -9.31955924e-05 9.99995240e-01 -1.30843158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters Centerline goodness : 0.997410 with order 1 Centerline is valid? [True, True] Translation: X:434.93, Y:-36.69, Z:-1.30 [[ 9.92302079e-01 1.23802875e-01 3.07102637e-03 4.34931789e+02] [-1.23802544e-01 9.92306828e-01 -2.98444603e-04 -3.66949608e+01] [-3.08434874e-03 -8.40536765e-05 9.99995240e-01 -1.30291596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters Centerline goodness : 0.997455 with order 1 Centerline is valid? [True, True] Translation: X:434.99, Y:-36.69, Z:-1.30 [[ 9.92532218e-01 1.21944104e-01 3.07104035e-03 4.34991078e+02] [-1.21943765e-01 9.92536966e-01 -2.98300664e-04 -3.66927946e+01] [-3.08449708e-03 -7.84212027e-05 9.99995240e-01 -1.30189787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters Centerline goodness : 0.997155 with order 1 Centerline is valid? [True, True] Translation: X:435.05, Y:-36.69, Z:-1.31 [[ 9.93008710e-01 1.18001150e-01 3.07105462e-03 4.35050695e+02] [-1.18000792e-01 9.93013456e-01 -2.98153739e-04 -3.66901030e+01] [-3.08478104e-03 -6.63176182e-05 9.99995240e-01 -1.30581180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters Centerline goodness : 0.997514 with order 1 Centerline is valid? [True, True] Translation: X:435.11, Y:-36.69, Z:-1.31 [[ 9.93536281e-01 1.13473461e-01 3.07106543e-03 4.35109056e+02] [-1.13473082e-01 9.93541026e-01 -2.98042340e-04 -3.66858922e+01] [-3.08504939e-03 -5.23673793e-05 9.99995240e-01 -1.31024374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters Centerline goodness : 0.997434 with order 1 Centerline is valid? [True, True] Translation: X:435.17, Y:-36.69, Z:-1.31 [[ 9.93698867e-01 1.12040748e-01 3.07108344e-03 4.35167294e+02] [-1.12040363e-01 9.93703612e-01 -2.97856596e-04 -3.66878930e+01] [-3.08511879e-03 -4.81055400e-05 9.99995240e-01 -1.30927538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters Centerline goodness : 0.997028 with order 1 Centerline is valid? [True, True] Translation: X:435.23, Y:-36.68, Z:-1.31 [[ 9.93941170e-01 1.09870460e-01 3.07110477e-03 4.35226165e+02] [-1.09870064e-01 9.93945914e-01 -2.97636601e-04 -3.66842150e+01] [-3.08521350e-03 -4.15892067e-05 9.99995240e-01 -1.30554571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters Centerline goodness : 0.997193 with order 1 Centerline is valid? [True, True] Translation: X:435.29, Y:-36.68, Z:-1.31 [[ 9.94251954e-01 1.07021586e-01 3.07112235e-03 4.35285815e+02] [-1.07021178e-01 9.94256697e-01 -2.97455049e-04 -3.66791932e+01] [-3.08531807e-03 -3.29298675e-05 9.99995240e-01 -1.30601507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:435.34, Y:-36.68, Z:-1.30 [[ 9.94633503e-01 1.03415484e-01 3.07113619e-03 4.35344752e+02] [-1.03415059e-01 9.94638244e-01 -2.97312041e-04 -3.66795591e+01] [-3.08541618e-03 -2.18852123e-05 9.99995240e-01 -1.30136347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters Centerline goodness : 0.997055 with order 1 Centerline is valid? [True, True] Translation: X:435.40, Y:-36.68, Z:-1.30 [[ 9.95251015e-01 9.72932958e-02 3.07115023e-03 4.35402474e+02] [-9.72928420e-02 9.95255753e-01 -2.97166967e-04 -3.66797042e+01] [-3.08549229e-03 -3.04520825e-06 9.99995240e-01 -1.29678244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters Centerline goodness : 0.996910 with order 1 Centerline is valid? [True, True] Translation: X:435.46, Y:-36.68, Z:-1.30 [[ 9.95581876e-01 9.38471987e-02 3.07116752e-03 4.35460871e+02] [-9.38467291e-02 9.95586613e-01 -2.96988159e-04 -3.66830726e+01] [-3.08548478e-03 7.45700155e-06 9.99995240e-01 -1.30345674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters Centerline goodness : 0.997212 with order 1 Centerline is valid? [True, True] Translation: X:435.52, Y:-36.69, Z:-1.31 [[ 9.95501451e-01 9.46965118e-02 3.07118125e-03 4.35519538e+02] [-9.46960466e-02 9.95506188e-01 -2.96846168e-04 -3.66881178e+01] [-3.08549023e-03 4.68206816e-06 9.99995240e-01 -1.30509159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters Centerline goodness : 0.997561 with order 1 Centerline is valid? [True, True] Translation: X:435.58, Y:-36.69, Z:-1.30 [[ 9.95396817e-01 9.57901030e-02 3.07119521e-03 4.35576967e+02] [-9.57896435e-02 9.95401555e-01 -2.96701663e-04 -3.66912670e+01] [-3.08549357e-03 1.14719746e-06 9.99995240e-01 -1.30129325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:435.64, Y:-36.70, Z:-1.30 [[ 9.95482873e-01 9.48916102e-02 3.07121793e-03 4.35635427e+02] [-9.48911471e-02 9.95487610e-01 -2.96466258e-04 -3.66997328e+01] [-3.08549156e-03 3.69568997e-06 9.99995240e-01 -1.30257274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters Centerline goodness : 0.997074 with order 1 Centerline is valid? [True, True] Translation: X:435.69, Y:-36.71, Z:-1.30 [[ 9.95641179e-01 9.32159350e-02 3.07123159e-03 4.35693021e+02] [-9.32154644e-02 9.95645916e-01 -2.96324726e-04 -3.67062289e+01] [-3.08548137e-03 8.74682132e-06 9.99995240e-01 -1.30347181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters Centerline goodness : 0.997026 with order 1 Centerline is valid? [True, True] Translation: X:435.75, Y:-36.71, Z:-1.31 [[ 9.95621056e-01 9.34306169e-02 3.07125231e-03 4.35750589e+02] [-9.34301480e-02 9.95625793e-01 -2.96109831e-04 -3.67127432e+01] [-3.08548374e-03 7.86562575e-06 9.99995240e-01 -1.30818200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:435.81, Y:-36.72, Z:-1.31 [[ 9.95406419e-01 9.56902705e-02 3.07126940e-03 4.35808127e+02] [-9.56898129e-02 9.95411157e-01 -2.95932377e-04 -3.67197672e+01] [-3.08549368e-03 6.83793204e-07 9.99995240e-01 -1.30862572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters Centerline goodness : 0.997034 with order 1 Centerline is valid? [True, True] Translation: X:435.87, Y:-36.73, Z:-1.31 [[ 9.95578116e-01 9.38870752e-02 3.07128970e-03 4.35866334e+02] [-9.38866097e-02 9.95582853e-01 -2.95721540e-04 -3.67267686e+01] [-3.08548780e-03 6.06091615e-06 9.99995240e-01 -1.30558021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:435.92, Y:-36.73, Z:-1.31 [[ 9.96255818e-01 8.63997240e-02 3.07129989e-03 4.35923557e+02] [-8.63992232e-02 9.96260552e-01 -2.95615763e-04 -3.67345940e+01] [-3.08535604e-03 2.91510001e-05 9.99995240e-01 -1.31175147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters Centerline goodness : 0.996752 with order 1 Centerline is valid? [True, True] Translation: X:435.98, Y:-36.74, Z:-1.31 [[ 9.96666348e-01 8.15276543e-02 3.07131685e-03 4.35981771e+02] [-8.15271309e-02 9.96671079e-01 -2.95439396e-04 -3.67420855e+01] [-3.08517916e-03 4.40588534e-05 9.99995240e-01 -1.30938416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters Centerline goodness : 0.996525 with order 1 Centerline is valid? [True, True] Translation: X:436.04, Y:-36.75, Z:-1.31 [[ 9.97076859e-01 7.63433358e-02 3.07133052e-03 4.36039953e+02] [-7.63427883e-02 9.97081587e-01 -2.95297225e-04 -3.67498133e+01] [-3.08491108e-03 5.99600939e-05 9.99995240e-01 -1.30539274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters Centerline goodness : 0.996963 with order 1 Centerline is valid? [True, True] Translation: X:436.10, Y:-36.76, Z:-1.30 [[ 9.97452889e-01 7.12622045e-02 3.07134420e-03 4.36098429e+02] [-7.12616333e-02 9.97457614e-01 -2.95154840e-04 -3.67602178e+01] [-3.08456905e-03 7.55340436e-05 9.99995240e-01 -1.30466617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters Centerline goodness : 0.996432 with order 1 Centerline is valid? [True, True] Translation: X:436.16, Y:-36.77, Z:-1.31 [[ 9.97856799e-01 6.53634142e-02 3.07135792e-03 4.36156529e+02] [-6.53628155e-02 9.97861521e-01 -2.95012036e-04 -3.67728704e+01] [-3.08407288e-03 9.36271647e-05 9.99995240e-01 -1.30725528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:436.21, Y:-36.78, Z:-1.31 [[ 9.98061154e-01 6.21651065e-02 3.07137151e-03 4.36213753e+02] [-6.21644931e-02 9.98065874e-01 -2.94870450e-04 -3.67831226e+01] [-3.08376175e-03 1.03368488e-04 9.99995240e-01 -1.30786812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:436.27, Y:-36.80, Z:-1.30 [[ 9.98093246e-01 6.16477070e-02 3.07138833e-03 4.36271239e+02] [-6.16470916e-02 9.98097966e-01 -2.94695214e-04 -3.67971559e+01] [-3.08371372e-03 1.04791145e-04 9.99995240e-01 -1.30168405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters Centerline goodness : 0.997207 with order 1 Centerline is valid? [True, True] Translation: X:436.33, Y:-36.81, Z:-1.30 [[ 9.98077763e-01 6.18978711e-02 3.07140185e-03 4.36328808e+02] [-6.18972574e-02 9.98082483e-01 -2.94554209e-04 -3.68108082e+01] [-3.08374466e-03 1.03876655e-04 9.99995240e-01 -1.30454436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:436.39, Y:-36.83, Z:-1.30 [[ 9.98068709e-01 6.20436749e-02 3.07141189e-03 4.36387283e+02] [-6.20430622e-02 9.98073430e-01 -2.94449427e-04 -3.68272989e+01] [-3.08376333e-03 1.03320961e-04 9.99995240e-01 -1.30460021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters Centerline goodness : 0.997255 with order 1 Centerline is valid? [True, True] Translation: X:436.45, Y:-36.84, Z:-1.31 [[ 9.97984635e-01 6.33816637e-02 3.07141862e-03 4.36445002e+02] [-6.33810575e-02 9.97989356e-01 -2.94379215e-04 -3.68356401e+01] [-3.08390134e-03 9.91161730e-05 9.99995240e-01 -1.30871949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters Centerline goodness : 0.996699 with order 1 Centerline is valid? [True, True] Translation: X:436.50, Y:-36.84, Z:-1.31 [[ 9.97720621e-01 6.74101539e-02 3.07142863e-03 4.36503224e+02] [-6.74095672e-02 9.97725345e-01 -2.94274768e-04 -3.68442653e+01] [-3.08427930e-03 8.65603296e-05 9.99995240e-01 -1.31082976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters Centerline goodness : 0.997334 with order 1 Centerline is valid? [True, True] Translation: X:436.56, Y:-36.85, Z:-1.30 [[ 9.97636981e-01 6.86368742e-02 3.07144171e-03 4.36560840e+02] [-6.86362937e-02 9.97641706e-01 -2.94138192e-04 -3.68537266e+01] [-3.08438707e-03 8.26307626e-05 9.99995240e-01 -1.30385053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:436.62, Y:-36.86, Z:-1.31 [[ 9.97653548e-01 6.83956523e-02 3.07145143e-03 4.36619432e+02] [-6.83950709e-02 9.97658272e-01 -2.94036620e-04 -3.68631892e+01] [-3.08436976e-03 8.32745382e-05 9.99995240e-01 -1.30651630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:436.68, Y:-36.87, Z:-1.31 [[ 9.97523074e-01 7.02729165e-02 3.07145818e-03 4.36678168e+02] [-7.02723443e-02 9.97527800e-01 -2.93966161e-04 -3.68718349e+01] [-3.08452278e-03 7.73994617e-05 9.99995240e-01 -1.31138876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:436.74, Y:-36.88, Z:-1.31 [[ 9.97145443e-01 7.54422366e-02 3.07148058e-03 4.36736313e+02] [-7.54416896e-02 9.97150172e-01 -2.93731897e-04 -3.68801142e+01] [-3.08488718e-03 6.11757377e-05 9.99995240e-01 -1.30719620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters Centerline goodness : 0.997272 with order 1 Centerline is valid? [True, True] Translation: X:436.79, Y:-36.89, Z:-1.31 [[ 9.96663079e-01 8.15676023e-02 3.07149055e-03 4.36794987e+02] [-8.15670847e-02 9.96667811e-01 -2.93627663e-04 -3.68868510e+01] [-3.08520626e-03 4.21153208e-05 9.99995240e-01 -1.30817352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters Centerline goodness : 0.997441 with order 1 Centerline is valid? [True, True] Translation: X:436.85, Y:-36.89, Z:-1.31 [[ 9.96362448e-01 8.51612487e-02 3.07150415e-03 4.36852255e+02] [-8.51607486e-02 9.96367182e-01 -2.93485231e-04 -3.68916828e+01] [-3.08533951e-03 3.08460704e-05 9.99995240e-01 -1.30703788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters Centerline goodness : 0.997521 with order 1 Centerline is valid? [True, True] Translation: X:436.91, Y:-36.90, Z:-1.31 [[ 9.96191944e-01 8.71331004e-02 3.07152104e-03 4.36910894e+02] [-8.71326102e-02 9.96196678e-01 -2.93308435e-04 -3.68968585e+01] [-3.08539593e-03 2.45618546e-05 9.99995240e-01 -1.30603842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters Centerline goodness : 0.997305 with order 1 Centerline is valid? [True, True] Translation: X:436.97, Y:-36.91, Z:-1.31 [[ 9.96545572e-01 8.29908931e-02 3.07153477e-03 4.36969047e+02] [-8.29903836e-02 9.96550305e-01 -2.93164561e-04 -3.69051052e+01] [-3.08526890e-03 3.72439965e-05 9.99995240e-01 -1.30926762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters Centerline goodness : 0.997696 with order 1 Centerline is valid? [True, True] Translation: X:437.03, Y:-36.91, Z:-1.31 [[ 9.96654414e-01 8.16733980e-02 3.07154873e-03 4.37026929e+02] [-8.16728828e-02 9.96659147e-01 -2.93018240e-04 -3.69114255e+01] [-3.08521893e-03 4.11756831e-05 9.99995240e-01 -1.30824310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters Centerline goodness : 0.997700 with order 1 Centerline is valid? [True, True] Translation: X:437.09, Y:-36.92, Z:-1.30 [[ 9.97040435e-01 7.68175559e-02 3.07156590e-03 4.37085421e+02] [-7.68170182e-02 9.97045164e-01 -2.92838126e-04 -3.69223941e+01] [-3.08498504e-03 5.60229189e-05 9.99995240e-01 -1.30478949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters Centerline goodness : 0.997584 with order 1 Centerline is valid? [True, True] Translation: X:437.14, Y:-36.94, Z:-1.31 [[ 9.97418770e-01 7.17381578e-02 3.07157947e-03 4.37143793e+02] [-7.17375964e-02 9.97423497e-01 -2.92695730e-04 -3.69357118e+01] [-3.08466299e-03 7.15924869e-05 9.99995240e-01 -1.30842264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters Centerline goodness : 0.997436 with order 1 Centerline is valid? [True, True] Translation: X:437.20, Y:-36.95, Z:-1.31 [[ 9.97581018e-01 6.94454972e-02 3.07158621e-03 4.37202363e+02] [-6.94449251e-02 9.97585744e-01 -2.92624996e-04 -3.69461197e+01] [-3.08449210e-03 7.86110677e-05 9.99995240e-01 -1.30629005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:437.26, Y:-36.96, Z:-1.31 [[ 9.97727603e-01 6.73067276e-02 3.07159291e-03 4.37260770e+02] [-6.73061457e-02 9.97732327e-01 -2.92554610e-04 -3.69604072e+01] [-3.08431844e-03 8.51527301e-05 9.99995240e-01 -1.30747410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters Centerline goodness : 0.997795 with order 1 Centerline is valid? [True, True] Translation: X:437.32, Y:-36.97, Z:-1.31 [[ 9.97542267e-01 6.99999365e-02 3.07159966e-03 4.37320082e+02] [-6.99993676e-02 9.97546993e-01 -2.92483732e-04 -3.69744084e+01] [-3.08453885e-03 7.67548517e-05 9.99995240e-01 -1.30989364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:437.38, Y:-36.98, Z:-1.31 [[ 9.97153990e-01 7.53291834e-02 3.07159966e-03 4.37379259e+02] [-7.53286397e-02 9.97158719e-01 -2.92483732e-04 -3.69831806e+01] [-3.08490494e-03 6.02718965e-05 9.99995240e-01 -1.30627370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:437.44, Y:-36.99, Z:-1.31 [[ 9.96639253e-01 8.18582010e-02 3.07160303e-03 4.37438781e+02] [-8.18576884e-02 9.96643985e-01 -2.92448394e-04 -3.69913503e+01] [-3.08523398e-03 4.00312259e-05 9.99995240e-01 -1.30953505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:437.50, Y:-37.01, Z:-1.31 [[ 9.96393948e-01 8.47918955e-02 3.07160976e-03 4.37497915e+02] [-8.47913970e-02 9.96398682e-01 -2.92377617e-04 -3.70051069e+01] [-3.08533917e-03 3.08772051e-05 9.99995240e-01 -1.31009899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters Centerline goodness : 0.997616 with order 1 Centerline is valid? [True, True] Translation: X:437.56, Y:-37.01, Z:-1.31 [[ 9.96104962e-01 8.81219088e-02 3.07160976e-03 4.37557874e+02] [-8.81214261e-02 9.96109697e-01 -2.92377617e-04 -3.70147538e+01] [-3.08542514e-03 2.05641621e-05 9.99995240e-01 -1.30885541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters Centerline goodness : 0.997720 with order 1 Centerline is valid? [True, True] Translation: X:437.62, Y:-37.02, Z:-1.31 [[ 9.95702328e-01 9.25604608e-02 3.07160976e-03 4.37617465e+02] [-9.25599993e-02 9.95707066e-01 -2.92377617e-04 -3.70217068e+01] [-3.08548615e-03 6.81287646e-06 9.99995240e-01 -1.31094216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:437.68, Y:-37.03, Z:-1.31 [[ 9.94827121e-01 1.01536021e-01 3.07161663e-03 4.37677217e+02] [-1.01535603e-01 9.94831863e-01 -2.92305402e-04 -3.70264553e+01] [-3.08542163e-03 -2.10851053e-05 9.99995240e-01 -1.30658418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:437.74, Y:-37.03, Z:-1.30 [[ 9.93878078e-01 1.10439717e-01 3.07162347e-03 4.37735326e+02] [-1.10439341e-01 9.93882823e-01 -2.92233554e-04 -3.70259259e+01] [-3.08510800e-03 -4.87835490e-05 9.99995240e-01 -1.30462615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:437.79, Y:-37.02, Z:-1.31 [[ 9.93265280e-01 1.15821626e-01 3.07164046e-03 4.37794292e+02] [-1.15821277e-01 9.93270027e-01 -2.92054865e-04 -3.70229746e+01] [-3.08479467e-03 -6.56733635e-05 9.99995240e-01 -1.31086850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:437.85, Y:-37.02, Z:-1.31 [[ 9.93294908e-01 1.15567253e-01 3.07165422e-03 4.37853015e+02] [-1.15566902e-01 9.93299656e-01 -2.91910038e-04 -3.70236539e+01] [-3.08480832e-03 -6.50288096e-05 9.99995240e-01 -1.31058857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters Centerline goodness : 0.998172 with order 1 Centerline is valid? [True, True] Translation: X:437.91, Y:-37.02, Z:-1.31 [[ 9.93826521e-01 1.10902712e-01 3.07166810e-03 4.37911986e+02] [-1.10902339e-01 9.93831266e-01 -2.91763936e-04 -3.70186082e+01] [-3.08507721e-03 -5.06924410e-05 9.99995240e-01 -1.31021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters Centerline goodness : 0.998285 with order 1 Centerline is valid? [True, True] Translation: X:437.97, Y:-37.02, Z:-1.31 [[ 9.94237523e-01 1.07155551e-01 3.07168528e-03 4.37971115e+02] [-1.07155162e-01 9.94242267e-01 -2.91582993e-04 -3.70190677e+01] [-3.08524407e-03 -3.92441808e-05 9.99995240e-01 -1.31001846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters Centerline goodness : 0.998246 with order 1 Centerline is valid? [True, True] Translation: X:438.03, Y:-37.02, Z:-1.31 [[ 9.94567519e-01 1.04048136e-01 3.07169908e-03 4.38030014e+02] [-1.04047732e-01 9.94572262e-01 -2.91437550e-04 -3.70184728e+01] [-3.08535023e-03 -2.97490012e-05 9.99995240e-01 -1.30829542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:438.09, Y:-37.02, Z:-1.31 [[ 9.94854307e-01 1.01269308e-01 3.07171341e-03 4.38087916e+02] [-1.01268892e-01 9.94859049e-01 -2.91286363e-04 -3.70221518e+01] [-3.08542025e-03 -2.12815198e-05 9.99995240e-01 -1.30585838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:438.15, Y:-37.03, Z:-1.31 [[ 9.95303257e-01 9.67573808e-02 3.07173113e-03 4.38145497e+02] [-9.67569432e-02 9.95307997e-01 -2.91099371e-04 -3.70259845e+01] [-3.08548458e-03 -7.47916328e-06 9.99995240e-01 -1.30854174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:438.20, Y:-37.03, Z:-1.31 [[ 9.95655835e-01 9.30592413e-02 3.07174847e-03 4.38204280e+02] [-9.30587867e-02 9.95660573e-01 -2.90916293e-04 -3.70328289e+01] [-3.08549130e-03 3.79931918e-06 9.99995240e-01 -1.31259597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters Centerline goodness : 0.998114 with order 1 Centerline is valid? [True, True] Translation: X:438.26, Y:-37.04, Z:-1.31 [[ 9.95730084e-01 9.22613879e-02 3.07176202e-03 4.38263315e+02] [-9.22609299e-02 9.95734822e-01 -2.90773177e-04 -3.70382555e+01] [-3.08548755e-03 6.12797959e-06 9.99995240e-01 -1.31327197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters Centerline goodness : 0.998072 with order 1 Centerline is valid? [True, True] Translation: X:438.32, Y:-37.04, Z:-1.31 [[ 9.95633547e-01 9.32973919e-02 3.07177547e-03 4.38320516e+02] [-9.32969393e-02 9.95638286e-01 -2.90630994e-04 -3.70436485e+01] [-3.08549238e-03 2.77471820e-06 9.99995240e-01 -1.31033046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters Centerline goodness : 0.997922 with order 1 Centerline is valid? [True, True] Translation: X:438.38, Y:-37.05, Z:-1.31 [[ 9.95499184e-01 9.47203145e-02 3.07179213e-03 4.38379405e+02] [-9.47198691e-02 9.95503924e-01 -2.90454814e-04 -3.70490375e+01] [-3.08549309e-03 -1.81221853e-06 9.99995240e-01 -1.31178468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:438.44, Y:-37.05, Z:-1.31 [[ 9.95140714e-01 9.84150576e-02 3.07180546e-03 4.38438341e+02] [-9.84146303e-02 9.95145455e-01 -2.90313790e-04 -3.70546805e+01] [-3.08546449e-03 -1.34075263e-05 9.99995240e-01 -1.31129245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [True, True] Translation: X:438.50, Y:-37.06, Z:-1.31 [[ 9.94792038e-01 1.01879172e-01 3.07181873e-03 4.38497447e+02] [-1.01878762e-01 9.94796780e-01 -2.90173335e-04 -3.70595290e+01] [-3.08539800e-03 -2.42909649e-05 9.99995240e-01 -1.31199034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters Centerline goodness : 0.998153 with order 1 Centerline is valid? [True, True] Translation: X:438.56, Y:-37.07, Z:-1.31 [[ 9.94240458e-01 1.07128317e-01 3.07183191e-03 4.38555285e+02] [-1.07127932e-01 9.94245202e-01 -2.90033741e-04 -3.70662581e+01] [-3.08522496e-03 -4.07157193e-05 9.99995240e-01 -1.31307085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:438.61, Y:-37.07, Z:-1.31 [[ 9.93660587e-01 1.12379722e-01 3.07184821e-03 4.38613314e+02] [-1.12379363e-01 9.93665333e-01 -2.89861027e-04 -3.70714999e+01] [-3.08496357e-03 -5.71888655e-05 9.99995240e-01 -1.31374435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters Centerline goodness : 0.998003 with order 1 Centerline is valid? [True, True] Translation: X:438.67, Y:-37.08, Z:-1.31 [[ 9.92971213e-01 1.18316246e-01 3.07186467e-03 4.38670564e+02] [-1.18315915e-01 9.92975962e-01 -2.89686484e-04 -3.70752918e+01] [-3.08456239e-03 -7.58001406e-05 9.99995240e-01 -1.31052229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:438.73, Y:-37.08, Z:-1.31 [[ 9.92839209e-01 1.19418878e-01 3.07188060e-03 4.38729199e+02] [-1.19418553e-01 9.92843958e-01 -2.89517410e-04 -3.70793617e+01] [-3.08447194e-03 -7.93953001e-05 9.99995240e-01 -1.31054145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:438.79, Y:-37.09, Z:-1.31 [[ 9.93170438e-01 1.16632094e-01 3.07189322e-03 4.38786141e+02] [-1.16631756e-01 9.93175186e-01 -2.89383423e-04 -3.70868319e+01] [-3.08467952e-03 -7.08732401e-05 9.99995240e-01 -1.31456597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:438.85, Y:-37.09, Z:-1.31 [[ 9.93454175e-01 1.14190040e-01 3.07190885e-03 4.38845248e+02] [-1.14189691e-01 9.93458923e-01 -2.89217410e-04 -3.70919686e+01] [-3.08484101e-03 -6.34560797e-05 9.99995240e-01 -1.31330005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:438.90, Y:-37.09, Z:-1.31 [[ 9.93460720e-01 1.14133084e-01 3.07192124e-03 4.38903980e+02] [-1.14132736e-01 9.93465467e-01 -2.89085808e-04 -3.70938820e+01] [-3.08484192e-03 -6.34113804e-05 9.99995240e-01 -1.31056928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:438.96, Y:-37.10, Z:-1.31 [[ 9.93123860e-01 1.17028037e-01 3.07193358e-03 4.38961717e+02] [-1.17027703e-01 9.93128609e-01 -2.88954627e-04 -3.70960114e+01] [-3.08464091e-03 -7.25335967e-05 9.99995240e-01 -1.31169149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters Centerline goodness : 0.997846 with order 1 Centerline is valid? [True, True] Translation: X:439.02, Y:-37.09, Z:-1.31 [[ 9.92985180e-01 1.18198969e-01 3.07194883e-03 4.39020457e+02] [-1.18198641e-01 9.92989928e-01 -2.88792372e-04 -3.70946768e+01] [-3.08454921e-03 -7.63336308e-05 9.99995240e-01 -1.31062109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:439.08, Y:-37.10, Z:-1.31 [[ 9.92866567e-01 1.19191208e-01 3.07196762e-03 4.39079162e+02] [-1.19190885e-01 9.92871316e-01 -2.88592342e-04 -3.70956889e+01] [-3.08446620e-03 -7.96168507e-05 9.99995240e-01 -1.31160361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:439.14, Y:-37.10, Z:-1.32 [[ 9.93003975e-01 1.18040960e-01 3.07198110e-03 4.39136827e+02] [-1.18040632e-01 9.93008724e-01 -2.88448784e-04 -3.70954531e+01] [-3.08455280e-03 -7.61878020e-05 9.99995240e-01 -1.31626412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:439.20, Y:-37.10, Z:-1.32 [[ 9.93168522e-01 1.16648400e-01 3.07199774e-03 4.39195045e+02] [-1.16648066e-01 9.93173271e-01 -2.88271504e-04 -3.70985425e+01] [-3.08465245e-03 -7.20404118e-05 9.99995240e-01 -1.31532100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:439.25, Y:-37.10, Z:-1.31 [[ 9.93352949e-01 1.15067294e-01 3.07201766e-03 4.39252295e+02] [-1.15066953e-01 9.93357697e-01 -2.88059002e-04 -3.70984228e+01] [-3.08475856e-03 -6.73434524e-05 9.99995240e-01 -1.31311490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:439.31, Y:-37.10, Z:-1.32 [[ 9.93416557e-01 1.14516842e-01 3.07204067e-03 4.39310238e+02] [-1.14516500e-01 9.93421305e-01 -2.87813466e-04 -3.70995976e+01] [-3.08479014e-03 -6.58806814e-05 9.99995240e-01 -1.31573870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:439.37, Y:-37.10, Z:-1.31 [[ 9.93492003e-01 1.13860451e-01 3.07205874e-03 4.39368685e+02] [-1.13860105e-01 9.93496751e-01 -2.87620412e-04 -3.70966431e+01] [-3.08482897e-03 -6.40363530e-05 9.99995240e-01 -1.31206488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:439.43, Y:-37.10, Z:-1.31 [[ 9.93851213e-01 1.10681206e-01 3.07207928e-03 4.39426424e+02] [-1.10680846e-01 9.93855959e-01 -2.87400900e-04 -3.71004710e+01] [-3.08501417e-03 -5.43865994e-05 9.99995240e-01 -1.31015680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters Centerline goodness : 0.998320 with order 1 Centerline is valid? [True, True] Translation: X:439.48, Y:-37.10, Z:-1.31 [[ 9.94220143e-01 1.07316676e-01 3.07210044e-03 4.39482921e+02] [-1.07316300e-01 9.94224889e-01 -2.87174511e-04 -3.71043438e+01] [-3.08517733e-03 -4.41717697e-05 9.99995240e-01 -1.31353736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:439.54, Y:-37.11, Z:-1.32 [[ 9.94697246e-01 1.02800543e-01 3.07212476e-03 4.39541798e+02] [-1.02800147e-01 9.94701989e-01 -2.86914116e-04 -3.71090111e+01] [-3.08534353e-03 -3.04221956e-05 9.99995240e-01 -1.31623218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:439.60, Y:-37.11, Z:-1.31 [[ 9.94866012e-01 1.01154243e-01 3.07213837e-03 4.39599531e+02] [-1.01153840e-01 9.94870755e-01 -2.86768307e-04 -3.71126947e+01] [-3.08538845e-03 -2.54625501e-05 9.99995240e-01 -1.31209216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:439.66, Y:-37.12, Z:-1.31 [[ 9.94868600e-01 1.01128782e-01 3.07215872e-03 4.39657286e+02] [-1.01128379e-01 9.94873343e-01 -2.86550104e-04 -3.71165824e+01] [-3.08538728e-03 -2.56027312e-05 9.99995240e-01 -1.31099344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters Centerline goodness : 0.998196 with order 1 Centerline is valid? [True, True] Translation: X:439.72, Y:-37.12, Z:-1.31 [[ 9.94841734e-01 1.01392731e-01 3.07217555e-03 4.39715152e+02] [-1.01392330e-01 9.94846477e-01 -2.86369569e-04 -3.71173488e+01] [-3.08537882e-03 -2.66026371e-05 9.99995240e-01 -1.31367687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:439.77, Y:-37.12, Z:-1.32 [[ 9.94665915e-01 1.03103245e-01 3.07219575e-03 4.39772692e+02] [-1.03102853e-01 9.94670659e-01 -2.86152676e-04 -3.71178498e+01] [-3.08532624e-03 -3.21258326e-05 9.99995240e-01 -1.31514261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:439.83, Y:-37.11, Z:-1.32 [[ 9.94315103e-01 1.06433256e-01 3.07221904e-03 4.39831135e+02] [-1.06432880e-01 9.94319848e-01 -2.85902389e-04 -3.71148170e+01] [-3.08519789e-03 -4.27080586e-05 9.99995240e-01 -1.31624500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:439.89, Y:-37.11, Z:-1.31 [[ 9.94302065e-01 1.06554989e-01 3.07223905e-03 4.39890087e+02] [-1.06554615e-01 9.94306810e-01 -2.85687233e-04 -3.71118892e+01] [-3.08518961e-03 -4.33018438e-05 9.99995240e-01 -1.31400032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters Centerline goodness : 0.998355 with order 1 Centerline is valid? [True, True] Translation: X:439.95, Y:-37.11, Z:-1.31 [[ 9.94676162e-01 1.03004341e-01 3.07225262e-03 4.39947886e+02] [-1.03003950e-01 9.94680906e-01 -2.85541185e-04 -3.71121554e+01] [-3.08532301e-03 -3.24331460e-05 9.99995240e-01 -1.31170387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters Centerline goodness : 0.998499 with order 1 Centerline is valid? [True, True] Translation: X:440.01, Y:-37.11, Z:-1.31 [[ 9.95372298e-01 9.60445227e-02 3.07227295e-03 4.40006213e+02] [-9.60440996e-02 9.95377039e-01 -2.85322305e-04 -3.71103756e+01] [-3.08547360e-03 -1.10717715e-05 9.99995240e-01 -1.31380490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:440.06, Y:-37.11, Z:-1.32 [[ 9.95818605e-01 9.13009659e-02 3.07229296e-03 4.40063357e+02] [-9.13005209e-02 9.95823345e-01 -2.85106746e-04 -3.71081791e+01] [-3.08549157e-03 3.41265554e-06 9.99995240e-01 -1.31563836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:440.12, Y:-37.11, Z:-1.32 [[ 9.95878649e-01 9.06436784e-02 3.07232202e-03 4.40121756e+02] [-9.06432311e-02 9.95883389e-01 -2.84793171e-04 -3.71082119e+01] [-3.08548917e-03 5.13424360e-06 9.99995240e-01 -1.31662254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters Centerline goodness : 0.998252 with order 1 Centerline is valid? [True, True] Translation: X:440.18, Y:-37.11, Z:-1.32 [[ 9.96295684e-01 8.59387592e-02 3.07234145e-03 4.40180122e+02] [-8.59382902e-02 9.96300421e-01 -2.84583432e-04 -3.71064900e+01] [-3.08543183e-03 1.94974743e-05 9.99995240e-01 -1.31720041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:440.24, Y:-37.11, Z:-1.32 [[ 9.96806860e-01 7.97912508e-02 3.07236087e-03 4.40237053e+02] [-7.97907533e-02 9.96811594e-01 -2.84373622e-04 -3.71054718e+01] [-3.08525546e-03 3.83195895e-05 9.99995240e-01 -1.32024292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters Centerline goodness : 0.998022 with order 1 Centerline is valid? [True, True] Translation: X:440.30, Y:-37.11, Z:-1.31 [[ 9.97565670e-01 6.96655903e-02 3.07238323e-03 4.40296353e+02] [-6.96650454e-02 9.97570399e-01 -2.84131855e-04 -3.71069421e+01] [-3.08471278e-03 6.94024667e-05 9.99995240e-01 -1.31474150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:440.35, Y:-37.12, Z:-1.32 [[ 9.98358311e-01 5.71947828e-02 3.07239648e-03 4.40354571e+02] [-5.71941794e-02 9.98363033e-01 -2.83988454e-04 -3.71182060e+01] [-3.08360973e-03 1.07799037e-04 9.99995240e-01 -1.31637964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters Centerline goodness : 0.998306 with order 1 Centerline is valid? [True, True] Translation: X:440.41, Y:-37.13, Z:-1.32 [[ 9.98821678e-01 4.84336249e-02 3.07240956e-03 4.40411241e+02] [-4.84329805e-02 9.98826394e-01 -2.83846867e-04 -3.71315496e+01] [-3.08255150e-03 1.34706452e-04 9.99995240e-01 -1.32061096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:440.47, Y:-37.14, Z:-1.32 [[ 9.98867658e-01 4.74759172e-02 3.07242564e-03 4.40469168e+02] [-4.74752688e-02 9.98872373e-01 -2.83672729e-04 -3.71445903e+01] [-3.08242872e-03 1.37487281e-04 9.99995240e-01 -1.31859787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters Centerline goodness : 0.998069 with order 1 Centerline is valid? [True, True] Translation: X:440.53, Y:-37.16, Z:-1.32 [[ 9.98729631e-01 5.02959733e-02 3.07243846e-03 4.40525602e+02] [-5.02953386e-02 9.98734348e-01 -2.83533831e-04 -3.71606357e+01] [-3.08281043e-03 1.28644305e-04 9.99995240e-01 -1.32250668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:440.58, Y:-37.18, Z:-1.32 [[ 9.98521207e-01 5.42766946e-02 3.07245430e-03 4.40582950e+02] [-5.42760793e-02 9.98525927e-01 -2.83362126e-04 -3.71763764e+01] [-3.08330523e-03 1.16182319e-04 9.99995240e-01 -1.32495770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters Centerline goodness : 0.998150 with order 1 Centerline is valid? [True, True] Translation: X:440.64, Y:-37.19, Z:-1.32 [[ 9.98284092e-01 5.84759096e-02 3.07246689e-03 4.40640058e+02] [-5.84753146e-02 9.98288815e-01 -2.83225461e-04 -3.71910641e+01] [-3.08377120e-03 1.03076003e-04 9.99995240e-01 -1.32169082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters Centerline goodness : 0.997928 with order 1 Centerline is valid? [True, True] Translation: X:440.70, Y:-37.20, Z:-1.32 [[ 9.98144480e-01 6.08124721e-02 3.07248246e-03 4.40698702e+02] [-6.08118886e-02 9.98149204e-01 -2.83056442e-04 -3.71988699e+01] [-3.08400929e-03 9.56877634e-05 9.99995240e-01 -1.32250841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters Centerline goodness : 0.997545 with order 1 Centerline is valid? [True, True] Translation: X:440.76, Y:-37.21, Z:-1.32 [[ 9.97629864e-01 6.87401962e-02 3.07249493e-03 4.40756478e+02] [-6.87396507e-02 9.97634593e-01 -2.82921048e-04 -3.72081938e+01] [-3.08467528e-03 7.10482585e-05 9.99995240e-01 -1.32427882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters Centerline goodness : 0.997777 with order 1 Centerline is valid? [True, True] Translation: X:440.81, Y:-37.21, Z:-1.32 [[ 9.97173519e-01 7.50701790e-02 3.07250733e-03 4.40813805e+02] [-7.50696639e-02 9.97178252e-01 -2.82786335e-04 -3.72144405e+01] [-3.08506631e-03 5.13349520e-05 9.99995240e-01 -1.32351408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:440.87, Y:-37.22, Z:-1.32 [[ 9.97353963e-01 7.26335485e-02 3.07252268e-03 4.40871670e+02] [-7.26330223e-02 9.97358694e-01 -2.82619418e-04 -3.72190190e+01] [-3.08493486e-03 5.87049881e-05 9.99995240e-01 -1.31944915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters Centerline goodness : 0.997624 with order 1 Centerline is valid? [True, True] Translation: X:440.93, Y:-37.23, Z:-1.32 [[ 9.97631233e-01 6.87203138e-02 3.07253862e-03 4.40929684e+02] [-6.87197696e-02 9.97635962e-01 -2.82446042e-04 -3.72268883e+01] [-3.08468481e-03 7.06328467e-05 9.99995240e-01 -1.31830069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters Centerline goodness : 0.997432 with order 1 Centerline is valid? [True, True] Translation: X:440.99, Y:-37.23, Z:-1.31 [[ 9.97869879e-01 6.51633625e-02 3.07255074e-03 4.40988167e+02] [-6.51628019e-02 9.97874606e-01 -2.82314189e-04 -3.72310737e+01] [-3.08441690e-03 8.14968107e-05 9.99995240e-01 -1.31432300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:441.05, Y:-37.24, Z:-1.32 [[ 9.97722999e-01 6.73749009e-02 3.07256440e-03 4.41045310e+02] [-6.73743513e-02 9.97727727e-01 -2.82165435e-04 -3.72374016e+01] [-3.08459356e-03 7.45109107e-05 9.99995240e-01 -1.32041041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters Centerline goodness : 0.997476 with order 1 Centerline is valid? [True, True] Translation: X:441.10, Y:-37.25, Z:-1.32 [[ 9.98024897e-01 6.27444424e-02 3.07257852e-03 4.41104164e+02] [-6.27438713e-02 9.98029622e-01 -2.82011547e-04 -3.72450173e+01] [-3.08421904e-03 8.86690735e-05 9.99995240e-01 -1.31727526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:441.16, Y:-37.26, Z:-1.32 [[ 9.98541798e-01 5.38965465e-02 3.07259258e-03 4.41162970e+02] [-5.38959340e-02 9.98546518e-01 -2.81858300e-04 -3.72620906e+01] [-3.08331781e-03 1.15847047e-04 9.99995240e-01 -1.31657944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters Centerline goodness : 0.997580 with order 1 Centerline is valid? [True, True] Translation: X:441.22, Y:-37.28, Z:-1.32 [[ 9.98835582e-01 4.81460163e-02 3.07259923e-03 4.41220780e+02] [-4.81453769e-02 9.98840299e-01 -2.81785781e-04 -3.72787372e+01] [-3.08260280e-03 1.33526217e-04 9.99995240e-01 -1.32466175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters Centerline goodness : 0.997320 with order 1 Centerline is valid? [True, True] Translation: X:441.28, Y:-37.29, Z:-1.33 [[ 9.98802624e-01 4.88249577e-02 3.07260578e-03 4.41279325e+02] [-4.88243217e-02 9.98807342e-01 -2.81714366e-04 -3.72944918e+01] [-3.08269590e-03 1.31359155e-04 9.99995240e-01 -1.32855312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:441.34, Y:-37.31, Z:-1.32 [[ 9.98484635e-01 5.49453558e-02 3.07261229e-03 4.41336555e+02] [-5.49447489e-02 9.98489357e-01 -2.81643378e-04 -3.73130149e+01] [-3.08344566e-03 1.12392675e-04 9.99995240e-01 -1.32365833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters Centerline goodness : 0.997595 with order 1 Centerline is valid? [True, True] Translation: X:441.39, Y:-37.33, Z:-1.32 [[ 9.98100187e-01 6.15351570e-02 3.07262195e-03 4.41394577e+02] [-6.15345817e-02 9.98104912e-01 -2.81537921e-04 -3.73298294e+01] [-3.08412354e-03 9.19305453e-05 9.99995240e-01 -1.32138162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters Centerline goodness : 0.997504 with order 1 Centerline is valid? [True, True] Translation: X:441.45, Y:-37.34, Z:-1.32 [[ 9.97744317e-01 6.70584636e-02 3.07262834e-03 4.41453660e+02] [-6.70579146e-02 9.97749045e-01 -2.81468108e-04 -3.73424267e+01] [-3.08458681e-03 7.47891559e-05 9.99995240e-01 -1.32207666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters Centerline goodness : 0.997464 with order 1 Centerline is valid? [True, True] Translation: X:441.51, Y:-37.35, Z:-1.32 [[ 9.97354140e-01 7.26311053e-02 3.07263486e-03 4.41512415e+02] [-7.26305829e-02 9.97358872e-01 -2.81396998e-04 -3.73519448e+01] [-3.08495781e-03 5.74852008e-05 9.99995240e-01 -1.32018917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:441.57, Y:-37.36, Z:-1.32 [[ 9.97185425e-01 7.49118639e-02 3.07264131e-03 4.41570396e+02] [-7.49113526e-02 9.97190157e-01 -2.81326469e-04 -3.73569542e+01] [-3.08508237e-03 5.03589381e-05 9.99995240e-01 -1.31648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:441.63, Y:-37.36, Z:-1.32 [[ 9.96785350e-01 8.00595045e-02 3.07265096e-03 4.41630047e+02] [-8.00590180e-02 9.96790086e-01 -2.81221096e-04 -3.73610075e+01] [-3.08530243e-03 3.43236507e-05 9.99995240e-01 -1.31633639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters Centerline goodness : 0.997573 with order 1 Centerline is valid? [True, True] Translation: X:441.69, Y:-37.36, Z:-1.32 [[ 9.96605558e-01 8.22673689e-02 3.07265729e-03 4.41690083e+02] [-8.22668930e-02 9.96610295e-01 -2.81151920e-04 -3.73631368e+01] [-3.08537151e-03 2.74195978e-05 9.99995240e-01 -1.31868467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:441.75, Y:-37.36, Z:-1.32 [[ 9.96500124e-01 8.35347873e-02 3.07266396e-03 4.41748741e+02] [-8.35343176e-02 9.96504861e-01 -2.81079000e-04 -3.73647371e+01] [-3.08540445e-03 2.34223717e-05 9.99995240e-01 -1.32054905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters Centerline goodness : 0.997548 with order 1 Centerline is valid? [True, True] Translation: X:441.81, Y:-37.37, Z:-1.32 [[ 9.96584492e-01 8.25221770e-02 3.07267387e-03 4.41807335e+02] [-8.25217029e-02 9.96589228e-01 -2.80970634e-04 -3.73654864e+01] [-3.08537999e-03 2.64486965e-05 9.99995240e-01 -1.31852038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters Centerline goodness : 0.997340 with order 1 Centerline is valid? [True, True] Translation: X:441.87, Y:-37.37, Z:-1.32 [[ 9.96868924e-01 7.90120690e-02 3.07268703e-03 4.41866075e+02] [-7.90115787e-02 9.96873659e-01 -2.80826657e-04 -3.73685563e+01] [-3.08526945e-03 3.71695147e-05 9.99995240e-01 -1.32116026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters Centerline goodness : 0.996945 with order 1 Centerline is valid? [True, True] Translation: X:441.93, Y:-37.37, Z:-1.32 [[ 9.97126453e-01 7.56927624e-02 3.07269679e-03 4.41925602e+02] [-7.56922566e-02 9.97131187e-01 -2.80719825e-04 -3.73718266e+01] [-3.08513025e-03 4.73338100e-05 9.99995240e-01 -1.32461464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:441.99, Y:-37.37, Z:-1.32 [[ 9.97321472e-01 7.30783194e-02 3.07270333e-03 4.41985358e+02] [-7.30778015e-02 9.97326203e-01 -2.80648203e-04 -3.73745930e+01] [-3.08499684e-03 5.53500751e-05 9.99995240e-01 -1.32317612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:442.05, Y:-37.38, Z:-1.32 [[ 9.97525114e-01 7.02439051e-02 3.07270986e-03 4.42045294e+02] [-7.02433739e-02 9.97529844e-01 -2.80576664e-04 -3.73785714e+01] [-3.08482859e-03 6.40447612e-05 9.99995240e-01 -1.32133593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters Centerline goodness : 0.996702 with order 1 Centerline is valid? [True, True] Translation: X:442.10, Y:-37.39, Z:-1.32 [[ 9.97806966e-01 6.61197245e-02 3.07271632e-03 4.42103170e+02] [-6.61191740e-02 9.97811694e-01 -2.80505866e-04 -3.73866218e+01] [-3.08453925e-03 7.67252417e-05 9.99995240e-01 -1.32097550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters Centerline goodness : 0.996987 with order 1 Centerline is valid? [True, True] Translation: X:442.16, Y:-37.40, Z:-1.32 [[ 9.98293556e-01 5.83140972e-02 3.07272592e-03 4.42161425e+02] [-5.83135101e-02 9.98298280e-01 -2.80400737e-04 -3.74000570e+01] [-3.08384831e-03 1.00740815e-04 9.99995240e-01 -1.32163695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters Centerline goodness : 0.997361 with order 1 Centerline is valid? [True, True] Translation: X:442.22, Y:-37.41, Z:-1.32 [[ 9.98549262e-01 5.37580683e-02 3.07272906e-03 4.42221246e+02] [-5.37574597e-02 9.98553983e-01 -2.80366245e-04 -3.74126282e+01] [-3.08335779e-03 1.14777398e-04 9.99995240e-01 -1.31937185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters Centerline goodness : 0.997330 with order 1 Centerline is valid? [True, True] Translation: X:442.28, Y:-37.43, Z:-1.31 [[ 9.98472201e-01 5.51708456e-02 3.07272906e-03 4.42279993e+02] [-5.51702437e-02 9.98476923e-01 -2.80366245e-04 -3.74314576e+01] [-3.08351710e-03 1.10414690e-04 9.99995240e-01 -1.31494896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters Centerline goodness : 0.997493 with order 1 Centerline is valid? [True, True] Translation: X:442.34, Y:-37.45, Z:-1.32 [[ 9.97953980e-01 6.38624516e-02 3.07272906e-03 4.42339145e+02] [-6.38618908e-02 9.97958707e-01 -2.80366245e-04 -3.74493804e+01] [-3.08436160e-03 8.35623216e-05 9.99995240e-01 -1.32171659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters Centerline goodness : 0.997476 with order 1 Centerline is valid? [True, True] Translation: X:442.40, Y:-37.47, Z:-1.32 [[ 9.97228671e-01 7.43339545e-02 3.07272906e-03 4.42397838e+02] [-7.43334434e-02 9.97233403e-01 -2.80366245e-04 -3.74660704e+01] [-3.08506879e-03 5.11827255e-05 9.99995240e-01 -1.32306240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:442.46, Y:-37.48, Z:-1.32 [[ 9.96359795e-01 8.51922372e-02 3.07273227e-03 4.42457081e+02] [-8.51917778e-02 9.96364533e-01 -2.80331070e-04 -3.74801611e+01] [-3.08544349e-03 1.75390819e-05 9.99995240e-01 -1.31887610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:442.52, Y:-37.49, Z:-1.32 [[ 9.95510855e-01 9.45975459e-02 3.07273227e-03 4.42516492e+02] [-9.45971312e-02 9.95515597e-01 -2.80331070e-04 -3.74876745e+01] [-3.08547153e-03 -1.15990353e-05 9.99995240e-01 -1.32047920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters Centerline goodness : 0.997124 with order 1 Centerline is valid? [True, True] Translation: X:442.58, Y:-37.49, Z:-1.32 [[ 9.95204388e-01 9.77690371e-02 3.07273855e-03 4.42575358e+02] [-9.77686377e-02 9.95209131e-01 -2.80262265e-04 -3.74942470e+01] [-3.08541843e-03 -2.14992263e-05 9.99995240e-01 -1.32168897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters Centerline goodness : 0.997300 with order 1 Centerline is valid? [True, True] Translation: X:442.63, Y:-37.50, Z:-1.33 [[ 9.94225120e-01 1.07270545e-01 3.07274167e-03 4.42633886e+02] [-1.07270191e-01 9.94229867e-01 -2.80228056e-04 -3.75005806e+01] [-3.08507175e-03 -5.10038128e-05 9.99995240e-01 -1.32582018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters Centerline goodness : 0.997350 with order 1 Centerline is valid? [True, True] Translation: X:442.69, Y:-37.50, Z:-1.32 [[ 9.93734809e-01 1.11721471e-01 3.07275068e-03 4.42693694e+02] [-1.11721138e-01 9.93739558e-01 -2.80129239e-04 -3.75028451e+01] [-3.08481035e-03 -6.49170284e-05 9.99995240e-01 -1.32202226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:442.75, Y:-37.50, Z:-1.32 [[ 9.93485517e-01 1.13917009e-01 3.07275711e-03 4.42752003e+02] [-1.13916688e-01 9.93490267e-01 -2.80058640e-04 -3.75047109e+01] [-3.08465772e-03 -7.18041083e-05 9.99995240e-01 -1.32035388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters Centerline goodness : 0.997291 with order 1 Centerline is valid? [True, True] Translation: X:442.81, Y:-37.50, Z:-1.32 [[ 9.92760209e-01 1.20073836e-01 3.07276664e-03 4.42810894e+02] [-1.20073544e-01 9.92764960e-01 -2.79954001e-04 -3.75039348e+01] [-3.08415021e-03 -9.10307892e-05 9.99995240e-01 -1.32407894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters Centerline goodness : 0.996979 with order 1 Centerline is valid? [True, True] Translation: X:442.87, Y:-37.50, Z:-1.32 [[ 9.92534626e-01 1.21924463e-01 3.07277956e-03 4.42869618e+02] [-1.21924180e-01 9.92539378e-01 -2.79812139e-04 -3.75004687e+01] [-3.08397066e-03 -9.69228924e-05 9.99995240e-01 -1.32307509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters Centerline goodness : 0.996793 with order 1 Centerline is valid? [True, True] Translation: X:442.93, Y:-37.50, Z:-1.32 [[ 9.92946186e-01 1.18526072e-01 3.07279549e-03 4.42929220e+02] [-1.18525774e-01 9.92950937e-01 -2.79637117e-04 -3.74999336e+01] [-3.08427945e-03 -8.65408547e-05 9.99995240e-01 -1.32260980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters Centerline goodness : 0.996791 with order 1 Centerline is valid? [True, True] Translation: X:442.99, Y:-37.50, Z:-1.32 [[ 9.93734684e-01 1.11722580e-01 3.07280812e-03 4.42988249e+02] [-1.11722249e-01 9.93739433e-01 -2.79498313e-04 -3.74984494e+01] [-3.08479687e-03 -6.55538671e-05 9.99995240e-01 -1.32233219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters Centerline goodness : 0.996659 with order 1 Centerline is valid? [True, True] Translation: X:443.05, Y:-37.50, Z:-1.32 [[ 9.94038032e-01 1.08990589e-01 3.07282094e-03 4.43046831e+02] [-1.08990246e-01 9.94042780e-01 -2.79357281e-04 -3.74994052e+01] [-3.08496278e-03 -5.72157495e-05 9.99995240e-01 -1.32374930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:443.11, Y:-37.49, Z:-1.33 [[ 9.94270326e-01 1.06850720e-01 3.07283378e-03 4.43105567e+02] [-1.06850368e-01 9.94275073e-01 -2.79216001e-04 -3.74941639e+01] [-3.08507646e-03 -5.07172343e-05 9.99995240e-01 -1.32890475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters Centerline goodness : 0.996857 with order 1 Centerline is valid? [True, True] Translation: X:443.16, Y:-37.49, Z:-1.33 [[ 9.94434593e-01 1.05310955e-01 3.07284665e-03 4.43164009e+02] [-1.05310595e-01 9.94439340e-01 -2.79074183e-04 -3.74933212e+01] [-3.08514917e-03 -4.60822877e-05 9.99995240e-01 -1.32833832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters Centerline goodness : 0.996634 with order 1 Centerline is valid? [True, True] Translation: X:443.22, Y:-37.49, Z:-1.32 [[ 9.94887045e-01 1.00947142e-01 3.07286257e-03 4.43222932e+02] [-1.00946762e-01 9.94891790e-01 -2.78898852e-04 -3.74914344e+01] [-3.08531978e-03 -3.27226712e-05 9.99995240e-01 -1.32342022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters Centerline goodness : 0.996438 with order 1 Centerline is valid? [True, True] Translation: X:443.28, Y:-37.49, Z:-1.33 [[ 9.95174193e-01 9.80759010e-02 3.07287532e-03 4.43281826e+02] [-9.80755078e-02 9.95178937e-01 -2.78758310e-04 -3.74918953e+01] [-3.08540027e-03 -2.39607310e-05 9.99995240e-01 -1.32547752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters Centerline goodness : 0.995970 with order 1 Centerline is valid? [True, True] Translation: X:443.34, Y:-37.49, Z:-1.33 [[ 9.95301102e-01 9.67795160e-02 3.07288913e-03 4.43339686e+02] [-9.67791170e-02 9.95305845e-01 -2.78605920e-04 -3.74938371e+01] [-3.08542786e-03 -2.00947182e-05 9.99995240e-01 -1.32611855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:443.40, Y:-37.50, Z:-1.32 [[ 9.95617189e-01 9.34717652e-02 3.07290615e-03 4.43398290e+02] [-9.34713511e-02 9.95621931e-01 -2.78418090e-04 -3.74972856e+01] [-3.08547699e-03 -1.00308541e-05 9.99995240e-01 -1.32026403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters Centerline goodness : 0.995766 with order 1 Centerline is valid? [True, True] Translation: X:443.46, Y:-37.50, Z:-1.32 [[ 9.96187223e-01 8.71870015e-02 3.07291851e-03 4.43457549e+02] [-8.71865578e-02 9.96191963e-01 -2.78281600e-04 -3.75003004e+01] [-3.08547926e-03 9.30338668e-06 9.99995240e-01 -1.31976605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters Centerline goodness : 0.995778 with order 1 Centerline is valid? [True, True] Translation: X:443.52, Y:-37.51, Z:-1.33 [[ 9.96845178e-01 7.93110831e-02 3.07293162e-03 4.43515127e+02] [-7.93106025e-02 9.96849914e-01 -2.78136794e-04 -3.75120380e+01] [-3.08531095e-03 3.35432637e-05 9.99995240e-01 -1.32611034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters Centerline goodness : 0.995635 with order 1 Centerline is valid? [True, True] Translation: X:443.57, Y:-37.53, Z:-1.33 [[ 9.97302647e-01 7.33347624e-02 3.07293879e-03 4.43573823e+02] [-7.33342537e-02 9.97307380e-01 -2.78057569e-04 -3.75251892e+01] [-3.08505582e-03 5.19558773e-05 9.99995240e-01 -1.33201360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters Centerline goodness : 0.995710 with order 1 Centerline is valid? [True, True] Translation: X:443.63, Y:-37.54, Z:-1.33 [[ 9.97323734e-01 7.30474288e-02 3.07294529e-03 4.43631625e+02] [-7.30469189e-02 9.97328467e-01 -2.77985686e-04 -3.75369483e+01] [-3.08504195e-03 5.27725363e-05 9.99995240e-01 -1.33105217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:443.69, Y:-37.55, Z:-1.33 [[ 9.96782621e-01 8.00934682e-02 3.07295493e-03 4.43689272e+02] [-8.00929921e-02 9.96787357e-01 -2.77879063e-04 -3.75463095e+01] [-3.08533892e-03 3.08628653e-05 9.99995240e-01 -1.32721499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters Centerline goodness : 0.995105 with order 1 Centerline is valid? [True, True] Translation: X:443.75, Y:-37.56, Z:-1.33 [[ 9.96261390e-01 8.63353964e-02 3.07296142e-03 4.43748192e+02] [-8.63349502e-02 9.96266129e-01 -2.77807310e-04 -3.75574689e+01] [-3.08547198e-03 1.14647253e-05 9.99995240e-01 -1.32788225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters Centerline goodness : 0.995299 with order 1 Centerline is valid? [True, True] Translation: X:443.81, Y:-37.57, Z:-1.33 [[ 9.96024446e-01 8.90272971e-02 3.07296809e-03 4.43806103e+02] [-8.90268639e-02 9.96029187e-01 -2.77733466e-04 -3.75678947e+01] [-3.08549177e-03 3.05260972e-06 9.99995240e-01 -1.32668183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters Centerline goodness : 0.995447 with order 1 Centerline is valid? [True, True] Translation: X:443.87, Y:-37.58, Z:-1.33 [[ 9.95975312e-01 8.95753062e-02 3.07297599e-03 4.43865046e+02] [-8.95748759e-02 9.95980052e-01 -2.77646083e-04 -3.75762931e+01] [-3.08549302e-03 1.26720148e-06 9.99995240e-01 -1.32666447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:443.92, Y:-37.58, Z:-1.33 [[ 9.95685516e-01 9.27410917e-02 3.07298253e-03 4.43924230e+02] [-9.27406767e-02 9.95690258e-01 -2.77573661e-04 -3.75808048e+01] [-3.08548125e-03 -8.61440551e-06 9.99995240e-01 -1.32967389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters Centerline goodness : 0.995110 with order 1 Centerline is valid? [True, True] Translation: X:443.98, Y:-37.59, Z:-1.33 [[ 9.95335896e-01 9.64210100e-02 3.07298904e-03 4.43983159e+02] [-9.64206128e-02 9.95340639e-01 -2.77501563e-04 -3.75859251e+01] [-3.08542786e-03 -2.00922196e-05 9.99995240e-01 -1.33274543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters Centerline goodness : 0.995145 with order 1 Centerline is valid? [True, True] Translation: X:444.04, Y:-37.59, Z:-1.33 [[ 9.95509997e-01 9.46065664e-02 3.07300201e-03 4.44042486e+02] [-9.46061609e-02 9.95514740e-01 -2.77357917e-04 -3.75917750e+01] [-3.08545867e-03 -1.46123430e-05 9.99995240e-01 -1.32770089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:444.10, Y:-37.60, Z:-1.32 [[ 9.95706603e-01 9.25144190e-02 3.07300848e-03 4.44100613e+02] [-9.25140038e-02 9.95711345e-01 -2.77286185e-04 -3.75970306e+01] [-3.08548238e-03 -8.20063309e-06 9.99995240e-01 -1.32496956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters Centerline goodness : 0.995076 with order 1 Centerline is valid? [True, True] Translation: X:444.16, Y:-37.60, Z:-1.33 [[ 9.95990418e-01 8.94071813e-02 3.07301810e-03 4.44159223e+02] [-8.94067516e-02 9.95995159e-01 -2.77179494e-04 -3.76038633e+01] [-3.08549299e-03 1.31955431e-06 9.99995240e-01 -1.32757703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters Centerline goodness : 0.994643 with order 1 Centerline is valid? [True, True] Translation: X:444.22, Y:-37.61, Z:-1.33 [[ 9.96304424e-01 8.58373496e-02 3.07302490e-03 4.44218557e+02] [-8.58369032e-02 9.96309164e-01 -2.77104101e-04 -3.76112181e+01] [-3.08546875e-03 1.23011011e-05 9.99995240e-01 -1.32621210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters Centerline goodness : 0.995143 with order 1 Centerline is valid? [True, True] Translation: X:444.28, Y:-37.62, Z:-1.32 [[ 9.96635433e-01 8.19046409e-02 3.07303138e-03 4.44277104e+02] [-8.19041761e-02 9.96640170e-01 -2.77032195e-04 -3.76242533e+01] [-3.08539674e-03 2.44059987e-05 9.99995240e-01 -1.32180220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters Centerline goodness : 0.995063 with order 1 Centerline is valid? [True, True] Translation: X:444.34, Y:-37.63, Z:-1.32 [[ 9.96627103e-01 8.20059386e-02 3.07303459e-03 4.44336483e+02] [-8.20054744e-02 9.96631840e-01 -2.76996632e-04 -3.76320253e+01] [-3.08539949e-03 2.40566916e-05 9.99995240e-01 -1.32031988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters Centerline goodness : 0.994708 with order 1 Centerline is valid? [True, True] Translation: X:444.40, Y:-37.64, Z:-1.33 [[ 9.96401652e-01 8.47012689e-02 3.07303772e-03 4.44396237e+02] [-8.47008175e-02 9.96406390e-01 -2.76961849e-04 -3.76413883e+01] [-3.08545345e-03 1.56764361e-05 9.99995240e-01 -1.32509920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters Centerline goodness : 0.995047 with order 1 Centerline is valid? [True, True] Translation: X:444.46, Y:-37.65, Z:-1.33 [[ 9.96401247e-01 8.47060243e-02 3.07303772e-03 4.44456294e+02] [-8.47055730e-02 9.96405986e-01 -2.76961849e-04 -3.76502856e+01] [-3.08545352e-03 1.56617105e-05 9.99995240e-01 -1.32692199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters Centerline goodness : 0.995091 with order 1 Centerline is valid? [True, True] Translation: X:444.52, Y:-37.66, Z:-1.33 [[ 9.96618277e-01 8.21131372e-02 3.07303772e-03 4.44516059e+02] [-8.21126735e-02 9.96623014e-01 -2.76961849e-04 -3.76598345e+01] [-3.08540232e-03 2.36898970e-05 9.99995240e-01 -1.32833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters Centerline goodness : 0.994987 with order 1 Centerline is valid? [True, True] Translation: X:444.58, Y:-37.67, Z:-1.33 [[ 9.96845676e-01 7.93048242e-02 3.07303464e-03 4.44576438e+02] [-7.93043471e-02 9.96850412e-01 -2.76996086e-04 -3.76741754e+01] [-3.08532297e-03 3.24173450e-05 9.99995240e-01 -1.32903680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters Centerline goodness : 0.995235 with order 1 Centerline is valid? [True, True] Translation: X:444.64, Y:-37.69, Z:-1.33 [[ 9.96595651e-01 8.23872894e-02 3.07301076e-03 4.44637316e+02] [-8.23868261e-02 9.96600388e-01 -2.77260672e-04 -3.76872209e+01] [-3.08540648e-03 2.31411764e-05 9.99995240e-01 -1.32622008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters Centerline goodness : 0.995237 with order 1 Centerline is valid? [True, True] Translation: X:444.70, Y:-37.70, Z:-1.33 [[ 9.96181909e-01 8.72477005e-02 3.07300470e-03 4.44698012e+02] [-8.72472601e-02 9.96186649e-01 -2.77327855e-04 -3.76962389e+01] [-3.08548247e-03 8.15775102e-06 9.99995240e-01 -1.32684264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters Centerline goodness : 0.994955 with order 1 Centerline is valid? [True, True] Translation: X:444.76, Y:-37.70, Z:-1.33 [[ 9.95403316e-01 9.57224858e-02 3.07299868e-03 4.44758453e+02] [-9.57220855e-02 9.95408060e-01 -2.77394519e-04 -3.77039307e+01] [-3.08544055e-03 -1.80344191e-05 9.99995240e-01 -1.32806756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters Centerline goodness : 0.995295 with order 1 Centerline is valid? [True, True] Translation: X:444.82, Y:-37.71, Z:-1.33 [[ 9.94633487e-01 1.03415580e-01 3.07299868e-03 4.44818829e+02] [-1.03415217e-01 9.94638234e-01 -2.77394519e-04 -3.77080328e+01] [-3.08520890e-03 -4.18889479e-05 9.99995240e-01 -1.32636437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters Centerline goodness : 0.995351 with order 1 Centerline is valid? [True, True] Translation: X:444.88, Y:-37.71, Z:-1.33 [[ 9.94310636e-01 1.06474957e-01 3.07299868e-03 4.44878288e+02] [-1.06474608e-01 9.94315383e-01 -2.77394519e-04 -3.77074887e+01] [-3.08506543e-03 -5.13800106e-05 9.99995240e-01 -1.32576309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters Centerline goodness : 0.995203 with order 1 Centerline is valid? [True, True] Translation: X:444.94, Y:-37.71, Z:-1.32 [[ 9.94265165e-01 1.06898730e-01 3.07300191e-03 4.44937430e+02] [-1.06898384e-01 9.94269912e-01 -2.77358831e-04 -3.77107879e+01] [-3.08504264e-03 -5.27307120e-05 9.99995240e-01 -1.32450737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters Centerline goodness : 0.995233 with order 1 Centerline is valid? [True, True] Translation: X:445.00, Y:-37.71, Z:-1.33 [[ 9.94639312e-01 1.03359543e-01 3.07299838e-03 4.44998469e+02] [-1.03359179e-01 9.94644059e-01 -2.77397910e-04 -3.77122982e+01] [-3.08521130e-03 -4.17117231e-05 9.99995240e-01 -1.32616988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters Centerline goodness : 0.995312 with order 1 Centerline is valid? [True, True] Translation: X:445.06, Y:-37.72, Z:-1.33 [[ 9.95460906e-01 9.51217170e-02 3.07299838e-03 4.45059546e+02] [-9.51213139e-02 9.95465649e-01 -2.77397910e-04 -3.77202563e+01] [-3.08545089e-03 -1.61688688e-05 9.99995240e-01 -1.32616242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters Centerline goodness : 0.995566 with order 1 Centerline is valid? [True, True] Translation: X:445.12, Y:-37.73, Z:-1.33 [[ 9.96121850e-01 8.79307437e-02 3.07299217e-03 4.45119956e+02] [-8.79303062e-02 9.96126590e-01 -2.77466682e-04 -3.77290990e+01] [-3.08548706e-03 6.18148271e-06 9.99995240e-01 -1.32833696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters Centerline goodness : 0.995752 with order 1 Centerline is valid? [True, True] Translation: X:445.18, Y:-37.74, Z:-1.33 [[ 9.96448940e-01 8.41431374e-02 3.07298587e-03 4.45181044e+02] [-8.41426816e-02 9.96453678e-01 -2.77536390e-04 -3.77406441e+01] [-3.08544086e-03 1.79815694e-05 9.99995240e-01 -1.32819853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters Centerline goodness : 0.995419 with order 1 Centerline is valid? [True, True] Translation: X:445.24, Y:-37.75, Z:-1.33 [[ 9.96382334e-01 8.49282099e-02 3.07294215e-03 4.45242940e+02] [-8.49277563e-02 9.96387073e-01 -2.78019701e-04 -3.77487541e+01] [-3.08545154e-03 1.60358368e-05 9.99995240e-01 -1.32839579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters Centerline goodness : 0.995591 with order 1 Centerline is valid? [True, True] Translation: X:445.30, Y:-37.76, Z:-1.33 [[ 9.96181868e-01 8.72481721e-02 3.07289771e-03 4.45303840e+02] [-8.72477280e-02 9.96186607e-01 -2.78509947e-04 -3.77584935e+01] [-3.08547903e-03 9.34321525e-06 9.99995240e-01 -1.32950140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:445.36, Y:-37.77, Z:-1.33 [[ 9.96112524e-01 8.80363338e-02 3.07289137e-03 4.45364513e+02] [-8.80358933e-02 9.96117264e-01 -2.78579872e-04 -3.77677679e+01] [-3.08548530e-03 6.97216203e-06 9.99995240e-01 -1.32715915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters Centerline goodness : 0.995581 with order 1 Centerline is valid? [True, True] Translation: X:445.43, Y:-37.77, Z:-1.33 [[ 9.96179212e-01 8.72784854e-02 3.07288479e-03 4.45425485e+02] [-8.72780411e-02 9.96183952e-01 -2.78652496e-04 -3.77744063e+01] [-3.08547888e-03 9.39245888e-06 9.99995240e-01 -1.33050155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters Centerline goodness : 0.995799 with order 1 Centerline is valid? [True, True] Translation: X:445.49, Y:-37.78, Z:-1.33 [[ 9.96191591e-01 8.71370797e-02 3.07285863e-03 4.45487144e+02] [-8.71366338e-02 9.96196331e-01 -2.78940607e-04 -3.77801064e+01] [-3.08547657e-03 1.01197299e-05 9.99995240e-01 -1.33147061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters Centerline goodness : 0.996438 with order 1 Centerline is valid? [True, True] Translation: X:445.55, Y:-37.78, Z:-1.33 [[ 9.96076382e-01 8.84443282e-02 3.07281334e-03 4.45549414e+02] [-8.84438870e-02 9.96081122e-01 -2.79438645e-04 -3.77843340e+01] [-3.08548612e-03 6.57067809e-06 9.99995240e-01 -1.32859893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters Centerline goodness : 0.996492 with order 1 Centerline is valid? [True, True] Translation: X:445.61, Y:-37.79, Z:-1.32 [[ 9.96128182e-01 8.78589970e-02 3.07276527e-03 4.45610174e+02] [-8.78585514e-02 9.96132921e-01 -2.79966312e-04 -3.77870197e+01] [-3.08548020e-03 8.91362784e-06 9.99995240e-01 -1.32449140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters Centerline goodness : 0.996907 with order 1 Centerline is valid? [True, True] Translation: X:445.67, Y:-37.79, Z:-1.32 [[ 9.96263028e-01 8.63164977e-02 3.07272109e-03 4.45672078e+02] [-8.63160433e-02 9.96267766e-01 -2.80450324e-04 -3.77924506e+01] [-3.08546047e-03 1.41771620e-05 9.99995240e-01 -1.32301833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:445.73, Y:-37.80, Z:-1.33 [[ 9.96424951e-01 8.44267512e-02 3.07267701e-03 4.45732575e+02] [-8.44262863e-02 9.96429688e-01 -2.80932421e-04 -3.77971929e+01] [-3.08542481e-03 2.05133641e-05 9.99995240e-01 -1.32776191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters Centerline goodness : 0.996644 with order 1 Centerline is valid? [True, True] Translation: X:445.79, Y:-37.80, Z:-1.33 [[ 9.96532344e-01 8.31495469e-02 3.07265282e-03 4.45794163e+02] [-8.31490751e-02 9.96537080e-01 -2.81196715e-04 -3.78028392e+01] [-3.08539385e-03 2.47333809e-05 9.99995240e-01 -1.32813051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters Centerline goodness : 0.996533 with order 1 Centerline is valid? [True, True] Translation: X:445.86, Y:-37.81, Z:-1.33 [[ 9.96726366e-01 8.07905344e-02 3.07260959e-03 4.45856160e+02] [-8.07900499e-02 9.96731101e-01 -2.81668368e-04 -3.78105513e+01] [-3.08532168e-03 3.25100072e-05 9.99995240e-01 -1.32785691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:445.92, Y:-37.82, Z:-1.33 [[ 9.96905819e-01 7.85451913e-02 3.07256351e-03 4.45917478e+02] [-7.85446946e-02 9.96910553e-01 -2.82170110e-04 -3.78209749e+01] [-3.08523409e-03 3.99634619e-05 9.99995240e-01 -1.33085710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters Centerline goodness : 0.996555 with order 1 Centerline is valid? [True, True] Translation: X:445.98, Y:-37.84, Z:-1.33 [[ 9.97072091e-01 7.64055336e-02 3.07251793e-03 4.45979331e+02] [-7.64050252e-02 9.97076824e-01 -2.82665590e-04 -3.78350689e+01] [-3.08513363e-03 4.70821611e-05 9.99995240e-01 -1.33285515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters Centerline goodness : 0.996761 with order 1 Centerline is valid? [True, True] Translation: X:446.04, Y:-37.84, Z:-1.33 [[ 9.96871027e-01 7.89855461e-02 3.07246502e-03 4.46040281e+02] [-7.89850482e-02 9.96875761e-01 -2.83239454e-04 -3.78447610e+01] [-3.08523773e-03 3.96744071e-05 9.99995240e-01 -1.33339789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters Centerline goodness : 0.996694 with order 1 Centerline is valid? [True, True] Translation: X:446.10, Y:-37.85, Z:-1.34 [[ 9.95801447e-01 9.14879144e-02 3.07241579e-03 4.46101504e+02] [-9.14874743e-02 9.95806187e-01 -2.83772575e-04 -3.78545004e+01] [-3.08549241e-03 1.49358100e-06 9.99995240e-01 -1.33509770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters Centerline goodness : 0.996550 with order 1 Centerline is valid? [True, True] Translation: X:446.16, Y:-37.86, Z:-1.33 [[ 9.94412988e-01 1.05514782e-01 3.07236974e-03 4.46162095e+02] [-1.05514407e-01 9.94417734e-01 -2.84270174e-04 -3.78583738e+01] [-3.08521366e-03 -4.14973181e-05 9.99995240e-01 -1.33254608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters Centerline goodness : 0.996575 with order 1 Centerline is valid? [True, True] Translation: X:446.22, Y:-37.86, Z:-1.33 [[ 9.93585256e-01 1.13043797e-01 3.07236648e-03 4.46222539e+02] [-1.13043458e-01 9.93590004e-01 -2.84305464e-04 -3.78563119e+01] [-3.08481159e-03 -6.48292141e-05 9.99995240e-01 -1.33053896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters Centerline goodness : 0.996643 with order 1 Centerline is valid? [True, True] Translation: X:446.28, Y:-37.85, Z:-1.33 [[ 9.93044911e-01 1.17696071e-01 3.07235115e-03 4.46283418e+02] [-1.17695753e-01 9.93049661e-01 -2.84470972e-04 -3.78542075e+01] [-3.08447839e-03 -7.91102324e-05 9.99995240e-01 -1.32909048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:446.34, Y:-37.85, Z:-1.33 [[ 9.92661768e-01 1.20884969e-01 3.07235115e-03 4.46343566e+02] [-1.20884667e-01 9.92666518e-01 -2.84470972e-04 -3.78523940e+01] [-3.08420839e-03 -8.90166886e-05 9.99995240e-01 -1.32857480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters Centerline goodness : 0.997029 with order 1 Centerline is valid? [True, True] Translation: X:446.40, Y:-37.85, Z:-1.33 [[ 9.92793656e-01 1.19796987e-01 3.07235753e-03 4.46404064e+02] [-1.19796680e-01 9.92798406e-01 -2.84402081e-04 -3.78466685e+01] [-3.08430217e-03 -8.57056502e-05 9.99995240e-01 -1.32799446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:446.46, Y:-37.85, Z:-1.33 [[ 9.93346573e-01 1.15122309e-01 3.07236385e-03 4.46464733e+02] [-1.15121980e-01 9.93351322e-01 -2.84333850e-04 -3.78482345e+01] [-3.08466986e-03 -7.12545525e-05 9.99995240e-01 -1.32878156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters Centerline goodness : 0.996988 with order 1 Centerline is valid? [True, True] Translation: X:446.53, Y:-37.85, Z:-1.34 [[ 9.94233928e-01 1.07188881e-01 3.07236385e-03 4.46525485e+02] [-1.07188514e-01 9.94238674e-01 -2.84333850e-04 -3.78481898e+01] [-3.08514038e-03 -4.66277559e-05 9.99995240e-01 -1.33754036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:446.58, Y:-37.85, Z:-1.33 [[ 9.94666484e-01 1.03097747e-01 3.07236385e-03 4.46584585e+02] [-1.03097361e-01 9.94671229e-01 -2.84333850e-04 -3.78530131e+01] [-3.08530610e-03 -3.39352532e-05 9.99995240e-01 -1.33159226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters Centerline goodness : 0.996984 with order 1 Centerline is valid? [True, True] Translation: X:446.64, Y:-37.86, Z:-1.34 [[ 9.94617671e-01 1.03567602e-01 3.07237063e-03 4.46643418e+02] [-1.03567218e-01 9.94622416e-01 -2.84260564e-04 -3.78564160e+01] [-3.08528888e-03 -3.54662984e-05 9.99995240e-01 -1.33758152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters Centerline goodness : 0.997237 with order 1 Centerline is valid? [True, True] Translation: X:446.70, Y:-37.86, Z:-1.34 [[ 9.94560179e-01 1.04118252e-01 3.07238067e-03 4.46702663e+02] [-1.04117871e-01 9.94564924e-01 -2.84151945e-04 -3.78608247e+01] [-3.08526745e-03 -3.72835247e-05 9.99995240e-01 -1.33977629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters Centerline goodness : 0.997409 with order 1 Centerline is valid? [True, True] Translation: X:446.76, Y:-37.86, Z:-1.33 [[ 9.94981987e-01 1.00007027e-01 3.07238695e-03 4.46762715e+02] [-1.00006627e-01 9.94986731e-01 -2.84084099e-04 -3.78633509e+01] [-3.08539465e-03 -2.46004929e-05 9.99995240e-01 -1.33191830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:446.82, Y:-37.87, Z:-1.33 [[ 9.95747165e-01 9.20768371e-02 3.07239368e-03 4.46822977e+02] [-9.20763991e-02 9.95751905e-01 -2.84011232e-04 -3.78718761e+01] [-3.08549272e-03 -9.15682023e-08 9.99995240e-01 -1.33273639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters Centerline goodness : 0.997467 with order 1 Centerline is valid? [True, True] Translation: X:446.88, Y:-37.88, Z:-1.34 [[ 9.96189790e-01 8.71576907e-02 3.07237716e-03 4.46882709e+02] [-8.71572288e-02 9.96194528e-01 -2.84189863e-04 -3.78825120e+01] [-3.08545464e-03 1.53271609e-05 9.99995240e-01 -1.33645477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters Centerline goodness : 0.997173 with order 1 Centerline is valid? [True, True] Translation: X:446.94, Y:-37.89, Z:-1.34 [[ 9.95941877e-01 8.99463081e-02 3.07237386e-03 4.46942867e+02] [-8.99458593e-02 9.95946616e-01 -2.84225507e-04 -3.78935652e+01] [-3.08548538e-03 6.72477782e-06 9.99995240e-01 -1.33578334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:447.00, Y:-37.90, Z:-1.34 [[ 9.95682712e-01 9.27712071e-02 3.07237386e-03 4.47003148e+02] [-9.27707717e-02 9.95687453e-01 -2.84225507e-04 -3.79024192e+01] [-3.08549205e-03 -2.02807043e-06 9.99995240e-01 -1.33738063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:447.06, Y:-37.91, Z:-1.34 [[ 9.94993161e-01 9.98957993e-02 3.07237386e-03 4.47062291e+02] [-9.98953979e-02 9.94997904e-01 -2.84225507e-04 -3.79142117e+01] [-3.08539849e-03 -2.41135739e-05 9.99995240e-01 -1.33924284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:447.12, Y:-37.92, Z:-1.34 [[ 9.94272460e-01 1.06830878e-01 3.07237718e-03 4.47122515e+02] [-1.06830509e-01 9.94277206e-01 -2.84189604e-04 -3.79242627e+01] [-3.08515482e-03 -4.56617228e-05 9.99995240e-01 -1.33965484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters Centerline goodness : 0.997483 with order 1 Centerline is valid? [True, True] Translation: X:447.18, Y:-37.93, Z:-1.34 [[ 9.93664826e-01 1.12342222e-01 3.07237718e-03 4.47182258e+02] [-1.12341880e-01 9.93669574e-01 -2.84189604e-04 -3.79343379e+01] [-3.08485422e-03 -6.27674145e-05 9.99995240e-01 -1.33954075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters Centerline goodness : 0.997276 with order 1 Centerline is valid? [True, True] Translation: X:447.24, Y:-37.94, Z:-1.34 [[ 9.93251357e-01 1.15940942e-01 3.07237388e-03 4.47242144e+02] [-1.15940617e-01 9.93256106e-01 -2.84225324e-04 -3.79404389e+01] [-3.08460747e-03 -7.39057356e-05 9.99995240e-01 -1.33767818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:447.30, Y:-37.95, Z:-1.33 [[ 9.92759569e-01 1.20079134e-01 3.07237388e-03 4.47303404e+02] [-1.20078829e-01 9.92764320e-01 -2.84225324e-04 -3.79469583e+01] [-3.08427269e-03 -8.67596465e-05 9.99995240e-01 -1.33488614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters Centerline goodness : 0.997260 with order 1 Centerline is valid? [True, True] Translation: X:447.36, Y:-37.95, Z:-1.33 [[ 9.92484978e-01 1.22327958e-01 3.07236708e-03 4.47363413e+02] [-1.22327663e-01 9.92489729e-01 -2.84298839e-04 -3.79539694e+01] [-3.08407046e-03 -9.36731574e-05 9.99995240e-01 -1.33455351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters Centerline goodness : 0.997306 with order 1 Centerline is valid? [True, True] Translation: X:447.42, Y:-37.96, Z:-1.33 [[ 9.92082678e-01 1.25548874e-01 3.07236371e-03 4.47423529e+02] [-1.25548595e-01 9.92087430e-01 -2.84335238e-04 -3.79590135e+01] [-3.08375138e-03 -1.03646883e-04 9.99995240e-01 -1.33145361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters Centerline goodness : 0.997326 with order 1 Centerline is valid? [True, True] Translation: X:447.48, Y:-37.96, Z:-1.33 [[ 9.91869975e-01 1.27218371e-01 3.07236371e-03 4.47484382e+02] [-1.27218100e-01 9.91874727e-01 -2.84335238e-04 -3.79612860e+01] [-3.08357258e-03 -1.08836689e-04 9.99995240e-01 -1.32929788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters Centerline goodness : 0.997509 with order 1 Centerline is valid? [True, True] Translation: X:447.54, Y:-37.96, Z:-1.33 [[ 9.91998001e-01 1.26216189e-01 3.07236371e-03 4.47543555e+02] [-1.26215913e-01 9.92002753e-01 -2.84335238e-04 -3.79639158e+01] [-3.08368097e-03 -1.05721201e-04 9.99995240e-01 -1.32652374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters Centerline goodness : 0.997627 with order 1 Centerline is valid? [True, True] Translation: X:447.60, Y:-37.97, Z:-1.33 [[ 9.92388140e-01 1.23111090e-01 3.07236693e-03 4.47603092e+02] [-1.23110799e-01 9.92392891e-01 -2.84300441e-04 -3.79653121e+01] [-3.08399563e-03 -9.61051619e-05 9.99995240e-01 -1.33311639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters Centerline goodness : 0.997367 with order 1 Centerline is valid? [True, True] Translation: X:447.66, Y:-37.96, Z:-1.34 [[ 9.92957412e-01 1.18431997e-01 3.07237304e-03 4.47663538e+02] [-1.18431684e-01 9.92962162e-01 -2.84234308e-04 -3.79646365e+01] [-3.08441262e-03 -8.16337518e-05 9.99995240e-01 -1.33878144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:447.72, Y:-37.97, Z:-1.34 [[ 9.93328041e-01 1.15282101e-01 3.07237914e-03 4.47723181e+02] [-1.15281773e-01 9.93332790e-01 -2.84168407e-04 -3.79685258e+01] [-3.08465447e-03 -7.19168673e-05 9.99995240e-01 -1.33885236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters Centerline goodness : 0.997003 with order 1 Centerline is valid? [True, True] Translation: X:447.78, Y:-37.97, Z:-1.34 [[ 9.93736325e-01 1.11707995e-01 3.07238525e-03 4.47783766e+02] [-1.11707650e-01 9.93741073e-01 -2.84102361e-04 -3.79731285e+01] [-3.08489192e-03 -6.08860993e-05 9.99995240e-01 -1.33626407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters Centerline goodness : 0.996885 with order 1 Centerline is valid? [True, True] Translation: X:447.84, Y:-37.98, Z:-1.34 [[ 9.93796684e-01 1.11169742e-01 3.07238525e-03 4.47843002e+02] [-1.11169395e-01 9.93801431e-01 -2.84102361e-04 -3.79760759e+01] [-3.08492444e-03 -5.92152234e-05 9.99995240e-01 -1.34151579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters Centerline goodness : 0.996516 with order 1 Centerline is valid? [True, True] Translation: X:447.90, Y:-37.98, Z:-1.34 [[ 9.94017286e-01 1.09179644e-01 3.07238837e-03 4.47903688e+02] [-1.09179287e-01 9.94022033e-01 -2.84068627e-04 -3.79809843e+01] [-3.08503624e-03 -5.30720464e-05 9.99995240e-01 -1.33818224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters Centerline goodness : 0.995869 with order 1 Centerline is valid? [True, True] Translation: X:447.96, Y:-37.99, Z:-1.33 [[ 9.94345620e-01 1.06147767e-01 3.07238837e-03 4.47963008e+02] [-1.06147396e-01 9.94350366e-01 -2.84068627e-04 -3.79887162e+01] [-3.08518375e-03 -4.36636291e-05 9.99995240e-01 -1.33171948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters Centerline goodness : 0.996427 with order 1 Centerline is valid? [True, True] Translation: X:448.02, Y:-38.00, Z:-1.33 [[ 9.94616534e-01 1.03578529e-01 3.07239143e-03 4.48023275e+02] [-1.03578145e-01 9.94621278e-01 -2.84035447e-04 -3.79976764e+01] [-3.08528587e-03 -3.57262548e-05 9.99995240e-01 -1.33287046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters Centerline goodness : 0.995854 with order 1 Centerline is valid? [True, True] Translation: X:448.08, Y:-38.01, Z:-1.33 [[ 9.94646213e-01 1.03293131e-01 3.07239143e-03 4.48083269e+02] [-1.03292746e-01 9.94650958e-01 -2.84035447e-04 -3.80075062e+01] [-3.08529599e-03 -3.48409668e-05 9.99995240e-01 -1.33187273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters Centerline goodness : 0.996475 with order 1 Centerline is valid? [True, True] Translation: X:448.14, Y:-38.02, Z:-1.34 [[ 9.94596644e-01 1.03769339e-01 3.07239143e-03 4.48142067e+02] [-1.03768956e-01 9.94601389e-01 -2.84035447e-04 -3.80184549e+01] [-3.08527896e-03 -3.63181507e-05 9.99995240e-01 -1.33734992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters Centerline goodness : 0.996206 with order 1 Centerline is valid? [True, True] Translation: X:448.20, Y:-38.03, Z:-1.34 [[ 9.94637341e-01 1.03378528e-01 3.07238899e-03 4.48202542e+02] [-1.03378144e-01 9.94642086e-01 -2.84061854e-04 -3.80277062e+01] [-3.08529329e-03 -3.50793435e-05 9.99995240e-01 -1.34047041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters Centerline goodness : 0.995798 with order 1 Centerline is valid? [True, True] Translation: X:448.26, Y:-38.04, Z:-1.34 [[ 9.94483102e-01 1.04851896e-01 3.07238236e-03 4.48262415e+02] [-1.04851519e-01 9.94487847e-01 -2.84133535e-04 -3.80360791e+01] [-3.08523886e-03 -3.95779574e-05 9.99995240e-01 -1.33991375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters Centerline goodness : 0.996379 with order 1 Centerline is valid? [True, True] Translation: X:448.32, Y:-38.04, Z:-1.34 [[ 9.93997725e-01 1.09357591e-01 3.07237909e-03 4.48322522e+02] [-1.09357235e-01 9.94002472e-01 -2.84168940e-04 -3.80441991e+01] [-3.08502844e-03 -5.35236020e-05 9.99995240e-01 -1.33946075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:448.38, Y:-38.05, Z:-1.34 [[ 9.92822652e-01 1.19556440e-01 3.07237909e-03 4.48383050e+02] [-1.19556132e-01 9.92827402e-01 -2.84168940e-04 -3.80459500e+01] [-3.08431638e-03 -8.51923999e-05 9.99995240e-01 -1.33876616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters Centerline goodness : 0.995943 with order 1 Centerline is valid? [True, True] Translation: X:448.44, Y:-38.04, Z:-1.34 [[ 9.91792056e-01 1.27824403e-01 3.07237909e-03 4.48443079e+02] [-1.27824136e-01 9.91796809e-01 -2.84168940e-04 -3.80446669e+01] [-3.08349950e-03 -1.10887704e-04 9.99995240e-01 -1.34490642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:448.50, Y:-38.04, Z:-1.34 [[ 9.91793485e-01 1.27813318e-01 3.07238572e-03 4.48502917e+02] [-1.27813050e-01 9.91798237e-01 -2.84097202e-04 -3.80420802e+01] [-3.08349815e-03 -1.10925235e-04 9.99995240e-01 -1.34279910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters Centerline goodness : 0.996493 with order 1 Centerline is valid? [True, True] Translation: X:448.56, Y:-38.04, Z:-1.34 [[ 9.91835114e-01 1.27489873e-01 3.07239234e-03 4.48562026e+02] [-1.27489604e-01 9.91839866e-01 -2.84025632e-04 -3.80390493e+01] [-3.08353160e-03 -1.09991489e-04 9.99995240e-01 -1.34032092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters Centerline goodness : 0.996440 with order 1 Centerline is valid? [True, True] Translation: X:448.62, Y:-38.03, Z:-1.34 [[ 9.91658802e-01 1.28854107e-01 3.07240550e-03 4.48621298e+02] [-1.28853845e-01 9.91663555e-01 -2.83883168e-04 -3.80314720e+01] [-3.08337207e-03 -1.14376021e-04 9.99995240e-01 -1.33718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters Centerline goodness : 0.996434 with order 1 Centerline is valid? [True, True] Translation: X:448.68, Y:-38.03, Z:-1.34 [[ 9.91582309e-01 1.29441434e-01 3.07242179e-03 4.48681253e+02] [-1.29441175e-01 9.91587062e-01 -2.83706785e-04 -3.80250458e+01] [-3.08329711e-03 -1.16379258e-04 9.99995240e-01 -1.33779772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters Centerline goodness : 0.996462 with order 1 Centerline is valid? [True, True] Translation: X:448.74, Y:-38.02, Z:-1.33 [[ 9.91774285e-01 1.27962213e-01 3.07243463e-03 4.48740680e+02] [-1.27961948e-01 9.91779038e-01 -2.83567684e-04 -3.80243390e+01] [-3.08346221e-03 -1.11919582e-04 9.99995240e-01 -1.33433383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters Centerline goodness : 0.995903 with order 1 Centerline is valid? [True, True] Translation: X:448.80, Y:-38.02, Z:-1.33 [[ 9.92582817e-01 1.21531526e-01 3.07244735e-03 4.48799162e+02] [-1.21531230e-01 9.92587568e-01 -2.83429739e-04 -3.80239403e+01] [-3.08411869e-03 -9.20708176e-05 9.99995240e-01 -1.33261873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters Centerline goodness : 0.996346 with order 1 Centerline is valid? [True, True] Translation: X:448.86, Y:-38.03, Z:-1.34 [[ 9.93692614e-01 1.12096158e-01 3.07246422e-03 4.48857780e+02] [-1.12095818e-01 9.93697362e-01 -2.83246806e-04 -3.80297257e+01] [-3.08485047e-03 -6.29501301e-05 9.99995240e-01 -1.33727583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters Centerline goodness : 0.996528 with order 1 Centerline is valid? [True, True] Translation: X:448.92, Y:-38.04, Z:-1.34 [[ 9.94575739e-01 1.03969513e-01 3.07247673e-03 4.48915526e+02] [-1.03969135e-01 9.94580484e-01 -2.83110992e-04 -3.80387909e+01] [-3.08526031e-03 -3.78674236e-05 9.99995240e-01 -1.33833778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters Centerline goodness : 0.996210 with order 1 Centerline is valid? [True, True] Translation: X:448.97, Y:-38.05, Z:-1.34 [[ 9.94743647e-01 1.02350559e-01 3.07248990e-03 4.48974249e+02] [-1.02350173e-01 9.94748391e-01 -2.82968048e-04 -3.80458889e+01] [-3.08531632e-03 -3.29892057e-05 9.99995240e-01 -1.33756186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters Centerline goodness : 0.996459 with order 1 Centerline is valid? [True, True] Translation: X:449.03, Y:-38.05, Z:-1.34 [[ 9.94562690e-01 1.04094258e-01 3.07249687e-03 4.49032627e+02] [-1.04093880e-01 9.94567436e-01 -2.82892257e-04 -3.80529614e+01] [-3.08525280e-03 -3.84740375e-05 9.99995240e-01 -1.34121245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters Centerline goodness : 0.996299 with order 1 Centerline is valid? [True, True] Translation: X:449.09, Y:-38.06, Z:-1.34 [[ 9.94243898e-01 1.07096360e-01 3.07251016e-03 4.49091434e+02] [-1.07095998e-01 9.94248645e-01 -2.82747870e-04 -3.80604879e+01] [-3.08512033e-03 -4.79331962e-05 9.99995240e-01 -1.34034442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters Centerline goodness : 0.996247 with order 1 Centerline is valid? [True, True] Translation: X:449.15, Y:-38.07, Z:-1.34 [[ 9.93807868e-01 1.11069709e-01 3.07252361e-03 4.49148953e+02] [-1.11069366e-01 9.93812616e-01 -2.82601677e-04 -3.80666005e+01] [-3.08490121e-03 -6.04114798e-05 9.99995240e-01 -1.33926285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters Centerline goodness : 0.996526 with order 1 Centerline is valid? [True, True] Translation: X:449.21, Y:-38.07, Z:-1.34 [[ 9.93493030e-01 1.13851480e-01 3.07254020e-03 4.49207344e+02] [-1.13851151e-01 9.93497778e-01 -2.82421182e-04 -3.80686438e+01] [-3.08471593e-03 -6.92287621e-05 9.99995240e-01 -1.34245902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters Centerline goodness : 0.996236 with order 1 Centerline is valid? [True, True] Translation: X:449.27, Y:-38.07, Z:-1.35 [[ 9.92960745e-01 1.18404044e-01 3.07255344e-03 4.49265194e+02] [-1.18403737e-01 9.92965496e-01 -2.82277092e-04 -3.80686606e+01] [-3.08436229e-03 -8.35117367e-05 9.99995240e-01 -1.34575750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:449.32, Y:-38.07, Z:-1.34 [[ 9.92753946e-01 1.20125610e-01 3.07256982e-03 4.49324165e+02] [-1.20125312e-01 9.92758697e-01 -2.82098678e-04 -3.80675640e+01] [-3.08420768e-03 -8.90388320e-05 9.99995240e-01 -1.34199329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:449.38, Y:-38.07, Z:-1.34 [[ 9.92702088e-01 1.20553410e-01 3.07257966e-03 4.49382415e+02] [-1.20553114e-01 9.92706839e-01 -2.81991446e-04 -3.80667562e+01] [-3.08416587e-03 -9.04755476e-05 9.99995240e-01 -1.34270792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters Centerline goodness : 0.996164 with order 1 Centerline is valid? [True, True] Translation: X:449.44, Y:-38.07, Z:-1.34 [[ 9.92906627e-01 1.18857008e-01 3.07259606e-03 4.49441380e+02] [-1.18856705e-01 9.92911378e-01 -2.81812652e-04 -3.80679373e+01] [-3.08431099e-03 -8.53849922e-05 9.99995240e-01 -1.34289943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters Centerline goodness : 0.996404 with order 1 Centerline is valid? [True, True] Translation: X:449.50, Y:-38.07, Z:-1.35 [[ 9.93641366e-01 1.12549520e-01 3.07260909e-03 4.49500400e+02] [-1.12549187e-01 9.93646115e-01 -2.81670422e-04 -3.80708568e+01] [-3.08478796e-03 -6.59402731e-05 9.99995240e-01 -1.34543434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters Centerline goodness : 0.995982 with order 1 Centerline is valid? [True, True] Translation: X:449.56, Y:-38.07, Z:-1.34 [[ 9.94374889e-01 1.05873222e-01 3.07262245e-03 4.49558329e+02] [-1.05872858e-01 9.94379635e-01 -2.81524631e-04 -3.80746622e+01] [-3.08515911e-03 -4.53662970e-05 9.99995240e-01 -1.34301168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters Centerline goodness : 0.995942 with order 1 Centerline is valid? [True, True] Translation: X:449.62, Y:-38.08, Z:-1.34 [[ 9.94872925e-01 1.01086209e-01 3.07263906e-03 4.49616558e+02] [-1.01085822e-01 9.94877670e-01 -2.81343305e-04 -3.80817394e+01] [-3.08533991e-03 -3.06994080e-05 9.99995240e-01 -1.34445111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters Centerline goodness : 0.995261 with order 1 Centerline is valid? [True, True] Translation: X:449.68, Y:-38.09, Z:-1.35 [[ 9.95818689e-01 9.13000425e-02 3.07265231e-03 4.49675905e+02] [-9.12996094e-02 9.95823429e-01 -2.81198422e-04 -3.80927870e+01] [-3.08549259e-03 -5.09312765e-07 9.99995240e-01 -1.34655568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters Centerline goodness : 0.995662 with order 1 Centerline is valid? [True, True] Translation: X:449.73, Y:-38.11, Z:-1.34 [[ 9.96608222e-01 8.22350977e-02 3.07265916e-03 4.49734554e+02] [-8.22346217e-02 9.96612958e-01 -2.81123629e-04 -3.81096519e+01] [-3.08537016e-03 2.74911568e-05 9.99995240e-01 -1.34339349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters Centerline goodness : 0.995451 with order 1 Centerline is valid? [True, True] Translation: X:449.79, Y:-38.13, Z:-1.35 [[ 9.96877043e-01 7.89095692e-02 3.07266251e-03 4.49792338e+02] [-7.89090776e-02 9.96881778e-01 -2.81086958e-04 -3.81274000e+01] [-3.08526172e-03 3.77481704e-05 9.99995240e-01 -1.34762037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters Centerline goodness : 0.995568 with order 1 Centerline is valid? [True, True] Translation: X:449.85, Y:-38.14, Z:-1.35 [[ 9.96639280e-01 8.18578287e-02 3.07266566e-03 4.49851433e+02] [-8.18573513e-02 9.96644016e-01 -2.81052497e-04 -3.81408081e+01] [-3.08536020e-03 2.85876860e-05 9.99995240e-01 -1.34597792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:449.91, Y:-38.16, Z:-1.34 [[ 9.95844990e-01 9.10127203e-02 3.07266566e-03 4.49909533e+02] [-9.10122864e-02 9.95849730e-01 -2.81052497e-04 -3.81564263e+01] [-3.08549262e-03 2.34393916e-07 9.99995240e-01 -1.34058571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters Centerline goodness : 0.995529 with order 1 Centerline is valid? [True, True] Translation: X:449.97, Y:-38.17, Z:-1.35 [[ 9.94952680e-01 1.00298171e-01 3.07266893e-03 4.49968480e+02] [-1.00297782e-01 9.94957424e-01 -2.81016738e-04 -3.81677215e+01] [-3.08536023e-03 -2.85835215e-05 9.99995240e-01 -1.34794159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters Centerline goodness : 0.995538 with order 1 Centerline is valid? [True, True] Translation: X:450.03, Y:-38.18, Z:-1.35 [[ 9.94565825e-01 1.04064301e-01 3.07267547e-03 4.50027862e+02] [-1.04063930e-01 9.94570570e-01 -2.80945244e-04 -3.81752303e+01] [-3.08522897e-03 -4.03361453e-05 9.99995240e-01 -1.34865671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters Centerline goodness : 0.995315 with order 1 Centerline is valid? [True, True] Translation: X:450.09, Y:-38.18, Z:-1.34 [[ 9.94600077e-01 1.03736427e-01 3.07268199e-03 4.50087340e+02] [-1.03736054e-01 9.94604822e-01 -2.80873896e-04 -3.81847496e+01] [-3.08524118e-03 -3.93907068e-05 9.99995240e-01 -1.34339598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters Centerline goodness : 0.995540 with order 1 Centerline is valid? [True, True] Translation: X:450.15, Y:-38.19, Z:-1.34 [[ 9.94726629e-01 1.02515814e-01 3.07268199e-03 4.50148612e+02] [-1.02515436e-01 9.94731374e-01 -2.80873896e-04 -3.81937153e+01] [-3.08528720e-03 -3.56045892e-05 9.99995240e-01 -1.34173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters Centerline goodness : 0.995658 with order 1 Centerline is valid? [True, True] Translation: X:450.21, Y:-38.20, Z:-1.34 [[ 9.94924669e-01 1.00575647e-01 3.07267532e-03 4.50208223e+02] [-1.00575259e-01 9.94929414e-01 -2.80946932e-04 -3.82037055e+01] [-3.08535147e-03 -2.95140825e-05 9.99995240e-01 -1.34241777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:450.27, Y:-38.22, Z:-1.34 [[ 9.94961868e-01 1.00206980e-01 3.07267201e-03 4.50269639e+02] [-1.00206591e-01 9.94966613e-01 -2.80983049e-04 -3.82177391e+01] [-3.08536253e-03 -2.83345664e-05 9.99995240e-01 -1.34358600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters Centerline goodness : 0.995861 with order 1 Centerline is valid? [True, True] Translation: X:450.33, Y:-38.23, Z:-1.35 [[ 9.94569386e-01 1.04030258e-01 3.07262431e-03 4.50329776e+02] [-1.04029884e-01 9.94574132e-01 -2.81503697e-04 -3.82310719e+01] [-3.08523756e-03 -3.96697921e-05 9.99995240e-01 -1.34756064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters Centerline goodness : 0.995924 with order 1 Centerline is valid? [True, True] Translation: X:450.39, Y:-38.24, Z:-1.34 [[ 9.94149811e-01 1.07966258e-01 3.07258036e-03 4.50391162e+02] [-1.07965902e-01 9.94154558e-01 -2.81982604e-04 -3.82418914e+01] [-3.08506438e-03 -5.14009561e-05 9.99995240e-01 -1.34432566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters Centerline goodness : 0.996319 with order 1 Centerline is valid? [True, True] Translation: X:450.45, Y:-38.25, Z:-1.34 [[ 9.93185168e-01 1.16506572e-01 3.07253362e-03 4.50451458e+02] [-1.16506255e-01 9.93189918e-01 -2.82491014e-04 -3.82503358e+01] [-3.08452147e-03 -7.74035005e-05 9.99995240e-01 -1.34178273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters Centerline goodness : 0.995943 with order 1 Centerline is valid? [True, True] Translation: X:450.51, Y:-38.26, Z:-1.35 [[ 9.92644952e-01 1.21022969e-01 3.07253031e-03 4.50511910e+02] [-1.21022674e-01 9.92649703e-01 -2.82526991e-04 -3.82579104e+01] [-3.08413855e-03 -9.13968415e-05 9.99995240e-01 -1.34778745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters Centerline goodness : 0.995872 with order 1 Centerline is valid? [True, True] Translation: X:450.57, Y:-38.26, Z:-1.35 [[ 9.92627032e-01 1.21169860e-01 3.07252378e-03 4.50573415e+02] [-1.21169565e-01 9.92631783e-01 -2.82597941e-04 -3.82630443e+01] [-3.08412712e-03 -9.17820161e-05 9.99995240e-01 -1.34608176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:450.63, Y:-38.27, Z:-1.35 [[ 9.92313190e-01 1.23713756e-01 3.07247834e-03 4.50633804e+02] [-1.23713472e-01 9.92317941e-01 -2.83091126e-04 -3.82656613e+01] [-3.08389765e-03 -9.91919054e-05 9.99995240e-01 -1.34513672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters Centerline goodness : 0.995798 with order 1 Centerline is valid? [True, True] Translation: X:450.69, Y:-38.26, Z:-1.35 [[ 9.91583812e-01 1.29429918e-01 3.07247513e-03 4.50693962e+02] [-1.29429661e-01 9.91588565e-01 -2.83125980e-04 -3.82613384e+01] [-3.08327618e-03 -1.16926277e-04 9.99995240e-01 -1.35028776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters Centerline goodness : 0.995872 with order 1 Centerline is valid? [True, True] Translation: X:450.75, Y:-38.26, Z:-1.35 [[ 9.91308770e-01 1.31519890e-01 3.07248145e-03 4.50753754e+02] [-1.31519643e-01 9.91313524e-01 -2.83057419e-04 -3.82608902e+01] [-3.08302009e-03 -1.23494362e-04 9.99995240e-01 -1.35057415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters Centerline goodness : 0.995964 with order 1 Centerline is valid? [True, True] Translation: X:450.81, Y:-38.26, Z:-1.35 [[ 9.91907716e-01 1.26923771e-01 3.07248776e-03 4.50813501e+02] [-1.26923502e-01 9.91912468e-01 -2.82988855e-04 -3.82621965e+01] [-3.08355693e-03 -1.09272078e-04 9.99995240e-01 -1.34818365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:450.87, Y:-38.27, Z:-1.35 [[ 9.93263150e-01 1.15839869e-01 3.07249089e-03 4.50874631e+02] [-1.15839547e-01 9.93267899e-01 -2.82954938e-04 -3.82687326e+01] [-3.08458403e-03 -7.48672408e-05 9.99995240e-01 -1.34897482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters Centerline goodness : 0.995648 with order 1 Centerline is valid? [True, True] Translation: X:450.93, Y:-38.28, Z:-1.35 [[ 9.94009671e-01 1.09248957e-01 3.07248411e-03 4.50934454e+02] [-1.09248604e-01 9.94014418e-01 -2.83028544e-04 -3.82773520e+01] [-3.08501407e-03 -5.43314903e-05 9.99995240e-01 -1.35182464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:450.99, Y:-38.29, Z:-1.35 [[ 9.94048739e-01 1.08892900e-01 3.07248073e-03 4.50994996e+02] [-1.08892545e-01 9.94053486e-01 -2.83065232e-04 -3.82850976e+01] [-3.08503397e-03 -5.31896074e-05 9.99995240e-01 -1.35047013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters Centerline goodness : 0.995915 with order 1 Centerline is valid? [True, True] Translation: X:451.06, Y:-38.29, Z:-1.35 [[ 9.93694535e-01 1.12079126e-01 3.07248073e-03 4.51055273e+02] [-1.12078786e-01 9.93699283e-01 -2.83065232e-04 -3.82946980e+01] [-3.08484760e-03 -6.30795353e-05 9.99995240e-01 -1.34884929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters Centerline goodness : 0.995912 with order 1 Centerline is valid? [True, True] Translation: X:451.12, Y:-38.30, Z:-1.35 [[ 9.93398555e-01 1.14672886e-01 3.07248073e-03 4.51115199e+02] [-1.14672559e-01 9.93403304e-01 -2.83065232e-04 -3.83037732e+01] [-3.08467241e-03 -7.11326330e-05 9.99995240e-01 -1.34745331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters Centerline goodness : 0.995898 with order 1 Centerline is valid? [True, True] Translation: X:451.18, Y:-38.31, Z:-1.35 [[ 9.93327524e-01 1.15286554e-01 3.07248073e-03 4.51175550e+02] [-1.15286229e-01 9.93332273e-01 -2.83065232e-04 -3.83119789e+01] [-3.08462788e-03 -7.30382311e-05 9.99995240e-01 -1.34815399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters Centerline goodness : 0.995571 with order 1 Centerline is valid? [True, True] Translation: X:451.24, Y:-38.32, Z:-1.35 [[ 9.93187796e-01 1.16484171e-01 3.07247418e-03 4.51235955e+02] [-1.16483852e-01 9.93192545e-01 -2.83136322e-04 -3.83196104e+01] [-3.08453935e-03 -7.66860890e-05 9.99995240e-01 -1.34761853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters Centerline goodness : 0.996057 with order 1 Centerline is valid? [True, True] Translation: X:451.30, Y:-38.33, Z:-1.35 [[ 9.92772751e-01 1.19970099e-01 3.07246750e-03 4.51296326e+02] [-1.19969796e-01 9.92777502e-01 -2.83208755e-04 -3.83283088e+01] [-3.08425319e-03 -8.74413648e-05 9.99995240e-01 -1.34514734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters Centerline goodness : 0.995907 with order 1 Centerline is valid? [True, True] Translation: X:451.36, Y:-38.33, Z:-1.35 [[ 9.92282558e-01 1.23959207e-01 3.07246090e-03 4.51356728e+02] [-1.23958923e-01 9.92287310e-01 -2.83280350e-04 -3.83336695e+01] [-3.08387917e-03 -9.97647945e-05 9.99995240e-01 -1.34842869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters Centerline goodness : 0.995313 with order 1 Centerline is valid? [True, True] Translation: X:451.42, Y:-38.34, Z:-1.35 [[ 9.92011520e-01 1.26109893e-01 3.07245763e-03 4.51417352e+02] [-1.26109620e-01 9.92016272e-01 -2.83315766e-04 -3.83403729e+01] [-3.08365689e-03 -1.06413960e-04 9.99995240e-01 -1.34991570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters Centerline goodness : 0.995465 with order 1 Centerline is valid? [True, True] Translation: X:451.48, Y:-38.34, Z:-1.34 [[ 9.91522966e-01 1.29895222e-01 3.07245102e-03 4.51478170e+02] [-1.29894967e-01 9.91527719e-01 -2.83387473e-04 -3.83448152e+01] [-3.08323103e-03 -1.18110734e-04 9.99995240e-01 -1.34464071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters Centerline goodness : 0.995015 with order 1 Centerline is valid? [True, True] Translation: X:451.54, Y:-38.35, Z:-1.35 [[ 9.91246958e-01 1.31984952e-01 3.07244443e-03 4.51539302e+02] [-1.31984706e-01 9.91251712e-01 -2.83458877e-04 -3.83491577e+01] [-3.08297811e-03 -1.24537926e-04 9.99995240e-01 -1.34726727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters Centerline goodness : 0.994767 with order 1 Centerline is valid? [True, True] Translation: X:451.60, Y:-38.35, Z:-1.35 [[ 9.91165821e-01 1.32592897e-01 3.07243757e-03 4.51601022e+02] [-1.32592654e-01 9.91170575e-01 -2.83533257e-04 -3.83494930e+01] [-3.08290420e-03 -1.26354177e-04 9.99995240e-01 -1.34685760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters Centerline goodness : 0.994366 with order 1 Centerline is valid? [True, True] Translation: X:451.66, Y:-38.35, Z:-1.35 [[ 9.91113760e-01 1.32981482e-01 3.07243068e-03 4.51660682e+02] [-1.32981241e-01 9.91118514e-01 -2.83607866e-04 -3.83493914e+01] [-3.08285752e-03 -1.27487986e-04 9.99995240e-01 -1.34744198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters Centerline goodness : 0.994264 with order 1 Centerline is valid? [True, True] Translation: X:451.72, Y:-38.35, Z:-1.35 [[ 9.91613082e-01 1.29205475e-01 3.07243408e-03 4.51721437e+02] [-1.29205216e-01 9.91617836e-01 -2.83571063e-04 -3.83511828e+01] [-3.08331936e-03 -1.15781733e-04 9.99995240e-01 -1.34591956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters Centerline goodness : 0.994387 with order 1 Centerline is valid? [True, True] Translation: X:451.78, Y:-38.36, Z:-1.35 [[ 9.92727099e-01 1.20347281e-01 3.07243408e-03 4.51782617e+02] [-1.20346979e-01 9.92731849e-01 -2.83571063e-04 -3.83552227e+01] [-3.08423017e-03 -8.82494809e-05 9.99995240e-01 -1.34714977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters Centerline goodness : 0.994469 with order 1 Centerline is valid? [True, True] Translation: X:451.84, Y:-38.36, Z:-1.35 [[ 9.93820130e-01 1.10959948e-01 3.07242743e-03 4.51844153e+02] [-1.10959601e-01 9.93824877e-01 -2.83643091e-04 -3.83609583e+01] [-3.08492783e-03 -5.90251083e-05 9.99995240e-01 -1.34727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters Centerline goodness : 0.994433 with order 1 Centerline is valid? [True, True] Translation: X:451.91, Y:-38.37, Z:-1.35 [[ 9.94417104e-01 1.05475983e-01 3.07242077e-03 4.51905512e+02] [-1.05475609e-01 9.94421850e-01 -2.83715178e-04 -3.83688915e+01] [-3.08520748e-03 -4.19342271e-05 9.99995240e-01 -1.34765490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters Centerline goodness : 0.994472 with order 1 Centerline is valid? [True, True] Translation: X:451.97, Y:-38.38, Z:-1.35 [[ 9.94885180e-01 1.00965529e-01 3.07241416e-03 4.51966841e+02] [-1.00965134e-01 9.94889924e-01 -2.83786757e-04 -3.83812615e+01] [-3.08536657e-03 -2.78714670e-05 9.99995240e-01 -1.34531817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters Centerline goodness : 0.994971 with order 1 Centerline is valid? [True, True] Translation: X:452.03, Y:-38.39, Z:-1.34 [[ 9.94921561e-01 1.00606400e-01 3.07236799e-03 4.52028946e+02] [-1.00606002e-01 9.94926305e-01 -2.84285678e-04 -3.83888774e+01] [-3.08538069e-03 -2.62567081e-05 9.99995240e-01 -1.34449793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters Centerline goodness : 0.994779 with order 1 Centerline is valid? [True, True] Translation: X:452.09, Y:-38.40, Z:-1.35 [[ 9.94745504e-01 1.02332511e-01 3.07232164e-03 4.52090822e+02] [-1.02332120e-01 9.94750248e-01 -2.84785774e-04 -3.83982414e+01] [-3.08533555e-03 -3.11078165e-05 9.99995240e-01 -1.34588832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters Centerline goodness : 0.995293 with order 1 Centerline is valid? [True, True] Translation: X:452.15, Y:-38.41, Z:-1.34 [[ 9.94445389e-01 1.05208976e-01 3.07227552e-03 4.52151492e+02] [-1.05208597e-01 9.94450134e-01 -2.85282407e-04 -3.84077437e+01] [-3.08523908e-03 -3.95320225e-05 9.99995240e-01 -1.34349759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters Centerline goodness : 0.995343 with order 1 Centerline is valid? [True, True] Translation: X:452.21, Y:-38.42, Z:-1.34 [[ 9.94507634e-01 1.04618966e-01 3.07223322e-03 4.52212526e+02] [-1.04618582e-01 9.94512378e-01 -2.85737225e-04 -3.84177322e+01] [-3.08526750e-03 -3.72448315e-05 9.99995240e-01 -1.34096313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters Centerline goodness : 0.995098 with order 1 Centerline is valid? [True, True] Translation: X:452.28, Y:-38.43, Z:-1.34 [[ 9.94631479e-01 1.03434921e-01 3.07218815e-03 4.52275359e+02] [-1.03434531e-01 9.94636223e-01 -2.86221040e-04 -3.84264325e+01] [-3.08531486e-03 -3.30858824e-05 9.99995240e-01 -1.34156225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters Centerline goodness : 0.995270 with order 1 Centerline is valid? [True, True] Translation: X:452.34, Y:-38.44, Z:-1.34 [[ 9.94540635e-01 1.04304778e-01 3.07213689e-03 4.52337103e+02] [-1.04304389e-01 9.94545380e-01 -2.86770176e-04 -3.84378887e+01] [-3.08529105e-03 -3.52327691e-05 9.99995240e-01 -1.34434128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters Centerline goodness : 0.995163 with order 1 Centerline is valid? [True, True] Translation: X:452.40, Y:-38.45, Z:-1.35 [[ 9.94183010e-01 1.07660138e-01 3.07208332e-03 4.52399219e+02] [-1.07659764e-01 9.94187755e-01 -2.87342853e-04 -3.84466667e+01] [-3.08516299e-03 -4.50683842e-05 9.99995240e-01 -1.34716242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters Centerline goodness : 0.995744 with order 1 Centerline is valid? [True, True] Translation: X:452.46, Y:-38.46, Z:-1.35 [[ 9.93708648e-01 1.11953940e-01 3.07202886e-03 4.52460375e+02] [-1.11953585e-01 9.93713395e-01 -2.87923890e-04 -3.84566235e+01] [-3.08495045e-03 -5.78121847e-05 9.99995240e-01 -1.34596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters Centerline goodness : 0.995921 with order 1 Centerline is valid? [True, True] Translation: X:452.52, Y:-38.47, Z:-1.35 [[ 9.93785423e-01 1.11270374e-01 3.07197841e-03 4.52522991e+02] [-1.11270014e-01 9.93790169e-01 -2.88461210e-04 -3.84675531e+01] [-3.08499913e-03 -5.51505354e-05 9.99995240e-01 -1.34637926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters Centerline goodness : 0.995663 with order 1 Centerline is valid? [True, True] Translation: X:452.59, Y:-38.48, Z:-1.35 [[ 9.93743632e-01 1.11642989e-01 3.07192882e-03 4.52585418e+02] [-1.11642629e-01 9.93748379e-01 -2.88988345e-04 -3.84753349e+01] [-3.08498781e-03 -5.57778805e-05 9.99995240e-01 -1.34572897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters Centerline goodness : 0.996214 with order 1 Centerline is valid? [True, True] Translation: X:452.65, Y:-38.48, Z:-1.34 [[ 9.93273810e-01 1.15748444e-01 3.07187458e-03 4.52648137e+02] [-1.15748102e-01 9.93278558e-01 -2.89563775e-04 -3.84802070e+01] [-3.08474371e-03 -6.79475386e-05 9.99995240e-01 -1.34200988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:452.71, Y:-38.48, Z:-1.34 [[ 9.92303048e-01 1.23795090e-01 3.07181976e-03 4.52709897e+02] [-1.23794784e-01 9.92307799e-01 -2.90144152e-04 -3.84809085e+01] [-3.08410912e-03 -9.23643380e-05 9.99995240e-01 -1.34378797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters Centerline goodness : 0.996071 with order 1 Centerline is valid? [True, True] Translation: X:452.77, Y:-38.48, Z:-1.34 [[ 9.91688299e-01 1.28626907e-01 3.07179332e-03 4.52772233e+02] [-1.28626624e-01 9.91693051e-01 -2.90423818e-04 -3.84784149e+01] [-3.08363241e-03 -1.07104502e-04 9.99995240e-01 -1.34154978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters Centerline goodness : 0.996143 with order 1 Centerline is valid? [True, True] Translation: X:452.83, Y:-38.48, Z:-1.34 [[ 9.91625621e-01 1.29109228e-01 3.07174519e-03 4.52833879e+02] [-1.29108945e-01 9.91630372e-01 -2.90932021e-04 -3.84777681e+01] [-3.08359783e-03 -1.08094136e-04 9.99995240e-01 -1.34065151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters Centerline goodness : 0.996234 with order 1 Centerline is valid? [True, True] Translation: X:452.90, Y:-38.47, Z:-1.34 [[ 9.91928094e-01 1.26764432e-01 3.07171850e-03 4.52895418e+02] [-1.26764137e-01 9.91932845e-01 -2.91213499e-04 -3.84698583e+01] [-3.08385398e-03 -1.00520894e-04 9.99995240e-01 -1.34253852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters Centerline goodness : 0.995844 with order 1 Centerline is valid? [True, True] Translation: X:452.95, Y:-38.47, Z:-1.34 [[ 9.92200983e-01 1.24610491e-01 3.07171850e-03 4.52954816e+02] [-1.24610186e-01 9.92205733e-01 -2.91213499e-04 -3.84692052e+01] [-3.08406496e-03 -9.38250941e-05 9.99995240e-01 -1.34421060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters Centerline goodness : 0.996118 with order 1 Centerline is valid? [True, True] Translation: X:453.02, Y:-38.47, Z:-1.34 [[ 9.93096661e-01 1.17258633e-01 3.07171553e-03 4.53015629e+02] [-1.17258293e-01 9.93101409e-01 -2.91244819e-04 -3.84686917e+01] [-3.08467599e-03 -7.09498614e-05 9.99995240e-01 -1.34470585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters Centerline goodness : 0.995787 with order 1 Centerline is valid? [True, True] Translation: X:453.08, Y:-38.47, Z:-1.34 [[ 9.94092613e-01 1.08491666e-01 3.07171553e-03 4.53075949e+02] [-1.08491284e-01 9.94097358e-01 -2.91244819e-04 -3.84700570e+01] [-3.08518193e-03 -4.37300385e-05 9.99995240e-01 -1.34276610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:453.14, Y:-38.47, Z:-1.34 [[ 9.94524647e-01 1.04457129e-01 3.07171221e-03 4.53136156e+02] [-1.04456727e-01 9.94529390e-01 -2.91279807e-04 -3.84716343e+01] [-3.08533432e-03 -3.11760575e-05 9.99995240e-01 -1.34468022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters Centerline goodness : 0.996361 with order 1 Centerline is valid? [True, True] Translation: X:453.20, Y:-38.48, Z:-1.34 [[ 9.94998172e-01 9.98458944e-02 3.07171221e-03 4.53197788e+02] [-9.98454710e-02 9.95002913e-01 -2.91279807e-04 -3.84751682e+01] [-3.08544569e-03 -1.68736772e-05 9.99995240e-01 -1.34455760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:453.26, Y:-38.48, Z:-1.35 [[ 9.95361052e-01 9.61610194e-02 3.07170539e-03 4.53258068e+02] [-9.61605782e-02 9.95365791e-01 -2.91351704e-04 -3.84780946e+01] [-3.08548715e-03 -5.37682776e-06 9.99995240e-01 -1.34526591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters Centerline goodness : 0.995952 with order 1 Centerline is valid? [True, True] Translation: X:453.32, Y:-38.48, Z:-1.35 [[ 9.95340602e-01 9.63724572e-02 3.07170201e-03 4.53316946e+02] [-9.63720168e-02 9.95345342e-01 -2.91387375e-04 -3.84829332e+01] [-3.08548600e-03 -5.99643280e-06 9.99995240e-01 -1.34658508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters Centerline goodness : 0.996657 with order 1 Centerline is valid? [True, True] Translation: X:453.38, Y:-38.48, Z:-1.34 [[ 9.95145861e-01 9.83630033e-02 3.07170526e-03 4.53375437e+02] [-9.83625726e-02 9.95150601e-01 -2.91353061e-04 -3.84843556e+01] [-3.08546770e-03 -1.22020394e-05 9.99995240e-01 -1.34359494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:453.44, Y:-38.49, Z:-1.34 [[ 9.94831519e-01 1.01492927e-01 3.07171196e-03 4.53435186e+02] [-1.01492512e-01 9.94836261e-01 -2.91282499e-04 -3.84881061e+01] [-3.08541355e-03 -2.19787503e-05 9.99995240e-01 -1.34443962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters Centerline goodness : 0.996469 with order 1 Centerline is valid? [True, True] Translation: X:453.49, Y:-38.49, Z:-1.35 [[ 9.94694636e-01 1.02825804e-01 3.07171832e-03 4.53494827e+02] [-1.02825395e-01 9.94699378e-01 -2.91215365e-04 -3.84913493e+01] [-3.08538076e-03 -2.61802890e-05 9.99995240e-01 -1.34728952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters Centerline goodness : 0.996203 with order 1 Centerline is valid? [True, True] Translation: X:453.55, Y:-38.50, Z:-1.35 [[ 9.94578171e-01 1.03946271e-01 3.07172489e-03 4.53553835e+02] [-1.03945867e-01 9.94582914e-01 -2.91146067e-04 -3.84964990e+01] [-3.08534864e-03 -2.97255848e-05 9.99995240e-01 -1.35024511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters Centerline goodness : 0.996313 with order 1 Centerline is valid? [True, True] Translation: X:453.61, Y:-38.50, Z:-1.35 [[ 9.94344686e-01 1.06156539e-01 3.07173175e-03 4.53613406e+02] [-1.06156146e-01 9.94349430e-01 -2.91073609e-04 -3.84990117e+01] [-3.08527408e-03 -3.66557080e-05 9.99995240e-01 -1.35103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:453.67, Y:-38.50, Z:-1.35 [[ 9.94135216e-01 1.08100590e-01 3.07173872e-03 4.53672747e+02] [-1.08100206e-01 9.94139960e-01 -2.91000112e-04 -3.85018305e+01] [-3.08519549e-03 -4.27621303e-05 9.99995240e-01 -1.35172312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters Centerline goodness : 0.996252 with order 1 Centerline is valid? [True, True] Translation: X:453.73, Y:-38.50, Z:-1.35 [[ 9.94168909e-01 1.07790285e-01 3.07174565e-03 4.53731226e+02] [-1.07789901e-01 9.94173653e-01 -2.90926882e-04 -3.85035413e+01] [-3.08520769e-03 -4.18726983e-05 9.99995240e-01 -1.35028402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters Centerline goodness : 0.996877 with order 1 Centerline is valid? [True, True] Translation: X:453.79, Y:-38.50, Z:-1.35 [[ 9.94042262e-01 1.08952032e-01 3.07175300e-03 4.53790986e+02] [-1.08951653e-01 9.94047007e-01 -2.90849328e-04 -3.85016528e+01] [-3.08515550e-03 -4.55560436e-05 9.99995240e-01 -1.34851776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters Centerline goodness : 0.996600 with order 1 Centerline is valid? [True, True] Translation: X:453.85, Y:-38.50, Z:-1.35 [[ 9.94107565e-01 1.08354572e-01 3.07176667e-03 4.53849428e+02] [-1.08354191e-01 9.94112310e-01 -2.90704837e-04 -3.84964906e+01] [-3.08518026e-03 -4.38469137e-05 9.99995240e-01 -1.34777459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:453.91, Y:-38.49, Z:-1.35 [[ 9.94726283e-01 1.02519197e-01 3.07178358e-03 4.53908411e+02] [-1.02518789e-01 9.94731026e-01 -2.90526091e-04 -3.84944022e+01] [-3.08538293e-03 -2.59215930e-05 9.99995240e-01 -1.34564785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters Centerline goodness : 0.996854 with order 1 Centerline is valid? [True, True] Translation: X:453.97, Y:-38.50, Z:-1.35 [[ 9.94992349e-01 9.99039014e-02 3.07179746e-03 4.53966859e+02] [-9.99034810e-02 9.94997091e-01 -2.90379223e-04 -3.84982675e+01] [-3.08543955e-03 -1.79581539e-05 9.99995240e-01 -1.34514049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters Centerline goodness : 0.996915 with order 1 Centerline is valid? [True, True] Translation: X:454.03, Y:-38.50, Z:-1.35 [[ 9.95418200e-01 9.55676210e-02 3.07181116e-03 4.54026207e+02] [-9.55671804e-02 9.95422940e-01 -2.90234249e-04 -3.84972761e+01] [-3.08548829e-03 -4.65987729e-06 9.99995240e-01 -1.34713599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:454.08, Y:-38.49, Z:-1.34 [[ 9.95330107e-01 9.64807882e-02 3.07182473e-03 4.54084076e+02] [-9.64803524e-02 9.95334847e-01 -2.90090570e-04 -3.84948439e+01] [-3.08548236e-03 -7.63485445e-06 9.99995240e-01 -1.34429839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters Centerline goodness : 0.997310 with order 1 Centerline is valid? [True, True] Translation: X:454.14, Y:-38.50, Z:-1.35 [[ 9.95129167e-01 9.85317401e-02 3.07184341e-03 4.54143057e+02] [-9.85313147e-02 9.95133909e-01 -2.89892604e-04 -3.84955981e+01] [-3.08545916e-03 -1.41921843e-05 9.99995240e-01 -1.34643439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:454.20, Y:-38.49, Z:-1.35 [[ 9.94991623e-01 9.99111294e-02 3.07185683e-03 4.54201580e+02] [-9.99107110e-02 9.94996365e-01 -2.89750321e-04 -3.84927223e+01] [-3.08543566e-03 -1.86122578e-05 9.99995240e-01 -1.35034762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:454.26, Y:-38.49, Z:-1.35 [[ 9.95324554e-01 9.65380520e-02 3.07187347e-03 4.54261051e+02] [-9.65376181e-02 9.95329294e-01 -2.89573767e-04 -3.84875565e+01] [-3.08548054e-03 -8.33146758e-06 9.99995240e-01 -1.34823400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters Centerline goodness : 0.997217 with order 1 Centerline is valid? [True, True] Translation: X:454.32, Y:-38.48, Z:-1.35 [[ 9.95895704e-01 9.04561207e-02 3.07188686e-03 4.54320896e+02] [-9.04556583e-02 9.95900442e-01 -2.89431656e-04 -3.84834759e+01] [-3.08547435e-03 1.03741952e-05 9.99995240e-01 -1.35211498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters Centerline goodness : 0.996917 with order 1 Centerline is valid? [True, True] Translation: X:454.38, Y:-38.48, Z:-1.35 [[ 9.96248175e-01 8.64877852e-02 3.07190037e-03 4.54378958e+02] [-8.64873043e-02 9.96252911e-01 -2.89288230e-04 -3.84830440e+01] [-3.08540958e-03 2.25224891e-05 9.99995240e-01 -1.35437062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:454.44, Y:-38.48, Z:-1.35 [[ 9.96682711e-01 8.13273445e-02 3.07191703e-03 4.54438313e+02] [-8.13268396e-02 9.96687444e-01 -2.89111207e-04 -3.84812206e+01] [-3.08525378e-03 3.83228381e-05 9.99995240e-01 -1.35085236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters Centerline goodness : 0.997330 with order 1 Centerline is valid? [True, True] Translation: X:454.50, Y:-38.48, Z:-1.35 [[ 9.97019257e-01 7.70919182e-02 3.07193013e-03 4.54495754e+02] [-7.70913936e-02 9.97023988e-01 -2.88971925e-04 -3.84830356e+01] [-3.08506543e-03 5.12911994e-05 9.99995240e-01 -1.35274176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters Centerline goodness : 0.997097 with order 1 Centerline is valid? [True, True] Translation: X:454.55, Y:-38.49, Z:-1.35 [[ 9.97533375e-01 7.01265253e-02 3.07194626e-03 4.54554616e+02] [-7.01259682e-02 9.97538102e-01 -2.88800340e-04 -3.84866751e+01] [-3.08463601e-03 7.26647716e-05 9.99995240e-01 -1.34888223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters Centerline goodness : 0.997095 with order 1 Centerline is valid? [True, True] Translation: X:454.61, Y:-38.49, Z:-1.35 [[ 9.97853816e-01 6.54089103e-02 3.07195950e-03 4.54612378e+02] [-6.54083313e-02 9.97858541e-01 -2.88659433e-04 -3.84938381e+01] [-3.08426192e-03 8.71081713e-05 9.99995240e-01 -1.34929605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:454.67, Y:-38.51, Z:-1.35 [[ 9.98310785e-01 5.80184396e-02 3.07197706e-03 4.54670177e+02] [-5.80178262e-02 9.98315506e-01 -2.88472422e-04 -3.85055464e+01] [-3.08353905e-03 1.09755698e-04 9.99995240e-01 -1.35150758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters Centerline goodness : 0.996731 with order 1 Centerline is valid? [True, True] Translation: X:454.73, Y:-38.52, Z:-1.36 [[ 9.98660812e-01 5.16444160e-02 3.07198993e-03 4.54728738e+02] [-5.16437730e-02 9.98665528e-01 -2.88335347e-04 -3.85206398e+01] [-3.08278136e-03 1.29300061e-04 9.99995240e-01 -1.35604575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters Centerline goodness : 0.996864 with order 1 Centerline is valid? [True, True] Translation: X:454.79, Y:-38.54, Z:-1.36 [[ 9.98672461e-01 5.14186578e-02 3.07199633e-03 4.54787314e+02] [-5.14180139e-02 9.98677177e-01 -2.88267089e-04 -3.85395672e+01] [-3.08275493e-03 1.29928453e-04 9.99995240e-01 -1.35843089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters Centerline goodness : 0.996659 with order 1 Centerline is valid? [True, True] Translation: X:454.84, Y:-38.55, Z:-1.35 [[ 9.98521119e-01 5.42783369e-02 3.07200280e-03 4.54844760e+02] [-5.42777067e-02 9.98525837e-01 -2.88198128e-04 -3.85524466e+01] [-3.08311709e-03 1.21030650e-04 9.99995240e-01 -1.35408231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters Centerline goodness : 0.997019 with order 1 Centerline is valid? [True, True] Translation: X:454.90, Y:-38.57, Z:-1.36 [[ 9.98177192e-01 6.02731755e-02 3.07201241e-03 4.54903084e+02] [-6.02725740e-02 9.98181914e-01 -2.88095734e-04 -3.85692199e+01] [-3.08379167e-03 1.02412496e-04 9.99995240e-01 -1.35625554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters Centerline goodness : 0.996889 with order 1 Centerline is valid? [True, True] Translation: X:454.96, Y:-38.59, Z:-1.36 [[ 9.97768624e-01 6.66958444e-02 3.07201898e-03 4.54960715e+02] [-6.66952735e-02 9.97773350e-01 -2.88025589e-04 -3.85859266e+01] [-3.08438878e-03 8.24937491e-05 9.99995240e-01 -1.36231485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:455.02, Y:-38.60, Z:-1.36 [[ 9.97515777e-01 7.03764019e-02 3.07202882e-03 4.55018827e+02] [-7.03758488e-02 9.97520505e-01 -2.87920667e-04 -3.85960974e+01] [-3.08467456e-03 7.10087721e-05 9.99995240e-01 -1.36273032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:455.08, Y:-38.61, Z:-1.36 [[ 9.97083769e-01 7.62529996e-02 3.07203812e-03 4.55077776e+02] [-7.62524747e-02 9.97088500e-01 -2.87821390e-04 -3.86063004e+01] [-3.08504112e-03 5.27315279e-05 9.99995240e-01 -1.35635127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters Centerline goodness : 0.996928 with order 1 Centerline is valid? [True, True] Translation: X:455.14, Y:-38.61, Z:-1.36 [[ 9.96515096e-01 8.33560188e-02 3.07204428e-03 4.55137492e+02] [-8.33555278e-02 9.96519831e-01 -2.87755568e-04 -3.86132623e+01] [-3.08533921e-03 3.06808946e-05 9.99995240e-01 -1.35568242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters Centerline goodness : 0.997092 with order 1 Centerline is valid? [True, True] Translation: X:455.20, Y:-38.62, Z:-1.36 [[ 9.95965914e-01 8.96797707e-02 3.07205099e-03 4.55196107e+02] [-8.96793099e-02 9.95970651e-01 -2.87683917e-04 -3.86193673e+01] [-3.08547206e-03 1.10239618e-05 9.99995240e-01 -1.35817660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:455.25, Y:-38.62, Z:-1.36 [[ 9.95822750e-01 9.12557555e-02 3.07206102e-03 4.55254934e+02] [-9.12553026e-02 9.95827489e-01 -2.87576852e-04 -3.86231568e+01] [-3.08548585e-03 6.03371389e-06 9.99995240e-01 -1.35781525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters Centerline goodness : 0.996280 with order 1 Centerline is valid? [True, True] Translation: X:455.31, Y:-38.63, Z:-1.35 [[ 9.95803703e-01 9.14633641e-02 3.07207439e-03 4.55312892e+02] [-9.14629126e-02 9.95808442e-01 -2.87433897e-04 -3.86302432e+01] [-3.08548728e-03 5.24686766e-06 9.99995240e-01 -1.35221184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters Centerline goodness : 0.996383 with order 1 Centerline is valid? [True, True] Translation: X:455.37, Y:-38.64, Z:-1.36 [[ 9.96034061e-01 8.89196890e-02 3.07208427e-03 4.55372368e+02] [-8.89192257e-02 9.96038799e-01 -2.87328302e-04 -3.86389723e+01] [-3.08546427e-03 1.30214212e-05 9.99995240e-01 -1.36036914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters Centerline goodness : 0.996517 with order 1 Centerline is valid? [True, True] Translation: X:455.43, Y:-38.65, Z:-1.36 [[ 9.96289270e-01 8.60130983e-02 3.07209127e-03 4.55431052e+02] [-8.60126215e-02 9.96294006e-01 -2.87253406e-04 -3.86522769e+01] [-3.08541367e-03 2.19488624e-05 9.99995240e-01 -1.36413224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters Centerline goodness : 0.996129 with order 1 Centerline is valid? [True, True] Translation: X:455.49, Y:-38.66, Z:-1.36 [[ 9.96286828e-01 8.60413733e-02 3.07209474e-03 4.55489504e+02] [-8.60408967e-02 9.96291565e-01 -2.87216245e-04 -3.86611542e+01] [-3.08541456e-03 2.18239758e-05 9.99995240e-01 -1.36126662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:455.55, Y:-38.67, Z:-1.36 [[ 9.95882600e-01 9.06002697e-02 3.07209794e-03 4.55548142e+02] [-9.05998148e-02 9.95887339e-01 -2.87182024e-04 -3.86725788e+01] [-3.08548221e-03 7.66807595e-06 9.99995240e-01 -1.36083997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters Centerline goodness : 0.996559 with order 1 Centerline is valid? [True, True] Translation: X:455.61, Y:-38.68, Z:-1.36 [[ 9.95484347e-01 9.48761182e-02 3.07210477e-03 4.55607213e+02] [-9.48756840e-02 9.95489087e-01 -2.87108924e-04 -3.86817986e+01] [-3.08548656e-03 -5.65560254e-06 9.99995240e-01 -1.36117740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters Centerline goodness : 0.996274 with order 1 Centerline is valid? [True, True] Translation: X:455.67, Y:-38.69, Z:-1.36 [[ 9.95360501e-01 9.61667025e-02 3.07210815e-03 4.55665779e+02] [-9.61662746e-02 9.95365242e-01 -2.87072786e-04 -3.86930303e+01] [-3.08547652e-03 -9.69228416e-06 9.99995240e-01 -1.36369246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters Centerline goodness : 0.996405 with order 1 Centerline is valid? [True, True] Translation: X:455.72, Y:-38.70, Z:-1.36 [[ 9.95230475e-01 9.75031483e-02 3.07211484e-03 4.55724457e+02] [-9.75027269e-02 9.95235216e-01 -2.87001246e-04 -3.87007232e+01] [-3.08546040e-03 -1.39071878e-05 9.99995240e-01 -1.36152165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters Centerline goodness : 0.995993 with order 1 Centerline is valid? [True, True] Translation: X:455.78, Y:-38.71, Z:-1.36 [[ 9.94908050e-01 1.00739936e-01 3.07211814e-03 4.55783262e+02] [-1.00739531e-01 9.94912792e-01 -2.86965902e-04 -3.87086647e+01] [-3.08539856e-03 -2.39790531e-05 9.99995240e-01 -1.35945296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters Centerline goodness : 0.996112 with order 1 Centerline is valid? [True, True] Translation: X:455.84, Y:-38.72, Z:-1.36 [[ 9.94756444e-01 1.02226118e-01 3.07212471e-03 4.55842447e+02] [-1.02225719e-01 9.94761187e-01 -2.86895484e-04 -3.87159181e+01] [-3.08535864e-03 -2.86590258e-05 9.99995240e-01 -1.35827805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters Centerline goodness : 0.995905 with order 1 Centerline is valid? [True, True] Translation: X:455.90, Y:-38.72, Z:-1.36 [[ 9.94615860e-01 1.03585002e-01 3.07213127e-03 4.55901649e+02] [-1.03584610e-01 9.94620604e-01 -2.86825275e-04 -3.87234989e+01] [-3.08531585e-03 -3.29445519e-05 9.99995240e-01 -1.36193785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters Centerline goodness : 0.996075 with order 1 Centerline is valid? [True, True] Translation: X:455.96, Y:-38.73, Z:-1.37 [[ 9.94254590e-01 1.06997070e-01 3.07213789e-03 4.55959899e+02] [-1.06996694e-01 9.94259335e-01 -2.86754317e-04 -3.87299990e+01] [-3.08518365e-03 -4.36018023e-05 9.99995240e-01 -1.36576652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters Centerline goodness : 0.996471 with order 1 Centerline is valid? [True, True] Translation: X:456.02, Y:-38.73, Z:-1.36 [[ 9.93806831e-01 1.11078999e-01 3.07214486e-03 4.56019193e+02] [-1.11078643e-01 9.93811578e-01 -2.86679624e-04 -3.87341301e+01] [-3.08497722e-03 -5.63455137e-05 9.99995240e-01 -1.36409772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters Centerline goodness : 0.996008 with order 1 Centerline is valid? [True, True] Translation: X:456.08, Y:-38.74, Z:-1.36 [[ 9.92844885e-01 1.19371673e-01 3.07215135e-03 4.56077875e+02] [-1.19371358e-01 9.92849635e-01 -2.86610082e-04 -3.87360022e+01] [-3.08439747e-03 -8.21675231e-05 9.99995240e-01 -1.36363986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters Centerline goodness : 0.996699 with order 1 Centerline is valid? [True, True] Translation: X:456.14, Y:-38.74, Z:-1.36 [[ 9.92199217e-01 1.24624540e-01 3.07216423e-03 4.56136799e+02] [-1.24624250e-01 9.92203968e-01 -2.86471986e-04 -3.87352757e+01] [-3.08391497e-03 -9.86288830e-05 9.99995240e-01 -1.36201041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters Centerline goodness : 0.996055 with order 1 Centerline is valid? [True, True] Translation: X:456.20, Y:-38.73, Z:-1.36 [[ 9.92520159e-01 1.22042190e-01 3.07217692e-03 4.56195687e+02] [-1.22041888e-01 9.92524909e-01 -2.86335840e-04 -3.87342893e+01] [-3.08415717e-03 -9.07401780e-05 9.99995240e-01 -1.36229695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:456.26, Y:-38.74, Z:-1.36 [[ 9.92805782e-01 1.19696452e-01 3.07218949e-03 4.56255026e+02] [-1.19696139e-01 9.92810532e-01 -2.86200871e-04 -3.87356832e+01] [-3.08435931e-03 -8.35873417e-05 9.99995240e-01 -1.36103309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters Centerline goodness : 0.995859 with order 1 Centerline is valid? [True, True] Translation: X:456.31, Y:-38.74, Z:-1.36 [[ 9.93351361e-01 1.15080996e-01 3.07220286e-03 4.56314434e+02] [-1.15080661e-01 9.93356109e-01 -2.86057311e-04 -3.87353211e+01] [-3.08471124e-03 -6.93957173e-05 9.99995240e-01 -1.35988143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters Centerline goodness : 0.995849 with order 1 Centerline is valid? [True, True] Translation: X:456.37, Y:-38.74, Z:-1.36 [[ 9.94208949e-01 1.07420330e-01 3.07221292e-03 4.56372853e+02] [-1.07419959e-01 9.94213695e-01 -2.85949168e-04 -3.87391313e+01] [-3.08515291e-03 -4.57237652e-05 9.99995240e-01 -1.36207763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:456.43, Y:-38.75, Z:-1.36 [[ 9.95084936e-01 9.89774333e-02 3.07222299e-03 4.56432536e+02] [-9.89770225e-02 9.95089678e-01 -2.85840982e-04 -3.87474143e+01] [-3.08542919e-03 -1.96434283e-05 9.99995240e-01 -1.36263793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:456.49, Y:-38.75, Z:-1.36 [[ 9.95183285e-01 9.79836253e-02 3.07222299e-03 4.56491535e+02] [-9.79832097e-02 9.95188027e-01 -2.85840982e-04 -3.87543916e+01] [-3.08544727e-03 -1.65621018e-05 9.99995240e-01 -1.36271523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters Centerline goodness : 0.996781 with order 1 Centerline is valid? [True, True] Translation: X:456.55, Y:-38.76, Z:-1.36 [[ 9.94713166e-01 1.02646373e-01 3.07222984e-03 4.56550956e+02] [-1.02645980e-01 9.94717910e-01 -2.85767343e-04 -3.87598305e+01] [-3.08533502e-03 -3.10955021e-05 9.99995240e-01 -1.36379285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters Centerline goodness : 0.996903 with order 1 Centerline is valid? [True, True] Translation: X:456.61, Y:-38.76, Z:-1.37 [[ 9.94013336e-01 1.09215608e-01 3.07223662e-03 4.56609387e+02] [-1.09215247e-01 9.94018082e-01 -2.85694372e-04 -3.87628766e+01] [-3.08506104e-03 -5.15510654e-05 9.99995240e-01 -1.36609522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters Centerline goodness : 0.996946 with order 1 Centerline is valid? [True, True] Translation: X:456.67, Y:-38.77, Z:-1.37 [[ 9.93893000e-01 1.10305334e-01 3.07225020e-03 4.56668049e+02] [-1.10304978e-01 9.93897746e-01 -2.85548293e-04 -3.87674200e+01] [-3.08500005e-03 -5.50800405e-05 9.99995240e-01 -1.36629727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:456.73, Y:-38.77, Z:-1.36 [[ 9.94112315e-01 1.08310967e-01 3.07226360e-03 4.56726060e+02] [-1.08310602e-01 9.94117062e-01 -2.85404048e-04 -3.87738768e+01] [-3.08510205e-03 -4.90350420e-05 9.99995240e-01 -1.36334649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:456.78, Y:-38.78, Z:-1.36 [[ 9.93954035e-01 1.09753990e-01 3.07227695e-03 4.56783544e+02] [-1.09753633e-01 9.93958781e-01 -2.85260218e-04 -3.87777711e+01] [-3.08502510e-03 -5.36580112e-05 9.99995240e-01 -1.36303486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:456.84, Y:-38.78, Z:-1.37 [[ 9.93195019e-01 1.16422574e-01 3.07229511e-03 4.56842617e+02] [-1.16422249e-01 9.93199768e-01 -2.85064515e-04 -3.87774089e+01] [-3.08459074e-03 -7.45588499e-05 9.99995240e-01 -1.36554179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:-38.78, Z:-1.37 [[ 9.92789851e-01 1.19828512e-01 3.07230886e-03 4.56901734e+02] [-1.19828203e-01 9.92794601e-01 -2.84916311e-04 -3.87791609e+01] [-3.08431274e-03 -8.52872276e-05 9.99995240e-01 -1.36781793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters Centerline goodness : 0.997189 with order 1 Centerline is valid? [True, True] Translation: X:456.96, Y:-38.78, Z:-1.37 [[ 9.92976890e-01 1.18268578e-01 3.07232237e-03 4.56960013e+02] [-1.18268262e-01 9.92981640e-01 -2.84770525e-04 -3.87803273e+01] [-3.08443911e-03 -8.05876772e-05 9.99995240e-01 -1.36987468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters Centerline goodness : 0.997033 with order 1 Centerline is valid? [True, True] Translation: X:457.02, Y:-38.78, Z:-1.37 [[ 9.93188953e-01 1.16474311e-01 3.07233907e-03 4.57019210e+02] [-1.16473988e-01 9.93193702e-01 -2.84590192e-04 -3.87778418e+01] [-3.08457526e-03 -7.51957483e-05 9.99995240e-01 -1.36810919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters Centerline goodness : 0.997065 with order 1 Centerline is valid? [True, True] Translation: X:457.08, Y:-38.77, Z:-1.37 [[ 9.93412668e-01 1.14550568e-01 3.07235226e-03 4.57078659e+02] [-1.14550236e-01 9.93417416e-01 -2.84447721e-04 -3.87733087e+01] [-3.08471190e-03 -6.93647067e-05 9.99995240e-01 -1.36866299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters Centerline goodness : 0.997158 with order 1 Centerline is valid? [True, True] Translation: X:457.14, Y:-38.78, Z:-1.37 [[ 9.93593523e-01 1.12971107e-01 3.07236544e-03 4.57136573e+02] [-1.12970768e-01 9.93598271e-01 -2.84305298e-04 -3.87751689e+01] [-3.08481528e-03 -6.46035792e-05 9.99995240e-01 -1.37007673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters Centerline goodness : 0.997427 with order 1 Centerline is valid? [True, True] Translation: X:457.20, Y:-38.78, Z:-1.37 [[ 9.94158954e-01 1.07882037e-01 3.07238309e-03 4.57195800e+02] [-1.07881674e-01 9.94163701e-01 -2.84114443e-04 -3.87754147e+01] [-3.08510259e-03 -4.89989137e-05 9.99995240e-01 -1.37045412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters Centerline goodness : 0.997277 with order 1 Centerline is valid? [True, True] Translation: X:457.25, Y:-38.78, Z:-1.37 [[ 9.94583892e-01 1.03891496e-01 3.07239597e-03 4.57254970e+02] [-1.03891115e-01 9.94588636e-01 -2.83975094e-04 -3.87778503e+01] [-3.08527272e-03 -3.67575879e-05 9.99995240e-01 -1.36892222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters Centerline goodness : 0.997553 with order 1 Centerline is valid? [True, True] Translation: X:457.31, Y:-38.78, Z:-1.36 [[ 9.94786976e-01 1.01928564e-01 3.07240960e-03 4.57313334e+02] [-1.01928174e-01 9.94791720e-01 -2.83827533e-04 -3.87780447e+01] [-3.08533777e-03 -3.08171662e-05 9.99995240e-01 -1.36437339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:457.37, Y:-38.78, Z:-1.37 [[ 9.94896619e-01 1.00852755e-01 3.07242639e-03 4.57372317e+02] [-1.00852360e-01 9.94901362e-01 -2.83645728e-04 -3.87791251e+01] [-3.08536765e-03 -2.76632774e-05 9.99995240e-01 -1.36770849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:457.43, Y:-38.78, Z:-1.37 [[ 9.95282626e-01 9.69693473e-02 3.07243985e-03 4.57429781e+02] [-9.69689341e-02 9.95287368e-01 -2.83499813e-04 -3.87812542e+01] [-3.08545137e-03 -1.57687790e-05 9.99995240e-01 -1.37013071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters Centerline goodness : 0.997377 with order 1 Centerline is valid? [True, True] Translation: X:457.49, Y:-38.78, Z:-1.37 [[ 9.95609669e-01 9.35518374e-02 3.07245646e-03 4.57487550e+02] [-9.35514086e-02 9.95614410e-01 -2.83319697e-04 -3.87845163e+01] [-3.08548700e-03 -5.35679981e-06 9.99995240e-01 -1.36709835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters Centerline goodness : 0.997733 with order 1 Centerline is valid? [True, True] Translation: X:457.55, Y:-38.79, Z:-1.37 [[ 9.95963750e-01 8.97037775e-02 3.07247288e-03 4.57546867e+02] [-8.97033309e-02 9.95968490e-01 -2.83141537e-04 -3.87867213e+01] [-3.08548504e-03 6.38765608e-06 9.99995240e-01 -1.37019547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters Centerline goodness : 0.998057 with order 1 Centerline is valid? [True, True] Translation: X:457.60, Y:-38.79, Z:-1.37 [[ 9.96176443e-01 8.73101061e-02 3.07248562e-03 4.57604107e+02] [-8.73096485e-02 9.96181181e-01 -2.83003189e-04 -3.87933908e+01] [-3.08546139e-03 1.36634701e-05 9.99995240e-01 -1.37317177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:457.66, Y:-38.80, Z:-1.37 [[ 9.96386385e-01 8.48806873e-02 3.07250142e-03 4.57662135e+02] [-8.48802187e-02 9.96391122e-01 -2.82831618e-04 -3.88002220e+01] [-3.08542008e-03 2.10149809e-05 9.99995240e-01 -1.37335574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters Centerline goodness : 0.997877 with order 1 Centerline is valid? [True, True] Translation: X:457.72, Y:-38.81, Z:-1.37 [[ 9.96470802e-01 8.38838528e-02 3.07251398e-03 4.57720941e+02] [-8.38833799e-02 9.96475538e-01 -2.82695074e-04 -3.88065080e+01] [-3.08539857e-03 2.39645300e-05 9.99995240e-01 -1.37459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:457.78, Y:-38.82, Z:-1.37 [[ 9.96625785e-01 8.20219723e-02 3.07252651e-03 4.57777840e+02] [-8.20214910e-02 9.96630521e-01 -2.82558797e-04 -3.88171557e+01] [-3.08534973e-03 2.95921777e-05 9.99995240e-01 -1.37420414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:457.84, Y:-38.83, Z:-1.38 [[ 9.96665525e-01 8.15376665e-02 3.07254405e-03 4.57835711e+02] [-8.15371834e-02 9.96670260e-01 -2.82367951e-04 -3.88261674e+01] [-3.08533690e-03 3.08998147e-05 9.99995240e-01 -1.37563240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters Centerline goodness : 0.997785 with order 1 Centerline is valid? [True, True] Translation: X:457.89, Y:-38.84, Z:-1.38 [[ 9.96544336e-01 8.30056933e-02 3.07255744e-03 4.57893312e+02] [-8.30052176e-02 9.96549073e-01 -2.82222204e-04 -3.88376142e+01] [-3.08538031e-03 2.62086404e-05 9.99995240e-01 -1.37527774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters Centerline goodness : 0.997800 with order 1 Centerline is valid? [True, True] Translation: X:457.95, Y:-38.84, Z:-1.38 [[ 9.96380123e-01 8.49541616e-02 3.07257072e-03 4.57950932e+02] [-8.49536957e-02 9.96384860e-01 -2.82077505e-04 -3.88445806e+01] [-3.08542661e-03 2.00301813e-05 9.99995240e-01 -1.37574171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:458.01, Y:-38.85, Z:-1.37 [[ 9.96076955e-01 8.84378788e-02 3.07258716e-03 4.58009322e+02] [-8.84374299e-02 9.96081694e-01 -2.81898283e-04 -3.88542036e+01] [-3.08547831e-03 9.06067142e-06 9.99995240e-01 -1.37184989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:458.07, Y:-38.86, Z:-1.37 [[ 9.95637300e-01 9.32573143e-02 3.07260038e-03 4.58067652e+02] [-9.32568889e-02 9.95642041e-01 -2.81754141e-04 -3.88580845e+01] [-3.08548575e-03 -6.01622008e-06 9.99995240e-01 -1.37189380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:458.13, Y:-38.87, Z:-1.38 [[ 9.95446981e-01 9.52673452e-02 3.07261364e-03 4.58126301e+02] [-9.52669298e-02 9.95451723e-01 -2.81609440e-04 -3.88653269e+01] [-3.08546673e-03 -1.23912014e-05 9.99995240e-01 -1.37521175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters Centerline goodness : 0.998298 with order 1 Centerline is valid? [True, True] Translation: X:458.18, Y:-38.87, Z:-1.38 [[ 9.95486408e-01 9.48544675e-02 3.07262706e-03 4.58183806e+02] [-9.48540506e-02 9.95491150e-01 -2.81462975e-04 -3.88712638e+01] [-3.08547107e-03 -1.12585563e-05 9.99995240e-01 -1.37710579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:458.24, Y:-38.88, Z:-1.37 [[ 9.95686266e-01 9.27330533e-02 3.07264364e-03 4.58242658e+02] [-9.27326269e-02 9.95691007e-01 -2.81281824e-04 -3.88778606e+01] [-3.08548777e-03 -4.86586707e-06 9.99995240e-01 -1.37312071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:458.30, Y:-38.88, Z:-1.37 [[ 9.95767820e-01 9.18531838e-02 3.07265684e-03 4.58299890e+02] [-9.18527536e-02 9.95772561e-01 -2.81137560e-04 -3.88838904e+01] [-3.08549075e-03 -2.28425627e-06 9.99995240e-01 -1.37342309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters Centerline goodness : 0.997923 with order 1 Centerline is valid? [True, True] Translation: X:458.36, Y:-38.89, Z:-1.38 [[ 9.95917545e-01 9.02153155e-02 3.07267323e-03 4.58357820e+02] [-9.02148780e-02 9.95922285e-01 -2.80958333e-04 -3.88905871e+01] [-3.08549049e-03 2.61049266e-06 9.99995240e-01 -1.37828916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters Centerline goodness : 0.998372 with order 1 Centerline is valid? [True, True] Translation: X:458.42, Y:-38.90, Z:-1.38 [[ 9.96126050e-01 8.78831673e-02 3.07268899e-03 4.58415945e+02] [-8.78827193e-02 9.96130789e-01 -2.80785869e-04 -3.88995590e+01] [-3.08547646e-03 9.66185416e-06 9.99995240e-01 -1.37888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters Centerline goodness : 0.998426 with order 1 Centerline is valid? [True, True] Translation: X:458.47, Y:-38.91, Z:-1.38 [[ 9.96344326e-01 8.53729617e-02 3.07269557e-03 4.58474037e+02] [-8.53725020e-02 9.96349064e-01 -2.80713901e-04 -3.89067797e+01] [-3.08544273e-03 1.73639937e-05 9.99995240e-01 -1.37570391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:458.53, Y:-38.92, Z:-1.38 [[ 9.96412362e-01 8.45751941e-02 3.07270860e-03 4.58532519e+02] [-8.45747310e-02 9.96417099e-01 -2.80571200e-04 -3.89171173e+01] [-3.08542875e-03 1.96911088e-05 9.99995240e-01 -1.37597069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters Centerline goodness : 0.998367 with order 1 Centerline is valid? [True, True] Translation: X:458.59, Y:-38.92, Z:-1.38 [[ 9.96344599e-01 8.53697736e-02 3.07271525e-03 4.58591680e+02] [-8.53693145e-02 9.96349337e-01 -2.80498324e-04 -3.89245327e+01] [-3.08544388e-03 1.71573959e-05 9.99995240e-01 -1.37644144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:458.65, Y:-38.93, Z:-1.38 [[ 9.96214088e-01 8.68795135e-02 3.07272192e-03 4.58649668e+02] [-8.68790618e-02 9.96218826e-01 -2.80425276e-04 -3.89307160e+01] [-3.08546663e-03 1.24084130e-05 9.99995240e-01 -1.37623646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:458.71, Y:-38.94, Z:-1.37 [[ 9.96048170e-01 8.87614830e-02 3.07273183e-03 4.58709379e+02] [-8.87610406e-02 9.96052910e-01 -2.80316577e-04 -3.89377053e+01] [-3.08548480e-03 6.46993892e-06 9.99995240e-01 -1.37274482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:458.77, Y:-38.94, Z:-1.37 [[ 9.95899602e-01 9.04131694e-02 3.07273831e-03 4.58768847e+02] [-9.04127351e-02 9.95904342e-01 -2.80245528e-04 -3.89422815e+01] [-3.08549131e-03 1.28173491e-06 9.99995240e-01 -1.37279026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters Centerline goodness : 0.998366 with order 1 Centerline is valid? [True, True] Translation: X:458.83, Y:-38.95, Z:-1.38 [[ 9.95748277e-01 9.20647967e-02 3.07274497e-03 4.58827558e+02] [-9.20643704e-02 9.95753018e-01 -2.80172545e-04 -3.89477632e+01] [-3.08548910e-03 -3.90900158e-06 9.99995240e-01 -1.37695440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters Centerline goodness : 0.998368 with order 1 Centerline is valid? [True, True] Translation: X:458.89, Y:-38.95, Z:-1.38 [[ 9.95737005e-01 9.21866351e-02 3.07275236e-03 4.58886172e+02] [-9.21862097e-02 9.95741746e-01 -2.80091407e-04 -3.89531128e+01] [-3.08548849e-03 -4.36801449e-06 9.99995240e-01 -1.37857685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:458.95, Y:-38.96, Z:-1.38 [[ 9.95734505e-01 9.22136301e-02 3.07275944e-03 4.58945266e+02] [-9.22132051e-02 9.95739246e-01 -2.80013707e-04 -3.89602895e+01] [-3.08548825e-03 -4.52968715e-06 9.99995240e-01 -1.37977718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:459.00, Y:-38.97, Z:-1.38 [[ 9.95752576e-01 9.20182842e-02 3.07276580e-03 4.59004599e+02] [-9.20178584e-02 9.95757318e-01 -2.79943965e-04 -3.89657971e+01] [-3.08548899e-03 -3.99440353e-06 9.99995240e-01 -1.37519171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:459.06, Y:-38.97, Z:-1.38 [[ 9.95581615e-01 9.38499118e-02 3.07277209e-03 4.59063652e+02] [-9.38494950e-02 9.95586357e-01 -2.79874887e-04 -3.89709080e+01] [-3.08547620e-03 -9.73981708e-06 9.99995240e-01 -1.37534770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:459.12, Y:-38.97, Z:-1.38 [[ 9.94966437e-01 1.00161610e-01 3.07277835e-03 4.59122528e+02] [-1.00161223e-01 9.94971181e-01 -2.79806140e-04 -3.89748819e+01] [-3.08535174e-03 -2.93755209e-05 9.99995240e-01 -1.37813627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:459.18, Y:-38.98, Z:-1.38 [[ 9.94349106e-01 1.06115096e-01 3.07279146e-03 4.59180473e+02] [-1.06114738e-01 9.94353853e-01 -2.79662118e-04 -3.89755681e+01] [-3.08511840e-03 -4.79866827e-05 9.99995240e-01 -1.37720998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:459.24, Y:-38.98, Z:-1.38 [[ 9.94168209e-01 1.07796703e-01 3.07280763e-03 4.59239222e+02] [-1.07796354e-01 9.94172957e-01 -2.79484310e-04 -3.89768743e+01] [-3.08502973e-03 -5.33830438e-05 9.99995240e-01 -1.37942275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters Centerline goodness : 0.998619 with order 1 Centerline is valid? [True, True] Translation: X:459.30, Y:-38.98, Z:-1.38 [[ 9.94363087e-01 1.05984000e-01 3.07282063e-03 4.59296872e+02] [-1.05983643e-01 9.94367834e-01 -2.79341320e-04 -3.89759243e+01] [-3.08511970e-03 -4.79020259e-05 9.99995240e-01 -1.37962522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters Centerline goodness : 0.998596 with order 1 Centerline is valid? [True, True] Translation: X:459.36, Y:-38.98, Z:-1.38 [[ 9.94674823e-01 1.03017252e-01 3.07283669e-03 4.59355822e+02] [-1.03016881e-01 9.94679569e-01 -2.79164555e-04 -3.89783597e+01] [-3.08524664e-03 -3.88760975e-05 9.99995240e-01 -1.38083871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:459.41, Y:-38.98, Z:-1.38 [[ 9.95102412e-01 9.88015539e-02 3.07284963e-03 4.59414532e+02] [-9.88011633e-02 9.95107156e-01 -2.79021974e-04 -3.89772401e+01] [-3.08538246e-03 -2.59456788e-05 9.99995240e-01 -1.37926700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:459.47, Y:-38.98, Z:-1.38 [[ 9.95682765e-01 9.27706308e-02 3.07286280e-03 4.59473162e+02] [-9.27702119e-02 9.95687506e-01 -2.78876910e-04 -3.89805922e+01] [-3.08548268e-03 -7.39719992e-06 9.99995240e-01 -1.37960410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:459.53, Y:-38.99, Z:-1.38 [[ 9.96078261e-01 8.84231565e-02 3.07287658e-03 4.59530759e+02] [-8.84227174e-02 9.96083001e-01 -2.78724997e-04 -3.89867504e+01] [-3.08548587e-03 5.91981324e-06 9.99995240e-01 -1.38167100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:459.59, Y:-38.99, Z:-1.38 [[ 9.96441344e-01 8.42330432e-02 3.07289596e-03 4.59588501e+02] [-8.42325849e-02 9.96446082e-01 -2.78511167e-04 -3.89938097e+01] [-3.08543498e-03 1.86820715e-05 9.99995240e-01 -1.38315973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:459.65, Y:-39.01, Z:-1.38 [[ 9.96988477e-01 7.74889273e-02 3.07291120e-03 4.59647453e+02] [-7.74884374e-02 9.96993212e-01 -2.78342875e-04 -3.90065038e+01] [-3.08524010e-03 3.93895519e-05 9.99995240e-01 -1.38141020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:459.71, Y:-39.01, Z:-1.38 [[ 9.97155930e-01 7.53034482e-02 3.07291769e-03 4.59705728e+02] [-7.53029482e-02 9.97160663e-01 -2.78271209e-04 -3.90144796e+01] [-3.08514743e-03 4.60800240e-05 9.99995240e-01 -1.38137165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:459.76, Y:-39.03, Z:-1.38 [[ 9.97080174e-01 7.62999530e-02 3.07292502e-03 4.59764797e+02] [-7.62994579e-02 9.97084909e-01 -2.78190276e-04 -3.90271315e+01] [-3.08519307e-03 4.29154962e-05 9.99995240e-01 -1.38381301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:459.82, Y:-39.04, Z:-1.38 [[ 9.96813855e-01 7.97037984e-02 3.07293166e-03 4.59823778e+02] [-7.97033198e-02 9.96818591e-01 -2.78116910e-04 -3.90361720e+01] [-3.08532238e-03 3.23079347e-05 9.99995240e-01 -1.38367111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:459.88, Y:-39.05, Z:-1.38 [[ 9.96692424e-01 8.12081834e-02 3.07293821e-03 4.59882669e+02] [-8.12077121e-02 9.96697161e-01 -2.78044529e-04 -3.90458619e+01] [-3.08536828e-03 2.75785942e-05 9.99995240e-01 -1.38334544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:459.94, Y:-39.06, Z:-1.38 [[ 9.96546294e-01 8.29821686e-02 3.07294147e-03 4.59941688e+02] [-8.29817059e-02 9.96551032e-01 -2.78008426e-04 -3.90564840e+01] [-3.08541274e-03 2.20503413e-05 9.99995240e-01 -1.38349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:460.00, Y:-39.07, Z:-1.38 [[ 9.96209166e-01 8.69359207e-02 3.07294790e-03 4.60001117e+02] [-8.69354769e-02 9.96213906e-01 -2.77937329e-04 -3.90652538e+01] [-3.08547617e-03 9.73552299e-06 9.99995240e-01 -1.38336095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:460.06, Y:-39.07, Z:-1.38 [[ 9.95739604e-01 9.21585520e-02 3.07295432e-03 4.60060396e+02] [-9.21581334e-02 9.95744345e-01 -2.77866376e-04 -3.90712896e+01] [-3.08548465e-03 -6.51517862e-06 9.99995240e-01 -1.38097808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:460.12, Y:-39.08, Z:-1.38 [[ 9.94921697e-01 1.00605038e-01 3.07296098e-03 4.60118584e+02] [-1.00604660e-01 9.94926442e-01 -2.77792720e-04 -3.90757086e+01] [-3.08531748e-03 -3.27721904e-05 9.99995240e-01 -1.38072517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:460.18, Y:-39.08, Z:-1.38 [[ 9.94204040e-01 1.07465734e-01 3.07297088e-03 4.60177676e+02] [-1.07465389e-01 9.94208787e-01 -2.77683193e-04 -3.90767584e+01] [-3.08501608e-03 -5.41642576e-05 9.99995240e-01 -1.37971868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:460.24, Y:-39.08, Z:-1.38 [[ 9.93774906e-01 1.11364234e-01 3.07298413e-03 4.60236024e+02] [-1.11363908e-01 9.93779655e-01 -2.77536444e-04 -3.90774522e+01] [-3.08477674e-03 -6.64107672e-05 9.99995240e-01 -1.37863195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:460.30, Y:-39.07, Z:-1.38 [[ 9.93433781e-01 1.14367302e-01 3.07300047e-03 4.60295880e+02] [-1.14366991e-01 9.93438531e-01 -2.77355423e-04 -3.90716956e+01] [-3.08455746e-03 -7.59155707e-05 9.99995240e-01 -1.37800877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:460.36, Y:-39.07, Z:-1.38 [[ 9.93595487e-01 1.12953821e-01 3.07301357e-03 4.60355219e+02] [-1.12953504e-01 9.93600236e-01 -2.77210231e-04 -3.90722294e+01] [-3.08465896e-03 -7.16728144e-05 9.99995240e-01 -1.37887374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:460.41, Y:-39.07, Z:-1.38 [[ 9.94257539e-01 1.06969632e-01 3.07302659e-03 4.60413985e+02] [-1.06969286e-01 9.94262287e-01 -2.77065820e-04 -3.90732988e+01] [-3.08503207e-03 -5.32446807e-05 9.99995240e-01 -1.38351831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:460.47, Y:-39.08, Z:-1.38 [[ 9.94875197e-01 1.01063832e-01 3.07303955e-03 4.60472433e+02] [-1.01063459e-01 9.94879943e-01 -2.76921965e-04 -3.90761294e+01] [-3.08529221e-03 -3.50692117e-05 9.99995240e-01 -1.38225153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:460.53, Y:-39.08, Z:-1.38 [[ 9.95238732e-01 9.74188041e-02 3.07305286e-03 4.60530039e+02] [-9.74184139e-02 9.95243476e-01 -2.76774144e-04 -3.90791821e+01] [-3.08539882e-03 -2.39155879e-05 9.99995240e-01 -1.37928746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:460.59, Y:-39.09, Z:-1.38 [[ 9.95337008e-01 9.64095288e-02 3.07306935e-03 4.60588326e+02] [-9.64091343e-02 9.95341752e-01 -2.76590924e-04 -3.90855586e+01] [-3.08542023e-03 -2.09707735e-05 9.99995240e-01 -1.38019111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:460.65, Y:-39.09, Z:-1.38 [[ 9.95220486e-01 9.76050185e-02 3.07308218e-03 4.60646256e+02] [-9.76046301e-02 9.95225231e-01 -2.76448380e-04 -3.90895151e+01] [-3.08539167e-03 -2.48199575e-05 9.99995240e-01 -1.37860058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters Centerline goodness : 0.998493 with order 1 Centerline is valid? [True, True] Translation: X:460.70, Y:-39.09, Z:-1.38 [[ 9.95195450e-01 9.78599633e-02 3.07309802e-03 4.60704342e+02] [-9.78595767e-02 9.95200194e-01 -2.76272173e-04 -3.90936633e+01] [-3.08538373e-03 -2.57872619e-05 9.99995240e-01 -1.38046812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:460.76, Y:-39.10, Z:-1.38 [[ 9.95425417e-01 9.54923787e-02 3.07311351e-03 4.60762960e+02] [-9.54919814e-02 9.95430161e-01 -2.76099741e-04 -3.91006015e+01] [-3.08543530e-03 -1.86209983e-05 9.99995240e-01 -1.38013091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:460.82, Y:-39.11, Z:-1.38 [[ 9.95295207e-01 9.68401109e-02 3.07312692e-03 4.60819950e+02] [-9.68397204e-02 9.95299951e-01 -2.75950364e-04 -3.91074366e+01] [-3.08540614e-03 -2.29486772e-05 9.99995240e-01 -1.37618328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:460.88, Y:-39.11, Z:-1.38 [[ 9.94755457e-01 1.02235689e-01 3.07314351e-03 4.60878743e+02] [-1.02235325e-01 9.94760203e-01 -2.75765455e-04 -3.91102926e+01] [-3.08523394e-03 -3.98646329e-05 9.99995240e-01 -1.37863996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:460.94, Y:-39.11, Z:-1.38 [[ 9.93770117e-01 1.11406958e-01 3.07315633e-03 4.60937263e+02] [-1.11406638e-01 9.93774866e-01 -2.75622616e-04 -3.91127145e+01] [-3.08473179e-03 -6.84644950e-05 9.99995240e-01 -1.38041370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:461.00, Y:-39.12, Z:-1.38 [[ 9.93502779e-01 1.13766353e-01 3.07316909e-03 4.60996355e+02] [-1.13766045e-01 9.93507529e-01 -2.75480195e-04 -3.91171154e+01] [-3.08455701e-03 -7.59319545e-05 9.99995240e-01 -1.37763212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters Centerline goodness : 0.998598 with order 1 Centerline is valid? [True, True] Translation: X:461.05, Y:-39.12, Z:-1.38 [[ 9.93733380e-01 1.11734168e-01 3.07318195e-03 4.61054772e+02] [-1.11733851e-01 9.93738130e-01 -2.75336629e-04 -3.91206145e+01] [-3.08470260e-03 -6.97672545e-05 9.99995240e-01 -1.37992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:461.11, Y:-39.12, Z:-1.38 [[ 9.93940230e-01 1.09878909e-01 3.07319470e-03 4.61113312e+02] [-1.09878583e-01 9.93944979e-01 -2.75194285e-04 -3.91211898e+01] [-3.08482449e-03 -6.41516093e-05 9.99995240e-01 -1.38095947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:461.17, Y:-39.12, Z:-1.38 [[ 9.94008981e-01 1.09255212e-01 3.07320797e-03 4.61171025e+02] [-1.09254884e-01 9.94013730e-01 -2.75046038e-04 -3.91196727e+01] [-3.08486113e-03 -6.23647488e-05 9.99995240e-01 -1.38002172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:461.23, Y:-39.12, Z:-1.38 [[ 9.94407995e-01 1.05561808e-01 3.07322446e-03 4.61230322e+02] [-1.05561462e-01 9.94412742e-01 -2.74861697e-04 -3.91215865e+01] [-3.08506846e-03 -5.10893985e-05 9.99995240e-01 -1.38167237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:461.29, Y:-39.12, Z:-1.38 [[ 9.94901603e-01 1.00803549e-01 3.07323745e-03 4.61289598e+02] [-1.00803181e-01 9.94906349e-01 -2.74716313e-04 -3.91235170e+01] [-3.08527583e-03 -3.64764124e-05 9.99995240e-01 -1.38005421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:461.35, Y:-39.13, Z:-1.38 [[ 9.95511077e-01 9.45951942e-02 3.07325046e-03 4.61348711e+02] [-9.45947974e-02 9.95515821e-01 -2.74570756e-04 -3.91258643e+01] [-3.08544252e-03 -1.73752752e-05 9.99995240e-01 -1.38006842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:461.41, Y:-39.13, Z:-1.38 [[ 9.95730640e-01 9.22553370e-02 3.07326340e-03 4.61407754e+02] [-9.22549294e-02 9.95735383e-01 -2.74425763e-04 -3.91304652e+01] [-3.08547435e-03 -1.02695572e-05 9.99995240e-01 -1.38080162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:461.47, Y:-39.14, Z:-1.38 [[ 9.96339593e-01 8.54281567e-02 3.07327622e-03 4.61465481e+02] [-8.54277171e-02 9.96344333e-01 -2.74282114e-04 -3.91351738e+01] [-3.08547276e-03 1.07351583e-05 9.99995240e-01 -1.38172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:461.52, Y:-39.14, Z:-1.38 [[ 9.96702917e-01 8.10792852e-02 3.07329213e-03 4.61524186e+02] [-8.10788255e-02 9.96707655e-01 -2.74103816e-04 -3.91421579e+01] [-3.08539793e-03 2.40211573e-05 9.99995240e-01 -1.38056090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:461.58, Y:-39.15, Z:-1.38 [[ 9.97187454e-01 7.48848243e-02 3.07330545e-03 4.61581538e+02] [-7.48843356e-02 9.97192189e-01 -2.73954335e-04 -3.91516136e+01] [-3.08519121e-03 4.30413890e-05 9.99995240e-01 -1.38296852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:461.64, Y:-39.16, Z:-1.38 [[ 9.97441493e-01 7.14214503e-02 3.07332187e-03 4.61640629e+02] [-7.14209457e-02 9.97446226e-01 -2.73769976e-04 -3.91630980e+01] [-3.08502635e-03 5.35699794e-05 9.99995240e-01 -1.38072995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:461.70, Y:-39.17, Z:-1.38 [[ 9.97417394e-01 7.17572014e-02 3.07332836e-03 4.61699047e+02] [-7.17566986e-02 9.97422128e-01 -2.73697173e-04 -3.91745742e+01] [-3.08504545e-03 5.24584245e-05 9.99995240e-01 -1.38056629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:461.76, Y:-39.18, Z:-1.38 [[ 9.97342806e-01 7.27865511e-02 3.07333493e-03 4.61757950e+02] [-7.27860535e-02 9.97347540e-01 -2.73623321e-04 -3.91844767e+01] [-3.08509913e-03 4.92003297e-05 9.99995240e-01 -1.38445665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters Centerline goodness : 0.998599 with order 1 Centerline is valid? [True, True] Translation: X:461.82, Y:-39.19, Z:-1.39 [[ 9.96980192e-01 7.75954280e-02 3.07334146e-03 4.61816557e+02] [-7.75949534e-02 9.96984929e-01 -2.73549986e-04 -3.91928663e+01] [-3.08530134e-03 3.42481303e-05 9.99995240e-01 -1.38540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:461.87, Y:-39.20, Z:-1.38 [[ 9.96581771e-01 8.25549977e-02 3.07335115e-03 4.61874755e+02] [-8.25545470e-02 9.96586510e-01 -2.73441039e-04 -3.91981484e+01] [-3.08543422e-03 1.87872427e-05 9.99995240e-01 -1.38349458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:461.93, Y:-39.20, Z:-1.38 [[ 9.95991487e-01 8.93952607e-02 3.07336390e-03 4.61933079e+02] [-8.93948430e-02 9.95996229e-01 -2.73297642e-04 -3.92029739e+01] [-3.08549037e-03 -2.54075918e-06 9.99995240e-01 -1.38317274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:461.99, Y:-39.21, Z:-1.38 [[ 9.95648036e-01 9.31425962e-02 3.07337661e-03 4.61990645e+02] [-9.31421968e-02 9.95652779e-01 -2.73154656e-04 -3.92077490e+01] [-3.08545830e-03 -1.42951525e-05 9.99995240e-01 -1.38152818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:462.05, Y:-39.21, Z:-1.38 [[ 9.95566720e-01 9.40077667e-02 3.07339243e-03 4.62048635e+02] [-9.40073720e-02 9.95571464e-01 -2.72976510e-04 -3.92141366e+01] [-3.08544372e-03 -1.71552170e-05 9.99995240e-01 -1.38325695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:462.11, Y:-39.22, Z:-1.39 [[ 9.95682294e-01 9.27756615e-02 3.07340497e-03 4.62106631e+02] [-9.27752613e-02 9.95687037e-01 -2.72835280e-04 -3.92224407e+01] [-3.08546197e-03 -1.34786918e-05 9.99995240e-01 -1.38757133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters Centerline goodness : 0.998501 with order 1 Centerline is valid? [True, True] Translation: X:462.16, Y:-39.24, Z:-1.39 [[ 9.96018813e-01 8.90902832e-02 3.07341735e-03 4.62164302e+02] [-8.90898658e-02 9.96023555e-01 -2.72695727e-04 -3.92361917e+01] [-3.08549062e-03 -2.20026595e-06 9.99995240e-01 -1.38806328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:462.22, Y:-39.25, Z:-1.38 [[ 9.96167291e-01 8.74144293e-02 3.07342961e-03 4.62221992e+02] [-8.74140044e-02 9.96172032e-01 -2.72557491e-04 -3.92513161e+01] [-3.08549008e-03 2.85206787e-06 9.99995240e-01 -1.38482723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:462.28, Y:-39.26, Z:-1.38 [[ 9.96114826e-01 8.80102701e-02 3.07343627e-03 4.62280754e+02] [-8.80098483e-02 9.96119567e-01 -2.72482433e-04 -3.92605696e+01] [-3.08549126e-03 9.31132112e-07 9.99995240e-01 -1.38277750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters Centerline goodness : 0.998516 with order 1 Centerline is valid? [True, True] Translation: X:462.34, Y:-39.27, Z:-1.38 [[ 9.95777426e-01 9.17489633e-02 3.07344236e-03 4.62339273e+02] [-9.17485595e-02 9.95782169e-01 -2.72413676e-04 -3.92709118e+01] [-3.08547277e-03 -1.07205205e-05 9.99995240e-01 -1.38304036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:462.40, Y:-39.28, Z:-1.38 [[ 9.95648853e-01 9.31338531e-02 3.07344884e-03 4.62397646e+02] [-9.31334561e-02 9.95653597e-01 -2.72340539e-04 -3.92810129e+01] [-3.08545452e-03 -1.50853679e-05 9.99995240e-01 -1.38436863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters Centerline goodness : 0.997745 with order 1 Centerline is valid? [True, True] Translation: X:462.46, Y:-39.29, Z:-1.38 [[ 9.95348925e-01 9.62864031e-02 3.07345588e-03 4.62456669e+02] [-9.62860214e-02 9.95353670e-01 -2.72261148e-04 -3.92900464e+01] [-3.08539063e-03 -2.49359970e-05 9.99995240e-01 -1.38495711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters Centerline goodness : 0.997873 with order 1 Centerline is valid? [True, True] Translation: X:462.51, Y:-39.29, Z:-1.39 [[ 9.95052086e-01 9.93071015e-02 3.07346217e-03 4.62514995e+02] [-9.93067344e-02 9.95056832e-01 -2.72190039e-04 -3.92940277e+01] [-3.08529994e-03 -3.43722256e-05 9.99995240e-01 -1.38799390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:462.57, Y:-39.30, Z:-1.39 [[ 9.94875088e-01 1.01064894e-01 3.07347153e-03 4.62574204e+02] [-1.01064536e-01 9.94879835e-01 -2.72084368e-04 -3.92980070e+01] [-3.08523302e-03 -3.99290141e-05 9.99995240e-01 -1.38548709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters Centerline goodness : 0.997824 with order 1 Centerline is valid? [True, True] Translation: X:462.63, Y:-39.30, Z:-1.38 [[ 9.94600317e-01 1.03734099e-01 3.07347786e-03 4.62632457e+02] [-1.03733754e-01 9.94605064e-01 -2.72012796e-04 -3.93013390e+01] [-3.08511365e-03 -4.82793828e-05 9.99995240e-01 -1.38089621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters Centerline goodness : 0.998321 with order 1 Centerline is valid? [True, True] Translation: X:462.69, Y:-39.30, Z:-1.39 [[ 9.94797205e-01 1.01828655e-01 3.07348727e-03 4.62691194e+02] [-1.01828301e-01 9.94801952e-01 -2.71906408e-04 -3.93026020e+01] [-3.08519900e-03 -4.24762520e-05 9.99995240e-01 -1.38592079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:462.75, Y:-39.30, Z:-1.39 [[ 9.94862635e-01 1.01187410e-01 3.07349864e-03 4.62750754e+02] [-1.01187053e-01 9.94867381e-01 -2.71777854e-04 -3.93045928e+01] [-3.08522404e-03 -4.06166382e-05 9.99995240e-01 -1.38614137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:462.81, Y:-39.31, Z:-1.39 [[ 9.94865476e-01 1.01159467e-01 3.07350501e-03 4.62809788e+02] [-1.01159110e-01 9.94870223e-01 -2.71705828e-04 -3.93055092e+01] [-3.08522423e-03 -4.06022832e-05 9.99995240e-01 -1.38780792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters Centerline goodness : 0.997734 with order 1 Centerline is valid? [True, True] Translation: X:462.87, Y:-39.30, Z:-1.39 [[ 9.95029651e-01 9.95316349e-02 3.07351448e-03 4.62868552e+02] [-9.95312708e-02 9.95034398e-01 -2.71598654e-04 -3.93035913e+01] [-3.08528529e-03 -3.56620880e-05 9.99995240e-01 -1.38557652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters Centerline goodness : 0.997782 with order 1 Centerline is valid? [True, True] Translation: X:462.93, Y:-39.30, Z:-1.38 [[ 9.95019804e-01 9.96300360e-02 3.07352749e-03 4.62926841e+02] [-9.96296727e-02 9.95024550e-01 -2.71451393e-04 -3.93013812e+01] [-3.08528001e-03 -3.61150257e-05 9.99995240e-01 -1.38161803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:462.99, Y:-39.30, Z:-1.38 [[ 9.94894318e-01 1.00875411e-01 3.07354361e-03 4.62985968e+02] [-1.00875054e-01 9.94899065e-01 -2.71268708e-04 -3.93010876e+01] [-3.08523001e-03 -4.01601825e-05 9.99995240e-01 -1.38182088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:463.05, Y:-39.30, Z:-1.38 [[ 9.94546823e-01 1.04245719e-01 3.07355605e-03 4.63045018e+02] [-1.04245378e-01 9.94551571e-01 -2.71127719e-04 -3.92991662e+01] [-3.08507390e-03 -5.07548022e-05 9.99995240e-01 -1.38079264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:463.10, Y:-39.30, Z:-1.38 [[ 9.94285830e-01 1.06706336e-01 3.07356879e-03 4.63103884e+02] [-1.06706008e-01 9.94290578e-01 -2.70983152e-04 -3.92989042e+01] [-3.08493611e-03 -5.85335481e-05 9.99995240e-01 -1.37993417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:463.16, Y:-39.30, Z:-1.38 [[ 9.94454184e-01 1.05125773e-01 3.07358138e-03 4.63163080e+02] [-1.05125438e-01 9.94458933e-01 -2.70840284e-04 -3.92986485e+01] [-3.08502275e-03 -5.37733336e-05 9.99995240e-01 -1.38318093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters Centerline goodness : 0.997674 with order 1 Centerline is valid? [True, True] Translation: X:463.22, Y:-39.30, Z:-1.38 [[ 9.94732642e-01 1.02457421e-01 3.07359465e-03 4.63221177e+02] [-1.02457073e-01 9.94737390e-01 -2.70689616e-04 -3.92995331e+01] [-3.08515368e-03 -4.56477155e-05 9.99995240e-01 -1.38406378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters Centerline goodness : 0.997806 with order 1 Centerline is valid? [True, True] Translation: X:463.28, Y:-39.30, Z:-1.38 [[ 9.94808277e-01 1.01720424e-01 3.07361105e-03 4.63279540e+02] [-1.01720074e-01 9.94813024e-01 -2.70503255e-04 -3.93029916e+01] [-3.08518401e-03 -4.35490669e-05 9.99995240e-01 -1.38465466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters Centerline goodness : 0.998052 with order 1 Centerline is valid? [True, True] Translation: X:463.34, Y:-39.30, Z:-1.39 [[ 9.95180053e-01 9.80164044e-02 3.07362389e-03 4.63337434e+02] [-9.80160368e-02 9.95184799e-01 -2.70357275e-04 -3.93030839e+01] [-3.08532322e-03 -3.22102660e-05 9.99995240e-01 -1.39126082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:463.40, Y:-39.31, Z:-1.39 [[ 9.95733198e-01 9.22277083e-02 3.07363981e-03 4.63395155e+02] [-9.22273137e-02 9.95737942e-01 -2.70176216e-04 -3.93128315e+01] [-3.08545751e-03 -1.44501151e-05 9.99995240e-01 -1.39148192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters Centerline goodness : 0.997859 with order 1 Centerline is valid? [True, True] Translation: X:463.45, Y:-39.32, Z:-1.39 [[ 9.96109629e-01 8.80690565e-02 3.07365241e-03 4.63452401e+02] [-8.80686425e-02 9.96114372e-01 -2.70032717e-04 -3.93196431e+01] [-3.08549087e-03 -1.71020617e-06 9.99995240e-01 -1.38984913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters Centerline goodness : 0.997776 with order 1 Centerline is valid? [True, True] Translation: X:463.51, Y:-39.33, Z:-1.39 [[ 9.96347277e-01 8.53384774e-02 3.07366994e-03 4.63509419e+02] [-8.53380511e-02 9.96352018e-01 -2.69833034e-04 -3.93285442e+01] [-3.08548439e-03 6.54640594e-06 9.99995240e-01 -1.38761156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters Centerline goodness : 0.998005 with order 1 Centerline is valid? [True, True] Translation: X:463.57, Y:-39.34, Z:-1.38 [[ 9.95923060e-01 9.01543779e-02 3.07368459e-03 4.63567678e+02] [-9.01539750e-02 9.95927803e-01 -2.69666097e-04 -3.93374343e+01] [-3.08547952e-03 -8.53819930e-06 9.99995240e-01 -1.38405916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters Centerline goodness : 0.997598 with order 1 Centerline is valid? [True, True] Translation: X:463.63, Y:-39.35, Z:-1.39 [[ 9.95413877e-01 9.56125833e-02 3.07369720e-03 4.63626160e+02] [-9.56122069e-02 9.95418622e-01 -2.69522300e-04 -3.93464271e+01] [-3.08538515e-03 -2.55967351e-05 9.99995240e-01 -1.38519418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:463.68, Y:-39.35, Z:-1.39 [[ 9.95169211e-01 9.81264186e-02 3.07370995e-03 4.63684889e+02] [-9.81260546e-02 9.95173957e-01 -2.69376802e-04 -3.93524501e+01] [-3.08530908e-03 -3.35355309e-05 9.99995240e-01 -1.38603254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters Centerline goodness : 0.997785 with order 1 Centerline is valid? [True, True] Translation: X:463.74, Y:-39.35, Z:-1.38 [[ 9.94705816e-01 1.02717537e-01 3.07372267e-03 4.63743773e+02] [-1.02717195e-01 9.94710564e-01 -2.69231567e-04 -3.93546475e+01] [-3.08511922e-03 -4.79179675e-05 9.99995240e-01 -1.38462782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [True, True] Translation: X:463.80, Y:-39.36, Z:-1.38 [[ 9.94346656e-01 1.06138022e-01 3.07373551e-03 4.63803210e+02] [-1.06137697e-01 9.94351405e-01 -2.69084874e-04 -3.93554937e+01] [-3.08493336e-03 -5.86755653e-05 9.99995240e-01 -1.38171973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters Centerline goodness : 0.997979 with order 1 Centerline is valid? [True, True] Translation: X:463.86, Y:-39.35, Z:-1.39 [[ 9.94178813e-01 1.07698841e-01 3.07374830e-03 4.63861823e+02] [-1.07698524e-01 9.94183562e-01 -2.68938724e-04 -3.93543888e+01] [-3.08483443e-03 -6.36649736e-05 9.99995240e-01 -1.38569822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:463.92, Y:-39.35, Z:-1.39 [[ 9.94538822e-01 1.04322015e-01 3.07376404e-03 4.63920379e+02] [-1.04321683e-01 9.94543571e-01 -2.68758692e-04 -3.93527062e+01] [-3.08502972e-03 -5.33692843e-05 9.99995240e-01 -1.38798388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:463.98, Y:-39.36, Z:-1.39 [[ 9.95153272e-01 9.82879336e-02 3.07377962e-03 4.63978413e+02] [-9.82875728e-02 9.95158018e-01 -2.68580366e-04 -3.93551562e+01] [-3.08529465e-03 -3.48357086e-05 9.99995240e-01 -1.38742597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters Centerline goodness : 0.997626 with order 1 Centerline is valid? [True, True] Translation: X:464.04, Y:-39.36, Z:-1.38 [[ 9.95623050e-01 9.34092840e-02 3.07379499e-03 4.64036716e+02] [-9.34089005e-02 9.95627795e-01 -2.68404427e-04 -3.93589262e+01] [-3.08542719e-03 -1.98901763e-05 9.99995240e-01 -1.38477520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters Centerline goodness : 0.997874 with order 1 Centerline is valid? [True, True] Translation: X:464.09, Y:-39.37, Z:-1.39 [[ 9.96126630e-01 8.78765497e-02 3.07380718e-03 4.64093753e+02] [-8.78761402e-02 9.96131373e-01 -2.68264734e-04 -3.93667668e+01] [-3.08548994e-03 -2.88866512e-06 9.99995240e-01 -1.38519584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:464.15, Y:-39.37, Z:-1.39 [[ 9.96362897e-01 8.51559088e-02 3.07382223e-03 4.64152430e+02] [-8.51554869e-02 9.96367639e-01 -2.68092217e-04 -3.93732926e+01] [-3.08548663e-03 5.36430951e-06 9.99995240e-01 -1.38845761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:464.21, Y:-39.38, Z:-1.39 [[ 9.96388084e-01 8.48606983e-02 3.07383418e-03 4.64210758e+02] [-8.48602755e-02 9.96392825e-01 -2.67955069e-04 -3.93816517e+01] [-3.08548518e-03 6.14082184e-06 9.99995240e-01 -1.38775210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters Centerline goodness : 0.997770 with order 1 Centerline is valid? [True, True] Translation: X:464.27, Y:-39.39, Z:-1.39 [[ 9.96350302e-01 8.53031493e-02 3.07384683e-03 4.64269449e+02] [-8.53027291e-02 9.96355043e-01 -2.67809868e-04 -3.93882857e+01] [-3.08548782e-03 4.62491905e-06 9.99995240e-01 -1.38535206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters Centerline goodness : 0.997785 with order 1 Centerline is valid? [True, True] Translation: X:464.33, Y:-39.40, Z:-1.38 [[ 9.96570807e-01 8.26872354e-02 3.07385945e-03 4.64326237e+02] [-8.26868031e-02 9.96575547e-01 -2.67664978e-04 -3.93985239e+01] [-3.08546564e-03 1.25794916e-05 9.99995240e-01 -1.38231052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:464.38, Y:-39.41, Z:-1.38 [[ 9.96853083e-01 7.92116248e-02 3.07387500e-03 4.64384871e+02] [-7.92111766e-02 9.96857822e-01 -2.67486219e-04 -3.94064417e+01] [-3.08540436e-03 2.31592069e-05 9.99995240e-01 -1.38165224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:464.44, Y:-39.42, Z:-1.38 [[ 9.97193495e-01 7.48043042e-02 3.07388736e-03 4.64443294e+02] [-7.48038355e-02 9.97198232e-01 -2.67344181e-04 -3.94176071e+01] [-3.08527354e-03 3.66553139e-05 9.99995240e-01 -1.38486896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters Centerline goodness : 0.998055 with order 1 Centerline is valid? [True, True] Translation: X:464.50, Y:-39.43, Z:-1.38 [[ 9.97303076e-01 7.33288945e-02 3.07389346e-03 4.64501191e+02] [-7.33284190e-02 9.97307812e-01 -2.67274011e-04 -3.94282430e+01] [-3.08521687e-03 4.11494458e-05 9.99995240e-01 -1.38459676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters Centerline goodness : 0.998342 with order 1 Centerline is valid? [True, True] Translation: X:464.56, Y:-39.44, Z:-1.39 [[ 9.97189071e-01 7.48632559e-02 3.07390253e-03 4.64559400e+02] [-7.48627880e-02 9.97193808e-01 -2.67169605e-04 -3.94377796e+01] [-3.08527776e-03 3.62976965e-05 9.99995240e-01 -1.38873822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:464.62, Y:-39.45, Z:-1.39 [[ 9.96899032e-01 7.86312287e-02 3.07391146e-03 4.64618696e+02] [-7.86307790e-02 9.96903771e-01 -2.67066826e-04 -3.94487148e+01] [-3.08539372e-03 2.45346075e-05 9.99995240e-01 -1.39321597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters Centerline goodness : 0.997602 with order 1 Centerline is valid? [True, True] Translation: X:464.68, Y:-39.46, Z:-1.39 [[ 9.96720089e-01 8.08678875e-02 3.07391738e-03 4.64676969e+02] [-8.08674486e-02 9.96724829e-01 -2.66998654e-04 -3.94589666e+01] [-3.08544140e-03 1.75430661e-05 9.99995240e-01 -1.39034011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters Centerline goodness : 0.997778 with order 1 Centerline is valid? [True, True] Translation: X:464.74, Y:-39.47, Z:-1.39 [[ 9.96823344e-01 7.95849930e-02 3.07392617e-03 4.64736384e+02] [-7.95845483e-02 9.96828084e-01 -2.66897485e-04 -3.94686588e+01] [-3.08541697e-03 2.14126179e-05 9.99995240e-01 -1.39430884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:464.80, Y:-39.48, Z:-1.40 [[ 9.97035691e-01 7.68790056e-02 3.07393200e-03 4.64795708e+02] [-7.68785483e-02 9.97040429e-01 -2.66830337e-04 -3.94844215e+01] [-3.08534813e-03 2.97199399e-05 9.99995240e-01 -1.39605807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:464.85, Y:-39.50, Z:-1.39 [[ 9.96938640e-01 7.81274512e-02 3.07393200e-03 4.64854433e+02] [-7.81269998e-02 9.96943379e-01 -2.66830337e-04 -3.94974424e+01] [-3.08538293e-03 2.58563886e-05 9.99995240e-01 -1.38881210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:464.91, Y:-39.51, Z:-1.39 [[ 9.96670678e-01 8.14745993e-02 3.07393007e-03 4.64914146e+02] [-8.14741638e-02 9.96675418e-01 -2.66852594e-04 -3.95079993e+01] [-3.08545224e-03 1.55182744e-05 9.99995240e-01 -1.39149117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters Centerline goodness : 0.998365 with order 1 Centerline is valid? [True, True] Translation: X:464.97, Y:-39.52, Z:-1.39 [[ 9.96064899e-01 8.85735121e-02 3.07393007e-03 4.64973868e+02] [-8.85731104e-02 9.96069643e-01 -2.66852594e-04 -3.95217983e+01] [-3.08548449e-03 -6.46504455e-06 9.99995240e-01 -1.38840573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters Centerline goodness : 0.998023 with order 1 Centerline is valid? [True, True] Translation: X:465.03, Y:-39.53, Z:-1.38 [[ 9.95358177e-01 9.61907027e-02 3.07393007e-03 4.65031853e+02] [-9.61903373e-02 9.95362923e-01 -2.66852594e-04 -3.95309455e+01] [-3.08534475e-03 -3.00684582e-05 9.99995240e-01 -1.38490935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:465.09, Y:-39.54, Z:-1.39 [[ 9.94335206e-01 1.06245226e-01 3.07393866e-03 4.65091783e+02] [-1.06244909e-01 9.94339956e-01 -2.66753501e-04 -3.95360496e+01] [-3.08488132e-03 -6.13479361e-05 9.99995240e-01 -1.38512477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:465.15, Y:-39.54, Z:-1.39 [[ 9.94011942e-01 1.09228250e-01 3.07394423e-03 4.65150707e+02] [-1.09227947e-01 9.94016692e-01 -2.66689299e-04 -3.95397581e+01] [-3.08468189e-03 -7.06682705e-05 9.99995240e-01 -1.38549086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:465.21, Y:-39.54, Z:-1.38 [[ 9.93438830e-01 1.14323409e-01 3.07395532e-03 4.65209819e+02] [-1.14323131e-01 9.93443582e-01 -2.66561503e-04 -3.95399538e+01] [-3.08427540e-03 -8.66116478e-05 9.99995240e-01 -1.38301143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:465.27, Y:-39.54, Z:-1.39 [[ 9.93425397e-01 1.14440079e-01 3.07396639e-03 4.65269381e+02] [-1.14439802e-01 9.93430149e-01 -2.66433707e-04 -3.95401420e+01] [-3.08426159e-03 -8.71020935e-05 9.99995240e-01 -1.38523793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:465.33, Y:-39.54, Z:-1.39 [[ 9.94053007e-01 1.08853897e-01 3.07397252e-03 4.65328171e+02] [-1.08853594e-01 9.94057757e-01 -2.66362962e-04 -3.95406419e+01] [-3.08470088e-03 -6.98340533e-05 9.99995240e-01 -1.38955027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:465.39, Y:-39.54, Z:-1.39 [[ 9.94638617e-01 1.03366207e-01 3.07398160e-03 4.65388124e+02] [-1.03365877e-01 9.94643365e-01 -2.66258184e-04 -3.95445183e+01] [-3.08503750e-03 -5.29141337e-05 9.99995240e-01 -1.38709466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:465.45, Y:-39.55, Z:-1.39 [[ 9.94843830e-01 1.01372111e-01 3.07398759e-03 4.65447875e+02] [-1.01371772e-01 9.94848578e-01 -2.66188996e-04 -3.95471681e+01] [-3.08513632e-03 -4.67990890e-05 9.99995240e-01 -1.38784783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:465.51, Y:-39.55, Z:-1.39 [[ 9.94872342e-01 1.01091907e-01 3.07399377e-03 4.65506339e+02] [-1.01091567e-01 9.94877090e-01 -2.66117622e-04 -3.95511700e+01] [-3.08514831e-03 -4.60017858e-05 9.99995240e-01 -1.39086524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters Centerline goodness : 0.997560 with order 1 Centerline is valid? [True, True] Translation: X:465.57, Y:-39.56, Z:-1.39 [[ 9.94937458e-01 1.00449013e-01 3.07400016e-03 4.65566211e+02] [-1.00448671e-01 9.94942206e-01 -2.66043774e-04 -3.95559626e+01] [-3.08517634e-03 -4.40823141e-05 9.99995240e-01 -1.38856949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters Centerline goodness : 0.997078 with order 1 Centerline is valid? [True, True] Translation: X:465.62, Y:-39.56, Z:-1.39 [[ 9.95097890e-01 9.88470555e-02 3.07400642e-03 4.65624279e+02] [-9.88467054e-02 9.95102637e-01 -2.65971457e-04 -3.95605332e+01] [-3.08524239e-03 -3.91877710e-05 9.99995240e-01 -1.38646512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters Centerline goodness : 0.996945 with order 1 Centerline is valid? [True, True] Translation: X:465.68, Y:-39.57, Z:-1.39 [[ 9.95431832e-01 9.54254613e-02 3.07401306e-03 4.65683319e+02] [-9.54250951e-02 9.95436578e-01 -2.65894640e-04 -3.95666390e+01] [-3.08535816e-03 -2.86580002e-05 9.99995240e-01 -1.38560439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:465.74, Y:-39.58, Z:-1.39 [[ 9.95724348e-01 9.23232045e-02 3.07401956e-03 4.65741912e+02] [-9.23228238e-02 9.95729092e-01 -2.65819535e-04 -3.95751292e+01] [-3.08543201e-03 -1.91191824e-05 9.99995240e-01 -1.38811947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters Centerline goodness : 0.996063 with order 1 Centerline is valid? [True, True] Translation: X:465.80, Y:-39.58, Z:-1.39 [[ 9.95504509e-01 9.46642691e-02 3.07402279e-03 4.65800663e+02] [-9.46638997e-02 9.95509254e-01 -2.65782155e-04 -3.95836599e+01] [-3.08537821e-03 -2.64116509e-05 9.99995240e-01 -1.38847541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:465.86, Y:-39.59, Z:-1.39 [[ 9.94711638e-01 1.02661133e-01 3.07402595e-03 4.65860093e+02] [-1.02660802e-01 9.94716386e-01 -2.65745557e-04 -3.95907823e+01] [-3.08506573e-03 -5.12417711e-05 9.99995240e-01 -1.38738383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters Centerline goodness : 0.995461 with order 1 Centerline is valid? [True, True] Translation: X:465.92, Y:-39.59, Z:-1.39 [[ 9.93912865e-01 1.10126144e-01 3.07403197e-03 4.65918681e+02] [-1.10125849e-01 9.93917616e-01 -2.65675912e-04 -3.95940626e+01] [-3.08459239e-03 -7.44716736e-05 9.99995240e-01 -1.38695385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:465.98, Y:-39.59, Z:-1.39 [[ 9.92669796e-01 1.20818985e-01 3.07404085e-03 4.65977460e+02] [-1.20818742e-01 9.92674549e-01 -2.65573189e-04 -3.95933066e+01] [-3.08360839e-03 -1.07775263e-04 9.99995240e-01 -1.39029784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters Centerline goodness : 0.995057 with order 1 Centerline is valid? [True, True] Translation: X:466.04, Y:-39.59, Z:-1.39 [[ 9.91795981e-01 1.27793905e-01 3.07405255e-03 4.66037008e+02] [-1.27793695e-01 9.91800737e-01 -2.65437649e-04 -3.95908524e+01] [-3.08276890e-03 -1.29584541e-04 9.99995240e-01 -1.39262211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters Centerline goodness : 0.994980 with order 1 Centerline is valid? [True, True] Translation: X:466.10, Y:-39.59, Z:-1.39 [[ 9.91642661e-01 1.28978230e-01 3.07406491e-03 4.66095869e+02] [-1.28978026e-01 9.91647416e-01 -2.65294376e-04 -3.95904365e+01] [-3.08260573e-03 -1.33409604e-04 9.99995240e-01 -1.39223174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters Centerline goodness : 0.994891 with order 1 Centerline is valid? [True, True] Translation: X:466.16, Y:-39.58, Z:-1.39 [[ 9.91453265e-01 1.30426119e-01 3.07407725e-03 4.66155197e+02] [-1.30425922e-01 9.91458022e-01 -2.65151367e-04 -3.95837197e+01] [-3.08240121e-03 -1.38054171e-04 9.99995240e-01 -1.38738707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters Centerline goodness : 0.994956 with order 1 Centerline is valid? [True, True] Translation: X:466.21, Y:-39.57, Z:-1.39 [[ 9.90748565e-01 1.35675462e-01 3.07408956e-03 4.66214879e+02] [-1.35675292e-01 9.90753322e-01 -2.65008602e-04 -3.95715472e+01] [-3.08161960e-03 -1.54521104e-04 9.99995240e-01 -1.39028879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters Centerline goodness : 0.994673 with order 1 Centerline is valid? [True, True] Translation: X:466.27, Y:-39.57, Z:-1.39 [[ 9.90528663e-01 1.37271691e-01 3.07410784e-03 4.66273002e+02] [-1.37271529e-01 9.90533421e-01 -2.64796331e-04 -3.95660411e+01] [-3.08135560e-03 -1.59699128e-04 9.99995240e-01 -1.38966149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters Centerline goodness : 0.995174 with order 1 Centerline is valid? [True, True] Translation: X:466.33, Y:-39.56, Z:-1.38 [[ 9.91495264e-01 1.30106463e-01 3.07412893e-03 4.66332309e+02] [-1.30106267e-01 9.91500020e-01 -2.64551268e-04 -3.95586452e+01] [-3.08241873e-03 -1.37662109e-04 9.99995240e-01 -1.38486407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters Centerline goodness : 0.995089 with order 1 Centerline is valid? [True, True] Translation: X:466.39, Y:-39.56, Z:-1.39 [[ 9.93033428e-01 1.17792872e-01 3.07414676e-03 4.66391148e+02] [-1.17792617e-01 9.93038181e-01 -2.64343874e-04 -3.95551141e+01] [-3.08388294e-03 -9.96094896e-05 9.99995240e-01 -1.38725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters Centerline goodness : 0.994515 with order 1 Centerline is valid? [True, True] Translation: X:466.45, Y:-39.55, Z:-1.39 [[ 9.93925764e-01 1.10009658e-01 3.07416450e-03 4.66449229e+02] [-1.10009367e-01 9.93930515e-01 -2.64137475e-04 -3.95547447e+01] [-3.08456358e-03 -7.56538490e-05 9.99995240e-01 -1.38781059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters Centerline goodness : 0.995118 with order 1 Centerline is valid? [True, True] Translation: X:466.51, Y:-39.56, Z:-1.39 [[ 9.94891821e-01 1.00900024e-01 3.07418287e-03 4.66508342e+02] [-1.00899690e-01 9.94896569e-01 -2.63923447e-04 -3.95555233e+01] [-3.08512387e-03 -4.76088202e-05 9.99995240e-01 -1.38873701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:466.57, Y:-39.56, Z:-1.39 [[ 9.95689207e-01 9.27014187e-02 3.07419563e-03 4.66566478e+02] [-9.27010461e-02 9.95693952e-01 -2.63774741e-04 -3.95595764e+01] [-3.08541029e-03 -2.23434886e-05 9.99995240e-01 -1.39108782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters Centerline goodness : 0.994423 with order 1 Centerline is valid? [True, True] Translation: X:466.62, Y:-39.57, Z:-1.39 [[ 9.96414257e-01 8.45528126e-02 3.07421333e-03 4.66623346e+02] [-8.45524019e-02 9.96418999e-01 -2.63568261e-04 -3.95685482e+01] [-3.08549001e-03 2.69105142e-06 9.99995240e-01 -1.39221760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters Centerline goodness : 0.994724 with order 1 Centerline is valid? [True, True] Translation: X:466.68, Y:-39.58, Z:-1.39 [[ 9.96749075e-01 8.05098108e-02 3.07422821e-03 4.66681265e+02] [-8.05093814e-02 9.96753816e-01 -2.63394679e-04 -3.95767660e+01] [-3.08545455e-03 1.50341914e-05 9.99995240e-01 -1.39315794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:466.74, Y:-39.59, Z:-1.39 [[ 9.96823877e-01 7.95783149e-02 3.07423951e-03 4.66739361e+02] [-7.95778814e-02 9.96828617e-01 -2.63262720e-04 -3.95870674e+01] [-3.08543992e-03 1.77850982e-05 9.99995240e-01 -1.39246494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:466.80, Y:-39.60, Z:-1.39 [[ 9.96711175e-01 8.09776639e-02 3.07425159e-03 4.66797358e+02] [-8.09772375e-02 9.96715916e-01 -2.63121575e-04 -3.95952908e+01] [-3.08546246e-03 1.33118135e-05 9.99995240e-01 -1.38723771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters Centerline goodness : 0.994925 with order 1 Centerline is valid? [True, True] Translation: X:466.86, Y:-39.60, Z:-1.38 [[ 9.96475007e-01 8.38338249e-02 3.07426358e-03 4.66855322e+02] [-8.38334125e-02 9.96479749e-01 -2.62981375e-04 -3.96031640e+01] [-3.08548814e-03 4.32836065e-06 9.99995240e-01 -1.38104264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters Centerline goodness : 0.995067 with order 1 Centerline is valid? [True, True] Translation: X:466.91, Y:-39.61, Z:-1.38 [[ 9.96445813e-01 8.41801133e-02 3.07427539e-03 4.66913806e+02] [-8.41797030e-02 9.96450555e-01 -2.62843266e-04 -3.96133621e+01] [-3.08548959e-03 3.11748233e-06 9.99995240e-01 -1.38306527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:466.97, Y:-39.62, Z:-1.38 [[ 9.96422589e-01 8.44545597e-02 3.07428732e-03 4.66971457e+02] [-8.44541512e-02 9.96427332e-01 -2.62703635e-04 -3.96201854e+01] [-3.08549043e-03 2.12751031e-06 9.99995240e-01 -1.38454992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters Centerline goodness : 0.994942 with order 1 Centerline is valid? [True, True] Translation: X:467.03, Y:-39.63, Z:-1.39 [[ 9.96071297e-01 8.85015235e-02 3.07430213e-03 4.67029551e+02] [-8.85011347e-02 9.96076041e-01 -2.62530188e-04 -3.96288337e+01] [-3.08547302e-03 -1.05804427e-05 9.99995240e-01 -1.38945934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters Centerline goodness : 0.994721 with order 1 Centerline is valid? [True, True] Translation: X:467.09, Y:-39.63, Z:-1.39 [[ 9.95519227e-01 9.45093522e-02 3.07431445e-03 4.67087992e+02] [-9.45089925e-02 9.95523973e-01 -2.62385886e-04 -3.96339267e+01] [-3.08535165e-03 -2.93401673e-05 9.99995240e-01 -1.38959103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters Centerline goodness : 0.994159 with order 1 Centerline is valid? [True, True] Translation: X:467.15, Y:-39.64, Z:-1.39 [[ 9.95184182e-01 9.79744493e-02 3.07432689e-03 4.67145762e+02] [-9.79741066e-02 9.95188930e-01 -2.62240014e-04 -3.96381423e+01] [-3.08522891e-03 -4.02273172e-05 9.99995240e-01 -1.38938736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters Centerline goodness : 0.993774 with order 1 Centerline is valid? [True, True] Translation: X:467.20, Y:-39.64, Z:-1.39 [[ 9.94785734e-01 1.01940634e-01 3.07434293e-03 4.67204747e+02] [-1.01940311e-01 9.94790483e-01 -2.62051854e-04 -3.96396466e+01] [-3.08504082e-03 -5.27140269e-05 9.99995240e-01 -1.38994413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters Centerline goodness : 0.993435 with order 1 Centerline is valid? [True, True] Translation: X:467.26, Y:-39.64, Z:-1.39 [[ 9.94520469e-01 1.04496823e-01 3.07435544e-03 4.67262605e+02] [-1.04496513e-01 9.94525219e-01 -2.61904998e-04 -3.96396957e+01] [-3.08489226e-03 -6.07895407e-05 9.99995240e-01 -1.39149473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters Centerline goodness : 0.992866 with order 1 Centerline is valid? [True, True] Translation: X:467.32, Y:-39.64, Z:-1.39 [[ 9.94584772e-01 1.03883008e-01 3.07437099e-03 4.67319846e+02] [-1.03882695e-01 9.94589522e-01 -2.61722367e-04 -3.96435060e+01] [-3.08492568e-03 -5.90688647e-05 9.99995240e-01 -1.38955109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters Centerline goodness : 0.992228 with order 1 Centerline is valid? [True, True] Translation: X:467.38, Y:-39.65, Z:-1.39 [[ 9.95042702e-01 9.94010522e-02 3.07438626e-03 4.67378191e+02] [-9.94007185e-02 9.95047451e-01 -2.61542880e-04 -3.96515137e+01] [-3.08515784e-03 -4.53498691e-05 9.99995240e-01 -1.39102579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters Centerline goodness : 0.992375 with order 1 Centerline is valid? [True, True] Translation: X:467.43, Y:-39.66, Z:-1.39 [[ 9.95522648e-01 9.44733075e-02 3.07439828e-03 4.67434832e+02] [-9.44729507e-02 9.95527395e-01 -2.61401451e-04 -3.96646420e+01] [-3.08534317e-03 -3.02164130e-05 9.99995240e-01 -1.38701420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters Centerline goodness : 0.992021 with order 1 Centerline is valid? [True, True] Translation: X:467.49, Y:-39.67, Z:-1.39 [[ 9.95804233e-01 9.14575166e-02 3.07441314e-03 4.67492671e+02] [-9.14571459e-02 9.95808979e-01 -2.61226641e-04 -3.96746875e+01] [-3.08541934e-03 -2.10464563e-05 9.99995240e-01 -1.38676369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters Centerline goodness : 0.992040 with order 1 Centerline is valid? [True, True] Translation: X:467.55, Y:-39.68, Z:-1.39 [[ 9.95894039e-01 9.04743620e-02 3.07442478e-03 4.67550499e+02] [-9.04739871e-02 9.95898785e-01 -2.61089547e-04 -3.96845192e+01] [-3.08543781e-03 -1.81379443e-05 9.99995240e-01 -1.38888946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters Centerline goodness : 0.992241 with order 1 Centerline is valid? [True, True] Translation: X:467.61, Y:-39.69, Z:-1.39 [[ 9.96003640e-01 8.92597143e-02 3.07443648e-03 4.67609251e+02] [-8.92593340e-02 9.96008385e-01 -2.60951622e-04 -3.96933509e+01] [-3.08545699e-03 -1.45133880e-05 9.99995240e-01 -1.38978555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters Centerline goodness : 0.992451 with order 1 Centerline is valid? [True, True] Translation: X:467.67, Y:-39.70, Z:-1.39 [[ 9.95975087e-01 8.95777573e-02 3.07444856e-03 4.67667147e+02] [-8.95773790e-02 9.95979832e-01 -2.60809306e-04 -3.96996414e+01] [-3.08545147e-03 -1.56414727e-05 9.99995240e-01 -1.39227771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters Centerline goodness : 0.992703 with order 1 Centerline is valid? [True, True] Translation: X:467.73, Y:-39.70, Z:-1.39 [[ 9.95549059e-01 9.41945828e-02 3.07446348e-03 4.67726124e+02] [-9.41942271e-02 9.95553806e-01 -2.60633269e-04 -3.97022705e+01] [-3.08534406e-03 -3.01235054e-05 9.99995240e-01 -1.39315055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters Centerline goodness : 0.992321 with order 1 Centerline is valid? [True, True] Translation: X:467.79, Y:-39.70, Z:-1.39 [[ 9.95149382e-01 9.83272834e-02 3.07447479e-03 4.67785022e+02] [-9.83269478e-02 9.95154131e-01 -2.60499802e-04 -3.97046557e+01] [-3.08519052e-03 -4.30675046e-05 9.99995240e-01 -1.39164039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters Centerline goodness : 0.992344 with order 1 Centerline is valid? [True, True] Translation: X:467.84, Y:-39.71, Z:-1.39 [[ 9.95124017e-01 9.85836646e-02 3.07448647e-03 4.67843519e+02] [-9.85833307e-02 9.95128765e-01 -2.60361920e-04 -3.97065586e+01] [-3.08517735e-03 -4.40007162e-05 9.99995240e-01 -1.39167857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters Centerline goodness : 0.992320 with order 1 Centerline is valid? [True, True] Translation: X:467.90, Y:-39.71, Z:-1.39 [[ 9.95235160e-01 9.74552400e-02 3.07449817e-03 4.67902225e+02] [-9.74549011e-02 9.95239908e-01 -2.60223682e-04 -3.97098074e+01] [-3.08522343e-03 -4.06411569e-05 9.99995240e-01 -1.39067523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters Centerline goodness : 0.992222 with order 1 Centerline is valid? [True, True] Translation: X:467.96, Y:-39.71, Z:-1.39 [[ 9.95248836e-01 9.73154722e-02 3.07450975e-03 4.67960321e+02] [-9.73151331e-02 9.95253584e-01 -2.60086701e-04 -3.97121903e+01] [-3.08522731e-03 -4.03453391e-05 9.99995240e-01 -1.39217854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters Centerline goodness : 0.990836 with order 1 Centerline is valid? [True, True] Translation: X:468.02, Y:-39.71, Z:-1.38 [[ 9.95144794e-01 9.83737083e-02 3.07452410e-03 4.68018238e+02] [-9.83733747e-02 9.95149542e-01 -2.59917044e-04 -3.97122597e+01] [-3.08518025e-03 -4.37962182e-05 9.99995240e-01 -1.38371927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters Centerline goodness : 0.988856 with order 1 Centerline is valid? [True, True] Translation: X:468.08, Y:-39.71, Z:-1.38 [[ 9.94998790e-01 9.98396462e-02 3.07453829e-03 4.68077336e+02] [-9.98393201e-02 9.95003539e-01 -2.59749085e-04 -3.97131950e+01] [-3.08510973e-03 -4.85097871e-05 9.99995240e-01 -1.38088713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters Centerline goodness : 0.987312 with order 1 Centerline is valid? [True, True] Translation: X:468.14, Y:-39.71, Z:-1.38 [[ 9.95039037e-01 9.94377296e-02 3.07454950e-03 4.68135928e+02] [-9.94374020e-02 9.95043786e-01 -2.59616309e-04 -3.97149492e+01] [-3.08512703e-03 -4.73968522e-05 9.99995240e-01 -1.37948402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters Centerline goodness : 0.985481 with order 1 Centerline is valid? [True, True] Translation: X:468.19, Y:-39.72, Z:-1.38 [[ 9.95325140e-01 9.65319228e-02 3.07456167e-03 4.68193433e+02] [-9.65315818e-02 9.95329888e-01 -2.59472035e-04 -3.97174671e+01] [-3.08525046e-03 -3.85332615e-05 9.99995240e-01 -1.38025166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters Centerline goodness : 0.984473 with order 1 Centerline is valid? [True, True] Translation: X:468.25, Y:-39.72, Z:-1.38 [[ 9.95553144e-01 9.41513956e-02 3.07457675e-03 4.68252135e+02] [-9.41510438e-02 9.95557891e-01 -2.59293236e-04 -3.97211346e+01] [-3.08533197e-03 -3.13344138e-05 9.99995240e-01 -1.38050894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters Centerline goodness : 0.982439 with order 1 Centerline is valid? [True, True] Translation: X:468.31, Y:-39.73, Z:-1.38 [[ 9.95675802e-01 9.28452686e-02 3.07458870e-03 4.68310832e+02] [-9.28449110e-02 9.95680549e-01 -2.59151540e-04 -3.97273324e+01] [-3.08536915e-03 -2.74289958e-05 9.99995240e-01 -1.38127446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters Centerline goodness : 0.981155 with order 1 Centerline is valid? [True, True] Translation: X:468.37, Y:-39.73, Z:-1.38 [[ 9.95598947e-01 9.36658094e-02 3.07460075e-03 4.68368092e+02] [-9.36654561e-02 9.95603694e-01 -2.59008419e-04 -3.97329610e+01] [-3.08534410e-03 -3.01153723e-05 9.99995240e-01 -1.38018686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters Centerline goodness : 0.979646 with order 1 Centerline is valid? [True, True] Translation: X:468.43, Y:-39.74, Z:-1.38 [[ 9.95405371e-01 9.57010652e-02 3.07461565e-03 4.68427141e+02] [-9.57007222e-02 9.95410119e-01 -2.58831445e-04 -3.97381610e+01] [-3.08527398e-03 -3.66007277e-05 9.99995240e-01 -1.38153661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters Centerline goodness : 0.979022 with order 1 Centerline is valid? [True, True] Translation: X:468.49, Y:-39.74, Z:-1.38 [[ 9.95231175e-01 9.74959214e-02 3.07462747e-03 4.68485444e+02] [-9.74955874e-02 9.95235924e-01 -2.58690946e-04 -3.97426604e+01] [-3.08520102e-03 -4.23053175e-05 9.99995240e-01 -1.38379403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters Centerline goodness : 0.977970 with order 1 Centerline is valid? [True, True] Translation: X:468.54, Y:-39.74, Z:-1.38 [[ 9.94902096e-01 1.00798636e-01 3.07463919e-03 4.68544393e+02] [-1.00798318e-01 9.94906846e-01 -2.58551541e-04 -3.97436268e+01] [-3.08504123e-03 -5.26849901e-05 9.99995240e-01 -1.38251380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters Centerline goodness : 0.976857 with order 1 Centerline is valid? [True, True] Translation: X:468.60, Y:-39.75, Z:-1.38 [[ 9.94465492e-01 1.05018721e-01 3.07465084e-03 4.68603001e+02] [-1.05018423e-01 9.94470243e-01 -2.58412930e-04 -3.97468271e+01] [-3.08478697e-03 -6.59122422e-05 9.99995240e-01 -1.37927572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters Centerline goodness : 0.975316 with order 1 Centerline is valid? [True, True] Translation: X:468.66, Y:-39.75, Z:-1.38 [[ 9.94093881e-01 1.08479960e-01 3.07466306e-03 4.68661028e+02] [-1.08479679e-01 9.94098633e-01 -2.58267519e-04 -3.97504133e+01] [-3.08453519e-03 -7.67963025e-05 9.99995240e-01 -1.37792245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters Centerline goodness : 0.974961 with order 1 Centerline is valid? [True, True] Translation: X:468.72, Y:-39.76, Z:-1.38 [[ 9.94094522e-01 1.08474087e-01 3.07468128e-03 4.68719026e+02] [-1.08473807e-01 9.94099274e-01 -2.58050390e-04 -3.97550863e+01] [-3.08453021e-03 -7.69959046e-05 9.99995240e-01 -1.37857539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters Centerline goodness : 0.974505 with order 1 Centerline is valid? [True, True] Translation: X:468.78, Y:-39.76, Z:-1.38 [[ 9.94394595e-01 1.05687920e-01 3.07469955e-03 4.68776403e+02] [-1.05687628e-01 9.94399346e-01 -2.57832522e-04 -3.97622768e+01] [-3.08472901e-03 -6.85704354e-05 9.99995240e-01 -1.37626471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters Centerline goodness : 0.974531 with order 1 Centerline is valid? [True, True] Translation: X:468.83, Y:-39.77, Z:-1.38 [[ 9.94498337e-01 1.04707227e-01 3.07471458e-03 4.68834798e+02] [-1.04706931e-01 9.94503088e-01 -2.57653188e-04 -3.97681579e+01] [-3.08479130e-03 -6.57082591e-05 9.99995240e-01 -1.37865769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters Centerline goodness : 0.974155 with order 1 Centerline is valid? [True, True] Translation: X:468.89, Y:-39.77, Z:-1.38 [[ 9.94468929e-01 1.04986169e-01 3.07472624e-03 4.68893565e+02] [-1.04985875e-01 9.94473680e-01 -2.57513974e-04 -3.97714638e+01] [-3.08476972e-03 -6.67131772e-05 9.99995240e-01 -1.38355083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters Centerline goodness : 0.974065 with order 1 Centerline is valid? [True, True] Translation: X:468.95, Y:-39.77, Z:-1.38 [[ 9.94123925e-01 1.08204291e-01 3.07473828e-03 4.68950680e+02] [-1.08204013e-01 9.94128676e-01 -2.57370119e-04 -3.97728461e+01] [-3.08453405e-03 -7.68412268e-05 9.99995240e-01 -1.38461918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters Centerline goodness : 0.974656 with order 1 Centerline is valid? [True, True] Translation: X:469.01, Y:-39.77, Z:-1.38 [[ 9.93828453e-01 1.10885313e-01 3.07476404e-03 4.69009102e+02] [-1.10885048e-01 9.93833205e-01 -2.57062001e-04 -3.97746142e+01] [-3.08430700e-03 -8.54698279e-05 9.99995240e-01 -1.38481383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters Centerline goodness : 0.975113 with order 1 Centerline is valid? [True, True] Translation: X:469.07, Y:-39.77, Z:-1.39 [[ 9.93506495e-01 1.13733856e-01 3.07478164e-03 4.69066328e+02] [-1.13733606e-01 9.93511249e-01 -2.56851293e-04 -3.97725846e+01] [-3.08404284e-03 -9.45225750e-05 9.99995240e-01 -1.38594662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters Centerline goodness : 0.974401 with order 1 Centerline is valid? [True, True] Translation: X:469.13, Y:-39.77, Z:-1.38 [[ 9.93812665e-01 1.11026718e-01 3.07480189e-03 4.69125910e+02] [-1.11026455e-01 9.93817418e-01 -2.56608710e-04 -3.97714897e+01] [-3.08428209e-03 -8.63633664e-05 9.99995240e-01 -1.38130295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters Centerline goodness : 0.974920 with order 1 Centerline is valid? [True, True] Translation: X:469.18, Y:-39.77, Z:-1.39 [[ 9.94265452e-01 1.06896012e-01 3.07481407e-03 4.69184236e+02] [-1.06895730e-01 9.94270203e-01 -2.56462591e-04 -3.97721574e+01] [-3.08461084e-03 -7.36926015e-05 9.99995240e-01 -1.38631251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters Centerline goodness : 0.974281 with order 1 Centerline is valid? [True, True] Translation: X:469.24, Y:-39.77, Z:-1.39 [[ 9.94333306e-01 1.06262983e-01 3.07482913e-03 4.69242244e+02] [-1.06262698e-01 9.94338058e-01 -2.56281900e-04 -3.97722776e+01] [-3.08465291e-03 -7.19100108e-05 9.99995240e-01 -1.38594272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters Centerline goodness : 0.974130 with order 1 Centerline is valid? [True, True] Translation: X:469.30, Y:-39.77, Z:-1.38 [[ 9.94354393e-01 1.06065478e-01 3.07484596e-03 4.69299725e+02] [-1.06065193e-01 9.94359145e-01 -2.56079880e-04 -3.97710745e+01] [-3.08466243e-03 -7.14999776e-05 9.99995240e-01 -1.38401922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters Centerline goodness : 0.973430 with order 1 Centerline is valid? [True, True] Translation: X:469.36, Y:-39.77, Z:-1.39 [[ 9.94473027e-01 1.04947338e-01 3.07486539e-03 4.69358177e+02] [-1.04947049e-01 9.94477778e-01 -2.55846341e-04 -3.97727689e+01] [-3.08473569e-03 -6.82657633e-05 9.99995240e-01 -1.38538441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters Centerline goodness : 0.973659 with order 1 Centerline is valid? [True, True] Translation: X:469.42, Y:-39.78, Z:-1.39 [[ 9.94846501e-01 1.01345861e-01 3.07488309e-03 4.69415757e+02] [-1.01345555e-01 9.94851252e-01 -2.55633454e-04 -3.97779724e+01] [-3.08495868e-03 -5.73096869e-05 9.99995240e-01 -1.38923161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters Centerline goodness : 0.973331 with order 1 Centerline is valid? [True, True] Translation: X:469.47, Y:-39.78, Z:-1.39 [[ 9.94767332e-01 1.02120027e-01 3.07489764e-03 4.69474516e+02] [-1.02119725e-01 9.94772083e-01 -2.55458312e-04 -3.97797252e+01] [-3.08490974e-03 -5.98861192e-05 9.99995240e-01 -1.38906938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters Centerline goodness : 0.973403 with order 1 Centerline is valid? [True, True] Translation: X:469.53, Y:-39.78, Z:-1.39 [[ 9.94425682e-01 1.05395009e-01 3.07490952e-03 4.69532272e+02] [-1.05394724e-01 9.94430433e-01 -2.55315215e-04 -3.97798234e+01] [-3.08469256e-03 -7.01872318e-05 9.99995240e-01 -1.38900701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters Centerline goodness : 0.972555 with order 1 Centerline is valid? [True, True] Translation: X:469.59, Y:-39.78, Z:-1.39 [[ 9.94393430e-01 1.05698868e-01 3.07492722e-03 4.69591771e+02] [-1.05698584e-01 9.94398182e-01 -2.55101905e-04 -3.97783786e+01] [-3.08466602e-03 -7.13437949e-05 9.99995240e-01 -1.39009916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters Centerline goodness : 0.973301 with order 1 Centerline is valid? [True, True] Translation: X:469.65, Y:-39.77, Z:-1.39 [[ 9.94777647e-01 1.02019496e-01 3.07493906e-03 4.69650199e+02] [-1.02019195e-01 9.94782398e-01 -2.54959110e-04 -3.97748187e+01] [-3.08490605e-03 -6.00751830e-05 9.99995240e-01 -1.38994849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters Centerline goodness : 0.972857 with order 1 Centerline is valid? [True, True] Translation: X:469.71, Y:-39.77, Z:-1.39 [[ 9.95582704e-01 9.38382890e-02 3.07495367e-03 4.69708542e+02] [-9.38379496e-02 9.95587452e-01 -2.54782796e-04 -3.97710533e+01] [-3.08529367e-03 -3.48900026e-05 9.99995240e-01 -1.39256322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters Centerline goodness : 0.972961 with order 1 Centerline is valid? [True, True] Translation: X:469.77, Y:-39.77, Z:-1.39 [[ 9.96158954e-01 8.75093293e-02 3.07496801e-03 4.69766265e+02] [-8.75089603e-02 9.96163700e-01 -2.54609517e-04 -3.97738546e+01] [-3.08545222e-03 -1.54557036e-05 9.99995240e-01 -1.39252235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters Centerline goodness : 0.972510 with order 1 Centerline is valid? [True, True] Translation: X:469.82, Y:-39.78, Z:-1.39 [[ 9.96935378e-01 7.81690199e-02 3.07498576e-03 4.69824772e+02] [-7.81686071e-02 9.96940121e-01 -2.54395052e-04 -3.97777424e+01] [-3.08546248e-03 1.32480741e-05 9.99995240e-01 -1.38930410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters Centerline goodness : 0.973050 with order 1 Centerline is valid? [True, True] Translation: X:469.88, Y:-39.79, Z:-1.39 [[ 9.97336999e-01 7.28660066e-02 3.07499745e-03 4.69883007e+02] [-7.28655690e-02 9.97341739e-01 -2.54253596e-04 -3.97873723e+01] [-3.08534975e-03 2.95150788e-05 9.99995240e-01 -1.39028970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters Centerline goodness : 0.973301 with order 1 Centerline is valid? [True, True] Translation: X:469.94, Y:-39.80, Z:-1.39 [[ 9.97490512e-01 7.07334642e-02 3.07500922e-03 4.69941460e+02] [-7.07330169e-02 9.97495251e-01 -2.54111263e-04 -3.97971240e+01] [-3.08528126e-03 3.59688952e-05 9.99995240e-01 -1.38868197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters Centerline goodness : 0.973615 with order 1 Centerline is valid? [True, True] Translation: X:470.00, Y:-39.81, Z:-1.39 [[ 9.97458885e-01 7.11780658e-02 3.07502118e-03 4.69998355e+02] [-7.11776210e-02 9.97463624e-01 -2.53966359e-04 -3.98069791e+01] [-3.08529861e-03 3.44483084e-05 9.99995240e-01 -1.39028097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters Centerline goodness : 0.973585 with order 1 Centerline is valid? [True, True] Translation: X:470.06, Y:-39.82, Z:-1.39 [[ 9.97515394e-01 7.03816987e-02 3.07503607e-03 4.70056584e+02] [-7.03812507e-02 9.97520133e-01 -2.53785930e-04 -3.98210058e+01] [-3.08527228e-03 3.67304865e-05 9.99995240e-01 -1.39087090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters Centerline goodness : 0.974486 with order 1 Centerline is valid? [True, True] Translation: X:470.11, Y:-39.83, Z:-1.39 [[ 9.97516982e-01 7.03591773e-02 3.07504792e-03 4.70113373e+02] [-7.03587296e-02 9.97521721e-01 -2.53642316e-04 -3.98342714e+01] [-3.08527316e-03 3.66560528e-05 9.99995240e-01 -1.39316014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters Centerline goodness : 0.973956 with order 1 Centerline is valid? [True, True] Translation: X:470.17, Y:-39.84, Z:-1.39 [[ 9.97308108e-01 7.32603713e-02 3.07506353e-03 4.70171603e+02] [-7.32599381e-02 9.97312848e-01 -2.53452903e-04 -3.98427642e+01] [-3.08536842e-03 2.74916712e-05 9.99995240e-01 -1.39384896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters Centerline goodness : 0.973595 with order 1 Centerline is valid? [True, True] Translation: X:470.23, Y:-39.85, Z:-1.39 [[ 9.96567545e-01 8.27264936e-02 3.07507561e-03 4.70229498e+02] [-8.27261058e-02 9.96572289e-01 -2.53306331e-04 -3.98457287e+01] [-3.08549028e-03 -1.95216131e-06 9.99995240e-01 -1.39306326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters Centerline goodness : 0.973328 with order 1 Centerline is valid? [True, True] Translation: X:470.29, Y:-39.84, Z:-1.39 [[ 9.95583128e-01 9.38337799e-02 3.07509124e-03 4.70288772e+02] [-9.38334456e-02 9.95587877e-01 -2.53116367e-04 -3.98417955e+01] [-3.08527443e-03 -3.65480220e-05 9.99995240e-01 -1.39384933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters Centerline goodness : 0.973176 with order 1 Centerline is valid? [True, True] Translation: X:470.35, Y:-39.83, Z:-1.39 [[ 9.95565484e-01 9.40208036e-02 3.07510295e-03 4.70348435e+02] [-9.40204706e-02 9.95570232e-01 -2.52973982e-04 -3.98344951e+01] [-3.08526578e-03 -3.72704619e-05 9.99995240e-01 -1.39247104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters Centerline goodness : 0.972349 with order 1 Centerline is valid? [True, True] Translation: X:470.41, Y:-39.83, Z:-1.39 [[ 9.96170984e-01 8.73722731e-02 3.07511459e-03 4.70407448e+02] [-8.73719089e-02 9.96175730e-01 -2.52832520e-04 -3.98332055e+01] [-3.08544507e-03 -1.68142108e-05 9.99995240e-01 -1.38896329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters Centerline goodness : 0.972009 with order 1 Centerline is valid? [True, True] Translation: X:470.47, Y:-39.83, Z:-1.39 [[ 9.97277254e-01 7.36791781e-02 3.07512667e-03 4.70466892e+02] [-7.36787491e-02 9.97281995e-01 -2.52685504e-04 -3.98323068e+01] [-3.08538612e-03 2.54260190e-05 9.99995240e-01 -1.39086757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters Centerline goodness : 0.971511 with order 1 Centerline is valid? [True, True] Translation: X:470.52, Y:-39.83, Z:-1.39 [[ 9.98029297e-01 6.26742886e-02 3.07513866e-03 4.70524664e+02] [-6.26738079e-02 9.98034033e-01 -2.52539410e-04 -3.98346105e+01] [-3.08492077e-03 5.93110799e-05 9.99995240e-01 -1.38936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters Centerline goodness : 0.970873 with order 1 Centerline is valid? [True, True] Translation: X:470.58, Y:-39.84, Z:-1.39 [[ 9.98181726e-01 6.01978840e-02 3.07515338e-03 4.70583411e+02] [-6.01973921e-02 9.98186461e-01 -2.52360050e-04 -3.98358421e+01] [-3.08476801e-03 6.67849764e-05 9.99995240e-01 -1.38886264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters Centerline goodness : 0.970892 with order 1 Centerline is valid? [True, True] Translation: X:470.64, Y:-39.84, Z:-1.39 [[ 9.98212473e-01 5.96858543e-02 3.07516488e-03 4.70640835e+02] [-5.96853603e-02 9.98217208e-01 -2.52219856e-04 -3.98386276e+01] [-3.08473646e-03 6.82266819e-05 9.99995240e-01 -1.39023333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters Centerline goodness : 0.971295 with order 1 Centerline is valid? [True, True] Translation: X:470.70, Y:-39.84, Z:-1.39 [[ 9.98262634e-01 5.88409434e-02 3.07517905e-03 4.70699507e+02] [-5.88404460e-02 9.98267368e-01 -2.52047012e-04 -3.98427955e+01] [-3.08468158e-03 7.06642069e-05 9.99995240e-01 -1.38944835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters Centerline goodness : 0.970755 with order 1 Centerline is valid? [True, True] Translation: X:470.76, Y:-39.85, Z:-1.39 [[ 9.98366253e-01 5.70558389e-02 3.07519030e-03 4.70758559e+02] [-5.70553335e-02 9.98370986e-01 -2.51909650e-04 -3.98483338e+01] [-3.08455369e-03 7.60420849e-05 9.99995240e-01 -1.38781541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters Centerline goodness : 0.970410 with order 1 Centerline is valid? [True, True] Translation: X:470.82, Y:-39.86, Z:-1.38 [[ 9.98488330e-01 5.48780363e-02 3.07520181e-03 4.70816267e+02] [-5.48775210e-02 9.98493062e-01 -2.51769124e-04 -3.98568263e+01] [-3.08438426e-03 8.26290808e-05 9.99995240e-01 -1.38376021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters Centerline goodness : 0.970505 with order 1 Centerline is valid? [True, True] Translation: X:470.87, Y:-39.87, Z:-1.39 [[ 9.98680507e-01 5.12619481e-02 3.07521601e-03 4.70874634e+02] [-5.12614162e-02 9.98685238e-01 -2.51595486e-04 -3.98678104e+01] [-3.08407011e-03 9.36235803e-05 9.99995240e-01 -1.38811105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters Centerline goodness : 0.969581 with order 1 Centerline is valid? [True, True] Translation: X:470.93, Y:-39.88, Z:-1.39 [[ 9.98793747e-01 4.90060594e-02 3.07522733e-03 4.70932214e+02] [-4.90055173e-02 9.98798476e-01 -2.51457097e-04 -3.98829810e+01] [-3.08385529e-03 1.00450670e-04 9.99995240e-01 -1.39236283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters Centerline goodness : 0.970113 with order 1 Centerline is valid? [True, True] Translation: X:470.99, Y:-39.89, Z:-1.38 [[ 9.98699611e-01 5.08884158e-02 3.07523570e-03 4.70990664e+02] [-5.08878828e-02 9.98704341e-01 -2.51354623e-04 -3.98938207e+01] [-3.08404228e-03 9.45355296e-05 9.99995240e-01 -1.38366600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters Centerline goodness : 0.968912 with order 1 Centerline is valid? [True, True] Translation: X:471.05, Y:-39.91, Z:-1.38 [[ 9.98368056e-01 5.70242787e-02 3.07524394e-03 4.71048310e+02] [-5.70237751e-02 9.98372789e-01 -2.51253832e-04 -3.99060211e+01] [-3.08456744e-03 7.54817814e-05 9.99995240e-01 -1.38358431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters Centerline goodness : 0.968604 with order 1 Centerline is valid? [True, True] Translation: X:471.11, Y:-39.91, Z:-1.39 [[ 9.97772250e-01 6.66414298e-02 3.07525492e-03 4.71106475e+02] [-6.66409722e-02 9.97776988e-01 -2.51119293e-04 -3.99144902e+01] [-3.08515354e-03 4.56218842e-05 9.99995240e-01 -1.38954227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters Centerline goodness : 0.968105 with order 1 Centerline is valid? [True, True] Translation: X:471.16, Y:-39.92, Z:-1.39 [[ 9.97208500e-01 7.46039571e-02 3.07526580e-03 4.71164533e+02] [-7.46035379e-02 9.97213242e-01 -2.50986021e-04 -3.99171288e+01] [-3.08542033e-03 2.08596851e-05 9.99995240e-01 -1.38630131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters Centerline goodness : 0.969065 with order 1 Centerline is valid? [True, True] Translation: X:471.22, Y:-39.92, Z:-1.39 [[ 9.96873624e-01 7.89526464e-02 3.07527936e-03 4.71222030e+02] [-7.89522484e-02 9.96878367e-01 -2.50819740e-04 -3.99172811e+01] [-3.08548235e-03 7.23536371e-06 9.99995240e-01 -1.38631453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters Centerline goodness : 0.968300 with order 1 Centerline is valid? [True, True] Translation: X:471.28, Y:-39.92, Z:-1.39 [[ 9.96911913e-01 7.84677067e-02 3.07528842e-03 4.71279821e+02] [-7.84673066e-02 9.96916656e-01 -2.50708688e-04 -3.99200514e+01] [-3.08547878e-03 8.62487897e-06 9.99995240e-01 -1.38610169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters Centerline goodness : 0.968202 with order 1 Centerline is valid? [True, True] Translation: X:471.34, Y:-39.92, Z:-1.39 [[ 9.97082043e-01 7.62754321e-02 3.07530170e-03 4.71338361e+02] [-7.62750221e-02 9.97086786e-01 -2.50545680e-04 -3.99216197e+01] [-3.08545316e-03 1.52458940e-05 9.99995240e-01 -1.38660875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters Centerline goodness : 0.968862 with order 1 Centerline is valid? [True, True] Translation: X:471.40, Y:-39.92, Z:-1.39 [[ 9.97200606e-01 7.47093996e-02 3.07531749e-03 4.71396797e+02] [-7.47089828e-02 9.97205348e-01 -2.50351705e-04 -3.99247761e+01] [-3.08542667e-03 1.98970304e-05 9.99995240e-01 -1.38915818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters Centerline goodness : 0.969064 with order 1 Centerline is valid? [True, True] Translation: X:471.45, Y:-39.93, Z:-1.39 [[ 9.97342754e-01 7.27871792e-02 3.07532796e-03 4.71454758e+02] [-7.27867536e-02 9.97347495e-01 -2.50222971e-04 -3.99310662e+01] [-3.08538366e-03 2.57149285e-05 9.99995240e-01 -1.38587292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters Centerline goodness : 0.968390 with order 1 Centerline is valid? [True, True] Translation: X:471.51, Y:-39.94, Z:-1.38 [[ 9.97464301e-01 7.11021093e-02 3.07534120e-03 4.71512783e+02] [-7.11016762e-02 9.97469042e-01 -2.50060155e-04 -3.99411744e+01] [-3.08533744e-03 3.07641636e-05 9.99995240e-01 -1.38460595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters Centerline goodness : 0.968378 with order 1 Centerline is valid? [True, True] Translation: X:471.57, Y:-39.95, Z:-1.38 [[ 9.97450547e-01 7.12948050e-02 3.07535154e-03 4.71570584e+02] [-7.12943733e-02 9.97455287e-01 -2.49932946e-04 -3.99502211e+01] [-3.08534457e-03 3.00404934e-05 9.99995240e-01 -1.38325354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters Centerline goodness : 0.968656 with order 1 Centerline is valid? [True, True] Translation: X:471.63, Y:-39.96, Z:-1.38 [[ 9.97283449e-01 7.35952759e-02 3.07536185e-03 4.71629194e+02] [-7.35948555e-02 9.97288190e-01 -2.49806038e-04 -3.99566629e+01] [-3.08540660e-03 2.27966162e-05 9.99995240e-01 -1.38180765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters Centerline goodness : 0.968287 with order 1 Centerline is valid? [True, True] Translation: X:471.69, Y:-39.96, Z:-1.39 [[ 9.97102151e-01 7.60121205e-02 3.07537214e-03 4.71687973e+02] [-7.60117120e-02 9.97106894e-01 -2.49679298e-04 -3.99620934e+01] [-3.08545341e-03 1.51914638e-05 9.99995240e-01 -1.38667917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters Centerline goodness : 0.968385 with order 1 Centerline is valid? [True, True] Translation: X:471.75, Y:-39.97, Z:-1.39 [[ 9.97091568e-01 7.61508116e-02 3.07538244e-03 4.71746742e+02] [-7.61504041e-02 9.97096311e-01 -2.49552288e-04 -3.99669706e+01] [-3.08545610e-03 1.46348666e-05 9.99995240e-01 -1.38800880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters Centerline goodness : 0.968231 with order 1 Centerline is valid? [True, True] Translation: X:471.81, Y:-39.97, Z:-1.39 [[ 9.97163748e-01 7.51997450e-02 3.07539277e-03 4.71805642e+02] [-7.51993334e-02 9.97168490e-01 -2.49424907e-04 -3.99709053e+01] [-3.08544146e-03 1.74499889e-05 9.99995240e-01 -1.38689056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters Centerline goodness : 0.968157 with order 1 Centerline is valid? [True, True] Translation: X:471.86, Y:-39.97, Z:-1.39 [[ 9.97287830e-01 7.35358885e-02 3.07540312e-03 4.71864329e+02] [-7.35354693e-02 9.97292571e-01 -2.49297293e-04 -3.99745552e+01] [-3.08540898e-03 2.24699446e-05 9.99995240e-01 -1.38884197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters Centerline goodness : 0.968540 with order 1 Centerline is valid? [True, True] Translation: X:471.92, Y:-39.98, Z:-1.39 [[ 9.97506903e-01 7.05019190e-02 3.07541344e-03 4.71922250e+02] [-7.05014858e-02 9.97511643e-01 -2.49169880e-04 -3.99820797e+01] [-3.08532767e-03 3.17274583e-05 9.99995240e-01 -1.39012307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters Centerline goodness : 0.968456 with order 1 Centerline is valid? [True, True] Translation: X:471.98, Y:-39.99, Z:-1.39 [[ 9.97622864e-01 6.88415813e-02 3.07542377e-03 4.71980860e+02] [-6.88411407e-02 9.97627604e-01 -2.49042296e-04 -3.99912165e+01] [-3.08527211e-03 3.67346082e-05 9.99995240e-01 -1.38765471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters Centerline goodness : 0.969537 with order 1 Centerline is valid? [True, True] Translation: X:472.04, Y:-40.00, Z:-1.38 [[ 9.97596196e-01 6.92269578e-02 3.07543462e-03 4.72039319e+02] [-6.92265194e-02 9.97600936e-01 -2.48908240e-04 -3.99995236e+01] [-3.08528762e-03 3.54082791e-05 9.99995240e-01 -1.38262175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters Centerline goodness : 0.970588 with order 1 Centerline is valid? [True, True] Translation: X:472.10, Y:-40.01, Z:-1.38 [[ 9.97233224e-01 7.42727301e-02 3.07544628e-03 4.72097907e+02] [-7.42723161e-02 9.97237966e-01 -2.48764134e-04 -4.00067780e+01] [-3.08542818e-03 1.96553410e-05 9.99995240e-01 -1.38376008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters Centerline goodness : 0.971132 with order 1 Centerline is valid? [True, True] Translation: X:472.16, Y:-40.01, Z:-1.38 [[ 9.96929988e-01 7.82377202e-02 3.07545779e-03 4.72155758e+02] [-7.82373255e-02 9.96934732e-01 -2.48621781e-04 -4.00123759e+01] [-3.08548228e-03 7.24291676e-06 9.99995240e-01 -1.38339131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters Centerline goodness : 0.972371 with order 1 Centerline is valid? [True, True] Translation: X:472.21, Y:-40.02, Z:-1.39 [[ 9.96878099e-01 7.88961118e-02 3.07547205e-03 4.72214412e+02] [-7.88957208e-02 9.96882843e-01 -2.48445223e-04 -4.00177643e+01] [-3.08548668e-03 5.02801729e-06 9.99995240e-01 -1.38580990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters Centerline goodness : 0.973499 with order 1 Centerline is valid? [True, True] Translation: X:472.27, Y:-40.02, Z:-1.39 [[ 9.96868476e-01 7.90176095e-02 3.07548344e-03 4.72272421e+02] [-7.90172195e-02 9.96873220e-01 -2.48304116e-04 -4.00228369e+01] [-3.08548748e-03 4.51039533e-06 9.99995240e-01 -1.38915221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters Centerline goodness : 0.974484 with order 1 Centerline is valid? [True, True] Translation: X:472.33, Y:-40.03, Z:-1.39 [[ 9.96556874e-01 8.28549180e-02 3.07549762e-03 4.72331266e+02] [-8.28545468e-02 9.96561620e-01 -2.48128386e-04 -4.00284398e+01] [-3.08548155e-03 -7.54491231e-06 9.99995240e-01 -1.39208176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters Centerline goodness : 0.972528 with order 1 Centerline is valid? [True, True] Translation: X:472.39, Y:-40.03, Z:-1.39 [[ 9.96157285e-01 8.75283082e-02 3.07550856e-03 4.72388974e+02] [-8.75279597e-02 9.96162032e-01 -2.47992659e-04 -4.00310177e+01] [-3.08541124e-03 -2.21532963e-05 9.99995240e-01 -1.39110961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters Centerline goodness : 0.972259 with order 1 Centerline is valid? [True, True] Translation: X:472.45, Y:-40.03, Z:-1.38 [[ 9.95586212e-01 9.38010435e-02 3.07552324e-03 4.72447316e+02] [-9.38007254e-02 9.95590961e-01 -2.47810564e-04 -4.00338260e+01] [-3.08520803e-03 -4.17695301e-05 9.99995240e-01 -1.38496961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters Centerline goodness : 0.969802 with order 1 Centerline is valid? [True, True] Translation: X:472.50, Y:-40.04, Z:-1.39 [[ 9.95455759e-01 9.51754850e-02 3.07553403e-03 4.72504849e+02] [-9.51751740e-02 9.95460509e-01 -2.47676538e-04 -4.00366195e+01] [-3.08514541e-03 -4.61634503e-05 9.99995240e-01 -1.38793935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters Centerline goodness : 0.969555 with order 1 Centerline is valid? [True, True] Translation: X:472.56, Y:-40.04, Z:-1.39 [[ 9.95451081e-01 9.52243952e-02 3.07554741e-03 4.72562326e+02] [-9.52240849e-02 9.95455831e-01 -2.47510285e-04 -4.00402925e+01] [-3.08514062e-03 -4.64818066e-05 9.99995240e-01 -1.38976070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters Centerline goodness : 0.967764 with order 1 Centerline is valid? [True, True] Translation: X:472.62, Y:-40.04, Z:-1.39 [[ 9.95393544e-01 9.58239707e-02 3.07556333e-03 4.72620265e+02] [-9.58236638e-02 9.95398294e-01 -2.47312319e-04 -4.00406845e+01] [-3.08510894e-03 -4.85386608e-05 9.99995240e-01 -1.38892888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters Centerline goodness : 0.964432 with order 1 Centerline is valid? [True, True] Translation: X:472.68, Y:-40.04, Z:-1.38 [[ 9.95485408e-01 9.48648664e-02 3.07557911e-03 4.72679544e+02] [-9.48645556e-02 9.95490158e-01 -2.47115900e-04 -4.00433450e+01] [-3.08515135e-03 -4.57631728e-05 9.99995240e-01 -1.38182961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters Centerline goodness : 0.963533 with order 1 Centerline is valid? [True, True] Translation: X:472.74, Y:-40.05, Z:-1.38 [[ 9.95834195e-01 9.11306602e-02 3.07558951e-03 4.72738199e+02] [-9.11303320e-02 9.95838944e-01 -2.46986399e-04 -4.00473817e+01] [-3.08529984e-03 -3.43219913e-05 9.99995240e-01 -1.38199491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters Centerline goodness : 0.961878 with order 1 Centerline is valid? [True, True] Translation: X:472.80, Y:-40.05, Z:-1.39 [[ 9.96461821e-01 8.39903544e-02 3.07559985e-03 4.72796280e+02] [-8.39899925e-02 9.96466568e-01 -2.46857551e-04 -4.00547590e+01] [-3.08546608e-03 -1.23354836e-05 9.99995240e-01 -1.38529096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters Centerline goodness : 0.960412 with order 1 Centerline is valid? [True, True] Translation: X:472.86, Y:-40.06, Z:-1.38 [[ 9.96615721e-01 8.21440513e-02 3.07561011e-03 4.72855221e+02] [-8.21436810e-02 9.96620467e-01 -2.46729655e-04 -4.00580197e+01] [-3.08548336e-03 -6.74728259e-06 9.99995240e-01 -1.38289755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters Centerline goodness : 0.959646 with order 1 Centerline is valid? [True, True] Translation: X:472.91, Y:-40.06, Z:-1.38 [[ 9.96663265e-01 8.15651676e-02 3.07562033e-03 4.72913911e+02] [-8.15647950e-02 9.96668011e-01 -2.46602195e-04 -4.00628205e+01] [-3.08548655e-03 -5.08299256e-06 9.99995240e-01 -1.37902778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters Centerline goodness : 0.958872 with order 1 Centerline is valid? [True, True] Translation: X:472.97, Y:-40.07, Z:-1.38 [[ 9.96641557e-01 8.18299923e-02 3.07563052e-03 4.72972614e+02] [-8.18296213e-02 9.96646303e-01 -2.46475106e-04 -4.00659696e+01] [-3.08548484e-03 -6.03034670e-06 9.99995240e-01 -1.38337360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters Centerline goodness : 0.958427 with order 1 Centerline is valid? [True, True] Translation: X:473.03, Y:-40.07, Z:-1.39 [[ 9.97025694e-01 7.70084758e-02 3.07564060e-03 4.73031667e+02] [-7.70080823e-02 9.97030438e-01 -2.46349247e-04 -4.00705119e+01] [-3.08547827e-03 8.76734472e-06 9.99995240e-01 -1.38660012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters Centerline goodness : 0.943372 with order 2 Centerline is valid? [True, False] Translation: X:473.07, Y:-40.04, Z:-1.39 [[ 9.96933753e-01 7.81008968e-02 4.83131037e-03 4.73072814e+02] [-7.80786575e-02 9.96936439e-01 -4.63247538e-03 -4.00413556e+01] [-5.17830984e-03 4.24104884e-03 9.99977599e-01 -1.38580166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters Centerline goodness : 0.942476 with order 1 Centerline is valid? [False, False] Translation: X:473.08, Y:-40.04, Z:-1.39 [[ 9.96968314e-01 7.76924046e-02 4.25093203e-03 4.73075041e+02] [-7.76741966e-02 9.96969553e-01 -4.29295941e-03 -4.00431376e+01] [-4.57158014e-03 3.94975678e-03 9.99981750e-01 -1.38576531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters Centerline goodness : 0.941602 with order 2 Centerline is valid? [False, False] Translation: X:473.07, Y:-40.04, Z:-1.39 [[ 9.97302341e-01 7.32918609e-02 4.04268417e-03 4.73074502e+02] [-7.32519808e-02 9.97270472e-01 -9.26034366e-03 -4.00398048e+01] [-4.71035737e-03 8.93922779e-03 9.99948950e-01 -1.38552574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters Centerline goodness : 0.086854 with order 1 Centerline is valid? [False, False] Translation: X:473.12, Y:-40.05, Z:-1.39 [[ 9.97031977e-01 7.69018106e-02 3.65352148e-03 4.73122023e+02] [-7.68892720e-02 9.97033645e-01 -3.45686315e-03 -4.00516276e+01] [-3.90852288e-03 3.16568650e-03 9.99987351e-01 -1.38738302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters Centerline goodness : 0.087750 with order 1 Centerline is valid? [False, False] Translation: X:473.15, Y:-40.05, Z:-1.39 [[ 9.96905153e-01 7.81145612e-02 8.84482789e-03 4.73151253e+02] [-7.80658853e-02 9.96931784e-01 -5.72148564e-03 -4.00464032e+01] [-9.26462139e-03 5.01329920e-03 9.99944515e-01 -1.38705167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters Centerline goodness : 0.087410 with order 1 Centerline is valid? [False, False] Translation: X:473.15, Y:-40.04, Z:-1.39 [[ 9.96532824e-01 8.26382365e-02 9.65669431e-03 4.73149361e+02] [-8.26145733e-02 9.96577570e-01 -2.82485861e-03 -4.00404124e+01] [-9.85708628e-03 2.01728064e-03 9.99949383e-01 -1.38714688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters Centerline goodness : 0.087441 with order 1 Centerline is valid? [False, False] Translation: X:473.17, Y:-40.03, Z:-1.39 [[ 9.96007800e-01 8.82778806e-02 1.32468160e-02 4.73165721e+02] [-8.81146671e-02 9.96032686e-01 -1.24376129e-02 -4.00307056e+01] [-1.42922278e-02 1.12207207e-02 9.99834900e-01 -1.39282966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters Centerline goodness : 0.086255 with order 1 Centerline is valid? [False, False] Translation: X:473.28, Y:-39.93, Z:-1.38 [[ 9.97326993e-01 7.28650464e-02 -5.43628250e-03 4.73284421e+02] [-7.29637817e-02 9.89186317e-01 -1.27227027e-01 -3.99347488e+01] [-3.89290699e-03 1.27283600e-01 9.91858725e-01 -1.37809816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters Centerline goodness : 0.085001 with order 1 Centerline is valid? [False, False] Translation: X:472.86, Y:-40.09, Z:-1.26 [[ 9.94084797e-01 1.03046978e-01 3.43036045e-02 4.72859373e+02] [-1.07987229e-01 9.71503371e-01 2.10997533e-01 -4.00921954e+01] [-1.15834092e-02 -2.13453791e-01 9.76884488e-01 -1.26164552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters Centerline goodness : 0.085399 with order 1 Centerline is valid? [False, False] Translation: X:472.87, Y:-40.05, Z:-1.26 [[ 9.94336850e-01 1.00901614e-01 3.33630564e-02 4.72867664e+02] [-1.05046049e-01 9.80748180e-01 1.64615719e-01 -4.00495065e+01] [-1.61107651e-02 -1.67188133e-01 9.85793372e-01 -1.25990343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters Centerline goodness : 0.085940 with order 1 Centerline is valid? [False, False] Translation: X:472.87, Y:-39.95, Z:-1.25 [[ 9.95631868e-01 8.82292522e-02 3.05414968e-02 4.72873160e+02] [-8.97440262e-02 9.94585250e-01 5.24040965e-02 -3.99535612e+01] [-2.57525480e-02 -5.49161053e-02 9.98158819e-01 -1.25214376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters Centerline goodness : 0.086671 with order 1 Centerline is valid? [False, False] Translation: X:472.92, Y:-39.92, Z:-1.24 [[ 9.96535050e-01 7.92680483e-02 2.51886921e-02 4.72920087e+02] [-7.96691633e-02 9.96703325e-01 1.53396722e-02 -3.99240508e+01] [-2.38897073e-02 -1.72932831e-02 9.99565018e-01 -1.24248290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters Centerline goodness : 0.087247 with order 1 Centerline is valid? [False, False] Translation: X:472.92, Y:-39.92, Z:-1.25 [[ 9.96565761e-01 7.90584980e-02 2.46259746e-02 4.72924292e+02] [-7.94362241e-02 9.96730726e-01 1.47562487e-02 -3.99210308e+01] [-2.33788587e-02 -1.66617667e-02 9.99587822e-01 -1.24513566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters Centerline goodness : 0.069783 with order 1 Centerline is valid? [False, False] Translation: X:473.10, Y:-39.91, Z:-1.27 [[ 9.95589048e-01 8.71308713e-02 3.47945153e-02 4.73097971e+02] [-8.76354052e-02 9.96064550e-01 1.32456965e-02 -3.99095939e+01] [-3.35034742e-02 -1.62365018e-02 9.99306706e-01 -1.27124213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters Centerline goodness : 0.080524 with order 2 Centerline is valid? [False, False] Translation: X:473.10, Y:-39.91, Z:-1.27 [[ 9.95939126e-01 8.28721660e-02 3.51775805e-02 4.73096910e+02] [-8.32238914e-02 9.96493311e-01 8.65240171e-03 -3.99079080e+01] [-3.43371805e-02 -1.15448805e-02 9.99343621e-01 -1.27036123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters Centerline goodness : 0.088841 with order 2 Centerline is valid? [False, False] Translation: X:473.07, Y:-39.90, Z:-1.29 [[ 9.96061200e-01 7.64309894e-02 4.49487527e-02 4.73072636e+02] [-7.67039840e-02 9.97044298e-01 4.37787863e-03 -3.99035836e+01] [-4.44812920e-02 -7.80838345e-03 9.98979701e-01 -1.28907874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.424012739 meters Centerline goodness : 0.386257 with order 2 Centerline is valid? [False, False] Translation: X:473.15, Y:-39.91, Z:-1.29 [[ 9.96277505e-01 7.32032310e-02 4.55238420e-02 4.73148207e+02] [-7.34078458e-02 9.97297969e-01 2.83701534e-03 -3.99081891e+01] [-4.51931565e-02 -6.16826174e-03 9.98959224e-01 -1.28558282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters Centerline goodness : 0.625355 with order 3 Centerline is valid? [False, False] Translation: X:473.17, Y:-39.91, Z:-1.29 [[ 9.95604708e-01 7.74521944e-02 5.26538086e-02 4.73170095e+02] [-7.74416910e-02 9.96994360e-01 -2.24274016e-03 -3.99079229e+01] [-5.26692554e-02 -1.84471732e-03 9.98610308e-01 -1.29422105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters Centerline goodness : 0.747317 with order 3 Centerline is valid? [False, False] Translation: X:473.17, Y:-39.91, Z:-1.30 [[ 9.95578497e-01 7.78145673e-02 5.26151087e-02 4.73171932e+02] [-7.78123919e-02 9.96965823e-01 -2.09293427e-03 -3.99087156e+01] [-5.26183259e-02 -2.01042710e-03 9.98612673e-01 -1.29629521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters Centerline goodness : 0.418082 with order 2 Centerline is valid? [False, False] Translation: X:473.17, Y:-39.91, Z:-1.30 [[ 9.95555920e-01 7.81014979e-02 5.26171690e-02 4.73173358e+02] [-7.81089347e-02 9.96942985e-01 -1.91815891e-03 -3.99096045e+01] [-5.26061286e-02 -2.20023656e-03 9.98612915e-01 -1.29818496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters Centerline goodness : 0.367132 with order 3 Centerline is valid? [False, False] Translation: X:473.18, Y:-39.91, Z:-1.30 [[ 9.95541984e-01 7.83753295e-02 5.24734822e-02 4.73175729e+02] [-7.83931679e-02 9.96921034e-01 -1.72133959e-03 -3.99105482e+01] [-5.24468287e-02 -2.39989668e-03 9.98620834e-01 -1.30086973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters Centerline goodness : 0.464389 with order 2 Centerline is valid? [False, False] Translation: X:473.18, Y:-39.91, Z:-1.29 [[ 9.96316203e-01 7.65082747e-02 3.87363932e-02 4.73175306e+02] [-7.65181341e-02 9.97067431e-01 -1.23016350e-03 -3.99115889e+01] [-3.87169137e-02 -1.73840470e-03 9.99248707e-01 -1.29367070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters Centerline goodness : 0.465648 with order 3 Centerline is valid? [False, False] Translation: X:473.18, Y:-39.91, Z:-1.29 [[ 9.96622820e-01 7.27496625e-02 3.80846649e-02 4.73177229e+02] [-7.25873507e-02 9.97346173e-01 -5.62923107e-03 -3.99083121e+01] [-3.83931195e-02 2.84575522e-03 9.99258660e-01 -1.29427426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters Centerline goodness : 0.486560 with order 3 Centerline is valid? [False, False] Translation: X:473.18, Y:-39.91, Z:-1.30 [[ 9.96920258e-01 6.89571167e-02 3.73485556e-02 4.73180273e+02] [-6.86632819e-02 9.97598431e-01 -9.09525684e-03 -3.99124394e+01] [-3.78860432e-02 6.50277140e-03 9.99260908e-01 -1.29680417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5484.28 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%| | 0/16030 [00:00