+ python -m lidar_slam --result /working/result.json --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters Centerline goodness : 0.110908 with order 1 Centerline is valid? [0, False] SLAMing on 0.08592 meters Centerline goodness : 0.078644 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99970069e-01 7.30090150e-03 -2.56080157e-03 2.64898976e-02] [-7.30037568e-03 9.99973329e-01 2.14620336e-04 -4.01349279e-03] [ 2.56230020e-03 -1.95919099e-04 9.99996698e-01 2.40432014e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters Centerline goodness : 0.096020 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 9.99971053e-01 7.21124448e-03 -2.42721403e-03 2.73216004e-02] [-7.20942942e-03 9.99973726e-01 7.55716541e-04 -6.77087140e-03] [ 2.43259991e-03 -7.38195837e-04 9.99996769e-01 -1.02034171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20592 meters Centerline goodness : 0.143301 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99998924 -0.00324669 -0.00331194 0.05165328] [ 0.00325155 0.99999364 0.00146226 -0.01455771] [ 0.00330717 -0.00147302 0.99999345 -0.002932 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26592 meters Centerline goodness : 0.140505 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.02 [[ 0.99998029 -0.00420056 -0.00466673 0.06281202] [ 0.0042114 0.99998845 0.00231516 -0.02263789] [ 0.00465695 -0.00233476 0.99998643 -0.01517107] [ 0. 0. 0. 1. ]] SLAMing on 0.32592 meters SLAMing on 0.38592 meters SLAMing on 0.44592 meters SLAMing on 0.5059199999999999 meters Centerline goodness : 0.121798 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:-0.02 [[ 9.99966562e-01 -2.11017554e-03 -7.90072497e-03 8.97840486e-02] [ 2.11367348e-03 9.99997672e-01 4.34411969e-04 -3.87342110e-02] [ 7.89978989e-03 -4.51096996e-04 9.99968694e-01 -1.67297643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.56592 meters Centerline goodness : 0.121734 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.01 [[ 0.99986775 -0.0103233 -0.01256628 0.13208291] [ 0.0102715 0.99993851 -0.00418025 -0.03692307] [ 0.01260866 0.00405062 0.9999123 -0.01040237] [ 0. 0. 0. 1. ]] SLAMing on 0.62592 meters Centerline goodness : 0.128062 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:0.00 [[ 9.99921466e-01 -1.15343203e-02 -4.90114053e-03 1.61438802e-01] [ 1.15171777e-02 9.99927509e-01 -3.51163159e-03 -3.80610691e-02] [ 4.94128953e-03 3.45490850e-03 9.99981823e-01 3.14602346e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6859199999999999 meters Centerline goodness : 0.117331 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.06, Z:-0.05 [[ 0.99996376 -0.00685602 0.00504774 0.17360696] [ 0.00680944 0.9999346 0.00918837 -0.06041143] [-0.0051104 -0.00915367 0.99994505 -0.04881856] [ 0. 0. 0. 1. ]] SLAMing on 0.7459199999999999 meters Centerline goodness : 0.107936 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.06, Z:-0.04 [[ 9.99985076e-01 -4.18567370e-04 5.44720947e-03 1.91169840e-01] [ 3.82272030e-04 9.99977733e-01 6.66244328e-03 -5.67960226e-02] [-5.44987686e-03 -6.66026154e-03 9.99962969e-01 -4.12119862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80592 meters Centerline goodness : 0.121987 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.06, Z:-0.05 [[ 9.99988564e-01 -6.39573884e-04 4.73939442e-03 2.01091989e-01] [ 6.08704311e-04 9.99978612e-01 6.51198255e-03 -5.70512469e-02] [-4.74345794e-03 -6.50902320e-03 9.99967566e-01 -5.30922501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86592 meters Centerline goodness : 0.108523 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:-0.05 [[ 0.99993773 -0.0018542 0.01100463 0.23708348] [ 0.00177841 0.99997466 0.00689315 -0.05921142] [-0.01101713 -0.00687315 0.99991569 -0.04874166] [ 0. 0. 0. 1. ]] SLAMing on 0.9259199999999999 meters Centerline goodness : 0.107798 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.06, Z:-0.05 [[ 0.99994291 -0.00297951 0.01026126 0.24350559] [ 0.00292297 0.99998049 0.00552029 -0.05679632] [-0.01027751 -0.00548998 0.99993211 -0.05486125] [ 0. 0. 0. 1. ]] SLAMing on 0.9859199999999999 meters Centerline goodness : 0.125983 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.07 [[ 0.99996135 -0.00165815 0.00863398 0.26081935] [ 0.00159481 0.99997181 0.00733697 -0.05945834] [-0.0086459 -0.00732291 0.99993581 -0.07282047] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters Centerline goodness : 0.786077 with order 2 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.07 [[ 0.99995349 0.00544968 0.00795784 0.28233877] [-0.00549792 0.99996656 0.00605338 -0.0593749 ] [-0.00792459 -0.00609685 0.99995001 -0.06863269] [ 0. 0. 0. 1. ]] SLAMing on 1.10592 meters Centerline goodness : 0.772954 with order 2 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.06, Z:-0.08 [[ 0.99996185 0.00546667 0.00681333 0.29548237] [-0.0055115 0.99996317 0.00657824 -0.06231768] [-0.00677712 -0.00661554 0.99995515 -0.08148251] [ 0. 0. 0. 1. ]] SLAMing on 1.1659199999999998 meters Centerline goodness : 0.098285 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:-0.10 [[ 0.99997982 0.00447691 0.00450773 0.31760826] [-0.0045059 0.9999691 0.00644171 -0.06603981] [-0.00447875 -0.00646189 0.99996909 -0.10312308] [ 0. 0. 0. 1. ]] SLAMing on 1.22592 meters Centerline goodness : 0.041414 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.11 [[ 0.99997453 0.00219753 0.00679104 0.36435963] [-0.00223424 0.99998291 0.00540188 -0.06629583] [-0.00677906 -0.00541692 0.99996235 -0.10701033] [ 0. 0. 0. 1. ]] SLAMing on 1.28592 meters SLAMing on 1.3459199999999998 meters Centerline goodness : 0.113146 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.14 [[ 9.99987864e-01 3.36005913e-04 4.91511914e-03 3.96034957e-01] [-3.63354162e-04 9.99984453e-01 5.56427260e-03 -7.76265458e-02] [-4.91317310e-03 -5.56599100e-03 9.99972440e-01 -1.36514370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters Centerline goodness : 0.129547 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.16 [[ 0.99999024 0.00100271 0.0043026 0.41944642] [-0.00103262 0.99997528 0.00695472 -0.08489079] [-0.00429552 -0.00695909 0.99996656 -0.15685326] [ 0. 0. 0. 1. ]] SLAMing on 1.46592 meters Centerline goodness : 0.125298 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.09, Z:-0.17 [[ 0.99999292 0.00261097 0.00271036 0.43524035] [-0.00263422 0.99995946 0.00861018 -0.08870995] [-0.00268777 -0.00861726 0.99995926 -0.17214845] [ 0. 0. 0. 1. ]] SLAMing on 1.52592 meters Centerline goodness : 0.124715 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.17 [[ 9.99928102e-01 1.19557046e-02 9.22721431e-04 4.63033334e-01] [-1.19633915e-02 9.99889439e-01 8.83104117e-03 -8.75080214e-02] [-8.17038094e-04 -8.84144512e-03 9.99960580e-01 -1.73679926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58592 meters Centerline goodness : 0.141280 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.00, Z:-0.26 [[ 0.99911765 -0.02935717 -0.03003458 0.72561099] [ 0.028435 0.99912461 -0.03068336 0.00288091] [ 0.03090906 0.02980226 0.9990778 -0.25934439] [ 0. 0. 0. 1. ]] SLAMing on 1.6459199999999998 meters Centerline goodness : 0.137065 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.27 [[ 0.99963144 -0.01912099 -0.01927097 0.73187361] [ 0.01865704 0.99953847 -0.02397403 0.00753294] [ 0.01972048 0.02360566 0.99952683 -0.26936943] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters Centerline goodness : 0.161620 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.01, Z:-0.28 [[ 0.99984387 -0.01526475 -0.00890026 0.73443849] [ 0.01507634 0.99966862 -0.02086533 0.01172712] [ 0.00921582 0.02072789 0.99974268 -0.278331 ] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters Centerline goodness : 0.176219 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.29 [[ 0.9998751 -0.01207046 -0.01020202 0.7459979 ] [ 0.01189472 0.99978279 -0.01711381 0.01127039] [ 0.01040638 0.01699032 0.9998015 -0.28804623] [ 0. 0. 0. 1. ]] SLAMing on 1.8259199999999998 meters Centerline goodness : 0.153039 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.29 [[ 0.9998209 -0.0185808 -0.00359476 0.76690898] [ 0.01852765 0.9997262 -0.01429172 0.01180917] [ 0.00385933 0.01422256 0.99989141 -0.29191659] [ 0. 0. 0. 1. ]] SLAMing on 1.8859199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 2.00592 meters SLAMing on 2.06592 meters Centerline goodness : 0.124016 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.26 [[ 0.99887172 -0.04191924 0.02231721 0.84460459] [ 0.04212064 0.99907524 -0.0086318 -0.04230228] [-0.02193473 0.00956207 0.99971368 -0.26360743] [ 0. 0. 0. 1. ]] SLAMing on 2.1259200000000003 meters Centerline goodness : 0.191486 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99913646 -0.03416898 0.02363923 0.87418949] [ 0.03435087 0.99938294 -0.00733157 -0.05428859] [-0.02337413 0.00813727 0.99969367 -0.27308306] [ 0. 0. 0. 1. ]] SLAMing on 2.1859200000000003 meters Centerline goodness : 0.519289 with order 2 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:-0.27 [[ 0.99943563 -0.01741817 0.0287234 0.9148797 ] [ 0.01764071 0.99981617 -0.0075125 -0.05824649] [-0.02858726 0.00801496 0.99955917 -0.27299335] [ 0. 0. 0. 1. ]] SLAMing on 2.24592 meters Centerline goodness : 0.154755 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:-0.28 [[ 0.99937922 -0.00650344 0.03462489 0.9404176 ] [ 0.00662361 0.99997243 -0.00335714 -0.06807669] [-0.0346021 0.0035844 0.99939474 -0.28273798] [ 0. 0. 0. 1. ]] SLAMing on 2.30592 meters Centerline goodness : 0.120093 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.29 [[ 0.99932803 -0.00285606 0.03654206 0.94979993] [ 0.00280625 0.99999506 0.00141429 -0.07289883] [-0.03654592 -0.0013108 0.99933112 -0.29486632] [ 0. 0. 0. 1. ]] SLAMing on 2.36592 meters Centerline goodness : 0.120073 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.31 [[ 9.99376149e-01 -1.06991503e-03 3.53011079e-02 9.64674687e-01] [ 9.60102877e-04 9.99994648e-01 3.12753323e-03 -7.14963719e-02] [-3.53042652e-02 -3.09168942e-03 9.99371828e-01 -3.10098609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42592 meters Centerline goodness : 0.113364 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:-0.33 [[ 0.99938038 0.00130581 0.03517308 0.98153772] [-0.00148043 0.99998671 0.00493922 -0.06536248] [-0.03516616 -0.00498823 0.99936903 -0.32648217] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters Centerline goodness : 0.113993 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.06, Z:-0.34 [[ 0.99939845 0.00150848 0.03464769 0.99431054] [-0.00164313 0.99999121 0.00385819 -0.05587488] [-0.03464156 -0.0039128 0.99939214 -0.33807802] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters Centerline goodness : 0.128798 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.35 [[ 0.9994135 0.0019402 0.0341891 1.00696797] [-0.00201188 0.99999585 0.00206232 -0.03891844] [-0.03418496 -0.00212989 0.99941325 -0.34852095] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters SLAMing on 2.66592 meters SLAMing on 2.72592 meters SLAMing on 2.78592 meters SLAMing on 2.84592 meters Centerline goodness : 0.128493 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:-0.34 [[ 0.99833181 -0.03123808 0.048557 1.08730969] [ 0.0323227 0.99924157 -0.02171449 -0.06469872] [-0.04784186 0.02324776 0.99858435 -0.33904915] [ 0. 0. 0. 1. ]] SLAMing on 2.90592 meters Centerline goodness : 0.132032 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.30 [[ 0.9963268 -0.05073904 0.06898153 1.02660132] [ 0.05215866 0.99845927 -0.01893561 -0.10658501] [-0.06791447 0.02246404 0.99743821 -0.30450803] [ 0. 0. 0. 1. ]] SLAMing on 2.96592 meters Centerline goodness : 0.148297 with order 2 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.31 [[ 0.99659507 -0.05429293 0.06205276 1.08898882] [ 0.05541666 0.99832643 -0.01653277 -0.12729147] [-0.0610513 0.01991523 0.99793593 -0.31225438] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters Centerline goodness : 0.166535 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.32 [[ 0.99706579 -0.05105788 0.05703417 1.13375983] [ 0.05188261 0.99856762 -0.01307337 -0.15503781] [-0.05628498 0.01599409 0.99828663 -0.31622281] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters Centerline goodness : 0.140032 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.17, Z:-0.32 [[ 0.99746706 -0.04741388 0.05302249 1.17162876] [ 0.04826692 0.99872297 -0.01492454 -0.17473074] [-0.05224715 0.01744597 0.99848178 -0.32456582] [ 0. 0. 0. 1. ]] SLAMing on 3.1459200000000003 meters Centerline goodness : 0.125413 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:-0.33 [[ 0.99785599 -0.04404122 0.04841282 1.2117049 ] [ 0.04490287 0.99884913 -0.01685651 -0.19731311] [-0.04761472 0.01899424 0.99868516 -0.33117376] [ 0. 0. 0. 1. ]] SLAMing on 3.20592 meters Centerline goodness : 0.132726 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:-0.34 [[ 0.99856179 -0.03438612 0.04113316 1.27080286] [ 0.03538381 0.99909089 -0.02377778 -0.20671999] [-0.04027814 0.02519903 0.9988707 -0.33650527] [ 0. 0. 0. 1. ]] SLAMing on 3.26592 meters Centerline goodness : 0.140924 with order 3 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.23, Z:-0.33 [[ 0.99812979 -0.04018797 0.04606363 1.28044274] [ 0.04086814 0.99906758 -0.01392011 -0.2279975 ] [-0.04546126 0.01577661 0.99884152 -0.33141989] [ 0. 0. 0. 1. ]] SLAMing on 3.32592 meters Centerline goodness : 0.135343 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.23, Z:-0.34 [[ 0.99878432 -0.02760409 0.04084 1.33936505] [ 0.02854829 0.99933418 -0.0227199 -0.22676474] [-0.04018564 0.02385819 0.99890735 -0.33778598] [ 0. 0. 0. 1. ]] SLAMing on 3.38592 meters Centerline goodness : 0.137904 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.24, Z:-0.34 [[ 0.99894496 -0.0243941 0.03890871 1.37049909] [ 0.02557067 0.99922175 -0.03003382 -0.23514359] [-0.03814579 0.03099705 0.99879131 -0.33756053] [ 0. 0. 0. 1. ]] SLAMing on 3.44592 meters Centerline goodness : 0.141261 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.24, Z:-0.34 [[ 0.99907778 -0.02220584 0.03674891 1.39873342] [ 0.02357748 0.9990251 -0.03732214 -0.24345517] [-0.03588432 0.03815417 0.99862735 -0.33826236] [ 0. 0. 0. 1. ]] SLAMing on 3.50592 meters Centerline goodness : 0.150221 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.26, Z:-0.35 [[ 0.9991311 -0.03102505 0.02782966 1.46322786] [ 0.03169213 0.99921289 -0.02385822 -0.2595052 ] [-0.02706755 0.02471947 0.99932792 -0.34615208] [ 0. 0. 0. 1. ]] SLAMing on 3.56592 meters Centerline goodness : 0.139774 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.28, Z:-0.34 [[ 0.99910443 -0.03127483 0.02849965 1.50692059] [ 0.03185394 0.99929045 -0.02009784 -0.28368825] [-0.02785087 0.02098767 0.99939174 -0.33985147] [ 0. 0. 0. 1. ]] SLAMing on 3.62592 meters Centerline goodness : 0.137777 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.28, Z:-0.34 [[ 0.99896556 -0.02547039 0.03767057 1.50234744] [ 0.0265993 0.9992026 -0.02977655 -0.28323901] [-0.03688211 0.03074776 0.99884648 -0.34104272] [ 0. 0. 0. 1. ]] SLAMing on 3.68592 meters Centerline goodness : 0.138013 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.31, Z:-0.34 [[ 0.99898868 -0.03227154 0.03130759 1.55908142] [ 0.03269351 0.99938008 -0.01306131 -0.30543771] [-0.03086667 0.01407166 0.99942445 -0.34147714] [ 0. 0. 0. 1. ]] SLAMing on 3.74592 meters Centerline goodness : 0.139216 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.30, Z:-0.34 [[ 0.99914325 -0.02717246 0.03121581 1.58165079] [ 0.02782731 0.99939759 -0.02073874 -0.30281272] [-0.03063348 0.02158962 0.99929749 -0.33640565] [ 0. 0. 0. 1. ]] SLAMing on 3.80592 meters Centerline goodness : 0.165961 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.30, Z:-0.33 [[ 0.99929436 -0.02088809 0.03121636 1.60492784] [ 0.0217194 0.99941196 -0.02653309 -0.30223303] [-0.03064378 0.02719237 0.99916041 -0.33248116] [ 0. 0. 0. 1. ]] SLAMing on 3.86592 meters Centerline goodness : 0.174534 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.31, Z:-0.34 [[ 0.99936925 -0.01960973 0.02960686 1.63383032] [ 0.02004854 0.99969243 -0.01459788 -0.30988511] [-0.0293115 0.01518225 0.99945502 -0.33678228] [ 0. 0. 0. 1. ]] SLAMing on 3.92592 meters Centerline goodness : 0.169188 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.32, Z:-0.34 [[ 0.99937905 -0.02135399 0.02802716 1.66044403] [ 0.02151919 0.99975272 -0.00560583 -0.31748521] [-0.02790052 0.00620547 0.99959144 -0.3385252 ] [ 0. 0. 0. 1. ]] SLAMing on 3.98592 meters Centerline goodness : 0.974994 with order 1 Centerline is valid? [False, True] Translation: X:1.70, Y:-0.32, Z:-0.34 [[ 0.99940182 -0.01791803 0.02957953 1.69958957] [ 0.01804806 0.99982857 -0.00413448 -0.3157573 ] [-0.02950038 0.00466586 0.99955388 -0.33621692] [ 0. 0. 0. 1. ]] SLAMing on 4.04592 meters Centerline goodness : 0.983986 with order 1 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.32, Z:-0.35 [[ 0.99943034 -0.01802272 0.02853362 1.7609705 ] [ 0.01792216 0.99983225 0.00377601 -0.32038605] [-0.02859688 -0.00326247 0.9995857 -0.3545366 ] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters Centerline goodness : 0.914114 with order 1 Centerline is valid? [True, False] Translation: X:1.80, Y:-0.32, Z:-0.35 [[ 0.99945691 -0.01474569 0.02946937 1.80102265] [ 0.01460153 0.99988038 0.00510126 -0.31902685] [-0.02954107 -0.00466819 0.99955267 -0.35199385] [ 0. 0. 0. 1. ]] SLAMing on 4.16592 meters Centerline goodness : 0.975274 with order 1 Centerline is valid? [False, True] Translation: X:1.84, Y:-0.31, Z:-0.35 [[ 0.99948223 -0.01286193 0.02949318 1.84315152] [ 0.01274038 0.99990957 0.0043055 -0.31437562] [-0.02954589 -0.00392751 0.99955571 -0.35120233] [ 0. 0. 0. 1. ]] SLAMing on 4.22592 meters Centerline goodness : 0.976462 with order 1 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.31, Z:-0.35 [[ 0.99933609 -0.02133946 0.02952964 1.90295066] [ 0.0212293 0.99976647 0.00403894 -0.30753186] [-0.02960893 -0.00340936 0.99955575 -0.35154696] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters Centerline goodness : 0.850614 with order 1 Centerline is valid? [True, False] Translation: X:1.95, Y:-0.30, Z:-0.35 [[ 9.99258164e-01 -2.44309858e-02 2.97699416e-02 1.94692527e+00] [ 2.44851160e-02 9.99699136e-01 -1.45504882e-03 -3.03121231e-01] [-2.97254366e-02 2.18288988e-03 9.99555718e-01 -3.51497450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3459200000000004 meters Centerline goodness : 0.620147 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.30, Z:-0.35 [[ 0.99923133 -0.02534112 0.02990942 1.98870903] [ 0.02548182 0.9996659 -0.00433208 -0.30138143] [-0.02978964 0.0050909 0.99954323 -0.34968962] [ 0. 0. 0. 1. ]] SLAMing on 4.40592 meters Centerline goodness : 0.993818 with order 1 Centerline is valid? [False, True] Translation: X:2.03, Y:-0.30, Z:-0.35 [[ 0.9992881 -0.02309126 0.02983442 2.03086287] [ 0.02320006 0.99972538 -0.00330583 -0.30347989] [-0.02974989 0.00399563 0.99954939 -0.34818281] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters Centerline goodness : 0.996777 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.32, Z:-0.34 [[ 0.99927466 -0.02462333 0.029049 2.09401264] [ 0.0245347 0.99969319 0.0034035 -0.31648368] [-0.02912389 -0.00268833 0.99957219 -0.34052711] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters Centerline goodness : 0.997347 with order 1 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.32, Z:-0.34 [[ 0.99917742 -0.02829556 0.02904913 2.15569627] [ 0.02820851 0.99959627 0.00340232 -0.32073041] [-0.02913368 -0.00258009 0.99957219 -0.34386914] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.33, Z:-0.35 [[ 0.99884389 -0.03830097 0.02905028 2.2190831 ] [ 0.0382184 0.99926365 0.00339249 -0.3339098 ] [-0.02915883 -0.00227831 0.99957219 -0.34722221] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.33, Z:-0.34 [[ 0.99920475 -0.02731171 0.02905046 2.28114713] [ 0.02722457 0.99962359 0.00339095 -0.32888015] [-0.02913214 -0.00259737 0.99957219 -0.34189784] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.33, Z:-0.35 [[ 0.99929113 -0.02394346 0.02905083 2.34265279] [ 0.023855 0.99970969 0.00338781 -0.33428222] [-0.02912351 -0.0026924 0.99957219 -0.34982938] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.34, Z:-0.36 [[ 0.99956841 -0.00435524 0.02905199 2.40557306] [ 0.00425888 0.99998523 0.00337781 -0.3436345 ] [-0.02906627 -0.00325262 0.99957219 -0.35741847] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.36, Z:-0.35 [[ 0.9994304 -0.01717074 0.02905226 2.46856862] [ 0.0170798 0.99984843 0.00337552 -0.35585953] [-0.02910581 -0.00287739 0.99957219 -0.34762787] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.35, Z:-0.35 [[ 0.99954899 -0.00760108 0.0290523 2.53119858] [ 0.00750615 0.99996613 0.00337515 -0.35029545] [-0.02907697 -0.00315556 0.99957219 -0.34789764] [ 0. 0. 0. 1. ]] SLAMing on 4.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.34, Z:-0.35 [[ 0.99955952 0.00605386 0.02905368 2.593026 ] [-0.00615414 0.99997541 0.0033632 -0.34004345] [-0.02903261 -0.00354052 0.99957219 -0.34871005] [ 0. 0. 0. 1. ]] SLAMing on 5.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.32, Z:-0.35 [[ 0.99890551 0.03665488 0.02905504 2.65361035] [-0.0367675 0.99931823 0.00335142 -0.3249054 ] [-0.02891239 -0.00441603 0.99957219 -0.34568963] [ 0. 0. 0. 1. ]] SLAMing on 5.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.31, Z:-0.35 [[ 0.99766819 0.06175693 0.02905624 2.71549816] [-0.0618796 0.99807803 0.003341 -0.31060861] [-0.02879406 -0.0051312 0.99957219 -0.35271936] [ 0. 0. 0. 1. ]] SLAMing on 5.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.29, Z:-0.35 [[ 0.99849271 0.04656168 0.02905713 2.77593246] [-0.04667789 0.99890443 0.00333328 -0.29412125] [-0.02887009 -0.00468458 0.99957219 -0.35132537] [ 0. 0. 0. 1. ]] SLAMing on 5.18592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.28, Z:-0.35 [[ 0.99920042 0.02746141 0.02905828 2.8368286 ] [-0.02756943 0.99961437 0.0033232 -0.27872241] [-0.02895581 -0.00412166 0.99957219 -0.3530102 ] [ 0. 0. 0. 1. ]] SLAMing on 5.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.27, Z:-0.35 [[ 0.99925003 0.02559142 0.02905939 2.89855979] [-0.02569838 0.99966425 0.00331343 -0.26834151] [-0.02896484 -0.00405773 0.99957219 -0.35456698] [ 0. 0. 0. 1. ]] SLAMing on 5.3059199999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.26, Z:-0.35 [[ 0.99876447 0.04031154 0.02906065 2.96021209] [-0.04042428 0.99917715 0.00330233 -0.26359995] [-0.02890362 -0.00447301 0.99957219 -0.35351219] [ 0. 0. 0. 1. ]] SLAMing on 5.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.25, Z:-0.36 [[ 0.99928521 0.02417599 0.02906178 3.02117511] [-0.02428177 0.99969973 0.00329242 -0.25059695] [-0.02897345 -0.00399574 0.9995722 -0.36160177] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.24, Z:-0.36 [[ 0.99932372 0.02252758 0.02906209 3.08277224] [-0.0226326 0.99973844 0.00328963 -0.23938384] [-0.02898038 -0.00394516 0.9995722 -0.36225953] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.23, Z:-0.36 [[ 0.99946926 0.01471468 0.02906336 3.14361886] [-0.01481613 0.99988486 0.00327844 -0.22527015] [-0.02901177 -0.0037073 0.9995722 -0.36068864] [ 0. 0. 0. 1. ]] SLAMing on 5.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.22, Z:-0.37 [[ 0.99957235 0.00322721 0.02906376 3.20565034] [-0.00332378 0.99998911 0.00327482 -0.22205141] [-0.02905288 -0.00337002 0.9995722 -0.37028375] [ 0. 0. 0. 1. ]] SLAMing on 5.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.22, Z:-0.37 [[ 9.99571877e-01 -3.36058009e-03 2.90649242e-02 3.26844196e+00] [ 3.26706113e-03 9.99989335e-01 3.26447866e-03 -2.20300618e-01] [-2.90755847e-02 -3.16812417e-03 9.99572195e-01 -3.71174309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.22, Z:-0.36 [[ 9.99532092e-01 9.52629758e-03 2.90662302e-02 3.33043028e+00] [-9.62485634e-03 9.99948389e-01 3.25280833e-03 -2.15675801e-01] [-2.90337429e-02 -3.53104461e-03 9.99572195e-01 -3.60651404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.21, Z:-0.37 [[ 9.99529362e-01 9.80785506e-03 2.90664812e-02 3.39144913e+00] [-9.90646678e-03 9.99945646e-01 3.25056412e-03 -2.11503620e-01] [-2.90330203e-02 -3.53698041e-03 9.99572195e-01 -3.72689647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.20, Z:-0.37 [[ 9.98572540e-01 4.48102726e-02 2.90675310e-02 3.45271066e+00] [-4.49231368e-02 9.98985188e-01 3.24114888e-03 -1.97483835e-01] [-2.88927962e-02 -4.54232695e-03 9.99572195e-01 -3.66152432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.18, Z:-0.37 [[ 9.99121729e-01 3.01791878e-02 2.90686594e-02 3.51280901e+00] [-3.02857063e-02 9.99536061e-01 3.23099721e-03 -1.78840314e-01] [-2.89576644e-02 -4.10852440e-03 9.99572195e-01 -3.67618088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.16, Z:-0.38 [[ 9.99042610e-01 3.26926953e-02 2.90697663e-02 3.57390150e+00] [-3.27999712e-02 9.99456746e-01 3.22100697e-03 -1.59098878e-01] [-2.89486707e-02 -4.17141071e-03 9.99572195e-01 -3.75546109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.13, Z:-0.37 [[ 9.98911569e-01 3.64767658e-02 2.90709895e-02 3.63463929e+00] [-3.65852942e-02 9.99325379e-01 3.20992915e-03 -1.33676980e-01] [-2.89342898e-02 -4.27000607e-03 9.99572195e-01 -3.71376235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.11, Z:-0.37 [[ 9.98065341e-01 5.49579754e-02 2.90722421e-02 3.69422064e+00] [-5.50738212e-02 9.98477162e-01 3.19854403e-03 -1.11172903e-01] [-2.88521843e-02 -4.79347540e-03 9.99572196e-01 -3.73028064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.09, Z:-0.38 [[ 9.99165580e-01 2.86860028e-02 2.90733129e-02 3.75412331e+00] [-2.87906974e-02 9.99580376e-01 3.18878129e-03 -8.84067198e-02] [-2.89696397e-02 -4.02316146e-03 9.99572196e-01 -3.81260804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.07, Z:-0.37 [[ 9.99355290e-01 2.10637947e-02 2.90743860e-02 3.81486736e+00] [-2.11650416e-02 9.99770941e-01 3.17896723e-03 -6.55025128e-02] [-2.90007651e-02 -3.79227831e-03 9.99572196e-01 -3.73641494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.06, Z:-0.39 [[ 9.99569141e-01 4.02139740e-03 2.90750962e-02 3.87632039e+00] [-4.11535576e-03 9.99986500e-01 3.17245780e-03 -5.60331118e-02] [-2.90619460e-02 -3.29074528e-03 9.99572196e-01 -3.85836517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.05, Z:-0.38 [[ 9.99400478e-01 -1.87948859e-02 2.90764021e-02 3.93860821e+00] [ 1.87108250e-02 9.99819942e-01 3.16044333e-03 -4.86921564e-02] [-2.91305669e-02 -2.61450510e-03 9.99572196e-01 -3.81985257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.06, Z:-0.39 [[ 9.98385235e-01 -4.88002051e-02 2.90768240e-02 4.00150486e+00] [ 4.87288921e-02 9.98807054e-01 3.15655740e-03 -5.95692288e-02] [-2.91961776e-02 -1.73457889e-03 9.99572196e-01 -3.94915026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.07, Z:-0.39 [[ 9.98409971e-01 -4.82912302e-02 2.90772623e-02 4.06485319e+00] [ 4.82198195e-02 9.98831773e-01 3.15251463e-03 -6.55596873e-02] [-2.91955323e-02 -1.74540170e-03 9.99572196e-01 -3.87342297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.07, Z:-0.40 [[ 9.98082021e-01 -5.46508787e-02 2.90785247e-02 4.12763840e+00] [ 5.45824962e-02 9.98504325e-01 3.14082693e-03 -6.99359636e-02] [-2.92066816e-02 -1.54762442e-03 9.99572196e-01 -4.00649448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.07, Z:-0.40 [[ 9.98030616e-01 -5.55810694e-02 2.90797866e-02 4.19135665e+00] [ 5.55134212e-02 9.98453038e-01 3.12910023e-03 -7.21545163e-02] [-2.92087200e-02 -1.50861939e-03 9.99572196e-01 -4.01719823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.07, Z:-0.40 [[ 9.98050729e-01 -5.52179653e-02 2.90812421e-02 4.25496863e+00] [ 5.51505583e-02 9.98473189e-01 3.11551371e-03 -7.37165690e-02] [-2.92088729e-02 -1.50559399e-03 9.99572196e-01 -4.02596903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.62592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.09, Z:-0.41 [[ 9.98176485e-01 -5.28952106e-02 2.90826742e-02 4.31820914e+00] [ 5.28272107e-02 9.98598850e-01 3.10208715e-03 -8.57711572e-02] [-2.92060106e-02 -1.56007389e-03 9.99572196e-01 -4.05311526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.09, Z:-0.41 [[ 9.98205272e-01 -5.23484450e-02 2.90839338e-02 4.38140343e+00] [ 5.22805581e-02 9.98627655e-01 3.09023273e-03 -8.97012006e-02] [-2.92057895e-02 -1.56416231e-03 9.99572196e-01 -4.08051238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.10, Z:-0.41 [[ 9.98239667e-01 -5.16876125e-02 2.90853512e-02 4.44520502e+00] [ 5.16198353e-02 9.98662068e-01 3.07683446e-03 -9.53790721e-02] [-2.92054712e-02 -1.57003717e-03 9.99572196e-01 -4.10018197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8059199999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.10, Z:-0.41 [[ 9.98356395e-01 -4.93808488e-02 2.90867680e-02 4.50795491e+00] [ 4.93124864e-02 9.98778701e-01 3.06338179e-03 -1.02414223e-01] [-2.92025167e-02 -1.62400595e-03 9.99572196e-01 -4.12056251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.11, Z:-0.41 [[ 9.98527209e-01 -4.57963088e-02 2.90879932e-02 4.57158077e+00] [ 4.57267698e-02 9.98949323e-01 3.05170316e-03 -1.06333870e-01] [-2.91971879e-02 -1.71710867e-03 9.99572196e-01 -4.14077332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.92592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.11, Z:-0.42 [[ 9.98597569e-01 -4.42346280e-02 2.90893801e-02 4.63549377e+00] [ 4.41648143e-02 9.99019638e-01 3.03842515e-03 -1.10912242e-01] [-2.91952656e-02 -1.74943690e-03 9.99572196e-01 -4.15911022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.12, Z:-0.41 [[ 9.98649439e-01 -4.30467823e-02 2.90907803e-02 4.69881650e+00] [ 4.29768573e-02 9.99071489e-01 3.02495976e-03 -1.19691770e-01] [-2.91939840e-02 -1.77064405e-03 9.99572197e-01 -4.05590348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.13, Z:-0.42 [[ 9.98267039e-01 -5.11524773e-02 2.90919694e-02 4.76202782e+00] [ 5.10863145e-02 9.98689695e-01 3.01348066e-03 -1.27079130e-01] [-2.92079970e-02 -1.52205691e-03 9.99572197e-01 -4.19755437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.13, Z:-0.41 [[ 9.98510918e-01 -4.61467827e-02 2.90933252e-02 4.82543918e+00] [ 4.60788834e-02 9.98933298e-01 3.00033358e-03 -1.31539541e-01] [-2.92007470e-02 -1.65527790e-03 9.99572197e-01 -4.11255219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.16592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.13, Z:-0.41 [[ 9.98671541e-01 -4.25283689e-02 2.90945118e-02 4.88902232e+00] [ 4.24592749e-02 9.99093728e-01 2.98878301e-03 -1.31728520e-01] [-2.91952523e-02 -1.74948066e-03 9.99572197e-01 -4.13916066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2259199999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.13, Z:-0.43 [[ 9.98609892e-01 -4.39512900e-02 2.90958483e-02 4.95208282e+00] [ 4.38831771e-02 9.99032238e-01 2.97571420e-03 -1.34744326e-01] [-2.91984770e-02 -1.69475937e-03 9.99572197e-01 -4.25633598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.13, Z:-0.42 [[ 9.98954447e-01 -3.52614074e-02 2.90971668e-02 5.01350538e+00] [ 3.51899979e-02 9.99376248e-01 2.96276598e-03 -1.25376152e-01] [-2.91834887e-02 -1.93573902e-03 9.99572197e-01 -4.17177579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.12, Z:-0.43 [[ 9.98998596e-01 -3.39866784e-02 2.90983117e-02 5.07465114e+00] [ 3.39150580e-02 9.99420361e-01 2.95147873e-03 -1.15771793e-01] [-2.91817561e-02 -1.96165218e-03 9.99572197e-01 -4.29528235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.11, Z:-0.43 [[ 9.98988812e-01 -3.42720941e-02 2.90994418e-02 5.13735250e+00] [ 3.42009186e-02 9.99410652e-01 2.94029355e-03 -1.07809490e-01] [-2.91830622e-02 -1.94209272e-03 9.99572197e-01 -4.30372892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.10, Z:-0.43 [[ 9.98887995e-01 -3.70934271e-02 2.91007132e-02 5.19994241e+00] [ 3.70238100e-02 9.99310095e-01 2.92765603e-03 -1.00384789e-01] [-2.91892333e-02 -1.84698118e-03 9.99572197e-01 -4.30685524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.09, Z:-0.43 [[ 9.98998953e-01 -3.39730324e-02 2.91019856e-02 5.26121645e+00] [ 3.39024655e-02 9.99420895e-01 2.91495341e-03 -9.19383967e-02] [-2.91841623e-02 -1.92540634e-03 9.99572197e-01 -4.33901751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.09, Z:-0.43 [[ 9.99299743e-01 -2.35166785e-02 2.91031005e-02 5.32341221e+00] [ 2.34420234e-02 9.99720981e-01 2.90377861e-03 -8.60998425e-02] [-2.91632675e-02 -2.21950965e-03 9.99572197e-01 -4.34313576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.08, Z:-0.44 [[ 9.99413840e-01 -1.80253513e-02 2.91043594e-02 5.38532151e+00] [ 1.79487493e-02 9.99834728e-01 2.89110603e-03 -7.73876325e-02] [-2.91516625e-02 -2.36702453e-03 9.99572197e-01 -4.38523877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.07, Z:-0.43 [[ 9.99560817e-01 -5.57107463e-03 2.91055987e-02 5.44770056e+00] [ 5.48959589e-03 9.99980789e-01 2.87857503e-03 -6.56412096e-02] [-2.91210763e-02 -2.71753283e-03 9.99572197e-01 -4.32681553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7659199999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.05, Z:-0.44 [[ 9.99567068e-01 4.29775423e-03 2.91068161e-02 5.50957283e+00] [-4.38301915e-03 9.99986287e-01 2.86621204e-03 -5.38183295e-02] [-2.90940987e-02 -2.99254690e-03 9.99572198e-01 -4.40365946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.04, Z:-0.44 [[ 9.99301656e-01 2.34291251e-02 2.91080245e-02 5.57122619e+00] [-2.35220448e-02 9.99719245e-01 2.85388724e-03 -4.05583916e-02] [-2.90329882e-02 -3.53657450e-03 9.99572198e-01 -4.39369639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.02, Z:-0.44 [[ 9.98707540e-01 4.16641956e-02 2.91091842e-02 5.63203960e+00] [-4.17643821e-02 9.99123446e-01 2.84200924e-03 -1.59226193e-02] [-2.89652584e-02 -4.05406315e-03 9.99572198e-01 -4.38304254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.69, Y:0.00, Z:-0.44 [[ 9.97006008e-01 7.16352648e-02 2.91102808e-02 5.69265488e+00] [-7.17475753e-02 9.97418805e-01 2.83073184e-03 4.77531773e-03] [-2.88323613e-02 -4.91084872e-03 9.99572198e-01 -4.36189677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:0.02, Z:-0.44 [[ 9.97268429e-01 6.78838360e-02 2.91112499e-02 5.75424898e+00] [-6.79943086e-02 9.97681722e-01 2.82073046e-03 2.18173960e-02] [-2.88522799e-02 -4.79242474e-03 9.99572198e-01 -4.39967797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:0.05, Z:-0.45 [[ 9.98528209e-01 4.57590288e-02 2.91123183e-02 5.81495727e+00] [-4.58599960e-02 9.98943926e-01 2.80966070e-03 4.98348107e-02] [-2.89530062e-02 -4.14061626e-03 9.99572198e-01 -4.46588780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.88, Y:0.06, Z:-0.44 [[ 9.97758873e-01 6.02465099e-02 2.91133824e-02 5.87590753e+00] [-6.03531848e-02 9.98173162e-01 2.79859053e-03 6.16464561e-02] [-2.88915917e-02 -4.54940389e-03 9.99572198e-01 -4.40224612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.94, Y:0.08, Z:-0.45 [[ 9.98828607e-01 3.86493199e-02 2.91143246e-02 5.93596737e+00] [-3.87467267e-02 9.99245172e-01 2.78875399e-03 7.84074482e-02] [-2.89845649e-02 -3.91357205e-03 9.99572198e-01 -4.49273563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.00, Y:0.10, Z:-0.45 [[ 9.99043049e-01 3.26387472e-02 2.91152550e-02 5.99638684e+00] [-3.27333664e-02 9.99460256e-01 2.77900696e-03 9.56109567e-02] [-2.90088369e-02 -3.72938789e-03 9.99572198e-01 -4.50741910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305919999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:0.11, Z:-0.44 [[ 9.99034794e-01 3.28896231e-02 2.91161900e-02 6.05755788e+00] [-3.29840652e-02 9.99452041e-01 2.76917579e-03 1.12184034e-01] [-2.90091584e-02 -3.72687328e-03 9.99572198e-01 -4.42626073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:0.13, Z:-0.44 [[ 9.99111289e-01 3.04766155e-02 2.91171484e-02 6.11810437e+00] [-3.05697595e-02 9.99528828e-01 2.75906180e-03 1.26962097e-01] [-2.90193423e-02 -3.64671401e-03 9.99572198e-01 -4.44621871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:0.14, Z:-0.46 [[ 9.99355184e-01 2.10083892e-02 2.91181105e-02 6.17980177e+00] [-2.10972797e-02 9.99773649e-01 2.74887022e-03 1.35482536e-01] [-2.90537702e-02 -3.36141063e-03 9.99572198e-01 -4.56240331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:0.15, Z:-0.46 [[ 9.99483229e-01 1.36144910e-02 2.91190743e-02 6.24051171e+00] [-1.36999881e-02 9.99902400e-01 2.73862286e-03 1.50328930e-01] [-2.90789473e-02 -3.13613859e-03 9.99572198e-01 -4.59394863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.30, Y:0.16, Z:-0.46 [[ 9.99554027e-01 6.61858140e-03 2.91194245e-02 6.30224397e+00] [-6.70103506e-03 9.99973808e-01 2.73489402e-03 1.59888121e-01] [-2.91005607e-02 -2.92880462e-03 9.99572198e-01 -4.55888653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:6.36, Y:0.17, Z:-0.47 [[ 9.99547840e-01 -7.49097620e-03 2.91204382e-02 6.36366390e+00] [ 7.41476941e-03 9.99968800e-01 2.72405679e-03 1.65639604e-01] [-2.91399355e-02 -2.50690375e-03 9.99572198e-01 -4.65702140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.43, Y:0.16, Z:-0.47 [[ 9.99432879e-01 -1.69074322e-02 2.91214473e-02 6.42725736e+00] [ 1.68355084e-02 9.99854591e-01 2.71322648e-03 1.64671834e-01] [-2.91630865e-02 -2.22141338e-03 9.99572198e-01 -4.68384291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.49, Y:0.16, Z:-0.47 [[ 9.99315644e-01 -2.28060639e-02 2.91226216e-02 6.49031705e+00] [ 2.27369976e-02 9.99737834e-01 2.70056279e-03 1.61275704e-01] [-2.91765758e-02 -2.03655367e-03 9.99572198e-01 -4.69859177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.55, Y:0.16, Z:-0.47 [[ 9.99331849e-01 -2.20829999e-02 2.91238201e-02 6.55266377e+00] [ 2.20140048e-02 9.99754050e-01 2.68757513e-03 1.59034292e-01] [-2.91760068e-02 -2.04464751e-03 9.99572199e-01 -4.69326590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:0.16, Z:-0.47 [[ 9.99384426e-01 -1.95579106e-02 2.91248638e-02 6.61439959e+00] [ 1.94881782e-02 9.99806506e-01 2.67621742e-03 1.61378011e-01] [-2.91715695e-02 -2.10697948e-03 9.99572199e-01 -4.72646069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:6.68, Y:0.16, Z:-0.47 [[ 9.99464051e-01 -1.49429593e-02 2.91258993e-02 6.67759839e+00] [ 1.48716066e-02 9.99885860e-01 2.66489949e-03 1.60083963e-01] [-2.91623964e-02 -2.23032232e-03 9.99572199e-01 -4.74503202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.74, Y:0.17, Z:-0.48 [[ 9.99497540e-01 -1.25012594e-02 2.91270611e-02 6.73954070e+00] [ 1.24292459e-02 9.99919237e-01 2.65213991e-03 1.67518435e-01] [-2.91578638e-02 -2.28877991e-03 9.99572199e-01 -4.75415648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.80, Y:0.17, Z:-0.47 [[ 9.99572032e-01 -2.71039944e-03 2.91274231e-02 6.80262581e+00] [ 2.63437393e-03 9.99993024e-01 2.64815847e-03 1.74359867e-01] [-2.91343975e-02 -2.57029262e-03 9.99572199e-01 -4.65079236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:0.19, Z:-0.48 [[ 9.99566707e-01 -4.23337363e-03 2.91286159e-02 6.86328293e+00] [ 4.15837103e-03 9.99987882e-01 2.63497221e-03 1.85929253e-01] [-2.91394178e-02 -2.51270290e-03 9.99572199e-01 -4.78754736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:0.20, Z:-0.48 [[ 9.99575514e-01 -5.08146074e-04 2.91296106e-02 6.92505961e+00] [ 4.31893556e-04 9.99996464e-01 2.62392983e-03 1.96336894e-01] [-2.91308409e-02 -2.61023511e-03 9.99572199e-01 -4.79375820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205919999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:0.21, Z:-0.48 [[ 9.99564037e-01 4.81095196e-03 2.91305854e-02 6.98635716e+00] [-4.88912957e-03 9.99984634e-01 2.61306311e-03 2.12282190e-01] [-2.91175664e-02 -2.75434712e-03 9.99572199e-01 -4.78551032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:7.05, Y:0.23, Z:-0.47 [[ 9.99503966e-01 1.19652041e-02 2.91316870e-02 7.04675111e+00] [-1.20460342e-02 9.99924062e-01 2.60072373e-03 2.31647476e-01] [-2.90983566e-02 -2.95035498e-03 9.99572199e-01 -4.70288207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325919999999998 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:0.24, Z:-0.48 [[ 9.99568670e-01 3.70983514e-03 2.91326564e-02 7.10749545e+00] [-3.78687781e-03 9.99989476e-01 2.58981921e-03 2.40814278e-01] [-2.91227420e-02 -2.69902396e-03 9.99572199e-01 -4.82582658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:0.25, Z:-0.49 [[ 9.99573094e-01 -2.20507155e-03 2.91336116e-02 7.16879486e+00] [ 2.13083247e-03 9.99994404e-01 2.57902816e-03 2.54229646e-01] [-2.91391355e-02 -2.51584831e-03 9.99572199e-01 -4.86699198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:0.26, Z:-0.49 [[ 9.99572611e-01 -2.40984659e-03 2.91339581e-02 7.22990736e+00] [ 2.33580723e-03 9.99993956e-01 2.57510813e-03 2.62378876e-01] [-2.91399876e-02 -2.50595625e-03 9.99572199e-01 -4.87284326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.29, Y:0.27, Z:-0.49 [[ 9.99574490e-01 -1.41333657e-03 2.91348759e-02 7.29251497e+00] [ 1.33917879e-03 9.99995814e-01 2.56468226e-03 2.70243278e-01] [-2.91383787e-02 -2.52457416e-03 9.99572199e-01 -4.88423725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:0.28, Z:-0.49 [[ 9.99574858e-01 -1.09470908e-03 2.91359732e-02 7.35426394e+00] [ 1.02077941e-03 9.99996222e-01 2.55215451e-03 2.80566150e-01] [-2.91386570e-02 -2.52132808e-03 9.99572199e-01 -4.90626265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625919999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:7.42, Y:0.30, Z:-0.49 [[ 9.99548587e-01 7.32483330e-03 2.91370783e-02 7.41607179e+00] [-7.40194323e-03 9.99969381e-01 2.53947492e-03 3.01973816e-01] [-2.91175850e-02 -2.75399957e-03 9.99572199e-01 -4.90251123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:0.33, Z:-0.49 [[ 9.99442124e-01 1.63219870e-02 2.91381726e-02 7.47617958e+00] [-1.64025176e-02 9.99862277e-01 2.52685685e-03 3.26069534e-01] [-2.90929163e-02 -3.00338657e-03 9.99572199e-01 -4.92132269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.54, Y:0.35, Z:-0.49 [[ 9.99440074e-01 1.64454352e-02 2.91390974e-02 7.53781899e+00] [-1.65257088e-02 9.99860275e-01 2.51614673e-03 3.47340784e-01] [-2.90936468e-02 -2.99628211e-03 9.99572199e-01 -4.94605952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805919999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:0.37, Z:-0.49 [[ 9.99513590e-01 1.11101640e-02 2.91401415e-02 7.59875908e+00] [-1.11878425e-02 9.99934279e-01 2.50399579e-03 3.68497392e-01] [-2.91104066e-02 -2.82879314e-03 9.99572200e-01 -4.92747434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.66, Y:0.38, Z:-0.50 [[ 9.99569885e-01 3.29313281e-03 2.91410575e-02 7.65962805e+00] [-3.36720932e-03 9.99991223e-01 2.49329060e-03 3.79173794e-01] [-2.91325909e-02 -2.59034224e-03 9.99572200e-01 -4.98196380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:7.72, Y:0.39, Z:-0.50 [[ 9.99565224e-01 -4.48888088e-03 2.91412585e-02 7.72123531e+00] [ 4.41815495e-03 9.99987137e-01 2.49093894e-03 3.93250441e-01] [-2.91520652e-02 -2.36110534e-03 9.99572200e-01 -5.01217165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.78, Y:0.41, Z:-0.50 [[ 9.99514896e-01 -1.09881427e-02 2.91415971e-02 7.78235430e+00] [ 1.09202766e-02 9.99937279e-01 2.48697147e-03 4.10305578e-01] [-2.91670965e-02 -2.16753073e-03 9.99572200e-01 -5.03019421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.84, Y:0.43, Z:-0.50 [[ 9.99470568e-01 -1.44670079e-02 2.91425567e-02 7.84458590e+00] [ 1.44009402e-02 9.99893236e-01 2.47567497e-03 4.27787046e-01] [-2.91752610e-02 -2.05468405e-03 9.99572200e-01 -5.02242999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:0.45, Z:-0.51 [[ 9.99490905e-01 -1.29837220e-02 2.91436734e-02 7.90500921e+00] [ 1.29174105e-02 9.99913535e-01 2.46245855e-03 4.47305512e-01] [-2.91731254e-02 -2.08474414e-03 9.99572200e-01 -5.05312535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.97, Y:0.46, Z:-0.51 [[ 9.99460289e-01 -1.51565162e-02 2.91446482e-02 7.96606874e+00] [ 1.50914600e-02 9.99883114e-01 2.45086713e-03 4.63196422e-01] [-2.91783882e-02 -2.00970908e-03 9.99572200e-01 -5.06124694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.03, Y:0.47, Z:-0.51 [[ 9.99298895e-01 -2.35000382e-02 2.91456180e-02 8.02756730e+00] [ 2.34388509e-02 9.99722297e-01 2.43927949e-03 4.74451199e-01] [-2.91948473e-02 -1.75442951e-03 9.99572200e-01 -5.09702738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.09, Y:0.48, Z:-0.51 [[ 9.99090690e-01 -3.11170017e-02 2.91466088e-02 8.08970411e+00] [ 3.10593899e-02 9.99514593e-01 2.42738183e-03 4.78731131e-01] [-2.92079937e-02 -1.51989869e-03 9.99572200e-01 -5.13126225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.15, Y:0.48, Z:-0.51 [[ 9.98814287e-01 -3.89927762e-02 2.91476160e-02 8.15151697e+00] [ 3.89388623e-02 9.99238676e-01 2.41522672e-03 4.84708005e-01] [-2.92196017e-02 -1.27738794e-03 9.99572200e-01 -5.14539769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.21, Y:0.48, Z:-0.52 [[ 9.98453055e-01 -4.73482314e-02 2.91486262e-02 8.21382303e+00] [ 4.72982274e-02 9.98877922e-01 2.40297354e-03 4.83314496e-01] [-2.92296957e-02 -1.02057792e-03 9.99572200e-01 -5.15568286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.28, Y:0.48, Z:-0.52 [[ 9.98329066e-01 -4.98936212e-02 2.91496506e-02 8.27599854e+00] [ 4.98450649e-02 9.98754101e-01 2.39048129e-03 4.83414368e-01] [-2.92326029e-02 -9.33520725e-04 9.99572200e-01 -5.17830935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.34, Y:0.48, Z:-0.52 [[ 9.98245014e-01 -5.15473578e-02 2.91506899e-02 8.33855843e+00] [ 5.14998774e-02 9.98670170e-01 2.37774046e-03 4.83708553e-01] [-2.92344907e-02 -8.72310599e-04 9.99572200e-01 -5.18813464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.40, Y:0.49, Z:-0.52 [[ 9.98475593e-01 -4.68686121e-02 2.91517281e-02 8.40092339e+00] [ 4.68195130e-02 9.98900566e-01 2.36494320e-03 4.87783993e-01] [-2.92305193e-02 -9.96468355e-04 9.99572200e-01 -5.19889118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:8.46, Y:0.49, Z:-0.52 [[ 9.98855612e-01 -3.79154686e-02 2.91527525e-02 8.46270165e+00] [ 3.78629315e-02 9.99280174e-01 2.35224677e-03 4.94141525e-01] [-2.92209541e-02 -1.24574622e-03 9.99572200e-01 -5.23699480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.52, Y:0.50, Z:-0.51 [[ 9.99209953e-01 -2.70097674e-02 2.91537734e-02 8.52346124e+00] [ 2.69529690e-02 9.99633965e-01 2.33952468e-03 5.04750067e-01] [-2.92062921e-02 -1.55189560e-03 9.99572201e-01 -5.12206856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.58, Y:0.51, Z:-0.53 [[ 9.99254563e-01 -2.53055689e-02 2.91538440e-02 8.58406424e+00] [ 2.52480731e-02 9.99678481e-01 2.33864473e-03 5.11933540e-01] [-2.92036512e-02 -1.60082304e-03 9.99572201e-01 -5.25788291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:0.52, Z:-0.53 [[ 9.99302318e-01 -2.33435522e-02 2.91539866e-02 8.64551075e+00] [ 2.32852759e-02 9.99726130e-01 2.33686585e-03 5.23224554e-01] [-2.92005529e-02 -1.65637684e-03 9.99572201e-01 -5.26728330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:0.53, Z:-0.53 [[ 9.99396500e-01 -1.88845232e-02 2.91549448e-02 8.70807159e+00] [ 1.88247057e-02 9.99820097e-01 2.32484889e-03 5.30338207e-01] [-2.91936034e-02 -1.77461259e-03 9.99572201e-01 -5.29964790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:0.54, Z:-0.53 [[ 9.99426447e-01 -1.72250891e-02 2.91560319e-02 8.77020914e+00] [ 1.71649669e-02 9.99850000e-01 2.31113569e-03 5.37499813e-01] [-2.91914680e-02 -1.80934781e-03 9.99572201e-01 -5.31825033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:0.55, Z:-0.53 [[ 9.99390990e-01 -1.91707994e-02 2.91569714e-02 8.83204509e+00] [ 1.91118482e-02 9.99814708e-01 2.29922061e-03 5.51510450e-01] [-2.91956468e-02 -1.74057675e-03 9.99572201e-01 -5.34022150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.89, Y:0.56, Z:-0.54 [[ 9.99397814e-01 -1.88100518e-02 2.91580440e-02 8.89349838e+00] [ 1.87513455e-02 9.99821566e-01 2.28553719e-03 5.63111953e-01] [-2.91958323e-02 -1.73740831e-03 9.99572201e-01 -5.36522598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:0.58, Z:-0.53 [[ 9.99421290e-01 -1.75168449e-02 2.91589762e-02 8.95500715e+00] [ 1.74579378e-02 9.99845014e-01 2.27358123e-03 5.78338817e-01] [-2.91942830e-02 -1.76320989e-03 9.99572201e-01 -5.31972668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:0.59, Z:-0.54 [[ 9.99206063e-01 -2.71474016e-02 2.91592451e-02 9.01588428e+00] [ 2.70926811e-02 9.99630348e-01 2.27012733e-03 5.86693443e-01] [-2.92100944e-02 -1.47832286e-03 9.99572201e-01 -5.43319583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:0.59, Z:-0.54 [[ 9.98719670e-01 -4.13369959e-02 2.91594525e-02 9.07799309e+00] [ 4.12883852e-02 9.99144698e-01 2.26746026e-03 5.92890413e-01] [-2.92282424e-02 -1.06061045e-03 9.99572201e-01 -5.44513139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.59, Z:-0.55 [[ 9.97956892e-01 -5.68481589e-02 2.91604100e-02 9.14016771e+00] [ 5.68065189e-02 9.98382659e-01 2.25507917e-03 5.92365020e-01] [-2.92414448e-02 -5.93970410e-04 9.99572201e-01 -5.49022155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:9.20, Y:0.58, Z:-0.55 [[ 9.96825113e-01 -7.40898540e-02 2.91613963e-02 9.20374621e+00] [ 7.40559550e-02 9.97251567e-01 2.24225204e-03 5.82354327e-01] [-2.92473763e-02 -7.55580877e-05 9.99572201e-01 -5.49597067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.27, Y:0.57, Z:-0.55 [[ 9.95622574e-01 -8.87990196e-02 2.91620495e-02 9.26743091e+00] [ 8.87716703e-02 9.96049497e-01 2.23372464e-03 5.68159907e-01] [-2.92451973e-02 3.64817168e-04 9.99572201e-01 -5.52218451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.33, Y:0.55, Z:-0.55 [[ 9.95432695e-01 -9.09024931e-02 2.91630848e-02 9.33096040e+00] [ 9.08764442e-02 9.95859700e-01 2.22012441e-03 5.53451774e-01] [-2.92441558e-02 4.40253032e-04 9.99572201e-01 -5.52089029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.39, Y:0.55, Z:-0.55 [[ 9.95867162e-01 -8.60119145e-02 2.91641297e-02 9.39450269e+00] [ 8.59841730e-02 9.96294060e-01 2.20631288e-03 5.46067277e-01] [-2.92458184e-02 3.10459029e-04 9.99572201e-01 -5.53820398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.46, Y:0.53, Z:-0.54 [[ 9.96949568e-01 -7.23943596e-02 2.91653101e-02 9.45698108e+00] [ 7.23612464e-02 9.97376083e-01 2.19059732e-03 5.33139918e-01] [-2.92473696e-02 -7.34768615e-05 9.99572201e-01 -5.42743708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:0.52, Z:-0.56 [[ 9.97501034e-01 -6.43510800e-02 2.91654997e-02 9.51928401e+00] [ 6.43146017e-02 9.97927274e-01 2.18806951e-03 5.23251530e-01] [-2.92458523e-02 -3.06834103e-04 9.99572201e-01 -5.57139399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:0.52, Z:-0.55 [[ 9.98261903e-01 -5.12102263e-02 2.91665151e-02 9.58238589e+00] [ 5.11685360e-02 9.98687665e-01 2.17445047e-03 5.15142489e-01] [-2.92395930e-02 -6.78263190e-04 9.99572202e-01 -5.49759402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:0.51, Z:-0.56 [[ 9.98476798e-01 -4.68335568e-02 2.91667940e-02 9.64414131e+00] [ 4.67901099e-02 9.98902384e-01 2.17070309e-03 5.07076274e-01] [-2.92364418e-02 -8.02679171e-04 9.99572202e-01 -5.62261173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.71, Y:0.50, Z:-0.57 [[ 9.98785685e-01 -3.97044845e-02 2.91669322e-02 9.70730025e+00] [ 3.96580547e-02 9.99210956e-01 2.16884415e-03 4.99576431e-01] [-2.92300311e-02 -1.00950670e-03 9.99572202e-01 -5.65525542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:0.50, Z:-0.56 [[ 9.99135315e-01 -2.96285332e-02 2.91679952e-02 9.76985524e+00] [ 2.95782358e-02 9.99560146e-01 2.15445280e-03 4.97234349e-01] [-2.92189988e-02 -1.28985204e-03 9.99572202e-01 -5.58680370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:0.49, Z:-0.57 [[ 9.99129895e-01 -2.98104831e-02 2.91682577e-02 9.83221845e+00] [ 2.97603668e-02 9.99554748e-01 2.15089320e-03 4.89009860e-01] [-2.92193896e-02 -1.28096365e-03 9.99572202e-01 -5.70112395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:0.49, Z:-0.56 [[ 9.99444129e-01 -1.61442047e-02 2.91684519e-02 9.89458820e+00] [ 1.60883597e-02 9.99868266e-01 2.14825599e-03 4.86533524e-01] [-2.91992913e-02 -1.67778929e-03 9.99572202e-01 -5.61117460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:0.49, Z:-0.57 [[ 9.99449126e-01 -1.58302579e-02 2.91692758e-02 9.95671770e+00] [ 1.57746068e-02 9.99873289e-01 2.13701040e-03 4.89136793e-01] [-2.91994092e-02 -1.67569932e-03 9.99572202e-01 -5.73204586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:0.49, Z:-0.57 [[ 9.99573355e-01 -1.49475875e-03 2.91697465e-02 1.00188381e+01] [ 1.43321723e-03 9.99996703e-01 2.13056610e-03 4.92314475e-01] [-2.91728350e-02 -2.08785052e-03 9.99572202e-01 -5.71921432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:0.50, Z:-0.58 [[ 9.99574445e-01 7.26121421e-05 2.91705844e-02 1.00808117e+01] [-1.34482585e-04 9.99997746e-01 2.11903115e-03 5.02550132e-01] [-2.91703648e-02 -2.12205232e-03 9.99572202e-01 -5.75658389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:0.51, Z:-0.58 [[ 9.99573110e-01 -1.61848003e-03 2.91715422e-02 1.01423673e+01] [ 1.55771110e-03 9.99996570e-01 2.10576287e-03 5.07915622e-01] [-2.91748503e-02 -2.05942311e-03 9.99572202e-01 -5.76880557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:0.51, Z:-0.58 [[ 9.99556338e-01 -6.00833276e-03 2.91723595e-02 1.02043651e+01] [ 5.94975495e-03 9.99980107e-01 2.09437862e-03 5.13718786e-01] [-2.91843629e-02 -1.91988104e-03 9.99572202e-01 -5.78732793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:10.27, Y:0.52, Z:-0.58 [[ 9.99535005e-01 -8.87122193e-03 2.91731805e-02 1.02674110e+01] [ 8.81419241e-03 9.99958985e-01 2.08287977e-03 5.18183567e-01] [-2.91904617e-02 -1.82477322e-03 9.99572202e-01 -5.81435534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.33, Y:0.52, Z:-0.58 [[ 9.99498070e-01 -1.23482352e-02 2.91741211e-02 1.03294737e+01] [ 1.22930665e-02 9.99922296e-01 2.06962085e-03 5.22993240e-01] [-2.91974103e-02 -1.70994263e-03 9.99572202e-01 -5.84521403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:0.52, Z:-0.58 [[ 9.99488007e-01 -1.31357377e-02 2.91749379e-02 1.03921335e+01] [ 1.30812402e-02 9.99912319e-01 2.05804250e-03 5.21930008e-01] [-2.91994137e-02 -1.67534443e-03 9.99572202e-01 -5.84379237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:0.53, Z:-0.59 [[ 9.99482354e-01 -1.35571022e-02 2.91758238e-02 1.04547219e+01] [ 1.35031513e-02 9.99906736e-01 2.04540613e-03 5.25296750e-01] [-2.92008325e-02 -1.65038177e-03 9.99572202e-01 -5.86369078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.52, Y:0.53, Z:-0.59 [[ 9.99515511e-01 -1.08378883e-02 2.91767688e-02 1.05173409e+01] [ 1.07831778e-02 9.99939796e-01 2.03183550e-03 5.27256874e-01] [-2.91970330e-02 -1.71623281e-03 9.99572202e-01 -5.87681634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.58, Y:0.53, Z:-0.59 [[ 9.99538201e-01 -8.48799568e-03 2.91777100e-02 1.05788623e+01] [ 8.43268350e-03 9.99962408e-01 2.01822871e-03 5.30593606e-01] [-2.91937438e-02 -1.77125030e-03 9.99572202e-01 -5.91614451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:10.64, Y:0.53, Z:-0.59 [[ 9.99508670e-01 -1.14469200e-02 2.91785254e-02 1.06411457e+01] [ 1.13932089e-02 9.99933082e-01 2.00637082e-03 5.32827754e-01] [-2.91995396e-02 -1.67294800e-03 9.99572203e-01 -5.92939268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:0.54, Z:-0.60 [[ 9.99371811e-01 -2.01134511e-02 2.91793274e-02 1.07037757e+01] [ 2.00637639e-02 9.99796713e-01 1.99463834e-03 5.35875121e-01] [-2.92135146e-02 -1.40793819e-03 9.99572203e-01 -5.96776232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:0.53, Z:-0.60 [[ 9.99227813e-01 -2.63114068e-02 2.91802477e-02 1.07661153e+01] [ 2.62647511e-02 9.99653059e-01 1.98108259e-03 5.32701278e-01] [-2.92222489e-02 -1.21314088e-03 9.99572203e-01 -6.01285109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.83, Y:0.53, Z:-0.59 [[ 9.99167175e-01 -2.85205563e-02 2.91810539e-02 1.08292164e+01] [ 2.84751893e-02 9.99592560e-01 1.96913545e-03 5.27400679e-01] [-2.92253252e-02 -1.13655947e-03 9.99572203e-01 -5.90767048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:0.52, Z:-0.59 [[ 9.99009759e-01 -3.35850074e-02 2.91812904e-02 1.08927594e+01] [ 3.35418997e-02 9.99435379e-01 1.96562402e-03 5.18908279e-01] [-2.92308295e-02 -9.84881658e-04 9.99572203e-01 -5.92460256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:0.51, Z:-0.61 [[ 9.98927715e-01 -3.59418491e-02 2.91822434e-02 1.09552585e+01] [ 3.59001616e-02 9.99353476e-01 1.95137214e-03 5.13146461e-01] [-2.92335123e-02 -9.01632463e-04 9.99572203e-01 -6.07402599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:11.02, Y:0.50, Z:-0.61 [[ 9.99038149e-01 -3.27280627e-02 2.91830629e-02 1.10179673e+01] [ 3.26853656e-02 9.99463810e-01 1.93903856e-03 5.01860759e-01] [-2.92308762e-02 -9.83314418e-04 9.99572203e-01 -6.08570284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:0.50, Z:-0.61 [[ 9.99241748e-01 -2.57726657e-02 2.91838759e-02 1.10799121e+01] [ 2.57273655e-02 9.99667140e-01 1.92672363e-03 5.00224036e-01] [-2.92238186e-02 -1.17443844e-03 9.99572203e-01 -6.10787977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:0.50, Z:-0.61 [[ 9.99512483e-01 -1.10928142e-02 2.91846747e-02 1.11425654e+01] [ 1.10416251e-02 9.99937207e-01 1.91454848e-03 4.95903316e-01] [-2.92040798e-02 -1.59136887e-03 9.99572203e-01 -6.10732217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:0.50, Z:-0.61 [[ 9.99565050e-01 4.23316399e-03 2.91854536e-02 1.12052698e+01] [-4.29051175e-03 9.99988986e-01 1.90259954e-03 4.97940556e-01] [-2.91770781e-02 -2.02699253e-03 9.99572203e-01 -6.13477469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:0.51, Z:-0.62 [[ 9.99465470e-01 1.47286520e-02 2.91863160e-02 1.12666085e+01] [-1.47900615e-02 9.99888836e-01 1.88927727e-03 5.07503994e-01] [-2.91552450e-02 -2.31993481e-03 9.99572203e-01 -6.15000391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:0.52, Z:-0.62 [[ 9.99364361e-01 2.04692762e-02 2.91870290e-02 1.13278442e+01] [-2.05327952e-02 9.99787416e-01 1.87819781e-03 5.18727060e-01] [-2.91423789e-02 -2.47629524e-03 9.99572203e-01 -6.16410645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:11.39, Y:0.54, Z:-0.62 [[ 9.99173509e-01 2.82909019e-02 2.91877269e-02 1.13889784e+01] [-2.83574143e-02 9.99596104e-01 1.86728757e-03 5.39951382e-01] [-2.91231109e-02 -2.69343274e-03 9.99572203e-01 -6.17214193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.45, Y:0.56, Z:-0.62 [[ 9.99086701e-01 3.12057644e-02 2.91884082e-02 1.14505335e+01] [-3.12731993e-02 9.99509150e-01 1.85657725e-03 5.55172710e-01] [-2.91161451e-02 -2.76769655e-03 9.99572203e-01 -6.18079972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:0.58, Z:-0.62 [[ 9.99170547e-01 2.83938280e-02 2.91891788e-02 1.15110323e+01] [-2.84597204e-02 9.99593239e-01 1.84438159e-03 5.79720041e-01] [-2.91249367e-02 -2.67356763e-03 9.99572204e-01 -6.19277231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:0.60, Z:-0.62 [[ 9.99396575e-01 1.88270238e-02 2.91895459e-02 1.15719900e+01] [-1.88886976e-02 9.99819902e-01 1.83855414e-03 5.97528333e-01] [-2.91496744e-02 -2.38879721e-03 9.99572204e-01 -6.22254396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:0.62, Z:-0.63 [[ 9.99515514e-01 1.08013129e-02 2.91902341e-02 1.16337993e+01] [-1.08592660e-02 9.99939366e-01 1.82756073e-03 6.15660334e-01] [-2.91687242e-02 -2.14365982e-03 9.99572204e-01 -6.26915292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:0.63, Z:-0.63 [[ 9.99572365e-01 1.72367323e-03 2.91910282e-02 1.16949869e+01] [-1.77740327e-03 9.99996774e-01 1.81478778e-03 6.26332143e-01] [-2.91878059e-02 -1.86589594e-03 9.99572204e-01 -6.27134139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.76, Y:0.64, Z:-0.63 [[ 9.99554745e-01 -6.17912162e-03 2.91912825e-02 1.17560839e+01] [ 6.12886801e-03 9.99979579e-01 1.81068900e-03 6.37420171e-01] [-2.92018748e-02 -1.63097326e-03 9.99572204e-01 -6.29276260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.82, Y:0.65, Z:-0.62 [[ 9.99563982e-01 -4.43541852e-03 2.91920106e-02 1.18181046e+01] [ 4.38476781e-03 9.99988769e-01 1.79887368e-03 6.47877512e-01] [-2.91996614e-02 -1.67008915e-03 9.99572204e-01 -6.22602324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:0.66, Z:-0.63 [[ 9.99543416e-01 -7.79580393e-03 2.91922193e-02 1.18790528e+01] [ 7.74668040e-03 9.99968382e-01 1.79548024e-03 6.60228634e-01] [-2.92052935e-02 -1.56851766e-03 9.99572204e-01 -6.33426879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:0.67, Z:-0.63 [[ 9.99525679e-01 -9.80761484e-03 2.91929514e-02 1.19410958e+01] [ 9.75969582e-03 9.99950783e-01 1.78349704e-03 6.73274933e-01] [-2.92090064e-02 -1.49773676e-03 9.99572204e-01 -6.33631196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:0.68, Z:-0.64 [[ 9.99519615e-01 -1.04049876e-02 2.91937728e-02 1.20031420e+01] [ 1.03577173e-02 9.99944791e-01 1.76994857e-03 6.84861730e-01] [-2.92105773e-02 -1.46671747e-03 9.99572204e-01 -6.36353925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.07, Y:0.69, Z:-0.64 [[ 9.99508619e-01 -1.14103351e-02 2.91946108e-02 1.20655162e+01] [ 1.13638985e-02 9.99933887e-01 1.75601543e-03 6.93632433e-01] [-2.92127174e-02 -1.42338797e-03 9.99572204e-01 -6.38001619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.13, Y:0.70, Z:-0.64 [[ 9.99481806e-01 -1.35552752e-02 2.91954296e-02 1.21277114e+01] [ 1.35101513e-02 9.99907216e-01 1.74229496e-03 7.00533353e-01] [-2.92163381e-02 -1.34695745e-03 9.99572204e-01 -6.40422896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:0.71, Z:-0.64 [[ 9.99396156e-01 -1.88388439e-02 2.91962533e-02 1.21896596e+01] [ 1.87963754e-02 9.99821839e-01 1.72838115e-03 7.06862678e-01] [-2.92236124e-02 -1.17855374e-03 9.99572204e-01 -6.43079799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:0.71, Z:-0.65 [[ 9.99344469e-01 -2.14048726e-02 2.91969677e-02 1.22520812e+01] [ 2.13638517e-02 9.99770294e-01 1.71622853e-03 7.13144955e-01] [-2.92269966e-02 -1.09134380e-03 9.99572204e-01 -6.46176700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:0.71, Z:-0.65 [[ 9.99247423e-01 -2.55357984e-02 2.91977931e-02 1.23141763e+01] [ 2.54969515e-02 9.99673451e-01 1.70206808e-03 7.14124588e-01] [-2.92317223e-02 -9.56332431e-04 9.99572204e-01 -6.48738886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:0.71, Z:-0.65 [[ 9.99018280e-01 -3.33155054e-02 2.91985144e-02 1.23759020e+01] [ 3.32803409e-02 9.99444628e-01 1.68960352e-03 7.14587913e-01] [-2.92385884e-02 -7.16208284e-04 9.99572204e-01 -6.50589726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.44, Y:0.71, Z:-0.65 [[ 9.98858762e-01 -3.77965321e-02 2.91992385e-02 1.24389807e+01] [ 3.77636489e-02 9.99285292e-01 1.67699672e-03 7.10299924e-01] [-2.92417542e-02 -5.72413079e-04 9.99572205e-01 -6.52044747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.50, Y:0.71, Z:-0.65 [[ 9.98876974e-01 -3.73114812e-02 2.92000739e-02 1.25017045e+01] [ 3.72788197e-02 9.99303521e-01 1.66232151e-03 7.07878843e-01] [-2.92417603e-02 -5.71910385e-04 9.99572205e-01 -6.54952671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.56, Y:0.70, Z:-0.66 [[ 9.98993104e-01 -3.40600228e-02 2.92009097e-02 1.25649109e+01] [ 3.40264059e-02 9.99419576e-01 1.64750805e-03 7.00452756e-01] [-2.92400749e-02 -6.52247180e-04 9.99572205e-01 -6.57580758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.63, Y:0.70, Z:-0.66 [[ 9.99056297e-01 -3.21523340e-02 2.92017475e-02 1.26269497e+01] [ 3.21183405e-02 9.99482740e-01 1.63252254e-03 6.98607405e-01] [-2.92391320e-02 -6.93070255e-04 9.99572205e-01 -6.59719180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:12.69, Y:0.69, Z:-0.66 [[ 9.99005915e-01 -3.36808258e-02 2.92024610e-02 1.26899517e+01] [ 3.36478607e-02 9.99432438e-01 1.61965670e-03 6.91451990e-01] [-2.92404382e-02 -6.35446283e-04 9.99572205e-01 -6.60478783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.75, Y:0.69, Z:-0.66 [[ 9.98989086e-01 -3.41756606e-02 2.92032580e-02 1.27536930e+01] [ 3.41433304e-02 9.99415657e-01 1.60515800e-03 6.85362538e-01] [-2.92410506e-02 -6.06438836e-04 9.99572205e-01 -6.64874952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:0.68, Z:-0.67 [[ 9.99008638e-01 -3.35987871e-02 2.92038130e-02 1.28166265e+01] [ 3.35665075e-02 9.99435213e-01 1.59499583e-03 6.78935833e-01] [-2.92409090e-02 -6.13144599e-04 9.99572205e-01 -6.65694244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:0.67, Z:-0.67 [[ 9.99033830e-01 -3.28404819e-02 2.92046036e-02 1.28790376e+01] [ 3.28083054e-02 9.99460413e-01 1.58038628e-03 6.73098756e-01] [-2.92407458e-02 -6.20705802e-04 9.99572205e-01 -6.67452609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:0.66, Z:-0.67 [[ 9.98935842e-01 -3.56964358e-02 2.92052855e-02 1.29411953e+01] [ 3.56658503e-02 9.99362542e-01 1.56768216e-03 6.64139501e-01] [-2.92426290e-02 -5.24382555e-04 9.99572205e-01 -6.71482326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.00, Y:0.66, Z:-0.67 [[ 9.98844294e-01 -3.81718118e-02 2.92059614e-02 1.30036814e+01] [ 3.81426549e-02 9.99271094e-01 1.55498772e-03 6.58893176e-01] [-2.92440297e-02 -4.39197706e-04 9.99572205e-01 -6.71665958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:0.64, Z:-0.67 [[ 9.98703181e-01 -4.17004664e-02 2.92066352e-02 1.30663706e+01] [ 4.16731907e-02 9.99130105e-01 1.54222747e-03 6.42443489e-01] [-2.92455401e-02 -3.23093805e-04 9.99572205e-01 -6.74737156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.64, Z:-0.68 [[ 9.98718463e-01 -4.13323788e-02 2.92073082e-02 1.31291663e+01] [ 4.13053216e-02 9.99145401e-01 1.52937504e-03 6.35242028e-01] [-2.92455603e-02 -3.20997836e-04 9.99572206e-01 -6.76479379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.63, Z:-0.68 [[ 9.98833836e-01 -3.84429682e-02 2.92079803e-02 1.31918809e+01] [ 3.84150545e-02 9.99260719e-01 1.51642909e-03 6.25427699e-01] [-2.92446834e-02 -3.92634536e-04 9.99572206e-01 -6.76867316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.62, Z:-0.68 [[ 9.99003986e-01 -3.37326382e-02 2.92086357e-02 1.32549565e+01] [ 3.37030839e-02 9.99430758e-01 1.50369831e-03 6.18138543e-01] [-2.92427326e-02 -5.17779508e-04 9.99572206e-01 -6.76540444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:13.32, Y:0.61, Z:-0.68 [[ 9.99234957e-01 -2.60065766e-02 2.92088707e-02 1.33178208e+01] [ 2.59738569e-02 9.99661498e-01 1.49911886e-03 6.09152856e-01] [-2.92379704e-02 -7.39304942e-04 9.99572206e-01 -6.76419109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:13.38, Y:0.61, Z:-0.68 [[ 9.99409542e-01 -1.80934142e-02 2.92095083e-02 1.33807287e+01] [ 1.80576837e-02 9.99835842e-01 1.48659126e-03 6.06108331e-01] [-2.92316108e-02 -9.58257424e-04 9.99572206e-01 -6.80005801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.44, Y:0.61, Z:-0.68 [[ 9.99504205e-01 -1.17519205e-02 2.92102184e-02 1.34432378e+01] [ 1.17138970e-02 9.99930306e-01 1.47250473e-03 6.06516640e-01] [-2.92254874e-02 -1.12960918e-03 9.99572206e-01 -6.81112788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:13.51, Y:0.61, Z:-0.68 [[ 9.99536521e-01 -8.57147620e-03 2.92108290e-02 1.35050594e+01] [ 8.53245335e-03 9.99962532e-01 1.46029088e-03 6.08618324e-01] [-2.92222514e-02 -1.21037403e-03 9.99572206e-01 -6.82533949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:13.57, Y:0.61, Z:-0.69 [[ 9.99476209e-01 -1.39284001e-02 2.92114357e-02 1.35672732e+01] [ 1.38920182e-02 9.99902453e-01 1.44805348e-03 6.10834678e-01] [-2.92287552e-02 -1.04148921e-03 9.99572206e-01 -6.85836970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:13.63, Y:0.61, Z:-0.68 [[ 9.99458900e-01 -1.51183678e-02 2.92120206e-02 1.36296482e+01] [ 1.50828408e-02 9.99885216e-01 1.43615561e-03 6.07253830e-01] [-2.92303799e-02 -9.94778246e-04 9.99572206e-01 -6.76360092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:0.60, Z:-0.69 [[ 9.99229739e-01 -2.62021246e-02 2.92126178e-02 1.36915945e+01] [ 2.61716859e-02 9.99656449e-01 1.42390363e-03 6.02229414e-01] [-2.92398911e-02 -6.58263391e-04 9.99572206e-01 -6.90382303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:0.59, Z:-0.69 [[ 9.99041100e-01 -3.26108720e-02 2.92132196e-02 1.37537006e+01] [ 3.25835351e-02 9.99468019e-01 1.41144719e-03 5.91849362e-01] [-2.92437073e-02 -4.58223786e-04 9.99572206e-01 -6.92276972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:13.82, Y:0.58, Z:-0.68 [[ 9.99057348e-01 -3.21086830e-02 2.92138194e-02 1.38160002e+01] [ 3.20814976e-02 9.99484277e-01 1.39892259e-03 5.84545292e-01] [-2.92436707e-02 -4.60380817e-04 9.99572206e-01 -6.83993887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:13.88, Y:0.58, Z:-0.69 [[ 9.99194399e-01 -2.75149674e-02 2.92143809e-02 1.38797113e+01] [ 2.74861650e-02 9.99621222e-01 1.38709720e-03 5.75843823e-01] [-2.92414810e-02 -5.82988462e-04 9.99572206e-01 -6.85846294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:13.94, Y:0.56, Z:-0.69 [[ 9.99204069e-01 -2.71608135e-02 2.92150591e-02 1.39427871e+01] [ 2.71322817e-02 9.99630909e-01 1.37266106e-03 5.63658829e-01] [-2.92415587e-02 -5.78897298e-04 9.99572207e-01 -6.88604144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:14.00, Y:0.55, Z:-0.70 [[ 9.98968570e-01 -3.47597174e-02 2.92157262e-02 1.40049470e+01] [ 3.47348524e-02 9.99395640e-01 1.35831373e-03 5.50785877e-01] [-2.92452840e-02 -3.42108787e-04 9.99572207e-01 -7.03545568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:14.07, Y:0.55, Z:-0.71 [[ 9.98941010e-01 -3.55427858e-02 2.92158881e-02 1.40681386e+01] [ 3.55183578e-02 9.99368106e-01 1.35482214e-03 5.47530957e-01] [-2.92455809e-02 -3.15687027e-04 9.99572207e-01 -7.05273685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:14.13, Y:0.53, Z:-0.69 [[ 9.99104537e-01 -3.06025639e-02 2.92165461e-02 1.41316401e+01] [ 3.05764435e-02 9.99531532e-01 1.34048055e-03 5.33660259e-01] [-2.92438812e-02 -4.45942126e-04 9.99572207e-01 -6.94775148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:14.19, Y:0.52, Z:-0.71 [[ 9.99145289e-01 -2.92416642e-02 2.92167109e-02 1.41931150e+01] [ 2.92150674e-02 9.99572255e-01 1.33687960e-03 5.18983514e-01] [-2.92433061e-02 -4.82168780e-04 9.99572207e-01 -7.09382065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:14.26, Y:0.51, Z:-0.71 [[ 9.99419011e-01 -1.75504978e-02 2.92167928e-02 1.42561757e+01] [ 1.75189601e-02 9.99845640e-01 1.33508600e-03 5.06118355e-01] [-2.92357143e-02 -8.22462500e-04 9.99572207e-01 -7.08586804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:14.32, Y:0.50, Z:-0.70 [[ 9.99572869e-01 6.52213656e-04 2.92173502e-02 1.43181322e+01] [-6.91156144e-04 9.99998886e-01 1.32277571e-03 5.02793175e-01] [-2.92164549e-02 -1.34240446e-03 9.99572207e-01 -6.99051470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:14.38, Y:0.50, Z:-0.71 [[ 9.99515076e-01 1.07670421e-02 2.92178639e-02 1.43803009e+01] [-1.08099600e-02 9.99940711e-01 1.31132993e-03 5.02228948e-01] [-2.92020124e-02 -1.62653798e-03 9.99572207e-01 -7.12214937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:0.51, Z:-0.71 [[ 9.99316113e-01 2.26629029e-02 2.92181450e-02 1.44424166e+01] [-2.27107006e-02 9.99741227e-01 1.30503510e-03 5.06940796e-01] [-2.91810083e-02 -1.96770715e-03 9.99572207e-01 -7.10672558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:0.52, Z:-0.70 [[ 9.99096166e-01 3.08726837e-02 2.92186267e-02 1.45038147e+01] [-3.09236564e-02 9.99520912e-01 1.29416133e-03 5.17136790e-01] [-2.91646741e-02 -2.19653840e-03 9.99572207e-01 -7.04336392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:14.57, Y:0.52, Z:-0.71 [[ 9.99061321e-01 3.19800034e-02 2.92191081e-02 1.45665812e+01] [-3.20311280e-02 9.99486048e-01 1.28319837e-03 5.23060565e-01] [-2.91630542e-02 -2.21791485e-03 9.99572207e-01 -7.09564731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:14.63, Y:0.52, Z:-0.72 [[ 9.99511194e-01 1.11168528e-02 2.92196520e-02 1.46289761e+01] [-1.11587353e-02 9.99936932e-01 1.27069067e-03 5.18949108e-01] [-2.92036831e-02 -1.59612391e-03 9.99572207e-01 -7.17807439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:14.69, Y:0.53, Z:-0.72 [[ 9.99446126e-01 1.59254547e-02 2.92202029e-02 1.46901828e+01] [-1.59690121e-02 9.99871696e-01 1.25789518e-03 5.32579511e-01] [-2.91964213e-02 -1.72381624e-03 9.99572207e-01 -7.22515464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:14.75, Y:0.53, Z:-0.71 [[ 9.99282846e-01 2.40825181e-02 2.92203063e-02 1.47514750e+01] [-2.41294775e-02 9.99708053e-01 1.25548768e-03 5.34977470e-01] [-2.91815402e-02 -1.95965803e-03 9.99572207e-01 -7.09827690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:14.81, Y:0.54, Z:-0.72 [[ 9.99361937e-01 2.05399952e-02 2.92203402e-02 1.48137370e+01] [-2.05854240e-02 9.99787310e-01 1.25469912e-03 5.39302470e-01] [-2.91883538e-02 -1.85541163e-03 9.99572207e-01 -7.17461918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:14.88, Y:0.54, Z:-0.72 [[ 9.99291789e-01 2.37078311e-02 2.92208851e-02 1.48766041e+01] [-2.37542349e-02 9.99717057e-01 1.24187653e-03 5.40197759e-01] [-2.91831751e-02 -1.93511678e-03 9.99572207e-01 -7.18059746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:14.94, Y:0.54, Z:-0.73 [[ 9.99365238e-01 2.03771960e-02 2.92214261e-02 1.49381687e+01] [-2.04218076e-02 9.99790698e-01 1.22901459e-03 5.41145596e-01] [-2.91902661e-02 -1.82498880e-03 9.99572207e-01 -7.26918711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:15.00, Y:0.54, Z:-0.73 [[ 9.99265586e-01 2.47864905e-02 2.92218859e-02 1.50010225e+01] [-2.48326577e-02 9.99690880e-01 1.21798248e-03 5.44112788e-01] [-2.91826633e-02 -1.94274506e-03 9.99572207e-01 -7.28537683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.06, Y:0.54, Z:-0.73 [[ 9.99265314e-01 2.47968286e-02 2.92224042e-02 1.50633955e+01] [-2.48426343e-02 9.99690647e-01 1.20541757e-03 5.44766845e-01] [-2.91834737e-02 -1.93049346e-03 9.99572208e-01 -7.32523113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.13, Y:0.55, Z:-0.73 [[ 9.99074752e-01 3.15541433e-02 2.92228512e-02 1.51259108e+01] [-3.16025063e-02 9.99499802e-01 1.19448299e-03 5.49402132e-01] [-2.91705431e-02 -2.11689314e-03 9.99572208e-01 -7.26240780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.19, Y:0.56, Z:-0.74 [[ 9.98935981e-01 3.56780594e-02 2.92229797e-02 1.51871643e+01] [-3.57280850e-02 9.99360838e-01 1.19133082e-03 5.57852477e-01] [-2.91617971e-02 -2.23414432e-03 9.99572208e-01 -7.35755202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:0.57, Z:-0.73 [[ 9.98314274e-01 5.01458030e-02 2.92234223e-02 1.52488000e+01] [-5.02016601e-02 9.98738404e-01 1.18037367e-03 5.67338100e-01] [-2.91273633e-02 -2.64544819e-03 9.99572208e-01 -7.31104333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:0.57, Z:-0.74 [[ 9.98085342e-01 5.45127056e-02 2.92235468e-02 1.53101859e+01] [-5.45703279e-02 9.98509235e-01 1.17728122e-03 5.73597709e-01] [-2.91158046e-02 -2.76976566e-03 9.99572208e-01 -7.40099102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:0.58, Z:-0.74 [[ 9.97756644e-01 6.02300347e-02 2.92236727e-02 1.53723274e+01] [-6.02899938e-02 9.98180213e-01 1.17414922e-03 5.83797103e-01] [-2.90997728e-02 -2.93341023e-03 9.99572208e-01 -7.41720175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:0.60, Z:-0.74 [[ 9.97310585e-01 6.72126990e-02 2.92241503e-02 1.54348645e+01] [-6.72752737e-02 9.97733776e-01 1.16213931e-03 5.96431076e-01] [-2.90798113e-02 -3.12507654e-03 9.99572208e-01 -7.41610039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:0.61, Z:-0.75 [[ 9.96947332e-01 7.24012375e-02 2.92246129e-02 1.54957011e+01] [-7.24656731e-02 9.97370244e-01 1.15038572e-03 6.13791892e-01] [-2.90644700e-02 -3.26465522e-03 9.99572208e-01 -7.45862143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:0.63, Z:-0.73 [[ 9.95542916e-01 8.96671650e-02 2.92250144e-02 1.55571985e+01] [-8.97386228e-02 9.95964698e-01 1.14009453e-03 6.29111426e-01] [-2.90048536e-02 -3.75762558e-03 9.99572208e-01 -7.34794287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.62, Y:0.65, Z:-0.75 [[ 9.96972728e-01 7.20504815e-02 2.92251301e-02 1.56176592e+01] [-7.21143843e-02 9.97395720e-01 1.13712202e-03 6.46547770e-01] [-2.90670895e-02 -3.24123190e-03 9.99572208e-01 -7.47227412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.68, Y:0.68, Z:-0.75 [[ 9.97868694e-01 5.83434422e-02 2.92251887e-02 1.56782853e+01] [-5.84014825e-02 9.98292531e-01 1.13561208e-03 6.75694494e-01] [-2.91090321e-02 -2.83998609e-03 9.99572208e-01 -7.45230061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.74, Y:0.68, Z:-0.76 [[ 9.98736914e-01 4.08711829e-02 2.92253891e-02 1.57389074e+01] [-4.09216462e-02 9.99161719e-01 1.13043118e-03 6.81229216e-01] [-2.91546880e-02 -2.32495438e-03 9.99572208e-01 -7.55179747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.80, Y:0.69, Z:-0.76 [[ 9.99317447e-01 2.25945690e-02 2.92254184e-02 1.58008233e+01] [-2.26372309e-02 9.99743107e-01 1.12967352e-03 6.86955838e-01] [-2.91923861e-02 -1.79048500e-03 9.99572208e-01 -7.59030707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.86, Y:0.69, Z:-0.76 [[ 9.99553323e-01 6.24659902e-03 2.92255707e-02 1.58624972e+01] [-6.28217771e-03 9.99979633e-01 1.12571994e-03 6.88493954e-01] [-2.92179435e-02 -1.30881734e-03 9.99572208e-01 -7.62473551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.92, Y:0.68, Z:-0.76 [[ 9.99561778e-01 -4.70019291e-03 2.92260080e-02 1.59245888e+01] [ 4.66962000e-03 9.99988476e-01 1.11424959e-03 6.83596377e-01] [-2.92309084e-02 -9.77286954e-04 9.99572208e-01 -7.62502726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:0.68, Z:-0.77 [[ 9.99533516e-01 -8.86464345e-03 2.92261672e-02 1.59878689e+01] [ 8.83597101e-03 9.99960346e-01 1.11005880e-03 6.80791950e-01] [-2.92348485e-02 -8.51299408e-04 9.99572208e-01 -7.67078062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:0.68, Z:-0.76 [[ 9.99571894e-01 -1.35239057e-03 2.92266856e-02 1.60495710e+01] [ 1.32091472e-03 9.99998527e-01 1.09623629e-03 6.81882715e-01] [-2.92281251e-02 -1.05716103e-03 9.99572208e-01 -7.55456547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:16.11, Y:0.68, Z:-0.77 [[ 9.99570919e-01 -1.94289332e-03 2.92267495e-02 1.61113332e+01] [ 1.91171932e-03 9.99997574e-01 1.09453053e-03 6.78058592e-01] [-2.92288052e-02 -1.03818754e-03 9.99572208e-01 -7.67018812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.17, Y:0.68, Z:-0.77 [[ 9.99544541e-01 7.51676489e-03 2.92268453e-02 1.61734608e+01] [-7.55190043e-03 9.99970888e-01 1.09196830e-03 6.79975288e-01] [-2.92177863e-02 -1.31218918e-03 9.99572208e-01 -7.68903528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:0.69, Z:-0.77 [[ 9.99429570e-01 1.69204250e-02 2.92272785e-02 1.62350882e+01] [-1.69592284e-02 9.99855598e-01 1.08024650e-03 6.87801980e-01] [-2.92047798e-02 -1.57530239e-03 9.99572208e-01 -7.72016884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:0.69, Z:-0.77 [[ 9.99345337e-01 2.13222638e-02 2.92276984e-02 1.62971409e+01] [-2.13626085e-02 9.99771222e-01 1.06876328e-03 6.94582444e-01] [-2.91982233e-02 -1.69244348e-03 9.99572208e-01 -7.73495782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:0.70, Z:-0.78 [[ 9.99331530e-01 2.19593043e-02 2.92281057e-02 1.63600684e+01] [-2.19995924e-02 9.99757420e-01 1.05750503e-03 7.02408662e-01] [-2.91977935e-02 -1.69980453e-03 9.99572208e-01 -7.76132232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:0.71, Z:-0.76 [[ 9.99159653e-01 2.87346381e-02 2.92285665e-02 1.64222156e+01] [-2.87774374e-02 9.99585298e-01 1.04461287e-03 7.07526192e-01] [-2.91864288e-02 -1.88485828e-03 9.99572208e-01 -7.64572948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.48, Y:0.71, Z:-0.78 [[ 9.99386476e-01 1.92965215e-02 2.92286822e-02 1.64828007e+01] [-1.93352040e-02 9.99812515e-01 1.04136505e-03 7.11143515e-01] [-2.92031076e-02 -1.60586869e-03 9.99572208e-01 -7.82157523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.54, Y:0.71, Z:-0.78 [[ 9.99341247e-01 2.15116970e-02 2.92287395e-02 1.65449446e+01] [-2.15512769e-02 9.99767204e-01 1.03975555e-03 7.09744243e-01] [-2.91995682e-02 -1.66898727e-03 9.99572208e-01 -7.79751885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:0.71, Z:-0.78 [[ 9.99310657e-01 2.28881514e-02 2.92291388e-02 1.66067935e+01] [-2.29279870e-02 9.99736590e-01 1.02840547e-03 7.12500920e-01] [-2.91979013e-02 -1.69786186e-03 9.99572208e-01 -7.82466144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:0.72, Z:-0.77 [[ 9.99092507e-01 3.09805739e-02 2.92295416e-02 1.66684607e+01] [-3.10235205e-02 9.99518138e-01 1.01682637e-03 7.15715359e-01] [-2.91839551e-02 -1.92270689e-03 9.99572208e-01 -7.74014511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:0.71, Z:-0.79 [[ 9.99508878e-01 1.12966839e-02 2.92299036e-02 1.67307455e+01] [-1.13309323e-02 9.99935297e-01 1.00631202e-03 7.09814610e-01] [-2.92166443e-02 -1.33701986e-03 9.99572209e-01 -7.85521315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:0.72, Z:-0.77 [[ 9.98871441e-01 3.74356900e-02 2.92303382e-02 1.67926877e+01] [-3.74807077e-02 9.99296858e-01 9.93526747e-04 7.22469926e-01] [-2.91725917e-02 -2.08797925e-03 9.99572209e-01 -7.73574521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:0.72, Z:-0.79 [[ 9.99295788e-01 2.35264412e-02 2.92307204e-02 1.68542223e+01] [-2.35652005e-02 9.99721820e-01 9.82151955e-04 7.20767010e-01] [-2.91994824e-02 -1.67028810e-03 9.99572209e-01 -7.89612411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:0.72, Z:-0.79 [[ 9.99370372e-01 2.01097530e-02 2.92310922e-02 1.69164888e+01] [-2.01467290e-02 9.99796563e-01 9.70959216e-04 7.21633032e-01] [-2.92056197e-02 -1.55925877e-03 9.99572209e-01 -7.90301633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:0.72, Z:-0.79 [[ 9.99448212e-01 1.57732006e-02 2.92314664e-02 1.69788953e+01] [-1.58079945e-02 9.99874585e-01 9.59559937e-04 7.20418794e-01] [-2.92126650e-02 -1.42112132e-03 9.99572209e-01 -7.92340474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.04, Y:0.72, Z:-0.79 [[ 9.99428712e-01 1.69631710e-02 2.92318374e-02 1.70414482e+01] [-1.69981387e-02 9.99855072e-01 9.48120056e-04 7.15491987e-01] [-2.92115178e-02 -1.44446523e-03 9.99572209e-01 -7.94094565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:0.71, Z:-0.80 [[ 9.99368601e-01 2.01959851e-02 2.92322046e-02 1.71037175e+01] [-2.02319975e-02 9.99794873e-01 9.36659618e-04 7.14695584e-01] [-2.92072916e-02 -1.52749410e-03 9.99572209e-01 -7.95475384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.17, Y:0.72, Z:-0.80 [[ 9.99316402e-01 2.26315054e-02 2.92325665e-02 1.71653773e+01] [-2.26682231e-02 9.99742615e-01 9.25227537e-04 7.19338980e-01] [-2.92041031e-02 -1.58724539e-03 9.99572209e-01 -7.95846031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.23, Y:0.73, Z:-0.80 [[ 9.99268605e-01 2.46513865e-02 2.92329246e-02 1.72273561e+01] [-2.46886316e-02 9.99694772e-01 9.13770875e-04 7.27323368e-01] [-2.92014761e-02 -1.63482345e-03 9.99572209e-01 -7.99999623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:0.74, Z:-0.80 [[ 9.99213902e-01 2.67767187e-02 2.92332759e-02 1.72891100e+01] [-2.68145383e-02 9.99640018e-01 9.02391089e-04 7.35152359e-01] [-2.91985893e-02 -1.68555852e-03 9.99572209e-01 -8.01886318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:0.75, Z:-0.80 [[ 9.99244355e-01 2.56147412e-02 2.92336221e-02 1.73511158e+01] [-2.56517339e-02 9.99670543e-01 8.91031293e-04 7.47356826e-01] [-2.92011673e-02 -1.64025109e-03 9.99572209e-01 -7.97405423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:0.75, Z:-0.81 [[ 9.99474076e-01 1.40342830e-02 2.92337207e-02 1.74125423e+01] [-1.40662401e-02 9.99900671e-01 8.87785618e-04 7.48929421e-01] [-2.92183575e-02 -1.29852724e-03 9.99572209e-01 -8.05391087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.48, Y:0.75, Z:-0.81 [[ 9.99539362e-01 8.15156072e-03 2.92337969e-02 1.74751686e+01] [-8.18093298e-03 9.99966144e-01 8.85269880e-04 7.47958713e-01] [-2.92255908e-02 -1.12402182e-03 9.99572209e-01 -8.07205275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.54, Y:0.75, Z:-0.81 [[ 9.99569107e-01 2.64143763e-03 2.92339265e-02 1.75376310e+01] [-2.66833114e-03 9.99996052e-01 8.80968582e-04 7.49170194e-01] [-2.92314840e-02 -9.58594775e-04 9.99572209e-01 -8.11367131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:0.75, Z:-0.81 [[ 9.99565824e-01 3.67887634e-03 2.92340572e-02 1.76007129e+01] [-3.70608558e-03 9.99992748e-01 8.76608477e-04 7.51257497e-01] [-2.92306203e-02 -9.84571792e-04 9.99572209e-01 -8.11389716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:0.76, Z:-0.82 [[ 9.99549113e-01 6.84952023e-03 2.92344626e-02 1.76623391e+01] [-6.87768243e-03 9.99975976e-01 8.62875292e-04 7.59835635e-01] [-2.92278500e-02 -1.06355158e-03 9.99572209e-01 -8.16503741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:0.76, Z:-0.80 [[ 9.99455495e-01 1.52983710e-02 2.92348080e-02 1.77239461e+01] [-1.53297940e-02 9.99882130e-01 8.51007768e-04 7.64828961e-01] [-2.92183431e-02 -1.29870797e-03 9.99572209e-01 -8.04703370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.78, Y:0.77, Z:-0.82 [[ 9.99517389e-01 1.05029263e-02 2.92348572e-02 1.77839026e+01] [-1.05322526e-02 9.99944174e-01 8.49315172e-04 7.65839406e-01] [-2.92243048e-02 -1.15681418e-03 9.99572209e-01 -8.19539487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:0.76, Z:-0.82 [[ 9.99522109e-01 1.00437281e-02 2.92348571e-02 1.78461667e+01] [-1.00728583e-02 9.99948907e-01 8.49316676e-04 7.63631305e-01] [-2.92248331e-02 -1.14338937e-03 9.99572209e-01 -8.20606820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:0.76, Z:-0.82 [[ 9.99540652e-01 7.98674324e-03 2.92351936e-02 1.79079294e+01] [-8.01465209e-03 9.99967531e-01 8.37574690e-04 7.61043326e-01] [-2.92275548e-02 -1.07149986e-03 9.99572209e-01 -8.22506577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:0.76, Z:-0.82 [[ 9.99544443e-01 7.49603875e-03 2.92355242e-02 1.79710124e+01] [-7.52339616e-03 9.99971358e-01 8.25870954e-04 7.58226543e-01] [-2.92284960e-02 -1.04544515e-03 9.99572210e-01 -8.23640809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:0.76, Z:-0.82 [[ 9.99455543e-01 1.52931242e-02 2.92358997e-02 1.80319064e+01] [-1.53234165e-02 9.99882260e-01 8.12357335e-04 7.63137640e-01] [-2.92200339e-02 -1.25990891e-03 9.99572210e-01 -8.16372796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:0.77, Z:-0.82 [[ 9.99356035e-01 2.08032722e-02 2.92359233e-02 1.80945551e+01] [-2.08358919e-02 9.99782580e-01 8.11505126e-04 7.67231795e-01] [-2.92126849e-02 -1.42013908e-03 9.99572210e-01 -8.20482986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.15, Y:0.77, Z:-0.83 [[ 9.99381412e-01 1.95456623e-02 2.92362892e-02 1.81545748e+01] [-1.95773539e-02 9.99808027e-01 7.98101653e-04 7.71819890e-01] [-2.92150772e-02 -1.36997714e-03 9.99572210e-01 -8.31735741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:0.78, Z:-0.83 [[ 9.99345571e-01 2.12995311e-02 2.92362892e-02 1.82161617e+01] [-2.13319714e-02 9.99772129e-01 7.98101653e-04 7.79977363e-01] [-2.92126279e-02 -1.42124704e-03 9.99572210e-01 -8.32442448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:0.79, Z:-0.84 [[ 9.99393646e-01 1.89092868e-02 2.92365993e-02 1.82776771e+01] [-1.89403703e-02 9.99820306e-01 7.86577806e-04 7.86775097e-01] [-2.92164720e-02 -1.33985288e-03 9.99572210e-01 -8.35383062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:0.79, Z:-0.84 [[ 9.99526345e-01 9.60672457e-03 2.92369045e-02 1.83394084e+01] [-9.63349928e-03 9.99953296e-01 7.75062193e-04 7.93321762e-01] [-2.92280933e-02 -1.05634878e-03 9.99572210e-01 -8.37141936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:0.80, Z:-0.84 [[ 9.99566429e-01 3.48583269e-03 2.92370160e-02 1.84009196e+01] [-3.50986881e-03 9.99993543e-01 7.70832793e-04 7.96102265e-01] [-2.92341403e-02 -8.73116673e-04 9.99572210e-01 -8.39796257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.46, Y:0.80, Z:-0.84 [[ 9.99549824e-01 -6.73259821e-03 2.92373321e-02 1.84625844e+01] [ 6.71328570e-03 9.99977178e-01 7.58654034e-04 7.95089179e-01] [-2.92417725e-02 -5.62033943e-04 9.99572210e-01 -8.43799034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:0.79, Z:-0.85 [[ 9.99537651e-01 -8.34602249e-03 2.92374449e-02 1.85255069e+01] [ 8.32752773e-03 9.99965041e-01 7.54279599e-04 7.94705565e-01] [-2.92427180e-02 -5.10455225e-04 9.99572210e-01 -8.46210306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:0.79, Z:-0.85 [[ 9.99532775e-01 -8.90969702e-03 2.92378096e-02 1.85885547e+01] [ 8.89186479e-03 9.99960193e-01 7.39866204e-04 7.88712346e-01] [-2.92432378e-02 -4.79541870e-04 9.99572210e-01 -8.46760509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:0.78, Z:-0.85 [[ 9.99522867e-01 -9.95831569e-03 2.92381627e-02 1.86513052e+01] [ 9.94134790e-03 9.99950320e-01 7.25641223e-04 7.84468393e-01] [-2.92439363e-02 -4.34628248e-04 9.99572210e-01 -8.48081693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.71, Y:0.78, Z:-0.85 [[ 9.99535300e-01 -8.61935780e-03 2.92385136e-02 1.87135568e+01] [ 8.60223929e-03 9.99962747e-01 7.11215080e-04 7.77955153e-01] [-2.92435546e-02 -4.59367888e-04 9.99572210e-01 -8.48627243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:0.77, Z:-0.85 [[ 9.99565028e-01 -3.85296216e-03 2.92388184e-02 1.87756601e+01] [ 3.83417863e-03 9.99992406e-01 6.98455878e-04 7.72122774e-01] [-2.92412875e-02 -5.86045217e-04 9.99572210e-01 -8.50115184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:0.77, Z:-0.85 [[ 9.99560632e-01 4.85982619e-03 2.92391095e-02 1.88371602e+01] [-4.88197164e-03 9.99987848e-01 6.86050887e-04 7.70672159e-01] [-2.92354201e-02 -8.28493962e-04 9.99572210e-01 -8.53599416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:0.77, Z:-0.85 [[ 9.99477862e-01 1.37499199e-02 2.92393944e-02 1.88988200e+01] [-1.37755029e-02 9.99904886e-01 6.73684057e-04 7.65716070e-01] [-2.92273502e-02 -1.07611966e-03 9.99572210e-01 -8.54946752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:0.77, Z:-0.86 [[ 9.99269664e-01 2.46004471e-02 2.92396449e-02 1.89605588e+01] [-2.46303420e-02 9.99696408e-01 6.62628924e-04 7.71478037e-01] [-2.92144670e-02 -1.38232744e-03 9.99572211e-01 -8.56047930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:0.78, Z:-0.86 [[ 9.98983536e-01 3.43063020e-02 2.92399045e-02 1.90228158e+01] [-3.43400009e-02 9.99409996e-01 6.50970136e-04 7.79239955e-01] [-2.92003205e-02 -1.65440679e-03 9.99572211e-01 -8.56818394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:0.79, Z:-0.86 [[ 9.98740888e-01 4.07633339e-02 2.92401915e-02 1.90844280e+01] [-4.07994052e-02 9.99167154e-01 6.37813446e-04 7.86567458e-01] [-2.91898395e-02 -1.82999279e-03 9.99572211e-01 -8.58233227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.15, Y:0.80, Z:-0.86 [[ 9.98558209e-01 4.50166756e-02 2.92404356e-02 1.91466001e+01] [-4.50542298e-02 9.98984346e-01 6.26418849e-04 7.95804998e-01] [-2.91825381e-02 -1.94292099e-03 9.99572211e-01 -8.58123328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:0.81, Z:-0.85 [[ 9.98058094e-01 5.50002202e-02 2.92406689e-02 1.92083126e+01] [-5.50417111e-02 9.98483866e-01 6.15334366e-04 8.11285857e-01] [-2.91624926e-02 -2.22359589e-03 9.99572211e-01 -8.46005021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:0.82, Z:-0.86 [[ 9.98478249e-01 4.67563488e-02 2.92408852e-02 1.92701566e+01] [-4.67940173e-02 9.98904377e-01 6.04873858e-04 8.21311855e-01] [-2.91805666e-02 -1.97225188e-03 9.99572211e-01 -8.55141663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:0.82, Z:-0.86 [[ 9.98771514e-01 4.00052541e-02 2.92411112e-02 1.93325097e+01] [-4.00397164e-02 9.99197913e-01 5.93747003e-04 8.24743329e-01] [-2.91939043e-02 -1.76382339e-03 9.99572211e-01 -8.58081338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:0.82, Z:-0.87 [[ 9.99256971e-01 2.51087407e-02 2.92413686e-02 1.93926203e+01] [-2.51364629e-02 9.99683860e-01 5.80784644e-04 8.23506868e-01] [-2.92175415e-02 -1.31537768e-03 9.99572211e-01 -8.69217641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:0.83, Z:-0.87 [[ 9.99383558e-01 1.94280043e-02 2.92413686e-02 1.94548983e+01] [-1.94532994e-02 9.99810598e-01 5.80784644e-04 8.25156119e-01] [-2.92245468e-02 -1.14926772e-03 9.99572211e-01 -8.70097793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.52, Y:0.82, Z:-0.87 [[ 9.99441212e-01 1.61923531e-02 2.92415944e-02 1.95179735e+01] [-1.62159265e-02 9.99868351e-01 5.69184002e-04 8.24444658e-01] [-2.92285284e-02 -1.04304550e-03 9.99572211e-01 -8.73847134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.58, Y:0.82, Z:-0.88 [[ 9.99460839e-01 1.49313792e-02 2.92418530e-02 1.95802536e+01] [-1.49540160e-02 9.99888028e-01 5.55577580e-04 8.24838866e-01] [-2.92302832e-02 -9.92561172e-04 9.99572211e-01 -8.76598945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:0.83, Z:-0.88 [[ 9.99422696e-01 1.72967187e-02 2.92420746e-02 1.96427632e+01] [-1.73200182e-02 9.99849849e-01 5.43658694e-04 8.27646272e-01] [-2.92282803e-02 -1.04981810e-03 9.99572211e-01 -8.77603027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:0.81, Z:-0.88 [[ 9.99442763e-01 -1.60953318e-02 2.92421535e-02 1.97042955e+01] [ 1.60864381e-02 9.99870459e-01 5.39381298e-04 8.11988472e-01] [-2.92470469e-02 -6.86786431e-05 9.99572211e-01 -8.81084657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:0.83, Z:-0.88 [[ 9.99478842e-01 1.36725966e-02 2.92421850e-02 1.97646019e+01] [-1.36941718e-02 9.99906086e-01 5.37662857e-04 8.30440217e-01] [-2.92320875e-02 -9.37830156e-04 9.99572211e-01 -8.82871697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.83, Y:0.83, Z:-0.89 [[ 9.99523325e-01 9.90030410e-03 2.92422008e-02 1.98269641e+01] [-9.92024160e-03 9.99950649e-01 5.36805094e-04 8.28520620e-01] [-2.92354431e-02 -8.26638909e-04 9.99572211e-01 -8.85086543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.89, Y:0.83, Z:-0.87 [[ 9.99398952e-01 1.86176321e-02 2.92424191e-02 1.98898984e+01] [-1.86409403e-02 9.99826105e-01 5.24638126e-04 8.30265305e-01] [-2.92275665e-02 -1.06942898e-03 9.99572211e-01 -8.68041284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:0.83, Z:-0.89 [[ 9.99530787e-01 9.11500706e-03 2.92424815e-02 1.99504944e+01] [-9.13415080e-03 9.99958147e-01 5.21137836e-04 8.27512932e-01] [-2.92365074e-02 -7.87998547e-04 9.99572211e-01 -8.87648612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:0.82, Z:-0.89 [[ 9.99522687e-01 9.96363437e-03 2.92425124e-02 2.00128168e+01] [-9.98308996e-03 9.99950033e-01 5.19394168e-04 8.24529333e-01] [-2.92358762e-02 -8.11076887e-04 9.99572211e-01 -8.90760980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.08, Y:0.82, Z:-0.89 [[ 9.99505564e-01 1.15537091e-02 2.92427542e-02 2.00759203e+01] [-1.15734356e-02 9.99932898e-01 5.05406190e-04 8.22360678e-01] [-2.92349526e-02 -8.43595432e-04 9.99572211e-01 -8.92097962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.14, Y:0.82, Z:-0.90 [[ 9.99487309e-01 1.30371349e-02 2.92429867e-02 2.01384398e+01] [-1.30570913e-02 9.99914632e-01 4.91575975e-04 8.22005492e-01] [-2.92340815e-02 -8.73152296e-04 9.99572212e-01 -8.96432437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.20, Y:0.82, Z:-0.90 [[ 9.99446072e-01 1.58866128e-02 2.92432122e-02 2.02014497e+01] [-1.59073840e-02 9.99873355e-01 4.77773338e-04 8.21585515e-01] [-2.92319185e-02 -9.42691693e-04 9.99572212e-01 -8.95426856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.26, Y:0.82, Z:-0.90 [[ 9.99447640e-01 1.57872604e-02 2.92434291e-02 2.02645747e+01] [-1.58075897e-02 9.99874945e-01 4.64105475e-04 8.23140476e-01] [-2.92324451e-02 -9.26117250e-04 9.99572212e-01 -8.96717895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:0.82, Z:-0.89 [[ 9.99416477e-01 1.76498116e-02 2.92436398e-02 2.03260018e+01] [-1.76705374e-02 9.99843762e-01 4.50429305e-04 8.23767917e-01] [-2.92311208e-02 -9.66917298e-04 9.99572212e-01 -8.87292539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:0.82, Z:-0.90 [[ 9.99558168e-01 5.31765997e-03 2.92436532e-02 2.03865840e+01] [-5.33308669e-03 9.99985678e-01 4.49552087e-04 8.20905758e-01] [-2.92408439e-02 -6.05312399e-04 9.99572212e-01 -9.01372982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:0.82, Z:-0.89 [[ 9.99568529e-01 2.74992443e-03 2.92436792e-02 2.04479951e+01] [-2.76420324e-03 9.99996079e-01 4.47854673e-04 8.19950931e-01] [-2.92423330e-02 -5.28496910e-04 9.99572212e-01 -8.91691973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:0.82, Z:-0.91 [[ 9.99572296e-01 1.80156584e-04 2.92436928e-02 2.05081535e+01] [-1.93310285e-04 9.99999881e-01 4.46969614e-04 8.15136797e-01] [-2.92436088e-02 -4.52431549e-04 9.99572212e-01 -9.07504228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.57, Y:0.81, Z:-0.91 [[ 9.99571729e-01 1.07973543e-03 2.92436949e-02 2.05709567e+01] [-1.09326978e-03 9.99999303e-01 4.46827246e-04 8.09568769e-01] [-2.92431921e-02 -4.78607130e-04 9.99572212e-01 -9.08289010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.63, Y:0.81, Z:-0.91 [[ 9.99557052e-01 5.52218982e-03 2.92439045e-02 2.06338318e+01] [-5.53721017e-03 9.99984576e-01 4.32665242e-04 8.07706362e-01] [-2.92410642e-02 -5.94403238e-04 9.99572212e-01 -9.11841389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.70, Y:0.80, Z:-0.91 [[ 9.99532818e-01 8.88409766e-03 2.92441068e-02 2.06971493e+01] [-8.90014253e-03 9.99960305e-01 4.18529842e-04 7.98256574e-01] [-2.92392277e-02 -6.78611031e-04 9.99572212e-01 -9.11532030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.76, Y:0.79, Z:-0.89 [[ 9.99409099e-01 1.80616769e-02 2.92442978e-02 2.07578920e+01] [-1.80812429e-02 9.99836439e-01 4.04724475e-04 7.93735856e-01] [-2.92322046e-02 -9.33258575e-04 9.99572212e-01 -8.94705823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.82, Y:0.79, Z:-0.90 [[ 9.99362178e-01 2.04940807e-02 2.92443128e-02 2.08208745e+01] [-2.05146549e-02 9.99789471e-01 4.03637751e-04 7.86373571e-01] [-2.92298839e-02 -1.00331729e-03 9.99572212e-01 -8.96552086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.88, Y:0.78, Z:-0.92 [[ 9.99451747e-01 1.55230165e-02 2.92444955e-02 2.08813615e+01] [-1.55410646e-02 9.99879154e-01 3.89938831e-04 7.75535042e-01] [-2.92349084e-02 -8.44215640e-04 9.99572212e-01 -9.19093190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.94, Y:0.78, Z:-0.93 [[ 9.98833179e-01 3.84322811e-02 2.92445025e-02 2.09419212e+01] [-3.84601079e-02 9.99260060e-01 3.89416469e-04 7.79610875e-01] [-2.92078971e-02 -1.51370881e-03 9.99572212e-01 -9.32956705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:0.78, Z:-0.93 [[ 9.97301832e-01 6.73335970e-02 2.92445231e-02 2.10047454e+01] [-6.73737255e-02 9.97727734e-01 3.87858421e-04 7.83254554e-01] [-2.91519559e-02 -2.35712439e-03 9.99572212e-01 -9.26096177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:0.77, Z:-0.91 [[ 9.98992622e-01 3.40366711e-02 2.92445781e-02 2.10673240e+01] [-3.40624513e-02 9.99419633e-01 3.83667799e-04 7.67730465e-01] [-2.92145467e-02 -1.37942332e-03 9.99572212e-01 -9.06860500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.13, Y:0.77, Z:-0.91 [[ 9.98513750e-01 4.59895423e-02 2.92447237e-02 2.11290696e+01] [-4.60200969e-02 9.98940445e-01 3.72226920e-04 7.74817763e-01] [-2.91966188e-02 -1.71751872e-03 9.99572212e-01 -9.05802998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.19, Y:0.78, Z:-0.91 [[ 9.98170606e-01 5.29167191e-02 2.92448635e-02 2.11907693e+01] [-5.29499033e-02 9.98597105e-01 3.60902811e-04 7.79816679e-01] [-2.91847382e-02 -1.90875527e-03 9.99572212e-01 -9.06956950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.25, Y:0.80, Z:-0.91 [[ 9.97962569e-01 5.67048631e-02 2.92450021e-02 2.12532048e+01] [-5.67393273e-02 9.98388966e-01 3.49296657e-04 7.95400381e-01] [-2.91780806e-02 -2.00792673e-03 9.99572212e-01 -9.10116336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.32, Y:0.81, Z:-0.91 [[ 9.97496566e-01 6.43841799e-02 2.92451493e-02 2.13151442e+01] [-6.44215520e-02 9.97922718e-01 3.36504902e-04 8.06843929e-01] [-2.91627333e-02 -2.21968039e-03 9.99572213e-01 -9.06683839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.38, Y:0.82, Z:-0.92 [[ 9.97925663e-01 5.73505943e-02 2.92451768e-02 2.13767869e+01] [-5.73848910e-02 9.98352074e-01 3.34095355e-04 8.17736787e-01] [-2.91778223e-02 -2.01163361e-03 9.99572213e-01 -9.16049871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:21.44, Y:0.83, Z:-0.91 [[ 9.97940815e-01 5.70863153e-02 2.92452133e-02 2.14377960e+01] [-5.71204051e-02 9.98367242e-01 3.30872384e-04 8.28500963e-01] [-2.91785746e-02 -2.00068949e-03 9.99572213e-01 -9.09663450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:21.50, Y:0.83, Z:-0.92 [[ 9.98540263e-01 4.54098978e-02 2.92452314e-02 2.14981461e+01] [-4.54389506e-02 9.98967063e-01 3.29265379e-04 8.33948429e-01] [-2.92000710e-02 -1.65765736e-03 9.99572213e-01 -9.19778453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:21.56, Y:0.84, Z:-0.92 [[ 9.98841139e-01 3.82242839e-02 2.92452407e-02 2.15611551e+01] [-3.82502409e-02 9.99268138e-01 3.28437427e-04 8.38516180e-01] [-2.92112829e-02 -1.44669431e-03 9.99572213e-01 -9.21520317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.62, Y:0.84, Z:-0.93 [[ 9.99017351e-01 3.33022512e-02 2.92453818e-02 2.16240601e+01] [-3.33257215e-02 9.99444494e-01 3.15344913e-04 8.43109232e-01] [-2.92186342e-02 -1.28965849e-03 9.99572213e-01 -9.26686297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:21.69, Y:0.85, Z:-0.93 [[ 9.99185619e-01 2.77992384e-02 2.92455199e-02 2.16860405e+01] [-2.78199649e-02 9.99612904e-01 3.01974333e-04 8.48106782e-01] [-2.92258044e-02 -1.11533775e-03 9.99572213e-01 -9.27075471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:21.75, Y:0.85, Z:-0.92 [[ 9.99197515e-01 2.73681919e-02 2.92456374e-02 2.17467252e+01] [-2.73883880e-02 9.99624826e-01 2.90132976e-04 8.49232374e-01] [-2.92267247e-02 -1.09089101e-03 9.99572213e-01 -9.20117278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:0.85, Z:-0.95 [[ 9.99427829e-01 1.69914096e-02 2.92456384e-02 2.18069415e+01] [-1.70071645e-02 9.99855326e-01 2.90030940e-04 8.50215643e-01] [-2.92364793e-02 -7.87250377e-04 9.99572213e-01 -9.49351094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:21.87, Y:0.85, Z:-0.94 [[ 9.99400391e-01 1.85351492e-02 2.92456439e-02 2.18695840e+01] [-1.85515482e-02 9.99827863e-01 2.89475057e-04 8.49643854e-01] [-2.92352442e-02 -8.31853457e-04 9.99572213e-01 -9.38187032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:21.93, Y:0.85, Z:-0.93 [[ 9.99336277e-01 2.17184437e-02 2.92457602e-02 2.19319111e+01] [-2.17358456e-02 9.99763710e-01 2.77209176e-04 8.49970925e-01] [-2.92328291e-02 -9.12706514e-04 9.99572213e-01 -9.33025299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:0.85, Z:-0.95 [[ 9.99428649e-01 1.69426736e-02 2.92458699e-02 2.19939317e+01] [-1.69576788e-02 9.99856173e-01 2.65104816e-04 8.47137134e-01] [-2.92371719e-02 -7.60895414e-04 9.99572213e-01 -9.52891730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:0.84, Z:-0.96 [[ 9.99426491e-01 1.70692861e-02 2.92459904e-02 2.20549976e+01] [-1.70839349e-02 9.99854027e-01 2.51065669e-04 8.44968408e-01] [-2.92374358e-02 -7.50558278e-04 9.99572213e-01 -9.58920771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:22.12, Y:0.84, Z:-0.96 [[ 9.99294400e-01 2.35663572e-02 2.92460057e-02 2.21167553e+01] [-2.35837327e-02 9.99721834e-01 2.49268998e-04 8.44369451e-01] [-2.92319961e-02 -9.38823094e-04 9.99572213e-01 -9.58887280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters Centerline goodness : 0.996846 with order 1 Centerline is valid? [True, True] Translation: X:22.18, Y:0.85, Z:-0.94 [[ 9.98844885e-01 3.81256332e-02 2.92460542e-02 2.21787138e+01] [-3.81490652e-02 9.99272030e-01 2.43441086e-04 8.46423182e-01] [-2.92154826e-02 -1.35886951e-03 9.99572213e-01 -9.35192549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters Centerline goodness : 0.992301 with order 1 Centerline is valid? [True, True] Translation: X:22.24, Y:0.88, Z:-0.96 [[ 9.93730769e-01 1.07906562e-01 2.92460612e-02 2.22374867e+01] [-1.07959793e-01 9.94155231e-01 2.42597028e-04 8.82806752e-01] [-2.90489470e-02 -3.39847485e-03 9.99572213e-01 -9.60884894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:0.86, Z:-0.96 [[ 9.98491504e-01 4.64691735e-02 2.92460612e-02 2.22985839e+01] [-4.64961485e-02 9.98918440e-01 2.42597028e-04 8.61741042e-01] [-2.92031566e-02 -1.60206028e-03 9.99572213e-01 -9.57228413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters Centerline goodness : 0.996344 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:0.87, Z:-0.94 [[ 9.97248989e-01 6.81110872e-02 2.92460769e-02 2.23596787e+01] [-6.81472587e-02 9.97675244e-01 2.40693360e-04 8.73311066e-01] [-2.91616930e-02 -2.23307118e-03 9.99572213e-01 -9.38280871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:0.86, Z:-0.97 [[ 9.99478349e-01 1.37002511e-02 2.92460838e-02 2.24210533e+01] [-1.37131305e-02 9.99905942e-01 2.39845427e-04 8.62767493e-01] [-2.92400471e-02 -6.40775676e-04 9.99572213e-01 -9.71653936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:0.91, Z:-0.96 [[ 9.95694873e-01 8.79567190e-02 2.92461088e-02 2.24818024e+01] [-8.80012573e-02 9.96120335e-01 2.36758226e-04 9.07310999e-01] [-2.91118193e-02 -2.80943330e-03 9.99572213e-01 -9.59268763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:0.91, Z:-0.96 [[ 9.97489984e-01 6.44856102e-02 2.92461508e-02 2.25439507e+01] [-6.45199628e-02 9.97916390e-01 2.31458946e-04 9.08423576e-01] [-2.91702874e-02 -2.11783854e-03 9.99572213e-01 -9.55488256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters Centerline goodness : 0.996780 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:0.91, Z:-0.96 [[ 9.98158319e-01 5.31472313e-02 2.92462342e-02 2.26062640e+01] [-5.31764134e-02 9.98585109e-01 2.20391447e-04 9.13668869e-01] [-2.91931408e-02 -1.77519540e-03 9.99572213e-01 -9.58194823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters Centerline goodness : 0.997481 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:0.91, Z:-0.96 [[ 9.98853482e-01 3.78995435e-02 2.92463159e-02 2.26683463e+01] [-3.79218710e-02 9.99280685e-01 2.08953989e-04 9.14191702e-01] [-2.92173593e-02 -1.31778944e-03 9.99572213e-01 -9.62897581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters Centerline goodness : 0.996961 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:0.91, Z:-0.96 [[ 9.99188131e-01 2.77079257e-02 2.92463590e-02 2.27302425e+01] [-2.77257122e-02 9.99615548e-01 2.02733804e-04 9.11497219e-01] [-2.92294979e-02 -1.01344534e-03 9.99572213e-01 -9.61057068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters Centerline goodness : 0.997131 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:0.91, Z:-0.96 [[ 9.99196193e-01 2.74156115e-02 2.92463885e-02 2.27923163e+01] [-2.74331461e-02 9.99623621e-01 1.98394655e-04 9.13269679e-01] [-2.92299416e-02 -1.00055563e-03 9.99572213e-01 -9.62817735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters Centerline goodness : 0.996883 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:0.91, Z:-0.96 [[ 9.99174280e-01 2.82028752e-02 2.92464679e-02 2.28549286e+01] [-2.82203810e-02 9.99601708e-01 1.85890143e-04 9.06524840e-01] [-2.92295767e-02 -1.01108312e-03 9.99572213e-01 -9.61193591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters Centerline goodness : 0.997183 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:0.90, Z:-0.96 [[ 9.99201837e-01 2.72089681e-02 2.92465505e-02 2.29176114e+01] [-2.72256380e-02 9.99629299e-01 1.71844848e-04 9.02289698e-01] [-2.92310330e-02 -9.67963684e-04 9.99572213e-01 -9.64821187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters Centerline goodness : 0.997331 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:0.90, Z:-0.97 [[ 9.99259990e-01 2.49821421e-02 2.92466261e-02 2.29799193e+01] [-2.49974496e-02 9.99687502e-01 1.57831636e-04 8.96133757e-01] [-2.92335436e-02 -8.88805902e-04 9.99572213e-01 -9.68605892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:0.90, Z:-1.00 [[ 9.95633329e-01 8.86504706e-02 2.92466911e-02 2.30388716e+01] [-8.86926251e-02 9.96059033e-01 1.44685626e-04 9.02489019e-01] [-2.91186044e-02 -2.73801964e-03 9.99572214e-01 -9.99667300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters Centerline goodness : 0.996136 with order 1 Centerline is valid? [True, True] Translation: X:23.10, Y:0.89, Z:-0.96 [[ 9.98879261e-01 3.72136106e-02 2.92466907e-02 2.31004246e+01] [-3.72337689e-02 9.99306572e-01 1.44767018e-04 8.90386542e-01] [-2.92210230e-02 -1.23356930e-03 9.99572214e-01 -9.64980404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters Centerline goodness : 0.996688 with order 1 Centerline is valid? [True, True] Translation: X:23.16, Y:0.90, Z:-0.97 [[ 9.98375368e-01 4.89004709e-02 2.92466944e-02 2.31620415e+01] [-4.89256067e-02 9.98802415e-01 1.44022303e-04 9.00693534e-01] [-2.92046262e-02 -1.57470059e-03 9.99572214e-01 -9.71452687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:0.91, Z:-0.98 [[ 9.98252199e-01 5.13534442e-02 2.92467110e-02 2.32239260e+01] [-5.13795281e-02 9.98679190e-01 1.40558693e-04 9.07296712e-01] [-2.92008635e-02 -1.64299524e-03 9.99572214e-01 -9.75465679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters Centerline goodness : 0.996690 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:0.92, Z:-0.97 [[ 9.98184693e-01 5.26492887e-02 2.92467268e-02 2.32857195e+01] [-5.26758286e-02 9.98611655e-01 1.37194686e-04 9.15691244e-01] [-2.91988991e-02 -1.67754120e-03 9.99572214e-01 -9.74200370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters Centerline goodness : 0.997619 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:0.92, Z:-0.98 [[ 9.98218276e-01 5.20086417e-02 2.92467765e-02 2.33477763e+01] [-5.20345698e-02 9.98645276e-01 1.25629607e-04 9.22942772e-01] [-2.92006214e-02 -1.64724920e-03 9.99572214e-01 -9.80273629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters Centerline goodness : 0.969930 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:0.89, Z:-1.00 [[ 9.98856206e-01 -3.78273051e-02 2.92467937e-02 2.34088189e+01] [ 3.78399411e-02 9.99283806e-01 1.21496443e-04 8.89086189e-01] [-2.92304432e-02 9.85339472e-04 9.99572214e-01 -1.00385619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters Centerline goodness : 0.998168 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:0.93, Z:-0.98 [[ 9.98519279e-01 4.58679954e-02 2.92468345e-02 2.34713841e+01] [-4.58908607e-02 9.98946453e-01 1.10705924e-04 9.33000254e-01] [-2.92109438e-02 -1.45270441e-03 9.99572214e-01 -9.81835053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:23.53, Y:0.93, Z:-1.00 [[ 9.98815176e-01 3.88955752e-02 2.92468472e-02 2.35330194e+01] [-3.89153568e-02 9.99242505e-01 1.07260260e-04 9.34865402e-01] [-2.92205209e-02 -1.24528467e-03 9.99572214e-01 -1.00206126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:23.59, Y:0.94, Z:-0.99 [[ 9.98616732e-01 4.36948675e-02 2.92468855e-02 2.35948642e+01] [-4.37163593e-02 9.99043978e-01 9.55164753e-05 9.38987728e-01] [-2.92147513e-02 -1.37395170e-03 9.99572214e-01 -9.87785436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:23.66, Y:0.94, Z:-1.00 [[ 9.98660504e-01 4.26827406e-02 2.92469172e-02 2.36561053e+01] [-4.27034784e-02 9.99087787e-01 8.45355319e-05 9.40242240e-01] [-2.92166296e-02 -1.33336740e-03 9.99572214e-01 -1.00339702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:23.72, Y:0.94, Z:-0.99 [[ 9.98272646e-01 5.09543038e-02 2.92469244e-02 2.37189283e+01] [-5.09785062e-02 9.98699747e-01 8.19903133e-05 9.44670932e-01] [-2.92047182e-02 -1.57281320e-03 9.99572214e-01 -9.89633808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:0.95, Z:-1.00 [[ 9.98732949e-01 4.09525695e-02 2.92469335e-02 2.37813462e+01] [-4.09723940e-02 9.99160276e-01 7.86130034e-05 9.45027807e-01] [-2.92191547e-02 -1.27683028e-03 9.99572214e-01 -9.99321090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:23.84, Y:0.94, Z:-1.00 [[ 9.98712438e-01 4.14497415e-02 2.92469631e-02 2.38433569e+01] [-4.14693913e-02 9.99139773e-01 6.53574599e-05 9.43856671e-01] [-2.92190950e-02 -1.27812706e-03 9.99572214e-01 -9.97406137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters Centerline goodness : 0.997921 with order 1 Centerline is valid? [True, True] Translation: X:23.91, Y:0.95, Z:-1.00 [[ 9.98590919e-01 4.42808207e-02 2.92469766e-02 2.39053518e+01] [-4.43014840e-02 9.99018206e-01 5.85919706e-05 9.48035189e-01] [-2.92156676e-02 -1.35419388e-03 9.99572214e-01 -9.99443508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters Centerline goodness : 0.996831 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:0.95, Z:-1.00 [[ 9.98678500e-01 4.22595144e-02 2.92469918e-02 2.39681934e+01] [-4.22790530e-02 9.99105840e-01 4.97002324e-05 9.48508515e-01] [-2.92187399e-02 -1.28616967e-03 9.99572214e-01 -9.98209296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters Centerline goodness : 0.997374 with order 1 Centerline is valid? [True, True] Translation: X:24.03, Y:0.95, Z:-1.00 [[ 9.98655533e-01 4.27988228e-02 2.92470085e-02 2.40308045e+01] [-4.28181970e-02 9.99082880e-01 3.61814787e-05 9.53541286e-01] [-2.92186369e-02 -1.28843700e-03 9.99572214e-01 -1.00080319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:24.09, Y:0.95, Z:-1.00 [[ 9.98686306e-01 4.20746261e-02 2.92470190e-02 2.40935108e+01] [-4.20932883e-02 9.99113685e-01 2.24254878e-05 9.53059216e-01] [-2.92201534e-02 -1.25349923e-03 9.99572214e-01 -1.00190793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:24.16, Y:0.93, Z:-1.01 [[ 9.99570691e-01 1.74517310e-03 2.92470231e-02 2.41558640e+01] [-1.74617092e-03 9.99998475e-01 8.57622730e-06 9.32296382e-01] [-2.92469635e-02 -5.96428466e-05 9.99572214e-01 -1.01454778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:24.22, Y:0.95, Z:-1.01 [[ 9.99134697e-01 2.95714165e-02 2.92470203e-02 2.42174157e+01] [-2.95839031e-02 9.99562301e-01 -5.78032060e-06 9.47046096e-01] [-2.92343898e-02 -8.59465693e-04 9.99572214e-01 -1.00733463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters Centerline goodness : 0.997480 with order 1 Centerline is valid? [True, True] Translation: X:24.28, Y:0.94, Z:-1.00 [[ 9.99106669e-01 3.05037220e-02 2.92470134e-02 2.42791371e+01] [-3.05162703e-02 9.99534270e-01 -1.73130265e-05 9.42141722e-01] [-2.92339203e-02 -8.75212206e-04 9.99572214e-01 -1.00463499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:24.34, Y:0.94, Z:-1.01 [[ 9.99148060e-01 2.91164468e-02 2.92470009e-02 2.43420956e+01] [-2.91280395e-02 9.99575688e-01 -2.96830740e-05 9.41113336e-01] [-2.92354553e-02 -8.22250012e-04 9.99572215e-01 -1.01047209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:24.40, Y:0.96, Z:-1.04 [[ 9.95819905e-01 8.65293625e-02 2.92469796e-02 2.44028709e+01] [-8.65651148e-02 9.96246194e-01 -4.38914073e-05 9.63266775e-01] [-2.91409900e-02 -2.48806020e-03 9.99572215e-01 -1.04439039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:0.93, Z:-1.01 [[ 9.99256676e-01 2.51139631e-02 2.92469553e-02 2.44653653e+01] [-2.51230597e-02 9.99684365e-01 -5.64547288e-05 9.34718923e-01] [-2.92391417e-02 -6.78360239e-04 9.99572215e-01 -1.01218627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:0.93, Z:-1.02 [[ 9.99235468e-01 2.59441149e-02 2.92469282e-02 2.45269792e+01] [-2.59532259e-02 9.99663156e-01 -6.81078977e-05 9.31351442e-01] [-2.92388435e-02 -6.90996307e-04 9.99572215e-01 -1.01532133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:24.59, Y:0.92, Z:-1.01 [[ 9.99200155e-01 2.72703125e-02 2.92468931e-02 2.45885815e+01] [-2.72796196e-02 9.99627839e-01 -8.08101521e-05 9.23601183e-01] [-2.92382122e-02 -7.17098601e-04 9.99572215e-01 -1.01376969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:24.65, Y:0.92, Z:-1.02 [[ 9.99211038e-01 2.68686233e-02 2.92468554e-02 2.46513727e+01] [-2.68774103e-02 9.99638733e-01 -9.27096496e-05 9.19087411e-01] [-2.92387804e-02 -6.93443228e-04 9.99572215e-01 -1.01619257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:24.71, Y:0.91, Z:-1.02 [[ 9.99305383e-01 2.30949246e-02 2.92468020e-02 2.47141788e+01] [-2.31016704e-02 9.99733115e-01 -1.07270777e-04 9.06197152e-01] [-2.92414738e-02 -5.68453715e-04 9.99572215e-01 -1.01756326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:0.90, Z:-1.02 [[ 9.99290047e-01 2.37493086e-02 2.92467420e-02 2.47759721e+01] [-2.37559132e-02 9.99717781e-01 -1.21673259e-04 9.00421328e-01] [-2.92413777e-02 -5.73196188e-04 9.99572215e-01 -1.01957465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:0.89, Z:-1.02 [[ 9.99126743e-01 2.98392683e-02 2.92466842e-02 2.48384016e+01] [-2.98481111e-02 9.99554437e-01 -1.34270870e-04 8.92910575e-01] [-2.92376595e-02 -7.38804663e-04 9.99572215e-01 -1.02083297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:0.89, Z:-1.02 [[ 9.99077258e-01 3.14526337e-02 2.92466108e-02 2.49001465e+01] [-3.14617450e-02 9.99504946e-01 -1.48701008e-04 8.87368278e-01] [-2.92368092e-02 -7.71585618e-04 9.99572215e-01 -1.02282478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:0.88, Z:-1.02 [[ 9.99127101e-01 2.98274470e-02 2.92465418e-02 2.49618224e+01] [-2.98354960e-02 9.99554809e-01 -1.61229933e-04 8.78995345e-01] [-2.92383306e-02 -7.11495886e-04 9.99572215e-01 -1.02418102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:0.87, Z:-1.03 [[ 9.99196575e-01 2.74016049e-02 2.92464676e-02 2.50241997e+01] [-2.74082500e-02 9.99624308e-01 -1.73724794e-04 8.73396703e-01] [-2.92402402e-02 -6.28009275e-04 9.99572215e-01 -1.02638879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:0.87, Z:-1.03 [[ 9.99209473e-01 2.69272772e-02 2.92463879e-02 2.50871068e+01] [-2.69333531e-02 9.99637214e-01 -1.86238939e-04 8.65788951e-01] [-2.92407926e-02 -6.01611580e-04 9.99572216e-01 -1.02766883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:0.86, Z:-1.03 [[ 9.99117305e-01 3.01540378e-02 2.92462911e-02 2.51500364e+01] [-3.01610816e-02 9.99545031e-01 -2.00369438e-04 8.59902180e-01] [-2.92390269e-02 -6.81907199e-04 9.99572216e-01 -1.03314454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:0.85, Z:-1.05 [[ 9.99149727e-01 2.90600168e-02 2.92461854e-02 2.52121562e+01] [-2.90661711e-02 9.99577467e-01 -2.14765465e-04 8.51433357e-01] [-2.92400690e-02 -6.35491773e-04 9.99572216e-01 -1.04680519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:0.85, Z:-1.04 [[ 9.98972050e-01 3.46339006e-02 2.92461342e-02 2.52748826e+01] [-3.46422435e-02 9.99399753e-01 -2.21522731e-04 8.47997896e-01] [-2.92362515e-02 -7.91856686e-04 9.99572216e-01 -1.03670039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:0.86, Z:-1.07 [[ 9.95535698e-01 8.97404259e-02 2.92460349e-02 2.53333032e+01] [-8.97720098e-02 9.95962314e-01 -2.33940177e-04 8.56909163e-01] [-2.91489424e-02 -2.39257953e-03 9.99572216e-01 -1.06857557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:25.40, Y:0.84, Z:-1.03 [[ 9.98584442e-01 4.44272676e-02 2.92460418e-02 2.53957212e+01] [-4.44394661e-02 9.99012052e-01 -2.33068474e-04 8.41460140e-01] [-2.92275028e-02 -1.06693993e-03 9.99572216e-01 -1.03298759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:0.84, Z:-1.04 [[ 9.98518654e-01 4.58821046e-02 2.92460283e-02 2.54570572e+01] [-4.58948770e-02 9.98946247e-01 -2.34746601e-04 8.39461598e-01] [-2.92259809e-02 -1.10784401e-03 9.99572216e-01 -1.03810914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:0.84, Z:-1.04 [[ 9.98409084e-01 4.82076325e-02 2.92459359e-02 2.55187693e+01] [-4.82210789e-02 9.98836657e-01 -2.45751448e-04 8.36057173e-01] [-2.92237599e-02 -1.16491010e-03 9.99572216e-01 -1.04000668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:0.83, Z:-1.06 [[ 9.98703499e-01 4.16653689e-02 2.92458298e-02 2.55804478e+01] [-4.16756618e-02 9.99131159e-01 -2.57783298e-04 8.27301963e-01] [-2.92311605e-02 -9.61390230e-04 9.99572216e-01 -1.06188103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:0.82, Z:-1.06 [[ 9.98642535e-01 4.31019233e-02 2.92457220e-02 2.56433118e+01] [-4.31124890e-02 9.99070188e-01 -2.69486884e-04 8.23825373e-01] [-2.92301443e-02 -9.91734802e-04 9.99572216e-01 -1.06191378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:0.82, Z:-1.06 [[ 9.98507256e-01 4.61297645e-02 2.92455902e-02 2.57049770e+01] [-4.61412288e-02 9.98934886e-01 -2.83095046e-04 8.20861327e-01] [-2.92274995e-02 -1.06675501e-03 9.99572216e-01 -1.06436003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:0.82, Z:-1.05 [[ 9.97675771e-01 6.15447710e-02 2.92454718e-02 2.57675827e+01] [-6.15624947e-02 9.98103187e-01 -2.94841159e-04 8.21379837e-01] [-2.92081446e-02 -1.50626832e-03 9.99572216e-01 -1.05004685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:0.82, Z:-1.07 [[ 9.97582600e-01 6.30370259e-02 2.92453490e-02 2.58290747e+01] [-6.30550463e-02 9.98010004e-01 -3.06561546e-04 8.18557134e-01] [-2.92064756e-02 -1.53824637e-03 9.99572216e-01 -1.06517571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:0.82, Z:-1.05 [[ 9.97015382e-01 7.14495935e-02 2.92452249e-02 2.58911700e+01] [-7.14708849e-02 9.97442636e-01 -3.17974233e-04 8.21066008e-01] [-2.91931533e-02 -1.77315690e-03 9.99572216e-01 -1.05295493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:0.83, Z:-1.07 [[ 9.94406553e-01 1.01490552e-01 2.92450967e-02 2.59506636e+01] [-1.01524389e-01 9.94832996e-01 -3.29358621e-04 8.30893925e-01] [-2.91274139e-02 -2.64157421e-03 9.99572216e-01 -1.07231238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:0.81, Z:-1.07 [[ 9.97687556e-01 6.13536109e-02 2.92450967e-02 2.60121488e+01] [-6.13702435e-02 9.98115016e-01 -3.29358621e-04 8.14640684e-01] [-2.92101775e-02 -1.46618171e-03 9.99572216e-01 -1.07133630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:26.07, Y:0.82, Z:-1.07 [[ 9.97674004e-01 6.15736115e-02 2.92450339e-02 2.60749660e+01] [-6.15901781e-02 9.98101467e-01 -3.34837620e-04 8.15349085e-01] [-2.92101284e-02 -1.46714806e-03 9.99572216e-01 -1.07411181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:0.81, Z:-1.08 [[ 9.97601533e-01 6.27368939e-02 2.92448783e-02 2.61364811e+01] [-6.27535765e-02 9.98028991e-01 -3.47917285e-04 8.11754254e-01] [-2.92090637e-02 -1.48813789e-03 9.99572217e-01 -1.07601410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:0.81, Z:-1.08 [[ 9.97640174e-01 6.21194463e-02 2.92448018e-02 2.61983538e+01] [-6.21356797e-02 9.98067649e-01 -3.54232316e-04 8.10872613e-01] [-2.92102953e-02 -1.46374925e-03 9.99572217e-01 -1.07835647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:26.26, Y:0.81, Z:-1.08 [[ 9.97456803e-01 6.49974620e-02 2.92447518e-02 2.62613638e+01] [-6.50148093e-02 9.97884235e-01 -3.58315018e-04 8.10706020e-01] [-2.92061664e-02 -1.54393821e-03 9.99572217e-01 -1.08253521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:26.32, Y:0.81, Z:-1.08 [[ 9.97196206e-01 6.88801990e-02 2.92445819e-02 2.63230090e+01] [-6.88988193e-02 9.97623584e-01 -3.71685169e-04 8.10346316e-01] [-2.92006863e-02 -1.64427412e-03 9.99572217e-01 -1.08281377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:0.81, Z:-1.09 [[ 9.96990815e-01 7.17919049e-02 2.92444323e-02 2.63856333e+01] [-7.18114393e-02 9.97418152e-01 -3.83105600e-04 8.13809952e-01] [-2.91964315e-02 -1.71813201e-03 9.99572217e-01 -1.08552916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:0.82, Z:-1.09 [[ 9.96781464e-01 7.46423908e-02 2.92442591e-02 2.64482011e+01] [-7.46627732e-02 9.97208761e-01 -3.95896967e-04 8.15626401e-01] [-2.91921821e-02 -1.78883473e-03 9.99572217e-01 -1.08714631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:0.82, Z:-1.09 [[ 9.96926801e-01 7.26755051e-02 2.92442046e-02 2.65100756e+01] [-7.26949277e-02 9.97354144e-01 -3.99886701e-04 8.18644181e-01] [-2.91958906e-02 -1.72724757e-03 9.99572217e-01 -1.08910638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:0.82, Z:-1.09 [[ 9.96982035e-01 7.19138883e-02 2.92440482e-02 2.65718988e+01] [-7.19326591e-02 9.97409406e-01 -4.11014673e-04 8.23433519e-01] [-2.91978464e-02 -1.69382790e-03 9.99572217e-01 -1.09058196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:0.84, Z:-1.09 [[ 9.96594675e-01 7.70963548e-02 2.92438867e-02 2.66337599e+01] [-7.71170205e-02 9.97021959e-01 -4.22196694e-04 8.37684313e-01] [-2.91893471e-02 -1.83444244e-03 9.99572217e-01 -1.09200823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.70, Y:0.85, Z:-1.09 [[ 9.96595729e-01 7.70828028e-02 2.92437204e-02 2.66969464e+01] [-7.71031347e-02 9.97023028e-01 -4.33417706e-04 8.45463621e-01] [-2.91900718e-02 -1.82284028e-03 9.99572217e-01 -1.09372170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:0.86, Z:-1.10 [[ 9.96873868e-01 7.33982745e-02 2.92435256e-02 2.67599682e+01] [-7.34166534e-02 9.97301256e-01 -4.46186967e-04 8.57562904e-01] [-2.91973542e-02 -1.70216966e-03 9.99572217e-01 -1.09600281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:0.87, Z:-1.09 [[ 9.96895251e-01 7.31073668e-02 2.92433212e-02 2.68214587e+01] [-7.31252403e-02 9.97322660e-01 -4.59205278e-04 8.68217502e-01] [-2.91985982e-02 -1.68064533e-03 9.99572217e-01 -1.08556523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:0.87, Z:-1.09 [[ 9.97949760e-01 5.69307919e-02 2.92431586e-02 2.68835249e+01] [-5.69414353e-02 9.98377410e-01 -4.69338951e-04 8.70726046e-01] [-2.92224287e-02 -1.19677073e-03 9.99572217e-01 -1.08667450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:0.88, Z:-1.10 [[ 9.95971775e-01 8.47647590e-02 2.92430906e-02 2.69437137e+01] [-8.47872127e-02 9.96398968e-01 -4.73534987e-04 8.78073482e-01] [-2.91779244e-02 -2.00781266e-03 9.99572217e-01 -1.10373977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:0.87, Z:-1.10 [[ 9.98594842e-01 4.41948472e-02 2.92430631e-02 2.70044963e+01] [-4.41998616e-02 9.99022596e-01 -4.75225962e-04 8.66638586e-01] [-2.92354834e-02 -8.17981149e-04 9.99572217e-01 -1.09736440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:0.86, Z:-1.10 [[ 9.98791871e-01 3.94923170e-02 2.92430489e-02 2.70664496e+01] [-3.94952917e-02 9.99219643e-01 -4.76099925e-04 8.61629100e-01] [-2.92390312e-02 -6.79438013e-04 9.99572217e-01 -1.10494104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:0.86, Z:-1.11 [[ 9.98819462e-01 3.87883667e-02 2.92428446e-02 2.71281748e+01] [-3.87906818e-02 9.99247239e-01 -4.88336588e-04 8.60679750e-01] [-2.92397735e-02 -6.46589790e-04 9.99572217e-01 -1.10564152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:0.86, Z:-1.11 [[ 9.98548068e-01 4.52396252e-02 2.92426329e-02 2.71907069e+01] [-4.52443418e-02 9.98975825e-01 -5.00700064e-04 8.57948349e-01] [-2.92353348e-02 -8.23090596e-04 9.99572217e-01 -1.10813903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:27.25, Y:0.86, Z:-1.09 [[ 9.98228503e-01 5.18143634e-02 2.92425559e-02 2.72535207e+01] [-5.18217665e-02 9.98656222e-01 -5.05153561e-04 8.58089725e-01] [-2.92294346e-02 -1.01114222e-03 9.99572217e-01 -1.09396002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:27.32, Y:0.86, Z:-1.09 [[ 9.97904811e-01 5.77137171e-02 2.92423379e-02 2.73159820e+01] [-5.77232877e-02 9.98332487e-01 -5.17474381e-04 8.58792889e-01] [-2.92234413e-02 -1.17157371e-03 9.99572217e-01 -1.09460064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:0.86, Z:-1.12 [[ 9.98173462e-01 5.28643296e-02 2.92421196e-02 2.73774549e+01] [-5.28714693e-02 9.98601185e-01 -5.29531763e-04 8.57363131e-01] [-2.92292086e-02 -1.01750927e-03 9.99572218e-01 -1.11960088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:0.86, Z:-1.10 [[ 9.97693629e-01 6.12562981e-02 2.92419010e-02 2.74393988e+01] [-6.12666889e-02 9.98121285e-01 -5.41336898e-04 8.58777308e-01] [-2.92201241e-02 -1.25146608e-03 9.99572218e-01 -1.10238199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters Centerline goodness : 0.997139 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:0.87, Z:-1.12 [[ 9.94743331e-01 9.81357635e-02 2.92416932e-02 2.74992015e+01] [-9.81616520e-02 9.95170330e-01 -5.52340148e-04 8.71004337e-01] [-2.91546698e-02 -2.32097623e-03 9.99572218e-01 -1.11796748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:0.86, Z:-1.12 [[ 9.97659838e-01 6.18042920e-02 2.92416932e-02 2.75598199e+01] [-6.18145959e-02 9.98087496e-01 -5.52340148e-04 8.64592342e-01] [-2.92199053e-02 -1.25651587e-03 9.99572218e-01 -1.11757953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:0.87, Z:-1.11 [[ 9.97260320e-01 6.79468935e-02 2.92416620e-02 2.76231038e+01] [-6.79597826e-02 9.97687908e-01 -5.53988458e-04 8.68107197e-01] [-2.92116943e-02 -1.43478628e-03 9.99572218e-01 -1.10610179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters Centerline goodness : 0.998520 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:0.88, Z:-1.11 [[ 9.97463115e-01 6.49020430e-02 2.92413991e-02 2.76855890e+01] [-6.49132304e-02 9.97890751e-01 -5.67534503e-04 8.75560280e-01] [-2.92165558e-02 -1.33205894e-03 9.99572218e-01 -1.10866814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:0.88, Z:-1.11 [[ 9.97872708e-01 5.82667557e-02 2.92411351e-02 2.77487101e+01] [-5.82747098e-02 9.98300416e-01 -5.80823883e-04 8.83509842e-01] [-2.92252801e-02 -1.12443036e-03 9.99572218e-01 -1.11226699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:0.88, Z:-1.12 [[ 9.97944510e-01 5.70239131e-02 2.92408563e-02 2.78114760e+01] [-5.70309334e-02 9.98372235e-01 -5.94534948e-04 8.84867513e-01] [-2.92271618e-02 -1.07432044e-03 9.99572218e-01 -1.11507195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:0.88, Z:-1.12 [[ 9.98418720e-01 4.80109152e-02 2.92405691e-02 2.78729835e+01] [-4.80136691e-02 9.98846493e-01 -6.08338554e-04 8.84734508e-01] [-2.92360468e-02 -7.96570411e-04 9.99572218e-01 -1.12096014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:27.93, Y:0.88, Z:-1.12 [[ 9.98871076e-01 3.74375308e-02 2.92404775e-02 2.79346266e+01] [-3.74356276e-02 9.99298853e-01 -6.12710383e-04 8.75860008e-01] [-2.92429140e-02 -4.82616949e-04 9.99572218e-01 -1.11718038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:0.87, Z:-1.11 [[ 9.99042369e-01 3.25477337e-02 2.92402070e-02 2.79955993e+01] [-3.25433665e-02 9.99470129e-01 -6.25359723e-04 8.72303807e-01] [-2.92450675e-02 -3.26813912e-04 9.99572218e-01 -1.11385212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:0.86, Z:-1.14 [[ 9.99299825e-01 2.33424855e-02 2.92401683e-02 2.80562561e+01] [-2.33341249e-02 9.99727526e-01 -6.27161910e-04 8.62118022e-01] [-2.92468407e-02 -5.55709527e-05 9.99572218e-01 -1.14091859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:0.85, Z:-1.14 [[ 9.99323817e-01 2.22920954e-02 2.92398843e-02 2.81178939e+01] [-2.22829056e-02 9.99751500e-01 -6.40137788e-04 8.51390590e-01] [-2.92468882e-02 -1.18446439e-05 9.99572218e-01 -1.14187916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:0.84, Z:-1.14 [[ 9.99201940e-01 2.72126548e-02 2.92395949e-02 2.81787284e+01] [-2.72051920e-02 9.99629657e-01 -6.53092563e-04 8.44266557e-01] [-2.92465386e-02 -1.42897438e-04 9.99572218e-01 -1.13704403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.24, Y:0.84, Z:-1.13 [[ 9.98654993e-01 4.28165068e-02 2.92395741e-02 2.82415952e+01] [-4.28156985e-02 9.99082773e-01 -6.54021379e-04 8.41768119e-01] [-2.92407577e-02 -5.98771077e-04 9.99572218e-01 -1.12529757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.30, Y:0.83, Z:-1.14 [[ 9.98456694e-01 4.72154463e-02 2.92392310e-02 2.83025196e+01] [-4.72160835e-02 9.98884475e-01 -6.69019421e-04 8.32750899e-01] [-2.92382019e-02 -7.12575054e-04 9.99572218e-01 -1.14390872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:28.36, Y:0.83, Z:-1.13 [[ 9.97713111e-01 6.09394720e-02 2.92391693e-02 2.83648702e+01] [-6.09459124e-02 9.98140844e-01 -6.71706299e-04 8.32483033e-01] [-2.92257425e-02 -1.11183767e-03 9.99572218e-01 -1.12832416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:0.83, Z:-1.13 [[ 9.97628020e-01 6.23170973e-02 2.92388847e-02 2.84265971e+01] [-6.23237724e-02 9.98055750e-01 -6.83871796e-04 8.31233256e-01] [-2.92246539e-02 -1.14002793e-03 9.99572218e-01 -1.13362991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.49, Y:0.84, Z:-1.16 [[ 9.95276122e-01 9.25771758e-02 2.92388046e-02 2.84876395e+01] [-9.25967344e-02 9.95703456e-01 -6.87281151e-04 8.39907985e-01] [-2.91768053e-02 -2.02338330e-03 9.99572218e-01 -1.16429234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:28.55, Y:0.83, Z:-1.15 [[ 9.97343993e-01 6.67088380e-02 2.92385064e-02 2.85497139e+01] [-6.67169318e-02 9.97771698e-01 -6.99739288e-04 8.30692231e-01] [-2.92200330e-02 -1.25282267e-03 9.99572219e-01 -1.15338009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:28.61, Y:0.83, Z:-1.14 [[ 9.96703004e-01 7.56851198e-02 2.92384016e-02 2.86112966e+01] [-7.56969365e-02 9.97130622e-01 -7.04093965e-04 8.32991899e-01] [-2.92077950e-02 -1.51148486e-03 9.99572219e-01 -1.14097419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters Centerline goodness : 0.997537 with order 1 Centerline is valid? [True, True] Translation: X:28.67, Y:0.83, Z:-1.13 [[ 9.96748045e-01 7.50897211e-02 2.92381251e-02 2.86735473e+01] [-7.51009518e-02 9.97175679e-01 -7.15391685e-04 8.32163021e-01] [-2.92092659e-02 -1.48274576e-03 9.99572219e-01 -1.13244312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:0.84, Z:-1.14 [[ 9.96487871e-01 7.84669270e-02 2.92380634e-02 2.87350754e+01] [-7.84795332e-02 9.96915467e-01 -7.17906110e-04 8.36094505e-01] [-2.92042095e-02 -1.57920484e-03 9.99572219e-01 -1.13938786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:0.84, Z:-1.14 [[ 9.96438380e-01 7.90930243e-02 2.92377982e-02 2.87971796e+01] [-7.91055879e-02 9.96865977e-01 -7.28547777e-04 8.41338881e-01] [-2.92037893e-02 -1.58692025e-03 9.99572219e-01 -1.14384429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:0.84, Z:-1.15 [[ 9.96520049e-01 7.80574149e-02 2.92375080e-02 2.88593333e+01] [-7.80691985e-02 9.96947668e-01 -7.40014355e-04 8.42625619e-01] [-2.92060290e-02 -1.54510968e-03 9.99572219e-01 -1.14745236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.84, Z:-1.16 [[ 9.97819331e-01 5.91757343e-02 2.92372122e-02 2.89212126e+01] [-5.91790827e-02 9.98247099e-01 -7.51521898e-04 8.42410589e-01] [-2.92304341e-02 -9.80348322e-04 9.99572219e-01 -1.15733049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:0.85, Z:-1.15 [[ 9.97261730e-01 6.79282354e-02 2.92369123e-02 2.89837803e+01] [-6.79350006e-02 9.97689457e-01 -7.63012825e-04 8.46058603e-01] [-2.92211893e-02 -1.22528617e-03 9.99572219e-01 -1.14967226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:29.05, Y:0.84, Z:-1.16 [[ 9.97516744e-01 6.40746968e-02 2.92366023e-02 2.90458275e+01] [-6.40794669e-02 9.97944498e-01 -7.74712762e-04 8.42807592e-01] [-2.92261459e-02 -1.10067694e-03 9.99572219e-01 -1.15607510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:29.11, Y:0.84, Z:-1.16 [[ 9.97527475e-01 6.39075615e-02 2.92362860e-02 2.91087913e+01] [-6.39119157e-02 9.97955234e-01 -7.86472415e-04 8.40323037e-01] [-2.92267661e-02 -1.08401920e-03 9.99572219e-01 -1.15813765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:29.17, Y:0.84, Z:-1.16 [[ 9.97461175e-01 6.49343191e-02 2.92359091e-02 2.91718377e+01] [-6.49387106e-02 9.97888933e-01 -8.00242795e-04 8.35957212e-01] [-2.92261533e-02 -1.10033112e-03 9.99572219e-01 -1.15720593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters Centerline goodness : 0.998321 with order 1 Centerline is valid? [True, True] Translation: X:29.23, Y:0.82, Z:-1.19 [[ 9.99571939e-01 1.10584881e-03 2.92355216e-02 2.92321651e+01] [-1.08250893e-03 9.99999083e-01 -8.14155241e-04 8.18880029e-01] [-2.92363951e-02 7.82159019e-04 9.99572219e-01 -1.18652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:29.29, Y:0.82, Z:-1.19 [[ 9.99113014e-01 3.03066130e-02 2.92351688e-02 2.92939890e+01] [-3.02953965e-02 9.99540647e-01 -8.26632945e-04 8.24922892e-01] [-2.92467920e-02 -5.97912966e-05 9.99572219e-01 -1.18983912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:29.35, Y:0.85, Z:-1.18 [[ 9.94061712e-01 1.04817161e-01 2.92348266e-02 2.93544421e+01] [-1.04837555e-01 9.94489006e-01 -8.38562915e-04 8.49184106e-01] [-2.91616095e-02 -2.23132445e-03 9.99572219e-01 -1.18012769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:29.42, Y:0.84, Z:-1.18 [[ 9.96178922e-01 8.22974997e-02 2.92348464e-02 2.94157757e+01] [-8.23082398e-02 9.96606568e-01 -8.37874033e-04 8.41910224e-01] [-2.92045948e-02 -1.57159629e-03 9.99572219e-01 -1.17568475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:29.48, Y:0.85, Z:-1.18 [[ 9.95928667e-01 8.52726019e-02 2.92347993e-02 2.94779831e+01] [-8.52845714e-02 9.96356280e-01 -8.39512300e-04 8.48819435e-01] [-2.91998633e-02 -1.65718296e-03 9.99572219e-01 -1.17936611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:29.54, Y:0.85, Z:-1.18 [[ 9.96160365e-01 8.25219605e-02 2.92344671e-02 2.95410062e+01] [-8.25324151e-02 9.96588017e-01 -8.50924812e-04 8.51051714e-01] [-2.92049396e-02 -1.56513360e-03 9.99572219e-01 -1.18061282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:29.60, Y:0.86, Z:-1.19 [[ 9.96176300e-01 8.23295087e-02 2.92340772e-02 2.96032677e+01] [-8.23394945e-02 9.96603964e-01 -8.64117440e-04 8.57023747e-01] [-2.92059396e-02 -1.54630582e-03 9.99572220e-01 -1.18737052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:29.67, Y:0.86, Z:-1.18 [[ 9.95815860e-01 8.65803741e-02 2.92337323e-02 2.96662243e+01] [-8.65918482e-02 9.96243487e-01 -8.75631803e-04 8.63941980e-01] [-2.91997279e-02 -1.65943487e-03 9.99572220e-01 -1.17555198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:29.73, Y:0.87, Z:-1.19 [[ 9.96022085e-01 8.41748206e-02 2.92336308e-02 2.97277733e+01] [-8.41851629e-02 9.96449741e-01 -8.79007577e-04 8.69715685e-01] [-2.92038341e-02 -1.58552701e-03 9.99572220e-01 -1.19161545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:29.79, Y:0.88, Z:-1.18 [[ 9.95445940e-01 9.07346661e-02 2.92335561e-02 2.97892453e+01] [-9.07477531e-02 9.95873520e-01 -8.81485302e-04 8.77985979e-01] [-2.91929057e-02 -1.77540856e-03 9.99572220e-01 -1.17954093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:29.85, Y:0.89, Z:-1.18 [[ 9.95341899e-01 9.18689658e-02 2.92335064e-02 2.98528067e+01] [-9.18824919e-02 9.95769465e-01 -8.83130530e-04 8.87289427e-01] [-2.91909653e-02 -1.80703059e-03 9.99572220e-01 -1.18319883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:29.92, Y:0.90, Z:-1.18 [[ 9.95650727e-01 8.84593478e-02 2.92331051e-02 2.99153584e+01] [-8.84710263e-02 9.96078347e-01 -8.96220852e-04 9.04274875e-01] [-2.91977421e-02 -1.69395986e-03 9.99572220e-01 -1.18376803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:29.98, Y:0.91, Z:-1.19 [[ 9.96345632e-01 8.02547693e-02 2.92327591e-02 2.99783410e+01] [-8.02625987e-02 9.96773340e-01 -9.07367666e-04 9.06795268e-01] [-2.92112555e-02 -1.44224540e-03 9.99572220e-01 -1.18730272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:30.04, Y:0.91, Z:-1.18 [[ 9.97384236e-01 6.61071511e-02 2.92323357e-02 3.00415350e+01] [-6.61085164e-02 9.97812014e-01 -9.20809489e-04 9.13583951e-01] [-2.92292478e-02 -1.01410547e-03 9.99572220e-01 -1.18407624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:30.10, Y:0.91, Z:-1.20 [[ 9.98539027e-01 4.54456569e-02 2.92318959e-02 3.01016539e+01] [-4.54377637e-02 9.98966734e-01 -9.34564010e-04 9.12228016e-01] [-2.92441635e-02 -3.95033342e-04 9.99572220e-01 -1.19941753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:30.16, Y:0.91, Z:-1.21 [[ 9.99020644e-01 3.32152120e-02 2.92318810e-02 3.01631009e+01] [-3.32020685e-02 9.99448222e-01 -9.35030450e-04 9.06603393e-01] [-2.92468087e-02 -3.64441931e-05 9.99572220e-01 -1.20547704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:30.22, Y:0.90, Z:-1.19 [[ 9.99217663e-01 2.66379897e-02 2.92314689e-02 3.02243329e+01] [-2.66216600e-02 9.99645132e-01 -9.47740965e-04 8.99321553e-01] [-2.92463415e-02 1.68809286e-04 9.99572220e-01 -1.18679978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:0.89, Z:-1.19 [[ 9.99273082e-01 2.44710086e-02 2.92314395e-02 3.02853225e+01] [-2.44537254e-02 9.99700513e-01 -9.48646588e-04 8.90935014e-01] [-2.92458994e-02 2.33139405e-04 9.99572220e-01 -1.18532449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:0.88, Z:-1.20 [[ 9.99143270e-01 2.92959429e-02 2.92313774e-02 3.03470245e+01] [-2.92806680e-02 9.99570777e-01 -9.50556088e-04 8.84806842e-01] [-2.92466781e-02 9.38274618e-05 9.99572220e-01 -1.19782750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:0.88, Z:-1.20 [[ 9.98832309e-01 3.84649584e-02 2.92312525e-02 3.04097229e+01] [-3.84534959e-02 9.99259935e-01 -9.54381073e-04 8.82792153e-01] [-2.92463297e-02 -1.70777200e-04 9.99572220e-01 -1.19874198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:0.88, Z:-1.20 [[ 9.98571630e-01 4.47243041e-02 2.92307442e-02 3.04721660e+01] [-4.47150734e-02 9.98999310e-01 -9.69705562e-04 8.81768110e-01] [-2.92448627e-02 -3.38734406e-04 9.99572220e-01 -1.19577261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.88, Z:-1.21 [[ 9.98447644e-01 4.74119327e-02 2.92303113e-02 3.05348478e+01] [-4.74034763e-02 9.98875340e-01 -9.82583670e-04 8.77086340e-01] [-2.92440233e-02 -4.04560017e-04 9.99572220e-01 -1.20557590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:0.88, Z:-1.22 [[ 9.98554447e-01 4.51069153e-02 2.92298112e-02 3.05948127e+01] [-4.50970426e-02 9.98982113e-01 -9.97240824e-04 8.75811746e-01] [-2.92450410e-02 -3.22378781e-04 9.99572220e-01 -1.22082269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:30.66, Y:0.87, Z:-1.21 [[ 9.98192371e-01 5.25129404e-02 2.92297971e-02 3.06560158e+01] [-5.25062283e-02 9.98620098e-01 -9.97654053e-04 8.72025375e-01] [-2.92418526e-02 -5.38895735e-04 9.99572220e-01 -1.20592608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.72, Y:0.87, Z:-1.21 [[ 9.98189375e-01 5.25698781e-02 2.92297711e-02 3.07190396e+01] [-5.25631680e-02 9.98617102e-01 -9.98415890e-04 8.69520258e-01] [-2.92418359e-02 -5.39801236e-04 9.99572220e-01 -1.21006162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:30.78, Y:0.87, Z:-1.20 [[ 9.98052255e-01 5.51121212e-02 2.92292714e-02 3.07798197e+01] [-5.51060784e-02 9.98479992e-01 -1.01283747e-03 8.66845675e-01] [-2.92406623e-02 -5.99845797e-04 9.99572220e-01 -1.20221672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:30.84, Y:0.85, Z:-1.21 [[ 9.99447697e-01 1.58098481e-02 2.92292714e-02 3.08403435e+01] [-1.57869844e-02 9.99874865e-01 -1.01283747e-03 8.45295132e-01] [-2.92416266e-02 5.50836027e-04 9.99572220e-01 -1.21496847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.90, Y:0.85, Z:-1.21 [[ 9.98438621e-01 4.76022477e-02 2.92292085e-02 3.09024210e+01] [-4.75929342e-02 9.98866299e-01 -1.01464963e-03 8.48769226e-01] [-2.92443709e-02 -3.78038421e-04 9.99572220e-01 -1.21442123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:30.96, Y:0.84, Z:-1.21 [[ 9.98585628e-01 4.44119699e-02 2.92287565e-02 3.09648894e+01] [-4.44009137e-02 9.99013265e-01 -1.02750638e-03 8.41073395e-01] [-2.92455490e-02 -2.71730388e-04 9.99572221e-01 -1.21427821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:0.83, Z:-1.22 [[ 9.98279852e-01 5.08236919e-02 2.92282357e-02 3.10277875e+01] [-5.08149546e-02 9.98707542e-01 -1.04211199e-03 8.31985888e-01] [-2.92434234e-02 -4.44912066e-04 9.99572221e-01 -1.21876355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.09, Y:0.82, Z:-1.22 [[ 9.98131308e-01 5.36622038e-02 2.92277082e-02 3.10903367e+01] [-5.36542555e-02 9.98559014e-01 -1.05670462e-03 8.23267234e-01] [-2.92422965e-02 -5.13460953e-04 9.99572221e-01 -1.22256956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:31.15, Y:0.82, Z:-1.22 [[ 9.97918057e-01 5.74919391e-02 2.92271782e-02 3.11535172e+01] [-5.74852088e-02 9.98345783e-01 -1.07116545e-03 8.19959293e-01] [-2.92404135e-02 -6.11195099e-04 9.99572221e-01 -1.22405561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:31.21, Y:0.82, Z:-1.24 [[ 9.97763728e-01 6.01111222e-02 2.92266410e-02 3.12142405e+01] [-6.01050912e-02 9.98191464e-01 -1.08562600e-03 8.17092088e-01] [-2.92390418e-02 -6.73471676e-04 9.99572221e-01 -1.23871650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:0.82, Z:-1.24 [[ 9.97068857e-01 7.07071448e-02 2.92266140e-02 3.12775531e+01] [-7.07056368e-02 9.97496633e-01 -1.08635442e-03 8.19870676e-01] [-2.92302620e-02 -9.83316190e-04 9.99572221e-01 -1.24073230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:0.82, Z:-1.22 [[ 9.96037408e-01 8.39959433e-02 2.92260880e-02 3.13407325e+01] [-8.39997304e-02 9.96465170e-01 -1.10032584e-03 8.20751790e-01] [-2.92152016e-02 -1.35901781e-03 9.99572221e-01 -1.21690133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:0.82, Z:-1.22 [[ 9.96278226e-01 8.10898075e-02 2.92256487e-02 3.14025201e+01] [-8.10920086e-02 9.96706000e-01 -1.11187089e-03 8.24680756e-01] [-2.92195408e-02 -1.26223380e-03 9.99572221e-01 -1.21941806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:0.82, Z:-1.25 [[ 9.96773146e-01 7.47607447e-02 2.92254273e-02 3.14628509e+01] [-7.47600594e-02 9.97200925e-01 -1.11766078e-03 8.23314575e-01] [-2.92271803e-02 -1.07084043e-03 9.99572221e-01 -1.24803969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters Centerline goodness : 0.996831 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:0.80, Z:-1.24 [[ 9.99322006e-01 2.23920592e-02 2.92253951e-02 3.15230524e+01] [-2.23689197e-02 9.99749159e-01 -1.11850296e-03 8.00576949e-01] [-2.92431097e-02 4.64004107e-04 9.99572221e-01 -1.23661212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters Centerline goodness : 0.996434 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:0.81, Z:-1.23 [[ 9.97726332e-01 6.07292834e-02 2.92253311e-02 3.15846302e+01] [-6.07225060e-02 9.98154057e-01 -1.12017258e-03 8.11940856e-01] [-2.92394101e-02 -6.57009660e-04 9.99572221e-01 -1.22699775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters Centerline goodness : 0.997479 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:0.81, Z:-1.23 [[ 9.97962395e-01 5.67180713e-02 2.92252974e-02 3.16455760e+01] [-5.67095488e-02 9.98390089e-01 -1.12105213e-03 8.07174559e-01] [-2.92418311e-02 -5.38585556e-04 9.99572221e-01 -1.23406072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters Centerline goodness : 0.997873 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:0.80, Z:-1.24 [[ 9.98030829e-01 5.55008861e-02 2.92252627e-02 3.17079302e+01] [-5.54918156e-02 9.98458512e-01 -1.12195439e-03 7.98410581e-01] [-2.92424818e-02 -5.02017818e-04 9.99572221e-01 -1.23528017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters Centerline goodness : 0.997922 with order 1 Centerline is valid? [True, True] Translation: X:31.77, Y:0.79, Z:-1.24 [[ 9.97989701e-01 5.62358839e-02 2.92246989e-02 3.17706641e+01] [-5.62267039e-02 9.98417381e-01 -1.13645449e-03 7.93947475e-01] [-2.92423568e-02 -5.09038616e-04 9.99572221e-01 -1.23692552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:31.83, Y:0.78, Z:-1.24 [[ 9.97971678e-01 5.65551134e-02 2.92241313e-02 3.18321205e+01] [-5.65456482e-02 9.98399352e-01 -1.15086733e-03 7.82326021e-01] [-2.92424411e-02 -5.03964444e-04 9.99572221e-01 -1.23843405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters Centerline goodness : 0.997330 with order 1 Centerline is valid? [True, True] Translation: X:31.89, Y:0.78, Z:-1.24 [[ 9.97155010e-01 6.94828408e-02 2.92236358e-02 3.18929978e+01] [-6.94785541e-02 9.97582767e-01 -1.16331364e-03 7.77152972e-01] [-2.92338258e-02 -8.70411937e-04 9.99572221e-01 -1.24002650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters Centerline goodness : 0.998419 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:0.76, Z:-1.25 [[ 9.98236903e-01 5.16632414e-02 2.92231871e-02 3.19545217e+01] [-5.16509891e-02 9.98664506e-01 -1.17447887e-03 7.62683668e-01] [-2.92448371e-02 -3.36998367e-04 9.99572221e-01 -1.25148623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:0.78, Z:-1.26 [[ 9.93645587e-01 1.08694444e-01 2.92226786e-02 3.20158680e+01] [-1.08706311e-01 9.94073201e-01 -1.18699752e-03 7.79164509e-01] [-2.91785017e-02 -1.99723475e-03 9.99572222e-01 -1.25594257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:0.77, Z:-1.28 [[ 9.96325817e-01 8.05042017e-02 2.92222480e-02 3.20761588e+01] [-8.05036438e-02 9.96753595e-01 -1.19750567e-03 7.69273512e-01] [-2.92237850e-02 -1.15939163e-03 9.99572222e-01 -1.27914632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters Centerline goodness : 0.980637 with order 1 Centerline is valid? [True, True] Translation: X:32.14, Y:0.78, Z:-1.29 [[ 9.84628919e-01 1.72197487e-01 2.92218757e-02 3.21381704e+01] [-1.72236185e-01 9.85054943e-01 -1.20652218e-03 7.84213018e-01] [-2.89929132e-02 -3.84508778e-03 9.99572222e-01 -1.28604530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:32.20, Y:0.76, Z:-1.25 [[ 9.96068633e-01 8.36264350e-02 2.92215129e-02 3.22014788e+01] [-8.36266983e-02 9.96496412e-01 -1.21524550e-03 7.62432489e-01] [-2.92207594e-02 -1.23323072e-03 9.99572222e-01 -1.25260430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:32.26, Y:0.76, Z:-1.26 [[ 9.96641159e-01 7.65018874e-02 2.92209045e-02 3.22619303e+01] [-7.64986685e-02 9.97068925e-01 -1.22970322e-03 7.56582774e-01] [-2.92293305e-02 -1.00978745e-03 9.99572222e-01 -1.26205431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters Centerline goodness : 0.997435 with order 1 Centerline is valid? [True, True] Translation: X:32.32, Y:0.75, Z:-1.25 [[ 9.96635498e-01 7.65758034e-02 2.92203834e-02 3.23241674e+01] [-7.65722571e-02 9.97063261e-01 -1.24196310e-03 7.52621068e-01] [-2.92296751e-02 -9.99686200e-04 9.99572222e-01 -1.25212421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters Centerline goodness : 0.996397 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:0.75, Z:-1.26 [[ 9.96448197e-01 7.89758916e-02 2.92198513e-02 3.23868102e+01] [-7.89730126e-02 9.96875965e-01 -1.25435992e-03 7.48509052e-01] [-2.92276316e-02 -1.05767500e-03 9.99572222e-01 -1.25577948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:32.45, Y:0.74, Z:-1.27 [[ 9.96590320e-01 7.71619760e-02 2.92192471e-02 3.24466444e+01] [-7.71579107e-02 9.97018078e-01 -1.26827891e-03 7.44124236e-01] [-2.92299805e-02 -9.90541579e-04 9.99572222e-01 -1.26940791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters Centerline goodness : 0.996938 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:0.76, Z:-1.28 [[ 9.89764678e-01 1.39685783e-01 2.92192471e-02 3.25077156e+01] [-1.39708628e-01 9.90191845e-01 -1.26827891e-03 7.55152652e-01] [-2.91098207e-02 -2.82688326e-03 9.99572222e-01 -1.28219673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters Centerline goodness : 0.994461 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:0.74, Z:-1.25 [[ 9.95923458e-01 8.53389089e-02 2.92187677e-02 3.25699757e+01] [-8.53380338e-02 9.96351235e-01 -1.27922886e-03 7.44044104e-01] [-2.92213233e-02 -1.21945815e-03 9.99572222e-01 -1.25025362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters Centerline goodness : 0.998471 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:0.74, Z:-1.26 [[ 9.96307904e-01 8.07269086e-02 2.92185882e-02 3.26317740e+01] [-8.07239333e-02 9.96735672e-01 -1.28331663e-03 7.35519375e-01] [-2.92268073e-02 -1.08006086e-03 9.99572222e-01 -1.26044879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters Centerline goodness : 0.998421 with order 1 Centerline is valid? [True, True] Translation: X:32.69, Y:0.73, Z:-1.26 [[ 9.96353647e-01 8.01604208e-02 2.92184365e-02 3.26946411e+01] [-8.01571014e-02 9.96781412e-01 -1.28676127e-03 7.31470067e-01] [-2.92275417e-02 -1.05999589e-03 9.99572222e-01 -1.26109512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [True, True] Translation: X:32.76, Y:0.73, Z:-1.26 [[ 9.96279907e-01 8.10719798e-02 2.92178211e-02 3.27575276e+01] [-8.10686469e-02 9.96707672e-01 -1.30058528e-03 7.25798747e-01] [-2.92270675e-02 -1.07290224e-03 9.99572222e-01 -1.26143209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:32.82, Y:0.72, Z:-1.26 [[ 9.95757791e-01 8.72512336e-02 2.92172013e-02 3.28199201e+01] [-8.72501509e-02 9.96185567e-01 -1.31436383e-03 7.21695004e-01] [-2.92204341e-02 -1.24041719e-03 9.99572222e-01 -1.26321870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:32.88, Y:0.72, Z:-1.28 [[ 9.95484823e-01 9.03125606e-02 2.92165802e-02 3.28808277e+01] [-9.03123932e-02 9.95912601e-01 -1.32802735e-03 7.22185638e-01] [-2.92170979e-02 -1.31658821e-03 9.99572222e-01 -1.27838238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:32.94, Y:0.73, Z:-1.27 [[ 9.94090504e-01 1.04548853e-01 2.92165441e-02 3.29419129e+01] [-1.04554784e-01 9.94518241e-01 -1.32882016e-03 7.29117323e-01] [-2.91953127e-02 -1.73376196e-03 9.99572222e-01 -1.26931533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:33.00, Y:0.73, Z:-1.28 [[ 9.94285612e-01 1.02676759e-01 2.92165154e-02 3.30025568e+01] [-1.02681866e-01 9.94713359e-01 -1.32945257e-03 7.34833514e-01] [-2.91985620e-02 -1.67815076e-03 9.99572222e-01 -1.28402996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters Centerline goodness : 0.997422 with order 1 Centerline is valid? [True, True] Translation: X:33.07, Y:0.75, Z:-1.29 [[ 9.94204337e-01 1.03460780e-01 2.92164835e-02 3.30655901e+01] [-1.03466203e-01 9.94632080e-01 -1.33015263e-03 7.45737345e-01] [-2.91972704e-02 -1.70047510e-03 9.99572222e-01 -1.28619973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:33.13, Y:0.75, Z:-1.29 [[ 9.94398628e-01 1.01576547e-01 2.92159719e-02 3.31276725e+01] [-1.01580834e-01 9.94826384e-01 -1.34129688e-03 7.48017566e-01] [-2.92010640e-02 -1.63399900e-03 9.99572222e-01 -1.28828188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:33.19, Y:0.76, Z:-1.29 [[ 9.94969787e-01 9.58205626e-02 2.92154379e-02 3.31898270e+01] [-9.58220362e-02 9.95397562e-01 -1.35282882e-03 7.58264155e-01] [-2.92106045e-02 -1.45345894e-03 9.99572223e-01 -1.29429445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters Centerline goodness : 0.996979 with order 1 Centerline is valid? [True, True] Translation: X:33.25, Y:0.76, Z:-1.30 [[ 9.95549006e-01 8.96028270e-02 2.92148997e-02 3.32511918e+01] [-8.96012906e-02 9.95976780e-01 -1.36435232e-03 7.61271221e-01] [-2.92196116e-02 -1.25941312e-03 9.99572223e-01 -1.29606104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:33.31, Y:0.77, Z:-1.29 [[ 9.95485281e-01 9.03080857e-02 2.92148199e-02 3.33126983e+01] [-9.03068023e-02 9.95913056e-01 -1.36606052e-03 7.66173170e-01] [-2.92187868e-02 -1.27840382e-03 9.99572223e-01 -1.28753310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters Centerline goodness : 0.998018 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:0.76, Z:-1.30 [[ 9.96379942e-01 7.98342579e-02 2.92147576e-02 3.33731748e+01] [-7.98284369e-02 9.96807680e-01 -1.36739141e-03 7.64690947e-01] [-2.92306594e-02 -9.69727060e-04 9.99572223e-01 -1.30006096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters Centerline goodness : 0.997722 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:0.76, Z:-1.30 [[ 9.97058240e-01 7.08615938e-02 2.92147427e-02 3.34348330e+01] [-7.08519133e-02 9.97485908e-01 -1.36770877e-03 7.61491796e-01] [-2.92382122e-02 -7.06235116e-04 9.99572223e-01 -1.30203177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters Centerline goodness : 0.894755 with order 1 Centerline is valid? [True, False] Translation: X:33.49, Y:0.74, Z:-1.30 [[ 9.98443644e-01 5.44071465e-02 1.22536297e-02 3.34855539e+01] [-5.45879688e-02 9.98397192e-01 1.49399192e-02 7.43531573e-01] [-1.14211511e-02 -1.55855681e-02 9.99813306e-01 -1.30008082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters Centerline goodness : 0.996096 with order 1 Centerline is valid? [False, True] Translation: X:33.53, Y:0.72, Z:-1.30 [[ 9.99355418e-01 3.56773660e-02 -3.98430769e-03 3.35344278e+01] [-3.55480608e-02 9.98952249e-01 2.88225531e-02 7.22804759e-01] [ 5.00844590e-03 -2.86623401e-02 9.99576603e-01 -1.29816723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters Centerline goodness : 0.997327 with order 1 Centerline is valid? [True, True] Translation: X:33.60, Y:0.75, Z:-1.28 [[ 9.99188570e-01 4.00320877e-02 -4.43108414e-03 3.35950923e+01] [-4.00321771e-02 9.99198389e-01 6.85672462e-05 7.46760175e-01] [ 4.43027702e-03 1.08874336e-04 9.99990180e-01 -1.27954619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters Centerline goodness : 0.997080 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:0.74, Z:-1.28 [[ 9.99222147e-01 3.91850249e-02 -4.43108390e-03 3.36571250e+01] [-3.91851058e-02 9.99231966e-01 6.85823593e-05 7.44254534e-01] [ 4.43036808e-03 1.05103479e-04 9.99990180e-01 -1.28060435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters Centerline goodness : 0.997179 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:0.74, Z:-1.28 [[ 9.99169310e-01 4.05099396e-02 -4.43107543e-03 3.37189856e+01] [-4.05100311e-02 9.99179129e-01 6.91253136e-05 7.43630063e-01] [ 4.43023835e-03 1.10435112e-04 9.99990180e-01 -1.28472569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters Centerline goodness : 0.997923 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:0.74, Z:-1.29 [[ 9.99010087e-01 4.42629828e-02 -4.43106683e-03 3.37816953e+01] [-4.42631088e-02 9.99019906e-01 6.96726075e-05 7.39447387e-01] [ 4.42980788e-03 1.26529155e-04 9.99990180e-01 -1.28534300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters Centerline goodness : 0.998219 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:0.74, Z:-1.29 [[ 9.98736172e-01 5.00641945e-02 -4.43105371e-03 3.38443062e+01] [-5.00643739e-02 9.98745990e-01 7.04968881e-05 7.35110491e-01] [ 4.42902650e-03 1.51430138e-04 9.99990180e-01 -1.28637906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters Centerline goodness : 0.993859 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:0.71, Z:-1.29 [[ 9.99976500e-01 5.23114356e-03 -4.43104074e-03 3.39060802e+01] [-5.23087896e-03 9.99986316e-01 7.13028319e-05 7.12093779e-01] [ 4.43135311e-03 -4.81229185e-05 9.99990180e-01 -1.29224512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters Centerline goodness : 0.997923 with order 1 Centerline is valid? [True, True] Translation: X:33.97, Y:0.73, Z:-1.28 [[ 9.98412942e-01 5.61423431e-02 -4.43101063e-03 3.39652518e+01] [-5.61425706e-02 9.98422759e-01 7.31277441e-05 7.31270545e-01] [ 4.42812742e-03 1.75756640e-04 9.99990180e-01 -1.28494772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters Centerline goodness : 0.996936 with order 1 Centerline is valid? [True, True] Translation: X:34.03, Y:0.72, Z:-1.29 [[ 9.98674482e-01 5.12800622e-02 -4.43104098e-03 3.40283310e+01] [-5.12802502e-02 9.98684300e-01 7.12395791e-05 7.24757187e-01] [ 4.42886423e-03 1.56079741e-04 9.99990180e-01 -1.28672796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters Centerline goodness : 0.997430 with order 1 Centerline is valid? [True, True] Translation: X:34.09, Y:0.72, Z:-1.29 [[ 9.98743207e-01 4.99236592e-02 -4.43102809e-03 3.40916735e+01] [-4.99238304e-02 9.98753026e-01 7.20325002e-05 7.19158961e-01] [ 4.42909884e-03 1.49271925e-04 9.99990180e-01 -1.28764566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:0.71, Z:-1.29 [[ 9.98649058e-01 5.17728283e-02 -4.43101501e-03 3.41541736e+01] [-5.17730141e-02 9.98658876e-01 7.28284967e-05 7.09979873e-01] [ 4.42884300e-03 1.56676893e-04 9.99990180e-01 -1.28962502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:34.22, Y:0.71, Z:-1.29 [[ 9.98513331e-01 5.43276609e-02 -4.43100176e-03 3.42168301e+01] [-5.43278683e-02 9.98523148e-01 7.36257618e-05 7.05015402e-01] [ 4.42845774e-03 1.67210576e-04 9.99990180e-01 -1.28815224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters Centerline goodness : 0.997086 with order 1 Centerline is valid? [True, True] Translation: X:34.28, Y:0.70, Z:-1.28 [[ 9.98297057e-01 5.81665956e-02 -4.43098832e-03 3.42778401e+01] [-5.81668373e-02 9.98306873e-01 7.44259678e-05 7.00217086e-01] [ 4.42781520e-03 1.83437352e-04 9.99990180e-01 -1.28244962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:0.69, Z:-1.29 [[ 9.98353832e-01 5.71838554e-02 -4.43098375e-03 3.43395118e+01] [-5.71840862e-02 9.98363649e-01 7.46972342e-05 6.94858622e-01] [ 4.42800458e-03 1.78807487e-04 9.99990180e-01 -1.28822072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:0.69, Z:-1.29 [[ 9.98294785e-01 5.82055672e-02 -4.43095428e-03 3.44020524e+01] [-5.82058004e-02 9.98304602e-01 7.64059769e-05 6.89655885e-01] [ 4.42788931e-03 1.81631552e-04 9.99990180e-01 -1.28629772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:0.68, Z:-1.30 [[ 9.98227139e-01 5.93544017e-02 -4.43094290e-03 3.44639522e+01] [-5.93546433e-02 9.98236956e-01 7.70605879e-05 6.83652596e-01] [ 4.42770484e-03 1.86073065e-04 9.99990180e-01 -1.29664553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:34.53, Y:0.68, Z:-1.30 [[ 9.98097033e-01 6.15034912e-02 -4.43093373e-03 3.45265248e+01] [-6.15037517e-02 9.98106849e-01 7.75840268e-05 6.81219797e-01] [ 4.42731700e-03 1.95082661e-04 9.99990180e-01 -1.30117013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:34.59, Y:0.68, Z:-1.29 [[ 9.97858091e-01 6.52655916e-02 -4.43092236e-03 3.45883274e+01] [-6.52658862e-02 9.97867906e-01 7.82280137e-05 6.80097204e-01] [ 4.42658082e-03 2.11127618e-04 9.99990180e-01 -1.28762493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters Centerline goodness : 0.998072 with order 1 Centerline is valid? [True, True] Translation: X:34.65, Y:0.68, Z:-1.29 [[ 9.97931550e-01 6.41325890e-02 -4.43091325e-03 3.46500491e+01] [-6.41328702e-02 9.97941365e-01 7.87409390e-05 6.80614321e-01] [ 4.42684148e-03 2.05589117e-04 9.99990180e-01 -1.28564726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:34.71, Y:0.68, Z:-1.30 [[ 9.98438718e-01 5.56820829e-02 -4.43088101e-03 3.47127189e+01] [-5.56822731e-02 9.98448535e-01 8.05152774e-05 6.76621919e-01] [ 4.42848991e-03 1.66331956e-04 9.99990180e-01 -1.29550549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters Centerline goodness : 0.998614 with order 1 Centerline is valid? [True, True] Translation: X:34.77, Y:0.68, Z:-1.29 [[ 9.98421402e-01 5.59917110e-02 -4.43084180e-03 3.47747600e+01] [-5.59918949e-02 9.98431220e-01 8.26181455e-05 6.77584470e-01] [ 4.42851671e-03 1.65603504e-04 9.99990180e-01 -1.28653042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters Centerline goodness : 0.998174 with order 1 Centerline is valid? [True, True] Translation: X:34.84, Y:0.67, Z:-1.28 [[ 9.98448934e-01 5.54985852e-02 -4.43083208e-03 3.48372229e+01] [-5.54987620e-02 9.98458753e-01 8.31357334e-05 6.73403685e-01] [ 4.42861699e-03 1.62898911e-04 9.99990180e-01 -1.28466338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:0.67, Z:-1.30 [[ 9.98434609e-01 5.57557032e-02 -4.43081687e-03 3.48987355e+01] [-5.57558790e-02 9.98444428e-01 8.39390431e-05 6.70606729e-01] [ 4.42860449e-03 1.63236443e-04 9.99990180e-01 -1.29584413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters Centerline goodness : 0.997034 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:0.69, Z:-1.30 [[ 9.95440253e-01 9.52841589e-02 -4.43081184e-03 3.49598114e+01] [-9.52847225e-02 9.95450056e-01 8.42036797e-05 6.87304485e-01] [ 4.41867517e-03 3.38368944e-04 9.99990180e-01 -1.30060576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:0.68, Z:-1.30 [[ 9.97840421e-01 6.55351918e-02 -4.43079481e-03 3.50210712e+01] [-6.55354587e-02 9.97850237e-01 8.50903125e-05 6.81707728e-01] [ 4.42684606e-03 2.05467617e-04 9.99990180e-01 -1.29961923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:0.69, Z:-1.29 [[ 9.97547087e-01 6.98582724e-02 -4.43078981e-03 3.50833364e+01] [-6.98585806e-02 9.97556901e-01 8.53500289e-05 6.86729673e-01] [ 4.42592736e-03 2.24388014e-04 9.99990180e-01 -1.29358219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:35.15, Y:0.70, Z:-1.30 [[ 9.97570932e-01 6.95169248e-02 -4.43077981e-03 3.51455608e+01] [-6.95172274e-02 9.97580747e-01 8.58656618e-05 6.95884540e-01] [ 4.42602976e-03 2.22358440e-04 9.99990180e-01 -1.29618989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:35.21, Y:0.70, Z:-1.27 [[ 9.97724618e-01 6.72752264e-02 -4.43074522e-03 3.52064599e+01] [-6.72754992e-02 9.97734433e-01 8.76151081e-05 7.02018117e-01] [ 4.42660140e-03 2.10664846e-04 9.99990180e-01 -1.27198859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:35.27, Y:0.70, Z:-1.27 [[ 9.97865956e-01 6.51452426e-02 -4.43074536e-03 3.52687061e+01] [-6.51454944e-02 9.97875772e-01 8.76079140e-05 7.03002568e-01] [ 4.42704069e-03 2.01222142e-04 9.99990180e-01 -1.26990241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:0.71, Z:-1.28 [[ 9.98210128e-01 5.96398241e-02 -4.43070819e-03 3.53296536e+01] [-5.96400137e-02 9.98219946e-01 8.94492552e-05 7.09495601e-01] [ 4.42815603e-03 1.74958344e-04 9.99990180e-01 -1.28402461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:0.71, Z:-1.30 [[ 9.98743598e-01 4.99158624e-02 -4.43070764e-03 3.53902720e+01] [-4.99159562e-02 9.98753418e-01 8.94764863e-05 7.14653263e-01] [ 4.42965069e-03 1.31798941e-04 9.99990180e-01 -1.30264627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:0.72, Z:-1.28 [[ 9.98454391e-01 5.54003351e-02 -4.43070726e-03 3.54525941e+01] [-5.54004828e-02 9.98464210e-01 8.94953650e-05 7.17358795e-01] [ 4.42886069e-03 1.56106281e-04 9.99990180e-01 -1.27567295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:0.72, Z:-1.27 [[ 9.99157296e-01 4.08052303e-02 -4.43069649e-03 3.55141607e+01] [-4.08052322e-02 9.99167116e-01 9.00254877e-05 7.16289009e-01] [ 4.43067974e-03 9.08459759e-05 9.99990180e-01 -1.27071887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters Centerline goodness : 0.997481 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:0.71, Z:-1.27 [[ 9.99303764e-01 3.70453265e-02 -4.43066014e-03 3.55755739e+01] [-3.70452836e-02 9.99313584e-01 9.17799871e-05 7.13045417e-01] [ 4.43101888e-03 7.24189750e-05 9.99990180e-01 -1.27031914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters Centerline goodness : 0.997770 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:0.71, Z:-1.27 [[ 9.99420470e-01 3.37504539e-02 -4.43065441e-03 3.56374967e+01] [-3.37503774e-02 9.99430289e-01 9.20560057e-05 7.10376752e-01] [ 4.43123715e-03 5.75336017e-05 9.99990180e-01 -1.26769345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters Centerline goodness : 0.997973 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:0.70, Z:-1.27 [[ 9.99597172e-01 2.80332624e-02 -4.43064263e-03 3.56993860e+01] [-2.80331272e-02 9.99606990e-01 9.26191894e-05 7.03762602e-01] [ 4.43149777e-03 3.16228888e-05 9.99990180e-01 -1.26939229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters Centerline goodness : 0.998170 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:0.69, Z:-1.27 [[ 9.99566758e-01 2.90975070e-02 -4.43063088e-03 3.57612061e+01] [-2.90973798e-02 9.99576577e-01 9.31778882e-05 6.94023518e-01] [ 4.43146610e-03 3.57822299e-05 9.99990180e-01 -1.26799013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:35.82, Y:0.69, Z:-1.28 [[ 9.99543867e-01 2.98735111e-02 -4.43061892e-03 3.58227572e+01] [-2.98733891e-02 9.99553686e-01 9.37433952e-05 6.89680204e-01] [ 4.43144192e-03 3.86569669e-05 9.99990180e-01 -1.27552734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters Centerline goodness : 0.998517 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:0.68, Z:-1.27 [[ 9.99090769e-01 4.24028807e-02 -4.43061013e-03 3.58851826e+01] [-4.24028799e-02 9.99100589e-01 9.41571180e-05 6.84484427e-01] [ 4.43061772e-03 9.37991215e-05 9.99990180e-01 -1.26998852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:0.68, Z:-1.27 [[ 9.98924962e-01 4.61442317e-02 -4.43059307e-03 3.59471737e+01] [-4.61442641e-02 9.98934782e-01 9.49531474e-05 6.81882397e-01] [ 4.43025506e-03 1.09595388e-04 9.99990180e-01 -1.27194533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:0.68, Z:-1.28 [[ 9.98723755e-01 5.03113446e-02 -4.43058135e-03 3.60095950e+01] [-5.03114156e-02 9.98733574e-01 9.54965357e-05 6.78429757e-01] [ 4.42977491e-03 1.27534161e-04 9.99990180e-01 -1.27551535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:0.68, Z:-1.28 [[ 9.98693827e-01 5.09019701e-02 -4.43056960e-03 3.60716995e+01] [-5.09020445e-02 9.98703646e-01 9.60386527e-05 6.75374277e-01] [ 4.42971457e-03 1.29611842e-04 9.99990180e-01 -1.27670208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:0.67, Z:-1.28 [[ 9.98669113e-01 5.13845636e-02 -4.43055795e-03 3.61341522e+01] [-5.13846404e-02 9.98678932e-01 9.65731696e-05 6.71663082e-01] [ 4.42966725e-03 1.31217985e-04 9.99990180e-01 -1.27787225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:0.67, Z:-1.28 [[ 9.98561981e-01 5.34260247e-02 -4.43054042e-03 3.61960011e+01] [-5.34261181e-02 9.98571800e-01 9.73709052e-05 6.71856534e-01] [ 4.42941486e-03 1.39475692e-04 9.99990180e-01 -1.27680007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:0.67, Z:-1.28 [[ 9.98352051e-01 5.72149693e-02 -4.43052859e-03 3.62580556e+01] [-5.72150975e-02 9.98361870e-01 9.79063778e-05 6.71565515e-01] [ 4.42887252e-03 1.55748092e-04 9.99990180e-01 -1.27701335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:0.68, Z:-1.27 [[ 9.98027080e-01 6.26284054e-02 -4.43051679e-03 3.63190544e+01] [-6.26285845e-02 9.98036898e-01 9.84372203e-05 6.75582989e-01] [ 4.42798421e-03 1.79233984e-04 9.99990180e-01 -1.26888852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:0.68, Z:-1.29 [[ 9.98053779e-01 6.22014895e-02 -4.43051387e-03 3.63811378e+01] [-6.22016638e-02 9.98063597e-01 9.85688042e-05 6.83736217e-01] [ 4.42806573e-03 1.77208366e-04 9.99990180e-01 -1.29486242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:0.69, Z:-1.29 [[ 9.98031414e-01 6.25593120e-02 -4.43050207e-03 3.64425560e+01] [-6.25594875e-02 9.98041232e-01 9.90960256e-05 6.87649239e-01] [ 4.42802313e-03 1.78268993e-04 9.99990180e-01 -1.28839922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:0.69, Z:-1.27 [[ 9.98157538e-01 6.05136419e-02 -4.43049631e-03 3.65040410e+01] [-6.05137961e-02 9.98167356e-01 9.93529967e-05 6.91417809e-01] [ 4.42838900e-03 1.68936208e-04 9.99990180e-01 -1.27246437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:0.69, Z:-1.28 [[ 9.98707724e-01 5.06285770e-02 -4.43049038e-03 3.65651036e+01] [-5.06286329e-02 9.98717543e-01 9.96168849e-05 6.90167818e-01] [ 4.42985193e-03 1.24821518e-04 9.99990180e-01 -1.27608177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:0.69, Z:-1.28 [[ 9.98891178e-01 4.68698798e-02 -4.43048742e-03 3.66269811e+01] [-4.68698981e-02 9.98900997e-01 9.97484317e-05 6.92287474e-01] [ 4.43029350e-03 1.08018665e-04 9.99990180e-01 -1.27838651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:0.69, Z:-1.29 [[ 9.99189096e-01 4.00190062e-02 -4.43047507e-03 3.66877483e+01] [-4.00189547e-02 9.99198916e-01 1.00293865e-04 6.91603272e-01] [ 4.43093955e-03 7.70904446e-05 9.99990180e-01 -1.29458019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:0.69, Z:-1.28 [[ 9.99108408e-01 4.19852409e-02 -4.43047204e-03 3.67487659e+01] [-4.19852082e-02 9.99118227e-01 1.00427454e-04 6.92043535e-01] [ 4.43078184e-03 8.56763779e-05 9.99990180e-01 -1.27617407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:0.69, Z:-1.29 [[ 9.99339960e-01 3.60557305e-02 -4.43046895e-03 3.68099312e+01] [-3.60556389e-02 9.99349779e-01 1.00563634e-04 6.91110562e-01] [ 4.43121406e-03 5.92461311e-05 9.99990180e-01 -1.29347618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters Centerline goodness : 0.913586 with order 1 Centerline is valid? [True, False] Translation: X:36.86, Y:0.67, Z:-1.29 [[ 9.99530842e-01 2.28080352e-02 -2.04423258e-02 3.68578664e+01] [-2.23863112e-02 9.99536589e-01 2.06266789e-02 6.68951752e-01] [ 2.09033067e-02 -2.01593735e-02 9.99578237e-01 -1.28606741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [False, True] Translation: X:36.89, Y:0.67, Z:-1.29 [[ 9.99588481e-01 1.73833106e-02 -2.28185946e-02 3.68858797e+01] [-1.68425837e-02 9.99577731e-01 2.36788279e-02 6.70892696e-01] [ 2.32205755e-02 -2.32847595e-02 9.99459166e-01 -1.28897245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:0.69, Z:-1.31 [[ 9.99630606e-01 1.49931842e-02 -2.26683821e-02 3.69458841e+01] [-1.50004163e-02 9.99887476e-01 -1.49026565e-04 6.91692689e-01] [ 2.26635970e-02 4.89006684e-04 9.99743028e-01 -1.30745671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:0.70, Z:-1.29 [[ 9.99547017e-01 1.97966295e-02 -2.26683730e-02 3.70059218e+01] [-1.98051269e-02 9.99803848e-01 -1.50392757e-04 6.97327232e-01] [ 2.26609493e-02 5.99274637e-04 9.99743028e-01 -1.29016653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.07, Y:0.70, Z:-1.30 [[ 9.99698147e-01 9.47412217e-03 -2.26683730e-02 3.70651620e+01] [-9.47996705e-03 9.99955053e-01 -1.50392757e-04 6.95534272e-01] [ 2.26659293e-02 3.65242790e-04 9.99743028e-01 -1.29519012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:0.70, Z:-1.29 [[ 9.99619902e-01 1.56907495e-02 -2.26683053e-02 3.71233664e+01] [-1.56984094e-02 9.99876760e-01 -1.59991344e-04 6.98590243e-01] [ 2.26630013e-02 5.15786868e-04 9.99743028e-01 -1.29167583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:37.18, Y:0.70, Z:-1.29 [[ 9.99621737e-01 1.55734977e-02 -2.26682277e-02 3.71826449e+01] [-1.55813616e-02 9.99878589e-01 -1.70320145e-04 6.99036021e-01] [ 2.26628230e-02 5.23457571e-04 9.99743028e-01 -1.28535636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters Centerline goodness : 0.981113 with order 1 Centerline is valid? [True, True] Translation: X:37.24, Y:0.73, Z:-1.31 [[ 9.95545730e-01 9.15142245e-02 -2.26681544e-02 3.72432017e+01] [-9.15417986e-02 9.95801219e-01 -1.79569941e-04 7.28689568e-01] [ 2.25565426e-02 2.25385371e-03 9.99743028e-01 -1.30528606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:0.70, Z:-1.30 [[ 9.99704795e-01 8.74515836e-03 -2.26681391e-02 3.73050374e+01] [-8.75152057e-03 9.99961688e-01 -1.81477708e-04 7.01204974e-01] [ 2.26656836e-02 3.79804821e-04 9.99743028e-01 -1.30041585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:37.36, Y:0.70, Z:-1.28 [[ 9.99584595e-01 1.77985774e-02 -2.26682123e-02 3.73643268e+01] [-1.78070473e-02 9.99841427e-01 -1.71828707e-04 7.02865272e-01] [ 2.26615594e-02 5.75411256e-04 9.99743028e-01 -1.28123008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:0.70, Z:-1.28 [[ 9.99609429e-01 1.63444670e-02 -2.26682016e-02 3.74236993e+01] [-1.63525948e-02 9.99866272e-01 -1.73222777e-04 7.03131905e-01] [ 2.26623390e-02 5.43839037e-04 9.99743028e-01 -1.28110381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:0.71, Z:-1.28 [[ 9.99655108e-01 1.32597303e-02 -2.26681230e-02 3.74815370e+01] [-1.32672862e-02 9.99911969e-01 -1.82963747e-04 7.05033817e-01] [ 2.26637015e-02 4.83645121e-04 9.99743028e-01 -1.28053846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:0.70, Z:-1.29 [[ 9.99705014e-01 8.72040350e-03 -2.26680279e-02 3.75418839e+01] [-8.72704493e-03 9.99961900e-01 -1.94076207e-04 7.03223752e-01] [ 2.26654718e-02 3.91843855e-04 9.99743028e-01 -1.29385081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:0.70, Z:-1.28 [[ 9.99654814e-01 1.32821031e-02 -2.26680219e-02 3.76014543e+01] [-1.32899323e-02 9.99911666e-01 -1.94765444e-04 7.02867813e-01] [ 2.26634327e-02 4.95954690e-04 9.99743028e-01 -1.27756070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:0.70, Z:-1.28 [[ 9.99679991e-01 1.12284412e-02 -2.26680097e-02 3.76595543e+01] [-1.12357748e-02 9.99936857e-01 -1.96182805e-04 7.02239748e-01] [ 2.26643755e-02 4.50812677e-04 9.99743028e-01 -1.27732433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:0.70, Z:-1.27 [[ 9.99645488e-01 1.39665617e-02 -2.26679082e-02 3.77192093e+01] [-1.39748503e-02 9.99902326e-01 -2.07278735e-04 7.03902701e-01] [ 2.26627992e-02 5.23985877e-04 9.99743028e-01 -1.26892786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:0.71, Z:-1.29 [[ 9.99637064e-01 1.45569908e-02 -2.26679019e-02 3.77785618e+01] [-1.45654469e-02 9.99893897e-01 -2.07971065e-04 7.08979132e-01] [ 2.26624693e-02 5.38063705e-04 9.99743028e-01 -1.29124992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:0.71, Z:-1.29 [[ 9.99615929e-01 1.59425604e-02 -2.26678087e-02 3.78371351e+01] [-1.59515922e-02 9.99872742e-01 -2.17670183e-04 7.11349370e-01] [ 2.26614538e-02 5.79174224e-04 9.99743029e-01 -1.28932215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:0.73, Z:-1.27 [[ 9.99471251e-01 2.33108133e-02 -2.26677127e-02 3.78965946e+01] [-2.33219549e-02 9.99727980e-01 -2.27246397e-04 7.25678356e-01] [ 2.26562494e-02 7.55781616e-04 9.99743029e-01 -1.27126716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:0.73, Z:-1.27 [[ 9.99468720e-01 2.34190923e-02 -2.26676988e-02 3.79556591e+01] [-2.34302931e-02 9.99725447e-01 -2.28629447e-04 7.31914320e-01] [ 2.26561210e-02 7.59618806e-04 9.99743029e-01 -1.26874877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:0.74, Z:-1.27 [[ 9.99481434e-01 2.28701474e-02 -2.26675989e-02 3.80147838e+01] [-2.28814226e-02 9.99738158e-01 -2.38139854e-04 7.40097106e-01] [ 2.26562172e-02 7.56683271e-04 9.99743029e-01 -1.26932816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:0.75, Z:-1.27 [[ 9.99610466e-01 1.62818967e-02 -2.26674944e-02 3.80734993e+01] [-1.62916962e-02 9.99867251e-01 -2.47697590e-04 7.46553965e-01] [ 2.26604523e-02 6.16893035e-04 9.99743029e-01 -1.26677062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:0.75, Z:-1.27 [[ 9.99700115e-01 9.26658197e-03 -2.26673849e-02 3.81321220e+01] [-9.27479778e-03 9.99956955e-01 -2.57344042e-04 7.54609769e-01] [ 2.26640245e-02 4.67502279e-04 9.99743029e-01 -1.26930687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:0.75, Z:-1.28 [[ 9.99734730e-01 -4.08213054e-03 -2.26672704e-02 3.81922746e+01] [ 4.07712443e-03 9.99991653e-01 -2.67061863e-04 7.54425426e-01] [ 2.26681714e-02 1.74573737e-04 9.99743029e-01 -1.28423635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:0.75, Z:-1.26 [[ 9.99691056e-01 -1.01974117e-02 -2.26672663e-02 3.82515836e+01] [ 1.01939693e-02 9.99948004e-01 -2.67412031e-04 7.51986096e-01] [ 2.26688146e-02 3.62599980e-05 9.99743029e-01 -1.26297439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:0.75, Z:-1.28 [[ 9.97502201e-01 -6.68995851e-02 -2.26672577e-02 3.83110590e+01] [ 6.69107101e-02 9.97758931e-01 -2.68139370e-04 7.45871968e-01] [ 2.26343972e-02 -1.24921270e-03 9.99743029e-01 -1.28280204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.37, Y:0.74, Z:-1.28 [[ 9.99491804e-01 -2.24127323e-02 -2.26672471e-02 3.83704026e+01] [ 2.24123933e-02 9.99748775e-01 -2.69030543e-04 7.44678732e-01] [ 2.26675822e-02 -2.39133434e-04 9.99743029e-01 -1.28033617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:38.43, Y:0.74, Z:-1.26 [[ 9.99525936e-01 -2.08350686e-02 -2.26672206e-02 3.84291404e+01] [ 2.08342739e-02 9.99782906e-01 -2.71243002e-04 7.39789966e-01] [ 2.26679511e-02 -2.01140668e-04 9.99743029e-01 -1.25992276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:38.49, Y:0.73, Z:-1.29 [[ 9.97109421e-01 -7.25189689e-02 -2.26671935e-02 3.84892822e+01] [ 7.25314190e-02 9.97366090e-01 -2.73490694e-04 7.32143773e-01] [ 2.26273234e-02 -1.37138356e-03 9.99743029e-01 -1.28624466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:38.55, Y:0.72, Z:-1.27 [[ 9.98644789e-01 -4.68485212e-02 -2.26671786e-02 3.85489268e+01] [ 4.68543375e-02 9.98901695e-01 -2.74723890e-04 7.18794148e-01] [ 2.26551535e-02 -7.87704054e-04 9.99743029e-01 -1.27453450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters Centerline goodness : 0.998564 with order 1 Centerline is valid? [True, True] Translation: X:38.61, Y:0.73, Z:-1.25 [[ 9.99723529e-01 -6.25026661e-03 -2.26671712e-02 3.86083818e+01] [ 6.24563021e-03 9.99980458e-01 -2.75331974e-04 7.28872582e-01] [ 2.26684491e-02 1.33685084e-04 9.99743029e-01 -1.25450893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.67, Y:0.73, Z:-1.28 [[ 9.99699456e-01 -9.33794607e-03 -2.26671540e-02 3.86672658e+01] [ 9.33407137e-03 9.99956398e-01 -2.76737139e-04 7.26880649e-01] [ 2.26687498e-02 6.50771338e-05 9.99743029e-01 -1.27525715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:38.73, Y:0.73, Z:-1.25 [[ 9.99735523e-01 -3.88403935e-03 -2.26671089e-02 3.87253229e+01] [ 3.87868021e-03 9.99992439e-01 -2.80388481e-04 7.26041421e-01] [ 2.26680265e-02 1.92395858e-04 9.99743029e-01 -1.25325805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:38.79, Y:0.72, Z:-1.27 [[ 9.99731616e-01 -4.78583419e-03 -2.26669785e-02 3.87855671e+01] [ 4.78047632e-03 9.99988531e-01 -2.90553996e-04 7.24084986e-01] [ 2.26681091e-02 1.82117062e-04 9.99743029e-01 -1.26952303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters Centerline goodness : 0.985844 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:0.70, Z:-1.29 [[ 9.96845515e-01 -7.60606905e-02 -2.26669680e-02 3.88443544e+01] [ 7.60736474e-02 9.97102159e-01 -2.91373965e-04 6.96064009e-01] [ 2.26234448e-02 -1.43390410e-03 9.99743029e-01 -1.29109638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters Centerline goodness : 0.998218 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:0.72, Z:-1.25 [[ 9.99742708e-01 8.53255448e-04 -2.26669224e-02 3.89032569e+01] [-8.60160471e-04 9.99999587e-01 -2.94881839e-04 7.20600834e-01] [ 2.26666614e-02 3.14303159e-04 9.99743029e-01 -1.24850215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:0.72, Z:-1.25 [[ 9.99739340e-01 2.73194425e-03 -2.26668975e-02 3.89625727e+01] [-2.73937509e-03 9.99996204e-01 -2.96783939e-04 7.22534581e-01] [ 2.26660006e-02 3.58799714e-04 9.99743029e-01 -1.24855179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:0.72, Z:-1.27 [[ 9.99742982e-01 4.34111918e-04 -2.26667622e-02 3.90220614e+01] [-4.41178915e-04 9.99999856e-01 -3.06778187e-04 7.22378047e-01] [ 2.26666258e-02 3.16699437e-04 9.99743029e-01 -1.26963851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:0.73, Z:-1.25 [[ 9.99741481e-01 1.78775375e-03 -2.26666245e-02 3.90806396e+01] [-1.79539194e-03 9.99998338e-01 -3.16634043e-04 7.28830330e-01] [ 2.26660208e-02 3.57247662e-04 9.99743029e-01 -1.25347377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters Centerline goodness : 0.997080 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:0.73, Z:-1.23 [[ 9.99737457e-01 3.35287480e-03 -2.26665950e-02 3.91401598e+01] [-3.36096272e-03 9.99994301e-01 -3.18734709e-04 7.30962537e-01] [ 2.26653971e-02 3.94832608e-04 9.99743029e-01 -1.23411603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:0.73, Z:-1.25 [[ 9.99733811e-01 -4.30485856e-03 -2.26665922e-02 3.92010128e+01] [ 4.29873372e-03 9.99990710e-01 -3.18933074e-04 7.28515680e-01] [ 2.26677546e-02 2.21410533e-04 9.99743029e-01 -1.24675381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:39.26, Y:0.73, Z:-1.25 [[ 9.99722775e-01 -6.37178188e-03 -2.26665891e-02 3.92601767e+01] [ 6.36618321e-03 9.99979685e-01 -3.19151936e-04 7.26905454e-01] [ 2.26681622e-02 1.74763800e-04 9.99743029e-01 -1.24727497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:0.72, Z:-1.24 [[ 9.99729669e-01 -5.17897357e-03 -2.26664422e-02 3.93192254e+01] [ 5.17283905e-03 9.99986567e-01 -3.29267710e-04 7.24003454e-01] [ 2.26678429e-02 2.11928841e-04 9.99743029e-01 -1.23852638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:0.72, Z:-1.24 [[ 9.99732773e-01 -4.54050610e-03 -2.26663997e-02 3.93781259e+01] [ 4.53414178e-03 9.99989666e-01 -3.32167415e-04 7.21991017e-01] [ 2.26676736e-02 2.29305981e-04 9.99743029e-01 -1.23882251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:0.72, Z:-1.24 [[ 9.99733211e-01 -4.44388501e-03 -2.26662497e-02 3.94369171e+01] [ 4.43727056e-03 9.99990097e-01 -3.42105717e-04 7.22454418e-01] [ 2.26675455e-02 2.41438164e-04 9.99743029e-01 -1.23799506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:39.50, Y:0.72, Z:-1.24 [[ 9.99741449e-01 -1.81198942e-03 -2.26660939e-02 3.94961495e+01] [ 1.80447145e-03 9.99998310e-01 -3.52131763e-04 7.23570096e-01] [ 2.26666937e-02 3.11140400e-04 9.99743029e-01 -1.23768758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:39.55, Y:0.73, Z:-1.24 [[ 9.99740023e-01 2.47846070e-03 -2.26659348e-02 3.95539536e+01] [-2.48730670e-03 9.99996841e-01 -3.62093757e-04 7.28461692e-01] [ 2.26649657e-02 4.18376753e-04 9.99743029e-01 -1.23828336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:39.61, Y:0.74, Z:-1.27 [[ 9.97963132e-01 5.96309527e-02 -2.26657486e-02 3.96140999e+01] [-5.96547221e-02 9.98219001e-01 -3.73395064e-04 7.38908638e-01] [ 2.26031150e-02 1.72475344e-03 9.99743029e-01 -1.26502889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:39.67, Y:0.74, Z:-1.23 [[ 9.99712042e-01 7.88017426e-03 -2.26657339e-02 3.96741365e+01] [-7.89068399e-03 9.99968798e-01 -3.74284320e-04 7.38437819e-01] [ 2.26620773e-02 5.53024685e-04 9.99743029e-01 -1.23108693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters Centerline goodness : 0.966577 with order 1 Centerline is valid? [True, True] Translation: X:39.73, Y:0.70, Z:-1.25 [[ 9.96430119e-01 -8.13220899e-02 -2.26657349e-02 3.97338786e+01] [ 8.13345252e-02 9.96686789e-01 -3.74221244e-04 7.03694413e-01] [ 2.26210710e-02 -1.47062147e-03 9.99743029e-01 -1.25139860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.79, Y:0.75, Z:-1.25 [[ 9.99733779e-01 4.31729257e-03 -2.26656393e-02 3.97910943e+01] [-4.32701514e-03 9.99990566e-01 -3.79929765e-04 7.54249158e-01] [ 2.26637852e-02 4.77903184e-04 9.99743029e-01 -1.24598328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:39.85, Y:0.76, Z:-1.23 [[ 9.99715517e-01 7.42686731e-03 -2.26655496e-02 3.98493656e+01] [-7.43750802e-03 9.99972267e-01 -3.85202894e-04 7.64700903e-01] [ 2.26620602e-02 5.53668517e-04 9.99743029e-01 -1.22895428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:39.91, Y:0.77, Z:-1.23 [[ 9.99738796e-01 -2.93607545e-03 -2.26653782e-02 3.99078860e+01] [ 2.92787371e-03 9.99995636e-01 -3.95038734e-04 7.74738082e-01] [ 2.26664392e-02 3.28574184e-04 9.99743029e-01 -1.22968102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters Centerline goodness : 0.983203 with order 1 Centerline is valid? [True, True] Translation: X:39.97, Y:0.76, Z:-1.24 [[ 9.96190894e-01 -8.42020873e-02 -2.26652012e-02 3.99674364e+01] [ 8.42145686e-02 9.96447561e-01 -4.04944857e-04 7.57812939e-01] [ 2.26187817e-02 -1.50533776e-03 9.99743029e-01 -1.24412476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.03, Y:0.79, Z:-1.24 [[ 9.99718826e-01 -6.96841104e-03 -2.26651767e-02 4.00263917e+01] [ 6.96098970e-03 9.99975689e-01 -4.06314008e-04 7.93592869e-01] [ 2.26674570e-02 2.48427701e-04 9.99743029e-01 -1.23939984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:40.08, Y:0.80, Z:-1.24 [[ 9.99675212e-01 -1.16517078e-02 -2.26651508e-02 4.00842720e+01] [ 1.16454572e-02 9.99932106e-01 -4.07754201e-04 7.97630831e-01] [ 2.26683630e-02 1.43675724e-04 9.99743029e-01 -1.23572558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:0.80, Z:-1.22 [[ 9.99607782e-01 -1.64494026e-02 -2.26649350e-02 4.01429161e+01] [ 1.64441206e-02 9.99864698e-01 -4.19415942e-04 7.99792545e-01] [ 2.26687675e-02 4.65465158e-05 9.99743029e-01 -1.21949433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:0.80, Z:-1.24 [[ 9.99617421e-01 -1.58531092e-02 -2.26647403e-02 4.02021820e+01] [ 1.58474412e-02 9.99874329e-01 -4.29685110e-04 7.97292879e-01] [ 2.26687038e-02 7.03425840e-05 9.99743029e-01 -1.23644756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:0.80, Z:-1.23 [[ 9.99647605e-01 -1.38197473e-02 -2.26645379e-02 4.02610036e+01] [ 1.38133204e-02 9.99904495e-01 -4.40108784e-04 7.97992984e-01] [ 2.26684555e-02 1.26881169e-04 9.99743029e-01 -1.23391461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:0.80, Z:-1.23 [[ 9.99679969e-01 -1.12377298e-02 -2.26643349e-02 4.03196992e+01] [ 1.12304077e-02 9.99936836e-01 -4.50323097e-04 7.96439019e-01] [ 2.26679640e-02 1.95649257e-04 9.99743030e-01 -1.23275147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:0.80, Z:-1.23 [[ 9.99738662e-01 -2.99089199e-03 -2.26641291e-02 4.03774406e+01] [ 2.98122169e-03 9.99995450e-01 -4.60454350e-04 8.04255665e-01] [ 2.26654032e-02 3.92767222e-04 9.99743030e-01 -1.23107530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:0.81, Z:-1.21 [[ 9.99742863e-01 7.45276893e-04 -2.26638900e-02 4.04362052e+01] [-7.56166942e-04 9.99999603e-01 -4.71936037e-04 8.08319372e-01] [ 2.26635293e-02 4.88952369e-04 9.99743030e-01 -1.20793945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:0.81, Z:-1.23 [[ 9.99738418e-01 3.07391081e-03 -2.26637938e-02 4.04959029e+01] [-3.08550250e-03 9.99995126e-01 -4.76511398e-04 8.10808812e-01] [ 2.26622186e-02 5.46315943e-04 9.99743030e-01 -1.22740996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:0.82, Z:-1.23 [[ 9.99743126e-01 1.92534291e-04 -2.26637493e-02 4.05545908e+01] [-2.03433817e-04 9.99999865e-01 -4.78618778e-04 8.22169277e-01] [ 2.26636541e-02 4.83106406e-04 9.99743030e-01 -1.22772072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:0.82, Z:-1.21 [[ 9.99737788e-01 -3.27402101e-03 -2.26635376e-02 4.06139147e+01] [ 3.26378915e-03 9.99994555e-01 -4.88442282e-04 8.24424439e-01] [ 2.26650134e-02 4.14345199e-04 9.99743030e-01 -1.21453333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:40.67, Y:0.84, Z:-1.21 [[ 9.99738540e-01 -3.03601586e-03 -2.26635069e-02 4.06726887e+01] [ 3.02569073e-03 9.99995303e-01 -4.89860658e-04 8.36387703e-01] [ 2.26648877e-02 4.21159816e-04 9.99743030e-01 -1.21062357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:40.73, Y:0.84, Z:-1.20 [[ 9.99733911e-01 -4.29921649e-03 -2.26632855e-02 4.07320029e+01] [ 4.28898825e-03 9.99990677e-01 -4.99901679e-04 8.35431039e-01] [ 2.26652234e-02 4.02566096e-04 9.99743030e-01 -1.20443958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:0.84, Z:-1.21 [[ 9.99703249e-01 -8.93299354e-03 -2.26630756e-02 4.07904561e+01] [ 8.92374382e-03 9.99960053e-01 -5.09242436e-04 8.36842398e-01] [ 2.26667193e-02 3.06851837e-04 9.99743030e-01 -1.20578020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:0.84, Z:-1.20 [[ 9.99662299e-01 -1.27152567e-02 -2.26629527e-02 4.08490816e+01] [ 1.27068560e-02 9.99919132e-01 -5.14652948e-04 8.38543952e-01] [ 2.26676640e-02 2.26504272e-04 9.99743030e-01 -1.20148512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:0.84, Z:-1.20 [[ 9.99703373e-01 -8.92007496e-03 -2.26627149e-02 4.09082814e+01] [ 8.91046656e-03 9.99960163e-01 -5.24921198e-04 8.41211881e-01] [ 2.26664944e-02 3.22830129e-04 9.99743030e-01 -1.20235163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:40.97, Y:0.84, Z:-1.20 [[ 9.99737899e-01 -3.24751436e-03 -2.26624735e-02 4.09674870e+01] [ 3.23621744e-03 9.99994620e-01 -5.35142983e-04 8.43256771e-01] [ 2.26640895e-02 4.61662029e-04 9.99743030e-01 -1.19910534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:41.03, Y:0.85, Z:-1.20 [[ 9.99737888e-01 -3.25240439e-03 -2.26622486e-02 4.10260301e+01] [ 3.24089665e-03 9.99994600e-01 -5.44502565e-04 8.48363365e-01] [ 2.26638972e-02 4.70913838e-04 9.99743030e-01 -1.20081620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:0.86, Z:-1.20 [[ 9.99733245e-01 -4.45774487e-03 -2.26620078e-02 4.10844917e+01] [ 4.44632354e-03 9.99989961e-01 -5.54348689e-04 8.55944571e-01] [ 2.26642514e-02 4.53438196e-04 9.99743030e-01 -1.20126837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:0.86, Z:-1.20 [[ 9.99722117e-01 -6.49106560e-03 -2.26617578e-02 4.11435328e+01] [ 6.47993900e-03 9.99978846e-01 -5.64385023e-04 8.63782358e-01] [ 2.26649419e-02 4.17381382e-04 9.99743030e-01 -1.20138418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:0.88, Z:-1.22 [[ 9.99277397e-01 3.05145831e-02 -2.26614957e-02 4.12022733e+01] [-3.05354377e-02 9.99533520e-01 -5.74720921e-04 8.76496138e-01] [ 2.26333872e-02 1.26628432e-03 9.99743030e-01 -1.22159847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.26, Y:0.87, Z:-1.21 [[ 9.99582953e-01 -1.78991137e-02 -2.26614417e-02 4.12626800e+01] [ 1.78906352e-02 9.99839783e-01 -5.76840043e-04 8.72473851e-01] [ 2.26681359e-02 1.71171887e-04 9.99743030e-01 -1.21158872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:0.88, Z:-1.19 [[ 9.99568900e-01 -1.86674572e-02 -2.26614417e-02 4.13210966e+01] [ 1.86591760e-02 9.99825736e-01 -5.76840043e-04 8.75621577e-01] [ 2.26682608e-02 1.53747536e-04 9.99743030e-01 -1.19210626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:0.88, Z:-1.19 [[ 9.99442255e-01 -2.45285745e-02 -2.26611713e-02 4.13802663e+01] [ 2.45215630e-02 9.99699129e-01 -5.87275366e-04 8.82597555e-01] [ 2.26687582e-02 3.12604756e-05 9.99743030e-01 -1.18534170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:0.88, Z:-1.21 [[ 9.99293670e-01 -2.99774077e-02 -2.26609112e-02 4.14389962e+01] [ 2.99715731e-02 9.99550573e-01 -5.97144701e-04 8.83948693e-01] [ 2.26686277e-02 -8.24602382e-05 9.99743030e-01 -1.20664293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:0.88, Z:-1.18 [[ 9.99115382e-01 -3.54251379e-02 -2.26608127e-02 4.14975439e+01] [ 3.54206197e-02 9.99372312e-01 -6.00861878e-04 8.81844152e-01] [ 2.26678744e-02 -2.02329682e-04 9.99743030e-01 -1.18402186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:0.88, Z:-1.20 [[ 9.98922912e-01 -4.04909422e-02 -2.26605256e-02 4.15566154e+01] [ 4.04874856e-02 9.99179858e-01 -6.11501692e-04 8.84664197e-01] [ 2.26667010e-02 -3.06624651e-04 9.99743030e-01 -1.20113143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:0.88, Z:-1.18 [[ 9.98880590e-01 -4.15220467e-02 -2.26602342e-02 4.16155087e+01] [ 4.15186146e-02 9.99137537e-01 -6.22114184e-04 8.81573746e-01] [ 2.26665220e-02 -3.19403747e-04 9.99743030e-01 -1.17765388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:0.88, Z:-1.18 [[ 9.98932615e-01 -4.02511797e-02 -2.26599523e-02 4.16752290e+01] [ 4.02471915e-02 9.99189554e-01 -6.32218971e-04 8.82838562e-01] [ 2.26670352e-02 -2.80455289e-04 9.99743030e-01 -1.18055106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:0.88, Z:-1.18 [[ 9.98999313e-01 -3.85603627e-02 -2.26599100e-02 4.17347264e+01] [ 3.85559053e-02 9.99256244e-01 -6.33729614e-04 8.79666340e-01] [ 2.26674934e-02 -2.40577897e-04 9.99743030e-01 -1.17752728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:0.88, Z:-1.18 [[ 9.98990665e-01 -3.87839319e-02 -2.26596260e-02 4.17938261e+01] [ 3.87793053e-02 9.99247592e-01 -6.43726288e-04 8.79452468e-01] [ 2.26675430e-02 -2.35648005e-04 9.99743030e-01 -1.17845585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.85, Y:0.88, Z:-1.19 [[ 9.98909044e-01 -4.08323026e-02 -2.26593136e-02 4.18535403e+01] [ 4.08279576e-02 9.99165977e-01 -6.54541137e-04 8.78150776e-01] [ 2.26671417e-02 -2.71306435e-04 9.99743031e-01 -1.19436006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.91, Y:0.87, Z:-1.19 [[ 9.98791824e-01 -4.36057672e-02 -2.26590021e-02 4.19127646e+01] [ 4.36018949e-02 9.99048764e-01 -6.65153052e-04 8.70958216e-01] [ 2.26664526e-02 -3.23625999e-04 9.99743031e-01 -1.19438569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:41.97, Y:0.87, Z:-1.19 [[ 9.98730446e-01 -4.49897692e-02 -2.26586877e-02 4.19714309e+01] [ 4.49860137e-02 9.98987388e-01 -6.75697575e-04 8.68015283e-01] [ 2.26661427e-02 -3.44484295e-04 9.99743031e-01 -1.19286991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:42.03, Y:0.86, Z:-1.17 [[ 9.98688008e-01 -4.59223379e-02 -2.26583696e-02 4.20296359e+01] [ 4.59185842e-02 9.98944950e-01 -6.86201839e-04 8.63624406e-01] [ 2.26659759e-02 -3.55138703e-04 9.99743031e-01 -1.17344077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:42.09, Y:0.86, Z:-1.17 [[ 9.98746203e-01 -4.46389472e-02 -2.26580332e-02 4.20877601e+01] [ 4.46346153e-02 9.99003136e-01 -6.97134653e-04 8.58899803e-01] [ 2.26665656e-02 -3.15072007e-04 9.99743031e-01 -1.17216653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:42.15, Y:0.85, Z:-1.18 [[ 9.98921405e-01 -4.05296996e-02 -2.26576503e-02 4.21477118e+01] [ 4.05240333e-02 9.99178312e-01 -7.09364455e-04 8.54659437e-01] [ 2.26677831e-02 -2.09580037e-04 9.99743031e-01 -1.17862650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.21, Y:0.85, Z:-1.19 [[ 9.99052936e-01 -3.71465142e-02 -2.26576019e-02 4.22073114e+01] [ 3.71399429e-02 9.99309821e-01 -7.10908824e-04 8.52753051e-01] [ 2.26683719e-02 -1.31266490e-04 9.99743031e-01 -1.18990266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.27, Y:0.85, Z:-1.19 [[ 9.99189689e-01 -3.32657755e-02 -2.26572922e-02 4.22662610e+01] [ 3.32579857e-02 9.99446540e-01 -7.20644335e-04 8.50568067e-01] [ 2.26687251e-02 -3.34755106e-05 9.99743031e-01 -1.18845408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:0.85, Z:-1.16 [[ 9.99286228e-01 -3.02274242e-02 -2.26569511e-02 4.23248166e+01] [ 3.02186137e-02 9.99543046e-01 -7.31214887e-04 8.49223520e-01] [ 2.26687006e-02 4.60313135e-05 9.99743031e-01 -1.16485273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:0.85, Z:-1.16 [[ 9.99344594e-01 -2.82320783e-02 -2.26568547e-02 4.23835293e+01] [ 2.82226877e-02 9.99601391e-01 -7.34188247e-04 8.45511852e-01] [ 2.26685511e-02 9.42697210e-05 9.99743031e-01 -1.16127831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:0.85, Z:-1.19 [[ 9.99376979e-01 -2.70617060e-02 -2.26565115e-02 4.24437513e+01] [ 2.70517779e-02 9.99633756e-01 -7.44630098e-04 8.46533338e-01] [ 2.26683647e-02 1.31267260e-04 9.99743031e-01 -1.18519459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:0.84, Z:-1.19 [[ 9.99426711e-01 -2.51581777e-02 -2.26564633e-02 4.25028959e+01] [ 2.51477274e-02 9.99683467e-01 -7.46093234e-04 8.42072380e-01] [ 2.26680622e-02 1.75906942e-04 9.99743031e-01 -1.18522140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters Centerline goodness : 0.951059 with order 3 Centerline is valid? [True, True] Translation: X:42.46, Y:0.77, Z:-1.19 [[ 9.88747582e-01 -1.47867913e-01 -2.26561214e-02 4.24598353e+01] [ 1.47888884e-01 9.89003694e-01 -7.56337361e-04 7.73504637e-01] [ 2.25188257e-02 -2.60276177e-03 9.99743031e-01 -1.18752642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:42.60, Y:0.85, Z:-1.18 [[ 9.99588716e-01 -1.79660719e-02 -2.23521705e-02 4.25961787e+01] [ 1.77894791e-02 9.99809151e-01 -8.07440695e-03 8.49620199e-01] [ 2.24929700e-02 7.67345260e-03 9.99717552e-01 -1.18392597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:42.65, Y:0.84, Z:-1.16 [[ 9.99678296e-01 -1.15857727e-02 -2.25626798e-02 4.26542338e+01] [ 1.15743523e-02 9.99932812e-01 -6.36694370e-04 8.44209918e-01] [ 2.25685405e-02 3.75341139e-04 9.99745228e-01 -1.16292421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:42.71, Y:0.84, Z:-1.16 [[ 9.99711033e-01 -8.29356658e-03 -2.25625270e-02 4.27131010e+01] [ 8.28118690e-03 9.99965504e-01 -6.42063461e-04 8.42088665e-01] [ 2.25670737e-02 4.55033423e-04 9.99745228e-01 -1.15656997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.77, Y:0.84, Z:-1.18 [[ 9.99678878e-01 -1.15358897e-02 -2.25624454e-02 4.27722983e+01] [ 1.15242709e-02 9.99933385e-01 -6.44919285e-04 8.38480691e-01] [ 2.25683821e-02 3.84696454e-04 9.99745228e-01 -1.17778634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:42.83, Y:0.83, Z:-1.17 [[ 9.98940245e-01 -4.01165182e-02 -2.25621572e-02 4.28315408e+01] [ 4.01119576e-02 9.99194977e-01 -6.54847455e-04 8.27773477e-01] [ 2.25702644e-02 -2.50858816e-04 9.99745228e-01 -1.16869571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:0.85, Z:-1.15 [[ 9.99741301e-01 -2.87972697e-03 -2.25618566e-02 4.28888219e+01] [ 2.86545115e-03 9.99995673e-01 -6.65044779e-04 8.46178175e-01] [ 2.25636742e-02 6.00222834e-04 9.99745228e-01 -1.15399033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:0.85, Z:-1.16 [[ 9.99743963e-01 -1.72566420e-03 -2.25617012e-02 4.29474318e+01] [ 1.71097676e-03 9.99998312e-01 -6.70277453e-04 8.48241766e-01] [ 2.25628198e-02 6.31503291e-04 9.99745228e-01 -1.15556453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:43.01, Y:0.83, Z:-1.17 [[ 9.98799125e-01 -4.34889689e-02 -2.25614068e-02 4.30068031e+01] [ 4.34846993e-02 9.99053862e-01 -6.80045028e-04 8.34187109e-01] [ 2.25696350e-02 -3.01847610e-04 9.99745228e-01 -1.16731065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:43.07, Y:0.85, Z:-1.14 [[ 9.99649384e-01 -1.38602427e-02 -2.25611092e-02 4.30658012e+01] [ 1.38482036e-02 9.99903871e-01 -6.89778080e-04 8.52132057e-01] [ 2.25685009e-02 3.77105399e-04 9.99745228e-01 -1.14430398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:43.13, Y:0.85, Z:-1.15 [[ 9.99654529e-01 -1.34840886e-02 -2.25610707e-02 4.31259137e+01] [ 1.34719254e-02 9.99909011e-01 -6.91034150e-04 8.52557521e-01] [ 2.25683359e-02 3.86854356e-04 9.99745228e-01 -1.15290928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:0.86, Z:-1.16 [[ 9.99591020e-01 -1.75724582e-02 -2.25610501e-02 4.31843605e+01] [ 1.75613207e-02 9.99845549e-01 -6.91707095e-04 8.55338388e-01] [ 2.25697205e-02 2.95222364e-04 9.99745228e-01 -1.15614493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:0.85, Z:-1.15 [[ 9.99456348e-01 -2.40419044e-02 -2.25609386e-02 4.32437736e+01] [ 2.40323330e-02 9.99710940e-01 -6.95323529e-04 8.53815030e-01] [ 2.25711341e-02 1.52753525e-04 9.99745228e-01 -1.14663391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.30, Y:0.86, Z:-1.16 [[ 9.99686410e-01 -1.08668620e-02 -2.25608944e-02 4.33035576e+01] [ 1.08539035e-02 9.99940852e-01 -6.96756835e-04 8.57931782e-01] [ 2.25671315e-02 4.51664568e-04 9.99745228e-01 -1.16291327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:43.36, Y:0.85, Z:-1.15 [[ 9.99304558e-01 -2.96885450e-02 -2.25608263e-02 4.33633817e+01] [ 2.96803302e-02 9.99559198e-01 -6.98955533e-04 8.47909007e-01] [ 2.25716324e-02 2.88566775e-05 9.99745228e-01 -1.14793491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.42, Y:0.84, Z:-1.16 [[ 9.99301851e-01 -2.97795368e-02 -2.25607810e-02 4.34231214e+01] [ 2.97713122e-02 9.99556491e-01 -7.00412754e-04 8.43385774e-01] [ 2.25716331e-02 2.82597062e-05 9.99745228e-01 -1.15996222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:43.48, Y:0.84, Z:-1.14 [[ 9.99456830e-01 -2.40220247e-02 -2.25607360e-02 4.34830278e+01] [ 2.40123006e-02 9.99711417e-01 -7.01860361e-04 8.40285303e-01] [ 2.25710854e-02 1.59743957e-04 9.99745228e-01 -1.14141116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:43.54, Y:0.84, Z:-1.16 [[ 9.99428590e-01 -2.51695984e-02 -2.25607128e-02 4.35432214e+01] [ 2.51601498e-02 9.99683186e-01 -7.02603848e-04 8.37955311e-01] [ 2.25712495e-02 1.34571458e-04 9.99745228e-01 -1.16166005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.60, Y:0.84, Z:-1.16 [[ 9.99451484e-01 -2.42434988e-02 -2.25606678e-02 4.36021054e+01] [ 2.42337819e-02 9.99706071e-01 -7.04045475e-04 8.35607211e-01] [ 2.25711051e-02 1.56928992e-04 9.99745228e-01 -1.15782560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.66, Y:0.83, Z:-1.16 [[ 9.99467427e-01 -2.35773833e-02 -2.25603499e-02 4.36608515e+01] [ 2.35672699e-02 9.99721998e-01 -7.14089424e-04 8.33009606e-01] [ 2.25709145e-02 1.82023264e-04 9.99745228e-01 -1.15800388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.72, Y:0.83, Z:-1.16 [[ 9.99525483e-01 -2.09726871e-02 -2.25600307e-02 4.37195205e+01] [ 2.09616859e-02 9.99780018e-01 -7.24036590e-04 8.30049982e-01] [ 2.25702529e-02 2.50796746e-04 9.99745228e-01 -1.15604089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.78, Y:0.83, Z:-1.15 [[ 9.99591636e-01 -1.75391247e-02 -2.25597048e-02 4.37788285e+01] [ 1.75270232e-02 9.99846120e-01 -7.34051903e-04 8.32380716e-01] [ 2.25691080e-02 3.38347673e-04 9.99745228e-01 -1.15460417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.84, Y:0.83, Z:-1.14 [[ 9.99694573e-01 -1.00913607e-02 -2.25593814e-02 4.38378566e+01] [ 1.00771423e-02 9.99948948e-01 -7.43861107e-04 8.31547035e-01] [ 2.25657362e-02 5.16299815e-04 9.99745228e-01 -1.13697202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:43.90, Y:0.83, Z:-1.14 [[ 9.99672281e-01 -1.21003734e-02 -2.25590535e-02 4.38971158e+01] [ 1.20864449e-02 9.99926672e-01 -7.53674018e-04 8.33420808e-01] [ 2.25665191e-02 4.80768269e-04 9.99745228e-01 -1.14298389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.96, Y:0.83, Z:-1.15 [[ 9.99496367e-01 -2.23182508e-02 -2.25589835e-02 4.39574143e+01] [ 2.23068762e-02 9.99750885e-01 -7.55765175e-04 8.27625937e-01] [ 2.25702310e-02 2.52164096e-04 9.99745228e-01 -1.15288419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:44.02, Y:0.83, Z:-1.14 [[ 9.99584532e-01 -1.79403799e-02 -2.25589370e-02 4.40166476e+01] [ 1.79278594e-02 9.99838996e-01 -7.57150514e-04 8.25557233e-01] [ 2.25688885e-02 3.52402492e-04 9.99745228e-01 -1.13564918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:0.82, Z:-1.14 [[ 9.99667782e-01 -1.24668056e-02 -2.25588893e-02 4.40763023e+01] [ 1.24528600e-02 9.99922172e-01 -7.58566769e-04 8.21309521e-01] [ 2.25665905e-02 4.77392068e-04 9.99745228e-01 -1.14409941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:0.82, Z:-1.13 [[ 9.99722073e-01 -6.84743467e-03 -2.25585572e-02 4.41356908e+01] [ 6.83183946e-03 9.99976368e-01 -7.68317876e-04 8.20182952e-01] [ 2.25632851e-02 6.13987898e-04 9.99745228e-01 -1.12705236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:0.82, Z:-1.15 [[ 9.99707614e-01 -8.70631613e-03 -2.25585104e-02 4.41957058e+01] [ 8.69116282e-03 9.99961935e-01 -7.69690658e-04 8.16096017e-01] [ 2.25643529e-02 5.73405925e-04 9.99745228e-01 -1.15145672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:0.82, Z:-1.14 [[ 9.99743145e-01 -2.18448192e-03 -2.25581821e-02 4.42551927e+01] [ 2.16745562e-03 9.99997347e-01 -7.79195167e-04 8.18326313e-01] [ 2.25598244e-02 7.30101169e-04 9.99745228e-01 -1.13664967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:0.82, Z:-1.15 [[ 9.99742403e-01 -2.50162335e-03 -2.25581353e-02 4.43145123e+01] [ 2.48464722e-03 9.99996609e-01 -7.80546572e-04 8.17913416e-01] [ 2.25600115e-02 7.24296497e-04 9.99745228e-01 -1.14525640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:0.82, Z:-1.14 [[ 9.99745085e-01 -9.53820416e-04 -2.25578053e-02 4.43738041e+01] [ 9.36238342e-04 9.99999250e-01 -7.89971315e-04 8.15822707e-01] [ 2.25585419e-02 7.68650457e-04 9.99745228e-01 -1.14341821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:0.82, Z:-1.12 [[ 9.99736769e-01 4.18972943e-03 -2.25574721e-02 4.44335133e+01] [-4.20883075e-03 9.99990823e-01 -7.99374485e-04 8.15817953e-01] [ 2.25539159e-02 8.94104647e-04 9.99745228e-01 -1.11744193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:0.81, Z:-1.14 [[ 9.99742220e-01 -2.58012728e-03 -2.25574244e-02 4.44948236e+01] [ 2.56271649e-03 9.99996396e-01 -8.00717023e-04 8.13517897e-01] [ 2.25594091e-02 7.42702331e-04 9.99745228e-01 -1.14344042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:0.81, Z:-1.12 [[ 9.99740712e-01 -3.10988283e-03 -2.25574125e-02 4.45540952e+01] [ 3.09259915e-03 9.99994897e-01 -8.01052995e-04 8.13458701e-01] [ 2.25597886e-02 7.31084257e-04 9.99745228e-01 -1.12125351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:0.81, Z:-1.14 [[ 9.99709503e-01 -8.48968753e-03 -2.25573727e-02 4.46151496e+01] [ 8.47374669e-03 9.99963775e-01 -8.02172193e-04 8.07466079e-01] [ 2.25633657e-02 6.10793702e-04 9.99745228e-01 -1.14283759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:0.81, Z:-1.12 [[ 9.99741081e-01 -2.98956656e-03 -2.25573481e-02 4.46744825e+01] [ 2.97221153e-03 9.99995261e-01 -8.02861565e-04 8.11157569e-01] [ 2.25596414e-02 7.35608479e-04 9.99745228e-01 -1.11862165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:0.81, Z:-1.12 [[ 9.99743232e-01 2.15462083e-03 -2.25572310e-02 4.47334219e+01] [-2.17335735e-03 9.99997313e-01 -8.06138839e-04 8.08173427e-01] [ 2.25554335e-02 8.54956771e-04 9.99745228e-01 -1.11648439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:44.79, Y:0.81, Z:-1.11 [[ 9.99724705e-01 6.45768899e-03 -2.25568868e-02 4.47932892e+01] [-6.47773333e-03 9.99978687e-01 -8.15657159e-04 8.10768085e-01] [ 2.25511388e-02 9.61550110e-04 9.99745228e-01 -1.11114628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:0.81, Z:-1.11 [[ 9.99696314e-01 9.92321829e-03 -2.25568218e-02 4.48537305e+01] [-9.94418336e-03 9.99950221e-01 -8.17452156e-04 8.13332874e-01] [ 2.25475872e-02 1.04151308e-03 9.99745228e-01 -1.11221739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:0.82, Z:-1.12 [[ 9.99714903e-01 7.82962164e-03 -2.25567975e-02 4.49139219e+01] [-7.85007000e-03 9.99968853e-01 -8.18121677e-04 8.15603438e-01] [ 2.25496893e-02 9.94960872e-04 9.99745228e-01 -1.11834365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:0.82, Z:-1.12 [[ 9.99736711e-01 4.20725107e-03 -2.25567736e-02 4.49720284e+01] [-4.22679397e-03 9.99990732e-01 -8.18779270e-04 8.17469011e-01] [ 2.25531198e-02 9.13906529e-04 9.99745228e-01 -1.11823037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:0.82, Z:-1.12 [[ 9.99739090e-01 3.60008510e-03 -2.25563887e-02 4.50298460e+01] [-3.61970956e-03 9.99993105e-01 -8.29248956e-04 8.20409480e-01] [ 2.25532478e-02 9.10680173e-04 9.99745228e-01 -1.11748981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:0.83, Z:-1.12 [[ 9.99732096e-01 5.19268280e-03 -2.25559956e-02 4.50884529e+01] [-5.21294969e-03 9.99986060e-01 -8.39807763e-04 8.25354281e-01] [ 2.25513203e-02 9.57166045e-04 9.99745228e-01 -1.11746045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:45.15, Y:0.83, Z:-1.12 [[ 9.99735954e-01 4.38916703e-03 -2.25556485e-02 4.51469662e+01] [-4.40943746e-03 9.99989918e-01 -8.49028382e-04 8.31523162e-01] [ 2.25516946e-02 9.48261921e-04 9.99745228e-01 -1.12126017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:45.21, Y:0.84, Z:-1.10 [[ 9.99734200e-01 4.77364735e-03 -2.25552926e-02 4.52067320e+01] [-4.79422607e-03 9.99988139e-01 -8.58381068e-04 8.43364024e-01] [ 2.25509275e-02 9.66288083e-04 9.99745229e-01 -1.10111467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:45.27, Y:0.85, Z:-1.12 [[ 9.99736688e-01 -4.22038579e-03 -2.25553125e-02 4.52677013e+01] [ 4.20210421e-03 9.99990803e-01 -8.57856960e-04 8.48237952e-01] [ 2.25587256e-02 7.62851303e-04 9.99745229e-01 -1.12479517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:45.33, Y:0.85, Z:-1.12 [[ 9.99678683e-01 -1.15666886e-02 -2.25553156e-02 4.53263481e+01] [ 1.15502767e-02 9.99932925e-01 -8.57777451e-04 8.50701691e-01] [ 2.25637243e-02 5.96981698e-04 9.99745229e-01 -1.12313988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:45.39, Y:0.85, Z:-1.11 [[ 9.99686022e-01 -1.09147412e-02 -2.25549527e-02 4.53850208e+01] [ 1.08979507e-02 9.99940240e-01 -8.67215400e-04 8.53613568e-01] [ 2.25630702e-02 6.21140351e-04 9.99745229e-01 -1.10602144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:45.44, Y:0.86, Z:-1.11 [[ 9.99705717e-01 -8.93138961e-03 -2.25545803e-02 4.54433890e+01] [ 8.91387879e-03 9.99959886e-01 -8.76795261e-04 8.55966262e-01] [ 2.25615065e-02 6.75488441e-04 9.99745229e-01 -1.10686456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:45.50, Y:0.86, Z:-1.11 [[ 9.99715763e-01 -7.72611847e-03 -2.25543801e-02 4.55017051e+01] [ 7.70818586e-03 9.99969903e-01 -8.81914300e-04 8.60048211e-01] [ 2.25605151e-02 7.07810273e-04 9.99745229e-01 -1.10773592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:45.56, Y:0.86, Z:-1.10 [[ 9.99731590e-01 -5.29664731e-03 -2.25542467e-02 4.55612469e+01] [ 5.27802056e-03 9.99985679e-01 -8.85313262e-04 8.60997441e-01] [ 2.25586129e-02 7.66033857e-04 9.99745229e-01 -1.09788297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:45.62, Y:0.86, Z:-1.10 [[ 9.99637870e-01 -1.46777469e-02 -2.25542143e-02 4.56223617e+01] [ 1.46614867e-02 9.99892122e-01 -8.86138666e-04 8.57463815e-01] [ 2.25647877e-02 5.55139456e-04 9.99745229e-01 -1.10478598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:0.86, Z:-1.11 [[ 9.99591805e-01 -1.75365853e-02 -2.25542071e-02 4.56814240e+01] [ 1.75210482e-02 9.99846102e-01 -8.86319848e-04 8.56797353e-01] [ 2.25662791e-02 4.90784705e-04 9.99745229e-01 -1.10566649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:0.85, Z:-1.12 [[ 9.99628851e-01 -1.52802529e-02 -2.25538224e-02 4.57414721e+01] [ 1.52639235e-02 9.99883098e-01 -8.96004170e-04 8.52407450e-01] [ 2.25648770e-02 5.51411798e-04 9.99745229e-01 -1.11897879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:0.86, Z:-1.11 [[ 9.99243289e-01 3.16887388e-02 -2.25537679e-02 4.57999368e+01] [-3.17170229e-02 9.99496486e-01 -8.97375100e-04 8.61624012e-01] [ 2.25139750e-02 1.61203442e-03 9.99745229e-01 -1.11242290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:0.85, Z:-1.09 [[ 9.99743701e-01 1.96519963e-03 -2.25537262e-02 4.58592305e+01] [-1.98596671e-03 9.99997624e-01 -8.98421161e-04 8.51956072e-01] [ 2.25519070e-02 9.42981846e-04 9.99745229e-01 -1.08726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:0.85, Z:-1.09 [[ 9.99725861e-01 6.28786459e-03 -2.25536127e-02 4.59176471e+01] [-6.30979333e-03 9.99979687e-01 -9.01261493e-04 8.54667438e-01] [ 2.25474875e-02 1.04332306e-03 9.99745229e-01 -1.09240844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:0.86, Z:-1.09 [[ 9.99666645e-01 1.25673842e-02 -2.25534811e-02 4.59766851e+01] [-1.25909807e-02 9.99920321e-01 -9.04542383e-04 8.57580286e-01] [ 2.25403163e-02 1.18821130e-03 9.99745229e-01 -1.08833641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:46.04, Y:0.86, Z:-1.09 [[ 9.99576031e-01 1.84151019e-02 -2.25530982e-02 4.60353804e+01] [-1.84403944e-02 9.99829544e-01 -9.13990257e-04 8.62233068e-01] [ 2.25324227e-02 1.32949078e-03 9.99745229e-01 -1.08941578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:46.09, Y:0.87, Z:-1.09 [[ 9.99610445e-01 1.64418088e-02 -2.25527256e-02 4.60942391e+01] [-1.64668055e-02 9.99863987e-01 -9.23094722e-04 8.67922028e-01] [ 2.25344808e-02 1.29410647e-03 9.99745229e-01 -1.08507663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.15, Y:0.88, Z:-1.11 [[ 9.99733048e-01 5.02111778e-03 -2.25526193e-02 4.61540727e+01] [-5.04327469e-03 9.99986854e-01 -9.25684479e-04 8.77743609e-01] [ 2.25476748e-02 1.03917642e-03 9.99745229e-01 -1.10728587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:46.21, Y:0.89, Z:-1.08 [[ 9.99556195e-01 1.94625965e-02 -2.25525930e-02 4.62133818e+01] [-1.94884320e-02 9.99809653e-01 -9.26323454e-04 8.85774299e-01] [ 2.25302716e-02 1.36542702e-03 9.99745229e-01 -1.08498934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:0.89, Z:-1.09 [[ 9.99691082e-01 1.04461285e-02 -2.25525670e-02 4.62732712e+01] [-1.04696910e-02 9.99944762e-01 -9.26956172e-04 8.90590996e-01] [ 2.25416382e-02 1.16278823e-03 9.99745229e-01 -1.08975472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:0.89, Z:-1.09 [[ 9.99742934e-01 2.33417541e-03 -2.25525406e-02 4.63321747e+01] [-2.35569318e-03 9.99996795e-01 -9.27598027e-04 8.93940857e-01] [ 2.25503032e-02 9.80486439e-04 9.99745229e-01 -1.09114690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:0.88, Z:-1.10 [[ 9.98932562e-01 -4.03129894e-02 -2.25521559e-02 4.63914724e+01] [ 4.03021108e-02 9.99187101e-01 -9.36858525e-04 8.84611563e-01] [ 2.25715909e-02 2.69590002e-05 9.99745229e-01 -1.09799894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters Centerline goodness : 0.960821 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:0.86, Z:-1.10 [[ 9.93621951e-01 -1.10484548e-01 -2.25517680e-02 4.64528986e+01] [ 1.10491394e-01 9.93876631e-01 -9.46105160e-04 8.56456229e-01] [ 2.25182052e-02 -1.55170543e-03 9.99745229e-01 -1.10200909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:0.90, Z:-1.09 [[ 9.99400238e-01 -2.62789437e-02 -2.25517680e-02 4.65107373e+01] [ 2.62642826e-02 9.99654587e-01 -9.46105160e-04 8.95871138e-01] [ 2.25688410e-02 3.53231714e-04 9.99745229e-01 -1.08505742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:0.89, Z:-1.10 [[ 9.99178772e-01 -3.36630638e-02 -2.25517057e-02 4.65694268e+01] [ 3.36502491e-02 9.99433221e-01 -9.47587111e-04 8.90825660e-01] [ 2.25708226e-02 1.87938410e-04 9.99745229e-01 -1.10229069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:0.89, Z:-1.08 [[ 9.99301221e-01 -2.98076508e-02 -2.25515566e-02 4.66275369e+01] [ 2.97937746e-02 9.99555614e-01 -9.51124092e-04 8.88686264e-01] [ 2.25698858e-02 2.78563474e-04 9.99745229e-01 -1.07880943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:46.69, Y:0.88, Z:-1.10 [[ 9.99264760e-01 -3.10062601e-02 -2.25510744e-02 4.66871927e+01] [ 3.09924342e-02 9.99519156e-01 -9.62421978e-04 8.84459297e-01] [ 2.25700720e-02 2.62801679e-04 9.99745229e-01 -1.10169975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:0.89, Z:-1.09 [[ 9.99456064e-01 -2.40633193e-02 -2.25506518e-02 4.67464768e+01] [ 2.40475053e-02 9.99710344e-01 -9.72223541e-04 8.86523820e-01] [ 2.25675148e-02 4.29407796e-04 9.99745229e-01 -1.09020542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:0.89, Z:-1.07 [[ 9.99685373e-01 -1.09829657e-02 -2.25505910e-02 4.68051458e+01] [ 1.09637939e-02 9.99939422e-01 -9.73631482e-04 8.90169493e-01] [ 2.25599183e-02 7.26085119e-04 9.99745229e-01 -1.07470488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:0.90, Z:-1.09 [[ 9.99734770e-01 -4.67579266e-03 -2.25505321e-02 4.68652946e+01] [ 4.65498777e-03 9.99988690e-01 -9.74994908e-04 8.98225757e-01] [ 2.25548359e-02 8.69763860e-04 9.99745229e-01 -1.09069670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:0.91, Z:-1.09 [[ 9.99744078e-01 -1.80379560e-03 -2.25505032e-02 4.69243963e+01] [ 1.78224632e-03 9.99997936e-01 -9.75662263e-04 9.06827309e-01] [ 2.25522166e-02 9.35222018e-04 9.99745229e-01 -1.09179818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:0.92, Z:-1.09 [[ 9.99745705e-01 1.38248281e-04 -2.25501006e-02 4.69829179e+01] [-1.60498184e-04 9.99999502e-01 -9.84880615e-04 9.15901134e-01] [ 2.25499532e-02 9.88249414e-04 9.99745229e-01 -1.08683532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:0.92, Z:-1.09 [[ 9.99727804e-01 -5.98583818e-03 -2.25496915e-02 4.70417793e+01] [ 5.96493434e-03 9.99981715e-01 -9.94160891e-04 9.21049481e-01] [ 2.25552300e-02 8.59382855e-04 9.99745229e-01 -1.09321314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:0.93, Z:-1.06 [[ 9.99743603e-01 -2.06366961e-03 -2.25492776e-02 4.71011724e+01] [ 2.04156038e-03 9.99997413e-01 -1.00346188e-03 9.32140152e-01] [ 2.25512900e-02 9.57168884e-04 9.99745229e-01 -1.06446635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.16, Y:0.94, Z:-1.06 [[ 9.99744404e-01 -1.63018017e-03 -2.25492670e-02 4.71608297e+01] [ 1.60795554e-03 9.99998204e-01 -1.00369958e-03 9.37743983e-01] [ 2.25508627e-02 9.67184823e-04 9.99745229e-01 -1.06274879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.22, Y:0.95, Z:-1.07 [[ 9.99706376e-01 -8.87094885e-03 -2.25492365e-02 4.72214938e+01] [ 8.85054759e-03 9.99960329e-01 -1.00438294e-03 9.49391423e-01] [ 2.25572518e-02 8.04514936e-04 9.99745229e-01 -1.07299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.28, Y:0.96, Z:-1.08 [[ 9.99517578e-01 -2.13575295e-02 -2.25492307e-02 4.72801486e+01] [ 2.13402990e-02 9.99771765e-01 -1.00451503e-03 9.58999028e-01] [ 2.25655381e-02 5.22823108e-04 9.99745229e-01 -1.08386325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.34, Y:0.96, Z:-1.06 [[ 9.99319107e-01 -2.92039976e-02 -2.25488054e-02 4.73398840e+01] [ 2.91885498e-02 9.99573409e-01 -1.01397200e-03 9.62457839e-01] [ 2.25687983e-02 3.55114662e-04 9.99745229e-01 -1.05702166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.40, Y:0.97, Z:-1.06 [[ 9.98867684e-01 -4.18915751e-02 -2.25487360e-02 4.73997573e+01] [ 4.18793231e-02 9.99122160e-01 -1.01551253e-03 9.65915140e-01] [ 2.25714833e-02 7.00368447e-05 9.99745229e-01 -1.05841654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.46, Y:0.97, Z:-1.08 [[ 9.98509013e-01 -4.97122476e-02 -2.25486723e-02 4.74604082e+01] [ 4.97019568e-02 9.98763576e-01 -1.01692568e-03 9.65422018e-01] [ 2.25713462e-02 -1.05303681e-04 9.99745229e-01 -1.07696346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.52, Y:0.96, Z:-1.08 [[ 9.98431633e-01 -5.12428745e-02 -2.25486723e-02 4.75199580e+01] [ 5.12329740e-02 9.98686211e-01 -1.01692568e-03 9.63465026e-01] [ 2.25711583e-02 -1.39904775e-04 9.99745229e-01 -1.08116927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.58, Y:0.96, Z:-1.08 [[ 9.98622912e-01 -4.73693803e-02 -2.25481892e-02 4.75787270e+01] [ 4.73582530e-02 9.98877440e-01 -1.02752641e-03 9.64488969e-01] [ 2.25715508e-02 -4.17314309e-05 9.99745229e-01 -1.07558635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.64, Y:0.96, Z:-1.06 [[ 9.98768104e-01 -4.42026542e-02 -2.25477155e-02 4.76375787e+01] [ 4.41904874e-02 9.99022584e-01 -1.03781886e-03 9.64650613e-01] [ 2.25715513e-02 4.01458378e-05 9.99745229e-01 -1.06131248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.70, Y:0.96, Z:-1.08 [[ 9.98605980e-01 -4.77254490e-02 -2.25472360e-02 4.76965555e+01] [ 4.77139471e-02 9.98860491e-01 -1.04813253e-03 9.60612594e-01] [ 2.25715659e-02 -2.91462170e-05 9.99745229e-01 -1.07756837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.76, Y:0.96, Z:-1.08 [[ 9.98734100e-01 -4.49649309e-02 -2.25466881e-02 4.77555484e+01] [ 4.49524624e-02 9.98988565e-01 -1.05979067e-03 9.61621482e-01] [ 2.25715370e-02 4.49199352e-05 9.99745229e-01 -1.07576352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:0.96, Z:-1.07 [[ 9.98962510e-01 -3.95673224e-02 -2.25462057e-02 4.78137526e+01] [ 3.95532496e-02 9.99216891e-01 -1.06995586e-03 9.64820238e-01] [ 2.25708848e-02 1.77070087e-04 9.99745229e-01 -1.07187643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:0.97, Z:-1.07 [[ 9.99198988e-01 -3.30614453e-02 -2.25460319e-02 4.78720313e+01] [ 3.30456339e-02 9.99453267e-01 -1.07360565e-03 9.69255526e-01] [ 2.25692002e-02 3.27697762e-04 9.99745229e-01 -1.06914644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:0.98, Z:-1.05 [[ 9.99445546e-01 -2.45010426e-02 -2.25454790e-02 4.79313733e+01] [ 2.44827947e-02 9.99699663e-01 -1.08509304e-03 9.75583520e-01] [ 2.25652936e-02 5.32515074e-04 9.99745230e-01 -1.05110329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:0.98, Z:-1.07 [[ 9.99462195e-01 -2.38123325e-02 -2.25453840e-02 4.79908370e+01] [ 2.37938650e-02 9.99716295e-01 -1.08706220e-03 9.82890600e-01] [ 2.25648733e-02 5.50035743e-04 9.99745230e-01 -1.06732092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:0.99, Z:-1.05 [[ 9.99561697e-01 -1.91865592e-02 -2.25452832e-02 4.80499766e+01] [ 1.91668690e-02 9.99815705e-01 -1.08914868e-03 9.88485186e-01] [ 2.25620253e-02 6.56548810e-04 9.99745230e-01 -1.04647110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:48.11, Y:1.00, Z:-1.04 [[ 9.99666390e-01 -1.26024811e-02 -2.25452153e-02 4.81083402e+01] [ 1.25810866e-02 9.99920260e-01 -1.09055397e-03 1.00042508e+00] [ 2.25571612e-02 8.06546840e-04 9.99745230e-01 -1.04439513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:1.01, Z:-1.05 [[ 9.99712303e-01 -8.18816933e-03 -2.25447447e-02 4.81672442e+01] [ 8.16543692e-03 9.99966057e-01 -1.10019668e-03 1.01287436e+00] [ 2.25529881e-02 9.15792469e-04 9.99745230e-01 -1.04541291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.23, Y:1.02, Z:-1.05 [[ 9.99701307e-01 -9.43588564e-03 -2.25446463e-02 4.82260232e+01] [ 9.41342465e-03 9.99955085e-01 -1.10220871e-03 1.02033686e+00] [ 2.25540341e-02 8.89657163e-04 9.99745230e-01 -1.04567325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:1.03, Z:-1.06 [[ 9.99635457e-01 -1.48564283e-02 -2.25441826e-02 4.82852848e+01] [ 1.48351318e-02 9.99889335e-01 -1.11161342e-03 1.02810173e+00] [ 2.25582024e-02 7.76762268e-04 9.99745230e-01 -1.05956820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:48.34, Y:1.04, Z:-1.03 [[ 9.99672064e-01 -1.21468192e-02 -2.25437133e-02 4.83448172e+01] [ 1.21246222e-02 9.99925866e-01 -1.12105023e-03 1.03673829e+00] [ 2.25556593e-02 8.47348589e-04 9.99745230e-01 -1.03296446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.40, Y:1.05, Z:-1.05 [[ 9.99694922e-01 -1.00917869e-02 -2.25437021e-02 4.84049869e+01] [ 1.00690631e-02 9.99948677e-01 -1.12127655e-03 1.04773751e+00] [ 2.25538607e-02 8.93940511e-04 9.99745230e-01 -1.05263672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:48.46, Y:1.06, Z:-1.04 [[ 9.99720679e-01 -7.09546808e-03 -2.25436910e-02 4.84627160e+01] [ 7.07197883e-03 9.99974364e-01 -1.12149811e-03 1.05792978e+00] [ 2.25510707e-02 9.61756346e-04 9.99745230e-01 -1.04219985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:1.07, Z:-1.05 [[ 9.99683085e-01 -1.12041155e-02 -2.25432271e-02 4.85207092e+01] [ 1.11814608e-02 9.99936846e-01 -1.13074809e-03 1.06869550e+00] [ 2.25544724e-02 8.78323526e-04 9.99745230e-01 -1.04655720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:1.08, Z:-1.05 [[ 9.99659960e-01 -1.31062997e-02 -2.25430568e-02 4.85787644e+01] [ 1.30840517e-02 9.99913757e-01 -1.13413218e-03 1.07514696e+00] [ 2.25559769e-02 8.38792013e-04 9.99745230e-01 -1.04798164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:1.08, Z:-1.05 [[ 9.99598109e-01 -1.71888808e-02 -2.25424599e-02 4.86377234e+01] [ 1.71674050e-02 9.99851973e-01 -1.14587509e-03 1.08474837e+00] [ 2.25588193e-02 7.58419039e-04 9.99745230e-01 -1.05104002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:1.09, Z:-1.05 [[ 9.99570996e-01 -1.86998569e-02 -2.25419398e-02 4.86951699e+01] [ 1.86785363e-02 9.99824873e-01 -1.15601753e-03 1.08785381e+00] [ 2.25596094e-02 7.34471155e-04 9.99745230e-01 -1.04969322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:1.10, Z:-1.05 [[ 9.99494361e-01 -2.24252374e-02 -2.25417576e-02 4.87540603e+01] [ 2.24047834e-02 9.99748309e-01 -1.15955884e-03 1.09510714e+00] [ 2.25620874e-02 6.53929330e-04 9.99745230e-01 -1.04944591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:1.10, Z:-1.05 [[ 9.99460849e-01 -2.38726546e-02 -2.25412556e-02 4.88125467e+01] [ 2.38523503e-02 9.99714808e-01 -1.16923777e-03 1.09759393e+00] [ 2.25627398e-02 6.30945451e-04 9.99745230e-01 -1.04667902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.87, Y:1.10, Z:-1.05 [[ 9.99429134e-01 -2.51658546e-02 -2.25407481e-02 4.88717830e+01] [ 2.51456602e-02 9.99683103e-01 -1.17893921e-03 1.09972706e+00] [ 2.25632741e-02 6.11464195e-04 9.99745230e-01 -1.04677372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.93, Y:1.11, Z:-1.05 [[ 9.99407988e-01 -2.59925170e-02 -2.25402341e-02 4.89304741e+01] [ 2.59723130e-02 9.99661956e-01 -1.18868619e-03 1.10552698e+00] [ 2.25635115e-02 6.02560461e-04 9.99745230e-01 -1.04617166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:48.99, Y:1.11, Z:-1.03 [[ 9.99519389e-01 -2.12826944e-02 -2.25397179e-02 4.89888080e+01] [ 2.12610751e-02 9.99773240e-01 -1.19839472e-03 1.10775642e+00] [ 2.25601119e-02 7.18600125e-04 9.99745230e-01 -1.02725536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:49.05, Y:1.11, Z:-1.03 [[ 9.99485862e-01 -2.28034382e-02 -2.25391939e-02 4.90472535e+01] [ 2.27819850e-02 9.99739727e-01 -1.20817196e-03 1.11245605e+00] [ 2.25608780e-02 6.94063213e-04 9.99745230e-01 -1.02547334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:49.11, Y:1.12, Z:-1.02 [[ 9.99478076e-01 -2.31426923e-02 -2.25386740e-02 4.91060134e+01] [ 2.31211084e-02 9.99731930e-01 -1.21779334e-03 1.11814773e+00] [ 2.25608151e-02 6.96038617e-04 9.99745230e-01 -1.02267406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:1.12, Z:-1.03 [[ 9.99500063e-01 -2.21733401e-02 -2.25381396e-02 4.91647157e+01] [ 2.21512890e-02 9.99753876e-01 -1.22760504e-03 1.12487435e+00] [ 2.25598125e-02 7.27742466e-04 9.99745230e-01 -1.03439892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:49.22, Y:1.13, Z:-1.03 [[ 9.99485455e-01 -2.28228230e-02 -2.25376066e-02 4.92224408e+01] [ 2.28007182e-02 9.99739264e-01 -1.23731266e-03 1.13477912e+00] [ 2.25599692e-02 7.22802386e-04 9.99745230e-01 -1.02643584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:1.14, Z:-1.02 [[ 9.99408354e-01 -2.59812845e-02 -2.25369821e-02 4.92799299e+01] [ 2.59597278e-02 9.99662210e-01 -1.24858638e-03 1.14479187e+00] [ 2.25618092e-02 6.62793739e-04 9.99745230e-01 -1.02344537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:49.34, Y:1.15, Z:-1.03 [[ 9.99250444e-01 -3.14747872e-02 -2.25363626e-02 4.93390963e+01] [ 3.14543765e-02 9.99504395e-01 -1.25966969e-03 1.15171092e+00] [ 2.25648413e-02 5.49858266e-04 9.99745230e-01 -1.03218406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:1.16, Z:-1.03 [[ 9.99050697e-01 -3.72805789e-02 -2.25358028e-02 4.93978472e+01] [ 3.72614202e-02 9.99304746e-01 -1.26960617e-03 1.15531950e+00] [ 2.25674663e-02 4.28684917e-04 9.99745230e-01 -1.02628114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:1.16, Z:-1.03 [[ 9.98689041e-01 -4.59604568e-02 -2.25352340e-02 4.94564040e+01] [ 4.59432804e-02 9.98943230e-01 -1.27962266e-03 1.15846124e+00] [ 2.25702315e-02 2.42602551e-04 9.99745230e-01 -1.03138877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:49.51, Y:1.16, Z:-1.03 [[ 9.98526060e-01 -4.93750638e-02 -2.25346532e-02 4.95143045e+01] [ 4.93585276e-02 9.98780292e-01 -1.28977025e-03 1.16113481e+00] [ 2.25708500e-02 1.75591909e-04 9.99745230e-01 -1.03112413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:49.57, Y:1.16, Z:-1.02 [[ 9.98319989e-01 -5.33799675e-02 -2.25339634e-02 4.95729939e+01] [ 5.33641817e-02 9.98574268e-01 -1.30171117e-03 1.16112463e+00] [ 2.25713213e-02 9.70177599e-05 9.99745231e-01 -1.02370812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters Centerline goodness : 0.997074 with order 1 Centerline is valid? [True, True] Translation: X:49.63, Y:1.18, Z:-1.03 [[ 9.99746055e-01 2.72044499e-04 -2.25333302e-02 4.96307797e+01] [-3.01697709e-04 9.99999093e-01 -1.31258194e-03 1.17681116e+00] [ 2.25329527e-02 1.31904687e-03 9.99745231e-01 -1.03199497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:49.69, Y:1.16, Z:-1.02 [[ 9.97900278e-01 -6.07232963e-02 -2.25325580e-02 4.96909707e+01] [ 6.07088399e-02 9.98154637e-01 -1.32570575e-03 1.15966211e+00] [ 2.25714785e-02 -4.50033204e-05 9.99745231e-01 -1.02380551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters Centerline goodness : 0.984607 with order 1 Centerline is valid? [True, True] Translation: X:49.75, Y:1.19, Z:-1.03 [[ 9.99465197e-01 2.36983619e-02 -2.25323480e-02 4.97488719e+01] [-2.37343098e-02 9.99717418e-01 -1.32926683e-03 1.18737075e+00] [ 2.24944793e-02 1.86334566e-03 9.99745231e-01 -1.03157238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters Centerline goodness : 0.996469 with order 1 Centerline is valid? [True, True] Translation: X:49.81, Y:1.18, Z:-1.02 [[ 9.99731955e-01 5.32134394e-03 -2.25322455e-02 4.98084476e+01] [-5.35268823e-03 9.99984788e-01 -1.33100215e-03 1.18162402e+00] [ 2.25248200e-02 1.45125346e-03 9.99745231e-01 -1.02067121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters Centerline goodness : 0.997264 with order 1 Centerline is valid? [True, True] Translation: X:49.87, Y:1.18, Z:-1.04 [[ 9.99720728e-01 7.12673814e-03 -2.25316696e-02 4.98691174e+01] [-7.15875614e-03 9.99973477e-01 -1.34068070e-03 1.17797506e+00] [ 2.25215173e-02 1.50160502e-03 9.99745231e-01 -1.03719880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:49.93, Y:1.17, Z:-1.02 [[ 9.98261016e-01 -5.44726278e-02 -2.25317029e-02 4.99292485e+01] [ 5.44562534e-02 9.98515258e-01 -1.34011998e-03 1.16664099e+00] [ 2.25712490e-02 1.10797408e-04 9.99745231e-01 -1.02283768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:49.99, Y:1.17, Z:-1.00 [[ 9.98561684e-01 -4.86506940e-02 -2.25316082e-02 4.99881438e+01] [ 4.86328015e-02 9.98815824e-01 -1.34171119e-03 1.16847586e+00] [ 2.25702020e-02 2.44006160e-04 9.99745231e-01 -9.98941776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:50.05, Y:1.17, Z:-1.02 [[ 9.98671710e-01 -4.63375566e-02 -2.25309914e-02 5.00480316e+01] [ 4.63188436e-02 9.98925791e-01 -1.35198920e-03 1.16823893e+00] [ 2.25694363e-02 3.06583897e-04 9.99745231e-01 -1.01886827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:50.11, Y:1.17, Z:-1.01 [[ 9.98859715e-01 -4.20907358e-02 -2.25308639e-02 5.01066320e+01] [ 4.20708947e-02 9.99113710e-01 -1.35411088e-03 1.17026139e+00] [ 2.25678906e-02 4.04673205e-04 9.99745231e-01 -1.01499228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:50.17, Y:1.17, Z:-1.02 [[ 9.99001564e-01 -3.85780226e-02 -2.25302225e-02 5.01657134e+01] [ 3.85570498e-02 9.99255469e-01 -1.36470074e-03 1.17007403e+00] [ 2.25660955e-02 4.94639268e-04 9.99745231e-01 -1.01546764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters Centerline goodness : 0.986526 with order 1 Centerline is valid? [True, True] Translation: X:50.22, Y:1.18, Z:-1.04 [[ 9.98920853e-01 4.06146692e-02 -2.25294911e-02 5.02235747e+01] [-4.06559401e-02 9.99172257e-01 -1.37666900e-03 1.17631732e+00] [ 2.24549296e-02 2.29114101e-03 9.99745231e-01 -1.03601549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters Centerline goodness : 0.959380 with order 1 Centerline is valid? [True, True] Translation: X:50.28, Y:1.23, Z:-1.00 [[ 9.98742612e-01 4.47844503e-02 -2.25288099e-02 5.02780302e+01] [-4.48270170e-02 9.98993800e-01 -1.38772855e-03 1.22643657e+00] [ 2.24439927e-02 2.39588298e-03 9.99745231e-01 -9.96008311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:50.34, Y:1.19, Z:-1.01 [[ 9.99575690e-01 -1.84636280e-02 -2.25285277e-02 5.03387659e+01] [ 1.84369284e-02 9.99829056e-01 -1.39229441e-03 1.18964328e+00] [ 2.25503834e-02 9.76346793e-04 9.99745231e-01 -1.00697667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:1.20, Z:-0.99 [[ 9.99675329e-01 -1.19042965e-02 -2.25283058e-02 5.03965826e+01] [ 1.18758544e-02 9.99928505e-01 -1.39587659e-03 1.19592344e+00] [ 2.25433120e-02 1.12788051e-03 9.99745231e-01 -9.86765268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:50.45, Y:1.21, Z:-0.99 [[ 9.99651756e-01 -1.37430117e-02 -2.25276872e-02 5.04536898e+01] [ 1.37148124e-02 9.99904959e-01 -1.40578959e-03 1.20552740e+00] [ 2.25448659e-02 1.09633703e-03 9.99745231e-01 -9.88089834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:50.51, Y:1.22, Z:-0.99 [[ 9.99694790e-01 -1.01409853e-02 -2.25274758e-02 5.05119980e+01] [ 1.01117980e-02 9.99947882e-01 -1.40916896e-03 1.21648729e+00] [ 2.25405920e-02 1.18094559e-03 9.99745231e-01 -9.89296583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters Centerline goodness : 0.990317 with order 1 Centerline is valid? [True, True] Translation: X:50.57, Y:1.20, Z:-1.00 [[ 9.97004968e-01 -7.39840091e-02 -2.25268801e-02 5.05723208e+01] [ 7.39708360e-02 9.97259396e-01 -1.41862747e-03 1.19691717e+00] [ 2.25700986e-02 -2.51953522e-04 9.99745231e-01 -1.00088405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:50.63, Y:1.23, Z:-0.99 [[ 9.99652933e-01 -1.36587352e-02 -2.25267101e-02 5.06283729e+01] [ 1.36301655e-02 9.99906095e-01 -1.42132244e-03 1.23174205e+00] [ 2.25440082e-02 1.11378636e-03 9.99745231e-01 -9.86917588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:50.69, Y:1.23, Z:-0.99 [[ 9.99504230e-01 -2.19970078e-02 -2.25261125e-02 5.06876622e+01] [ 2.19703392e-02 9.99757599e-01 -1.43073040e-03 1.23430956e+00] [ 2.25521240e-02 9.35114753e-04 9.99745231e-01 -9.91586017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:50.75, Y:1.24, Z:-0.98 [[ 9.99503953e-01 -2.20102105e-02 -2.25255092e-02 5.07466195e+01] [ 2.19833329e-02 9.99757300e-01 -1.44016671e-03 1.23935868e+00] [ 2.25517407e-02 9.44266557e-04 9.99745231e-01 -9.80788273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters Centerline goodness : 0.989907 with order 1 Centerline is valid? [True, True] Translation: X:50.80, Y:1.26, Z:-1.01 [[ 9.98604363e-01 4.77696662e-02 -2.25252204e-02 5.08039766e+01] [-4.78142524e-02 9.98855200e-01 -1.44466999e-03 1.26246258e+00] [ 2.24304221e-02 2.51968032e-03 9.99745231e-01 -1.01135997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:50.86, Y:1.25, Z:-0.99 [[ 9.99443680e-01 -2.45959101e-02 -2.25249022e-02 5.08634307e+01] [ 2.45694754e-02 9.99697074e-01 -1.44961460e-03 1.25001872e+00] [ 2.25537334e-02 8.95383116e-04 9.99745231e-01 -9.87361093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters Centerline goodness : 0.991512 with order 1 Centerline is valid? [True, True] Translation: X:50.92, Y:1.27, Z:-1.01 [[ 9.99041800e-01 3.75249083e-02 -2.25247274e-02 5.09209524e+01] [-3.75670902e-02 9.99293052e-01 -1.45232600e-03 1.27453081e+00] [ 2.24543052e-02 2.29712285e-03 9.99745231e-01 -1.00624808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:50.98, Y:1.27, Z:-1.00 [[ 9.99648645e-01 1.39733594e-02 -2.25240200e-02 5.09802791e+01] [-1.40098529e-02 9.99900787e-01 -1.46321495e-03 1.26905627e+00] [ 2.25013393e-02 1.77825905e-03 9.99745231e-01 -1.00033176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:51.04, Y:1.26, Z:-0.99 [[ 9.99019680e-01 -3.81097423e-02 -2.25239086e-02 5.10407594e+01] [ 3.80863918e-02 9.99273376e-01 -1.46492824e-03 1.26028138e+00] [ 2.25633702e-02 6.05637731e-04 9.99745231e-01 -9.86483511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters Centerline goodness : 0.996624 with order 1 Centerline is valid? [True, True] Translation: X:51.10, Y:1.27, Z:-0.96 [[ 9.99033142e-01 -3.77551859e-02 -2.25239063e-02 5.11000652e+01] [ 3.77317446e-02 9.99286830e-01 -1.46496298e-03 1.26881166e+00] [ 2.25631529e-02 6.13680287e-04 9.99745231e-01 -9.60465488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:1.27, Z:-0.98 [[ 9.98989404e-01 -3.88953121e-02 -2.25238894e-02 5.11611267e+01] [ 3.88721544e-02 9.99243118e-01 -1.46522276e-03 1.27242318e+00] [ 2.25638318e-02 5.88189900e-04 9.99745231e-01 -9.83978238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.22, Y:1.28, Z:-0.98 [[ 9.98741438e-01 -4.48131189e-02 -2.25238604e-02 5.12188565e+01] [ 4.47914547e-02 9.98995284e-01 -1.46566918e-03 1.27661483e+00] [ 2.25669115e-02 4.54948068e-04 9.99745231e-01 -9.82430246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:1.28, Z:-0.98 [[ 9.98544736e-01 -4.90012089e-02 -2.25231204e-02 5.12774409e+01] [ 4.89803550e-02 9.98798650e-01 -1.47695306e-03 1.27864447e+00] [ 2.25684348e-02 3.71613266e-04 9.99745231e-01 -9.80955072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:1.28, Z:-0.96 [[ 9.98597346e-01 -4.79174196e-02 -2.25224606e-02 5.13364040e+01] [ 4.78960648e-02 9.98851218e-01 -1.48694783e-03 1.28046359e+00] [ 2.25678379e-02 4.06124930e-04 9.99745231e-01 -9.60698883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:1.28, Z:-0.95 [[ 9.98961842e-01 -3.95978825e-02 -2.25221088e-02 5.13961639e+01] [ 3.95742942e-02 9.99215516e-01 -1.49225764e-03 1.28415990e+00] [ 2.25635308e-02 5.99411888e-04 9.99745231e-01 -9.52163753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:1.29, Z:-0.96 [[ 9.98967363e-01 -3.94584045e-02 -2.25220483e-02 5.14568250e+01] [ 3.94347603e-02 9.99221032e-01 -1.49316960e-03 1.28510924e+00] [ 2.25634224e-02 6.03476121e-04 9.99745231e-01 -9.57762436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:1.29, Z:-0.96 [[ 9.98766570e-01 -4.42504090e-02 -2.25219847e-02 5.15155760e+01] [ 4.42279603e-02 9.99020348e-01 -1.49412886e-03 1.28717844e+00] [ 2.25660368e-02 4.96184508e-04 9.99745231e-01 -9.57952290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:51.58, Y:1.29, Z:-0.96 [[ 9.98595314e-01 -4.79602838e-02 -2.25213204e-02 5.15750589e+01] [ 4.79385538e-02 9.98849154e-01 -1.50407497e-03 1.28712261e+00] [ 2.25675377e-02 4.22322683e-04 9.99745231e-01 -9.57143878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.63, Y:1.29, Z:-0.96 [[ 9.98619183e-01 -4.74609934e-02 -2.25206999e-02 5.16344819e+01] [ 4.74389283e-02 9.98872994e-01 -1.51330885e-03 1.28849809e+00] [ 2.25671421e-02 4.42861376e-04 9.99745232e-01 -9.57305178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.69, Y:1.29, Z:-0.97 [[ 9.98421586e-01 -5.14508005e-02 -2.25200228e-02 5.16934546e+01] [ 5.14295240e-02 9.98675465e-01 -1.52331857e-03 1.29016205e+00] [ 2.25685702e-02 3.62720088e-04 9.99745232e-01 -9.71228172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.75, Y:1.29, Z:-0.95 [[ 9.98578772e-01 -4.83043935e-02 -2.25193432e-02 5.17512606e+01] [ 4.82820921e-02 9.98832563e-01 -1.53329979e-03 1.29444652e+00] [ 2.25671184e-02 4.43839615e-04 9.99745232e-01 -9.54690364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.81, Y:1.30, Z:-0.95 [[ 9.98491588e-01 -5.00743312e-02 -2.25190995e-02 5.18093712e+01] [ 5.00523991e-02 9.98745411e-01 -1.53687183e-03 1.29739568e+00] [ 2.25678051e-02 4.07418639e-04 9.99745232e-01 -9.53492891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.87, Y:1.30, Z:-0.97 [[ 9.98163991e-01 -5.62278606e-02 -2.25183287e-02 5.18691552e+01] [ 5.62072405e-02 9.98417923e-01 -1.54808268e-03 1.29719023e+00] [ 2.25697484e-02 2.79547265e-04 9.99745232e-01 -9.68715780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.93, Y:1.30, Z:-0.96 [[ 9.98214059e-01 -5.53319269e-02 -2.25182315e-02 5.19280169e+01] [ 5.53110471e-02 9.98467970e-01 -1.54949550e-03 1.30092581e+00] [ 2.25694695e-02 3.01221223e-04 9.99745232e-01 -9.61492905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.99, Y:1.30, Z:-0.97 [[ 9.98227547e-01 -5.50881193e-02 -2.25180798e-02 5.19873123e+01] [ 5.50671278e-02 9.98481449e-01 -1.55169718e-03 1.30463713e+00] [ 2.25693650e-02 3.08940887e-04 9.99745232e-01 -9.66444944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.05, Y:1.31, Z:-0.95 [[ 9.98645612e-01 -4.69031718e-02 -2.25174239e-02 5.20455132e+01] [ 4.68798864e-02 9.98899314e-01 -1.56115762e-03 1.31247248e+00] [ 2.25658625e-02 5.03428928e-04 9.99745232e-01 -9.48320567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.11, Y:1.32, Z:-0.95 [[ 9.98819690e-01 -4.30374871e-02 -2.25167015e-02 5.21050970e+01] [ 4.30129867e-02 9.99073277e-01 -1.57150898e-03 1.31666926e+00] [ 2.25634685e-02 6.01143535e-04 9.99745232e-01 -9.50546741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.16, Y:1.32, Z:-0.96 [[ 9.98593645e-01 -4.79972437e-02 -2.25166029e-02 5.21637711e+01] [ 4.79739712e-02 9.98847348e-01 -1.57291920e-03 1.32352166e+00] [ 2.25661449e-02 4.90496258e-04 9.99745232e-01 -9.61340420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:1.33, Z:-0.94 [[ 9.98832700e-01 -4.27348806e-02 -2.25159167e-02 5.22210206e+01] [ 4.27100517e-02 9.99086256e-01 -1.58268155e-03 1.33121923e+00] [ 2.25629787e-02 6.19178114e-04 9.99745232e-01 -9.42924464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:52.28, Y:1.34, Z:-0.94 [[ 9.98735460e-01 -4.49505222e-02 -2.25151175e-02 5.22804076e+01] [ 4.49260015e-02 9.98989046e-01 -1.59397129e-03 1.34270207e+00] [ 2.25640056e-02 5.80441450e-04 9.99745232e-01 -9.38105072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:1.35, Z:-0.93 [[ 9.98784812e-01 -4.38402938e-02 -2.25150680e-02 5.23391393e+01] [ 4.38154755e-02 9.99038368e-01 -1.59467037e-03 1.34923562e+00] [ 2.25633276e-02 6.06224134e-04 9.99745232e-01 -9.33667583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:1.36, Z:-0.95 [[ 9.98716553e-01 -4.53690462e-02 -2.25143465e-02 5.23995776e+01] [ 4.53443880e-02 9.98970125e-01 -1.60479217e-03 1.35517179e+00] [ 2.25639674e-02 5.81833246e-04 9.99745232e-01 -9.51196793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.46, Y:1.36, Z:-0.95 [[ 9.98429960e-01 -5.12905461e-02 -2.25143265e-02 5.24589572e+01] [ 5.12673856e-02 9.98683673e-01 -1.60507301e-03 1.35832401e+00] [ 2.25670153e-02 4.48302326e-04 9.99745232e-01 -9.53975862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:1.36, Z:-0.95 [[ 9.98364653e-01 -5.25466837e-02 -2.25136694e-02 5.25171706e+01] [ 5.25236359e-02 9.98618377e-01 -1.61423778e-03 1.36265951e+00] [ 2.25673868e-02 4.29098167e-04 9.99745232e-01 -9.53282643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:1.37, Z:-0.95 [[ 9.98466164e-01 -5.05815212e-02 -2.25128507e-02 5.25758367e+01] [ 5.05577186e-02 9.98719818e-01 -1.62557570e-03 1.36714693e+00] [ 2.25662542e-02 4.84883967e-04 9.99745232e-01 -9.48324793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:1.37, Z:-0.93 [[ 9.98505756e-01 -4.97941787e-02 -2.25121231e-02 5.26356624e+01] [ 4.97699503e-02 9.98759369e-01 -1.63559014e-03 1.37154331e+00] [ 2.25656367e-02 5.12718917e-04 9.99745232e-01 -9.26571364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:1.38, Z:-0.93 [[ 9.98552054e-01 -4.88569496e-02 -2.25120715e-02 5.26958799e+01] [ 4.88324672e-02 9.98805643e-01 -1.63629934e-03 1.37833647e+00] [ 2.25651287e-02 5.34610069e-04 9.99745232e-01 -9.30936015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:1.39, Z:-0.93 [[ 9.98620220e-01 -4.74432543e-02 -2.25120715e-02 5.27537575e+01] [ 4.74184130e-02 9.98873774e-01 -1.63629934e-03 1.38894250e+00] [ 2.25643492e-02 5.66554898e-04 9.99745232e-01 -9.31149513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.81, Y:1.40, Z:-0.93 [[ 9.98623691e-01 -4.73704884e-02 -2.25113538e-02 5.28106716e+01] [ 4.73454075e-02 9.98877221e-01 -1.64611479e-03 1.40146065e+00] [ 2.25640558e-02 5.78040010e-04 9.99745232e-01 -9.28883628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.87, Y:1.41, Z:-0.94 [[ 9.98179317e-01 -5.59582745e-02 -2.25105146e-02 5.28687876e+01] [ 5.59351183e-02 9.98433030e-01 -1.65751135e-03 1.41145778e+00] [ 2.25679928e-02 3.95365244e-04 9.99745232e-01 -9.40268569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.93, Y:1.42, Z:-0.94 [[ 9.97387422e-01 -6.86412846e-02 -2.25101164e-02 5.29279109e+01] [ 6.86212334e-02 9.97641399e-01 -1.66290284e-03 1.41529828e+00] [ 2.25711678e-02 1.13886423e-04 9.99745232e-01 -9.43361078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:52.99, Y:1.42, Z:-0.92 [[ 9.97055490e-01 -7.33053597e-02 -2.25094085e-02 5.29862648e+01] [ 7.32862815e-02 9.97309543e-01 -1.67243047e-03 1.41784246e+00] [ 2.25714460e-02 1.78751318e-05 9.99745232e-01 -9.17398849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:53.05, Y:1.42, Z:-0.92 [[ 9.96962067e-01 -7.45653953e-02 -2.25086332e-02 5.30456118e+01] [ 7.45464040e-02 9.97216126e-01 -1.68279983e-03 1.42115172e+00] [ 2.25714507e-02 -2.50070367e-07 9.99745232e-01 -9.15973329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:53.11, Y:1.42, Z:-0.91 [[ 9.96829316e-01 -7.63197865e-02 -2.25078985e-02 5.31057201e+01] [ 7.63010219e-02 9.97083391e-01 -1.69256979e-03 1.41883099e+00] [ 2.25714284e-02 -3.01724769e-05 9.99745232e-01 -9.14319986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:1.42, Z:-0.92 [[ 9.96213586e-01 -8.39755324e-02 -2.25077858e-02 5.31641557e+01] [ 8.39586863e-02 9.96467796e-01 -1.69406793e-03 1.41940619e+00] [ 2.25705440e-02 -2.02070638e-04 9.99745232e-01 -9.15836054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:1.42, Z:-0.93 [[ 9.96145970e-01 -8.47740736e-02 -2.25069380e-02 5.32238219e+01] [ 8.47571785e-02 9.96400177e-01 -1.70525784e-03 1.42246154e+00] [ 2.25704786e-02 -2.08938832e-04 9.99745232e-01 -9.33958125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:1.42, Z:-0.90 [[ 9.96087143e-01 -8.54627274e-02 -2.25061179e-02 5.32831213e+01] [ 8.54457651e-02 9.96341345e-01 -1.71601344e-03 1.42390326e+00] [ 2.25704310e-02 -2.13753539e-04 9.99745233e-01 -9.04027412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:53.34, Y:1.42, Z:-0.91 [[ 9.95852273e-01 -8.81573975e-02 -2.25060913e-02 5.33424178e+01] [ 8.81411151e-02 9.96106519e-01 -1.71636275e-03 1.42271551e+00] [ 2.25697743e-02 -2.74468234e-04 9.99745233e-01 -9.13198369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:1.42, Z:-0.93 [[ 9.95586375e-01 -9.11111911e-02 -2.25059952e-02 5.34017690e+01] [ 9.10956346e-02 9.95840668e-01 -1.71762096e-03 1.42394655e+00] [ 2.25688798e-02 -3.40157893e-04 9.99745233e-01 -9.31217259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.46, Y:1.42, Z:-0.93 [[ 9.95465819e-01 -9.24192590e-02 -2.25051845e-02 5.34608809e+01] [ 9.24037979e-02 9.95720117e-01 -1.72817887e-03 1.42141036e+00] [ 2.25685819e-02 -3.59221525e-04 9.99745233e-01 -9.28478752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:53.52, Y:1.42, Z:-0.91 [[ 9.95536263e-01 -9.16575313e-02 -2.25043747e-02 5.35204699e+01] [ 9.16416387e-02 9.95790534e-01 -1.73866035e-03 1.42206401e+00] [ 2.25690046e-02 -3.31438345e-04 9.99745233e-01 -9.07481189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.58, Y:1.42, Z:-0.93 [[ 9.95566821e-01 -9.13250457e-02 -2.25042566e-02 5.35798339e+01] [ 9.13090337e-02 9.95821084e-01 -1.74018784e-03 1.42055443e+00] [ 2.25691359e-02 -3.22368648e-04 9.99745233e-01 -9.27036294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.64, Y:1.42, Z:-0.92 [[ 9.95926851e-01 -8.73115354e-02 -2.25034061e-02 5.36384175e+01] [ 8.72942517e-02 9.96181031e-01 -1.75111783e-03 1.41835194e+00] [ 2.25703590e-02 -2.20432725e-04 9.99745233e-01 -9.22273932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:53.70, Y:1.42, Z:-0.92 [[ 9.96033876e-01 -8.60821036e-02 -2.25031084e-02 5.36980359e+01] [ 8.60644200e-02 9.96288029e-01 -1.75493417e-03 1.41574485e+00] [ 2.25706460e-02 -1.88743095e-04 9.99745233e-01 -9.21384355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:1.42, Z:-0.93 [[ 9.96206701e-01 -8.40586516e-02 -2.25022657e-02 5.37577501e+01] [ 8.40402092e-02 9.96460800e-01 -1.76567404e-03 1.41543297e+00] [ 2.25710459e-02 -1.32118810e-04 9.99745233e-01 -9.26467910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:1.41, Z:-0.93 [[ 9.96335472e-01 -8.25185480e-02 -2.25014922e-02 5.38167298e+01] [ 8.24994914e-02 9.96589525e-01 -1.77547779e-03 1.41403157e+00] [ 2.25712612e-02 -8.73901554e-05 9.99745233e-01 -9.27059892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:53.88, Y:1.42, Z:-0.92 [[ 9.96785474e-01 -7.68923857e-02 -2.25006670e-02 5.38752851e+01] [ 7.68716604e-02 9.97039397e-01 -1.78587393e-03 1.41582561e+00] [ 2.25713716e-02 5.04695622e-05 9.99745233e-01 -9.23704093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:1.42, Z:-0.92 [[ 9.97329495e-01 -6.94811953e-02 -2.24998350e-02 5.39344335e+01] [ 6.94583481e-02 9.97583235e-01 -1.79629596e-03 1.42060018e+00] [ 2.25702670e-02 2.28697576e-04 9.99745233e-01 -9.22602768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:1.43, Z:-0.93 [[ 9.97824601e-01 -6.19666079e-02 -2.24990082e-02 5.39927002e+01] [ 6.19416179e-02 9.98078139e-01 -1.80659182e-03 1.42757860e+00] [ 2.25677167e-02 4.09036790e-04 9.99745233e-01 -9.25375601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:1.44, Z:-0.90 [[ 9.98309762e-01 -5.35859170e-02 -2.24981935e-02 5.40502711e+01] [ 5.35585718e-02 9.98563057e-01 -1.81668162e-03 1.43863426e+00] [ 2.25632135e-02 6.08639881e-04 9.99745233e-01 -8.95481709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:1.45, Z:-0.91 [[ 9.98522943e-01 -4.94550125e-02 -2.24974031e-02 5.41096616e+01] [ 4.94264004e-02 9.98776099e-01 -1.82641768e-03 1.45128083e+00] [ 2.25601940e-02 7.11754303e-04 9.99745233e-01 -9.10845408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:1.46, Z:-0.91 [[ 9.98314917e-01 -5.34901718e-02 -2.24972906e-02 5.41681708e+01] [ 5.34625519e-02 9.98568182e-01 -1.82780224e-03 1.45897800e+00] [ 2.25628481e-02 6.21959674e-04 9.99745233e-01 -9.11474410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.23, Y:1.47, Z:-0.91 [[ 9.97521230e-01 -6.66731077e-02 -2.24964976e-02 5.42263006e+01] [ 6.66486169e-02 9.97774817e-01 -1.83751120e-03 1.46791086e+00] [ 2.25689514e-02 3.33595980e-04 9.99745233e-01 -9.12438717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.29, Y:1.48, Z:-0.91 [[ 9.96776420e-01 -7.70111210e-02 -2.24956843e-02 5.42850738e+01] [ 7.69890370e-02 9.97030228e-01 -1.84741405e-03 1.47512064e+00] [ 2.25711487e-02 1.09537685e-04 9.99745233e-01 -9.09271786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:1.48, Z:-0.91 [[ 9.96258656e-01 -8.34426314e-02 -2.24948448e-02 5.43436296e+01] [ 8.34219563e-02 9.96512582e-01 -1.85758108e-03 1.47906774e+00] [ 2.25713973e-02 -2.59327255e-05 9.99745233e-01 -9.12397697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.40, Y:1.48, Z:-0.91 [[ 9.96084647e-01 -8.54948472e-02 -2.24946007e-02 5.44023806e+01] [ 8.54746286e-02 9.96338610e-01 -1.86053259e-03 1.48218343e+00] [ 2.25713051e-02 -6.94696881e-05 9.99745233e-01 -9.09741071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.46, Y:1.49, Z:-0.89 [[ 9.95766732e-01 -8.91215392e-02 -2.24937153e-02 5.44602749e+01] [ 8.91020052e-02 9.96020748e-01 -1.87117585e-03 1.48919249e+00] [ 2.25709692e-02 -1.40980476e-04 9.99745233e-01 -8.86759512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.52, Y:1.49, Z:-0.91 [[ 9.95231578e-01 -9.49114204e-02 -2.24928351e-02 5.45197673e+01] [ 9.48931263e-02 9.95485687e-01 -1.88169659e-03 1.49203004e+00] [ 2.25698899e-02 -2.61691580e-04 9.99745233e-01 -9.08396971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.58, Y:1.49, Z:-0.91 [[ 9.94758717e-01 -9.97457164e-02 -2.24919366e-02 5.45779060e+01] [ 9.97284157e-02 9.95012895e-01 -1.89237591e-03 1.49319585e+00] [ 2.25685234e-02 -3.60627771e-04 9.99745233e-01 -9.07123120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:54.64, Y:1.49, Z:-0.90 [[ 9.94396478e-01 -1.03294740e-01 -2.24909322e-02 5.46370532e+01] [ 1.03278078e-01 9.94650699e-01 -1.90423949e-03 1.49141570e+00] [ 2.25673193e-02 -4.29251205e-04 9.99745233e-01 -9.04091020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:54.70, Y:1.49, Z:-0.90 [[ 9.94233426e-01 -1.04852719e-01 -2.24900408e-02 5.46959289e+01] [ 1.04836218e-01 9.94487658e-01 -1.91470990e-03 1.49066804e+00] [ 2.25668305e-02 -4.54102241e-04 9.99745234e-01 -9.04537215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:54.76, Y:1.49, Z:-0.88 [[ 9.94395756e-01 -1.03302082e-01 -2.24891333e-02 5.47561903e+01] [ 1.03284946e-01 9.94649945e-01 -1.92531006e-03 1.48552500e+00] [ 2.25677037e-02 -4.08268766e-04 9.99745234e-01 -8.83023503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.82, Y:1.48, Z:-0.91 [[ 9.94317492e-01 -1.04052738e-01 -2.24889641e-02 5.48166890e+01] [ 1.04035749e-01 9.94571691e-01 -1.92728394e-03 1.48289450e+00] [ 2.25674262e-02 -4.23324089e-04 9.99745234e-01 -9.07132153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:54.88, Y:1.48, Z:-0.88 [[ 9.94755590e-01 -9.97775959e-02 -2.24888344e-02 5.48759751e+01] [ 9.97594801e-02 9.95009711e-01 -1.92879620e-03 1.48013875e+00] [ 2.25690593e-02 -3.24793634e-04 9.99745234e-01 -8.80659598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:54.94, Y:1.47, Z:-0.89 [[ 9.93683719e-01 -1.09940696e-01 -2.24879984e-02 5.49361662e+01] [ 1.09924960e-01 9.93937999e-01 -1.93849476e-03 1.47261497e+00] [ 2.25647956e-02 -5.45741629e-04 9.99745234e-01 -8.91813472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:1.48, Z:-0.90 [[ 9.95588216e-01 -9.10955706e-02 -2.24878048e-02 5.49950642e+01] [ 9.10749689e-02 9.95842148e-01 -1.94073816e-03 1.47871349e+00] [ 2.25710965e-02 -1.15900079e-04 9.99745234e-01 -9.02332671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters Centerline goodness : 0.997968 with order 1 Centerline is valid? [True, True] Translation: X:55.05, Y:1.48, Z:-0.87 [[ 9.95674488e-01 -9.01479522e-02 -2.24869105e-02 5.50542206e+01] [ 9.01268760e-02 9.95928381e-01 -1.95104570e-03 1.48206407e+00] [ 2.25712351e-02 -8.40685578e-05 9.99745234e-01 -8.71127944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:1.48, Z:-0.88 [[ 9.96114142e-01 -8.51525515e-02 -2.24868790e-02 5.51146639e+01] [ 8.51301939e-02 9.96367925e-01 -1.95140792e-03 1.48266649e+00] [ 2.25713724e-02 2.95126564e-05 9.99745234e-01 -8.75765402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:1.48, Z:-0.88 [[ 9.96378652e-01 -8.19995371e-02 -2.24868495e-02 5.51741120e+01] [ 8.19763687e-02 9.96632362e-01 -1.95174875e-03 1.48381174e+00] [ 2.25711644e-02 1.01290528e-04 9.99745234e-01 -8.76610563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:1.48, Z:-0.88 [[ 9.94934578e-01 -9.79773794e-02 -2.24859635e-02 5.52343913e+01] [ 9.79580557e-02 9.95188610e-01 -1.96190349e-03 1.47815108e+00] [ 2.25699969e-02 -2.50715635e-04 9.99745234e-01 -8.77368234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters Centerline goodness : 0.998416 with order 1 Centerline is valid? [True, True] Translation: X:55.29, Y:1.49, Z:-0.88 [[ 9.96443246e-01 -8.12112998e-02 -2.24851474e-02 5.52919489e+01] [ 8.11874915e-02 9.96696898e-01 -1.97121250e-03 1.48992286e+00] [ 2.25709613e-02 1.38688674e-04 9.99745234e-01 -8.76442807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:1.50, Z:-0.87 [[ 9.96561293e-01 -7.97499429e-02 -2.24841242e-02 5.53493324e+01] [ 7.97255009e-02 9.96814884e-01 -1.98281489e-03 1.49608426e+00] [ 2.25706390e-02 1.83438510e-04 9.99745234e-01 -8.71862082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:1.50, Z:-0.89 [[ 9.96217235e-01 -8.39386633e-02 -2.24838182e-02 5.54092785e+01] [ 8.39152094e-02 9.96470919e-01 -1.98627805e-03 1.49983960e+00] [ 2.25711965e-02 9.20301079e-05 9.99745234e-01 -8.85088006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:1.51, Z:-0.89 [[ 9.99164824e-01 -3.41194189e-02 -2.24837560e-02 5.54672580e+01] [ 3.40833187e-02 9.99417020e-01 -1.98698257e-03 1.51388855e+00] [ 2.25384431e-02 1.21900207e-03 9.99745234e-01 -8.94740778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:1.51, Z:-0.89 [[ 9.95889710e-01 -8.77392343e-02 -2.24836009e-02 5.55279898e+01] [ 8.77166930e-02 9.96143477e-01 -1.98873551e-03 1.51110379e+00] [ 2.25713825e-02 8.37411395e-06 9.99745234e-01 -8.90576152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:1.52, Z:-0.89 [[ 9.95751371e-01 -8.92955433e-02 -2.24836042e-02 5.55870060e+01] [ 8.92733995e-02 9.96005173e-01 -1.98869886e-03 1.51704550e+00] [ 2.25713680e-02 -2.69381567e-05 9.99745234e-01 -8.87222883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:1.53, Z:-0.90 [[ 9.99393854e-01 -2.65791703e-02 -2.24826959e-02 5.56455148e+01] [ 2.65409008e-02 9.99645730e-01 -1.99891495e-03 1.53086625e+00] [ 2.25278604e-02 1.40099232e-03 9.99745234e-01 -8.96342028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters Centerline goodness : 0.950017 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:1.52, Z:-0.91 [[ 9.81869084e-01 -1.88222300e-01 -2.24825941e-02 5.57078854e+01] [ 1.88225338e-01 9.82123832e-01 -2.00005935e-03 1.51656480e+00] [ 2.24571472e-02 -2.26799743e-03 9.99745234e-01 -9.08948634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters Centerline goodness : 0.997177 with order 1 Centerline is valid? [True, True] Translation: X:55.76, Y:1.54, Z:-0.86 [[ 9.96058138e-01 -8.58062903e-02 -2.24825779e-02 5.57643953e+01] [ 8.57829969e-02 9.96311837e-01 -2.00024129e-03 1.54152062e+00] [ 2.25712917e-02 6.37337102e-05 9.99745234e-01 -8.64675017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters Centerline goodness : 0.967566 with order 1 Centerline is valid? [True, True] Translation: X:55.82, Y:1.52, Z:-0.89 [[ 9.83460041e-01 -1.79724476e-01 -2.24824475e-02 5.58239742e+01] [ 1.79725274e-01 9.83714806e-01 -2.00170540e-03 1.52152739e+00] [ 2.24760719e-02 -2.07206676e-03 9.99745234e-01 -8.91352185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters Centerline goodness : 0.996683 with order 1 Centerline is valid? [True, True] Translation: X:55.88, Y:1.56, Z:-0.86 [[ 9.96064318e-01 -8.57346713e-02 -2.24820162e-02 5.58797203e+01] [ 8.57112175e-02 9.96318002e-01 -2.00653803e-03 1.55739457e+00] [ 2.25712673e-02 7.16799578e-05 9.99745234e-01 -8.58695363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters Centerline goodness : 0.996685 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:1.57, Z:-0.86 [[ 9.95979456e-01 -8.67151659e-02 -2.24811542e-02 5.59379179e+01] [ 8.66917449e-02 9.96233144e-01 -2.01614931e-03 1.56862293e+00] [ 2.25713017e-02 5.91128061e-05 9.99745234e-01 -8.57678083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:56.00, Y:1.58, Z:-0.88 [[ 9.95547286e-01 -9.15436490e-02 -2.24802418e-02 5.59970327e+01] [ 9.15212298e-02 9.95801064e-01 -2.02627240e-03 1.57694028e+00] [ 2.25713411e-02 -4.01693816e-05 9.99745234e-01 -8.79601539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters Centerline goodness : 0.996780 with order 1 Centerline is valid? [True, True] Translation: X:56.05, Y:1.58, Z:-0.86 [[ 9.95296588e-01 -9.42304761e-02 -2.24793248e-02 5.60547109e+01] [ 9.42085133e-02 9.95550405e-01 -2.03639509e-03 1.58401569e+00] [ 2.25711914e-02 -9.09266876e-05 9.99745234e-01 -8.56436508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters Centerline goodness : 0.995441 with order 1 Centerline is valid? [True, True] Translation: X:56.11, Y:1.59, Z:-0.86 [[ 9.94877542e-01 -9.85564232e-02 -2.24790591e-02 5.61136836e+01] [ 9.85354979e-02 9.95131447e-01 -2.03932309e-03 1.58875644e+00] [ 2.25706070e-02 -1.86108538e-04 9.99745234e-01 -8.55515125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:56.17, Y:1.59, Z:-0.87 [[ 9.94775949e-01 -9.95766832e-02 -2.24787960e-02 5.61739935e+01] [ 9.95559528e-02 9.95029870e-01 -2.04222002e-03 1.59408627e+00] [ 2.25704309e-02 -2.06346590e-04 9.99745234e-01 -8.68243700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:56.23, Y:1.59, Z:-0.88 [[ 9.89117761e-01 -1.45398621e-01 -2.24787809e-02 5.62335991e+01] [ 1.45389632e-01 9.89372369e-01 -2.04238592e-03 1.58549603e+00] [ 2.25368448e-02 -1.24802149e-03 9.99745234e-01 -8.84904735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:1.59, Z:-0.89 [[ 9.88764738e-01 -1.47780280e-01 -2.24784532e-02 5.62916781e+01] [ 1.47771823e-01 9.89019364e-01 -2.04598641e-03 1.58941178e+00] [ 2.25339819e-02 -1.29868278e-03 9.99745234e-01 -8.86167471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:1.60, Z:-0.87 [[ 9.94893881e-01 -9.83916762e-02 -2.24776197e-02 5.63495075e+01] [ 9.83703524e-02 9.95147753e-01 -2.05510286e-03 1.59588402e+00] [ 2.25707577e-02 -1.66522104e-04 9.99745234e-01 -8.70126168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:1.60, Z:-0.87 [[ 9.94946889e-01 -9.78544247e-02 -2.24766485e-02 5.64087553e+01] [ 9.78327250e-02 9.95200729e-01 -2.06566996e-03 1.59958261e+00] [ 2.25709119e-02 -1.43719873e-04 9.99745234e-01 -8.71301229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters Centerline goodness : 0.967737 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:1.57, Z:-0.88 [[ 9.81946177e-01 -1.87820514e-01 -2.24757654e-02 5.64707215e+01] [ 1.87821744e-01 9.82200940e-01 -2.07523459e-03 1.56979508e+00] [ 2.24654895e-02 -2.18366877e-03 9.99745234e-01 -8.78195795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters Centerline goodness : 0.996831 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:1.60, Z:-0.85 [[ 9.95326025e-01 -9.39199198e-02 -2.24755877e-02 5.65270995e+01] [ 9.38969574e-02 9.95579754e-01 -2.07715684e-03 1.60350101e+00] [ 2.25713265e-02 -4.29410453e-05 9.99745234e-01 -8.49941167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:1.61, Z:-0.87 [[ 9.95077996e-01 -9.65123413e-02 -2.24755409e-02 5.65869359e+01] [ 9.64900284e-02 9.95331783e-01 -2.07766330e-03 1.60548598e+00] [ 2.25711404e-02 -1.01228552e-04 9.99745234e-01 -8.70136431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:56.64, Y:1.61, Z:-0.85 [[ 9.95553008e-01 -9.14827956e-02 -2.24745914e-02 5.66447100e+01] [ 9.14589698e-02 9.95806657e-01 -2.08788429e-03 1.61137049e+00] [ 2.25713532e-02 2.30965065e-05 9.99745234e-01 -8.46832387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.71, Y:1.61, Z:-0.87 [[ 9.95680478e-01 -9.00849112e-02 -2.24743149e-02 5.67051220e+01] [ 9.00606623e-02 9.95934087e-01 -2.09085671e-03 1.61464774e+00] [ 2.25712909e-02 5.77735252e-05 9.99745234e-01 -8.70044965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:1.62, Z:-0.86 [[ 9.95827261e-01 -8.84476020e-02 -2.24741774e-02 5.67634718e+01] [ 8.84229027e-02 9.96080826e-01 -2.09233356e-03 1.61982154e+00] [ 2.25711591e-02 9.63708037e-05 9.99745234e-01 -8.61874931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:1.62, Z:-0.86 [[ 9.95578016e-01 -9.12105714e-02 -2.24732188e-02 5.68210619e+01] [ 9.11863445e-02 9.95831627e-01 -2.10257935e-03 1.62460288e+00] [ 2.25713195e-02 4.40311101e-05 9.99745234e-01 -8.62613390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:56.88, Y:1.63, Z:-0.84 [[ 9.95529664e-01 -9.17370774e-02 -2.24721174e-02 5.68807085e+01] [ 9.17127204e-02 9.95783263e-01 -2.11428562e-03 1.62900234e+00] [ 2.25713168e-02 4.38550346e-05 9.99745234e-01 -8.42769597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:56.94, Y:1.64, Z:-0.84 [[ 9.95599179e-01 -9.09795830e-02 -2.24719799e-02 5.69388944e+01] [ 9.09550001e-02 9.95852756e-01 -2.11574625e-03 1.63501052e+00] [ 2.25712728e-02 6.24962943e-05 9.99745234e-01 -8.40835550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.00, Y:1.64, Z:-0.84 [[ 9.95380144e-01 -9.33457184e-02 -2.24709996e-02 5.69983320e+01] [ 9.33215044e-02 9.95633756e-01 -2.12610688e-03 1.63808895e+00] [ 2.25713487e-02 1.92570881e-05 9.99745234e-01 -8.43713421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.06, Y:1.64, Z:-0.86 [[ 9.95262472e-01 -9.45921696e-02 -2.24706998e-02 5.70570380e+01] [ 9.45682018e-02 9.95516108e-01 -2.12927109e-03 1.64445961e+00] [ 2.25713560e-02 -5.83005805e-06 9.99745234e-01 -8.62225369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:1.65, Z:-0.84 [[ 9.95793271e-01 -8.88305835e-02 -2.24697280e-02 5.71139741e+01] [ 8.88049179e-02 9.96046740e-01 -2.13947711e-03 1.65077512e+00] [ 2.25709503e-02 1.35054559e-04 9.99745235e-01 -8.44654708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:1.66, Z:-0.84 [[ 9.96062189e-01 -8.57629172e-02 -2.24685937e-02 5.71726940e+01] [ 8.57362038e-02 9.96315550e-01 -2.15132345e-03 1.66062799e+00] [ 2.25703131e-02 2.16480012e-04 9.99745235e-01 -8.42876674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:1.67, Z:-0.86 [[ 9.95653452e-01 -9.03847841e-02 -2.24676172e-02 5.72313084e+01] [ 9.03590178e-02 9.95906911e-01 -2.16147404e-03 1.66706833e+00] [ 2.25710196e-02 1.21927268e-04 9.99745235e-01 -8.55082844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.29, Y:1.68, Z:-0.85 [[ 9.95411790e-01 -9.30086955e-02 -2.24666413e-02 5.72891546e+01] [ 9.29833695e-02 9.95665294e-01 -2.17157031e-03 1.67522583e+00] [ 2.25712300e-02 7.25826759e-05 9.99745235e-01 -8.54009884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:57.35, Y:1.68, Z:-0.84 [[ 9.95361746e-01 -9.35430143e-02 -2.24654959e-02 5.73470192e+01] [ 9.35175583e-02 9.95615237e-01 -2.18335569e-03 1.68465146e+00] [ 2.25712277e-02 7.23104062e-05 9.99745235e-01 -8.37879689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:1.69, Z:-0.83 [[ 9.95129864e-01 -9.59786503e-02 -2.24644875e-02 5.74061146e+01] [ 9.59535816e-02 9.95383392e-01 -2.19368305e-03 1.68866346e+00] [ 2.25713245e-02 2.74514837e-05 9.99745235e-01 -8.33805321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:57.46, Y:1.70, Z:-0.83 [[ 9.94928091e-01 -9.80483815e-02 -2.24634967e-02 5.74646063e+01] [ 9.80236122e-02 9.95181649e-01 -2.20378200e-03 1.69707397e+00] [ 2.25713370e-02 -9.34847475e-06 9.99745235e-01 -8.31441039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:57.52, Y:1.70, Z:-0.83 [[ 9.94372047e-01 -1.03535833e-01 -2.24624944e-02 5.75235862e+01] [ 1.03512233e-01 9.94625717e-01 -2.21395120e-03 1.70187552e+00] [ 2.25709979e-02 -1.23651777e-04 9.99745235e-01 -8.30946017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.58, Y:1.71, Z:-0.85 [[ 9.94010211e-01 -1.06954116e-01 -2.24614854e-02 5.75825671e+01] [ 1.06931158e-01 9.94263939e-01 -2.22414094e-03 1.70578958e+00] [ 2.25705260e-02 -1.91013834e-04 9.99745235e-01 -8.47466508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.64, Y:1.71, Z:-0.83 [[ 9.94237718e-01 -1.04818351e-01 -2.24604693e-02 5.76407668e+01] [ 1.04794617e-01 9.94491375e-01 -2.23435551e-03 1.71121539e+00] [ 2.25709445e-02 -1.32255759e-04 9.99745235e-01 -8.32410958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.70, Y:1.72, Z:-0.83 [[ 9.94893764e-01 -9.83970144e-02 -2.24594400e-02 5.76992685e+01] [ 9.83714111e-02 9.95147239e-01 -2.24465472e-03 1.71574227e+00] [ 2.25713170e-02 2.38261844e-05 9.99745235e-01 -8.31420642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:57.76, Y:1.73, Z:-0.83 [[ 9.95363639e-01 -9.35245779e-02 -2.24584068e-02 5.77567095e+01] [ 9.34975017e-02 9.95616961e-01 -2.25494495e-03 1.72749830e+00] [ 2.25708635e-02 1.44685283e-04 9.99745235e-01 -8.32808489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:57.81, Y:1.74, Z:-0.83 [[ 9.95664882e-01 -9.02613678e-02 -2.24572324e-02 5.78141215e+01] [ 9.02331990e-02 9.95918085e-01 -2.26658031e-03 1.73540988e+00] [ 2.25701486e-02 2.30366492e-04 9.99745235e-01 -8.30669524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:57.87, Y:1.75, Z:-0.83 [[ 9.95459593e-01 -9.24982458e-02 -2.24560462e-02 5.78713988e+01] [ 9.24703822e-02 9.95712829e-01 -2.27827289e-03 1.74783582e+00] [ 2.25705095e-02 1.91409430e-04 9.99745235e-01 -8.31630294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:57.93, Y:1.76, Z:-0.84 [[ 9.95282233e-01 -9.43878014e-02 -2.24548514e-02 5.79285129e+01] [ 9.43601543e-02 9.95535493e-01 -2.28998865e-03 1.75946337e+00] [ 2.25707485e-02 1.60341774e-04 9.99745235e-01 -8.37022873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:57.99, Y:1.77, Z:-0.84 [[ 9.95285968e-01 -9.43486948e-02 -2.24536564e-02 5.79853914e+01] [ 9.43207747e-02 9.95539198e-01 -2.30164571e-03 1.76977432e+00] [ 2.25706524e-02 1.72949410e-04 9.99745235e-01 -8.36134093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:1.78, Z:-0.84 [[ 9.95148518e-01 -9.57878659e-02 -2.24524411e-02 5.80443267e+01] [ 9.57600459e-02 9.95401759e-01 -2.31344044e-03 1.77763568e+00] [ 2.25707989e-02 1.52170033e-04 9.99745235e-01 -8.37601608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:1.78, Z:-0.84 [[ 9.95027334e-01 -9.70388598e-02 -2.24513778e-02 5.81024664e+01] [ 9.70111264e-02 9.95280584e-01 -2.32371450e-03 1.78444110e+00] [ 2.25709110e-02 1.34125998e-04 9.99745236e-01 -8.35249367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters Centerline goodness : 0.817083 with order 3 Centerline is valid? [True, False] Translation: X:58.08, Y:1.78, Z:-0.84 [[ 9.95939457e-01 -8.98752549e-02 -5.19974838e-03 5.80848103e+01] [ 8.98783093e-02 9.95952691e-01 3.56271211e-04 1.78093711e+00] [ 5.14668343e-03 -8.22169150e-04 9.99986418e-01 -8.36352250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters Centerline goodness : 0.945725 with order 1 Centerline is valid? [False, False] Translation: X:58.11, Y:1.78, Z:-0.84 [[ 9.97076858e-01 -7.63010694e-02 -3.98579467e-03 5.81067308e+01] [ 7.63120340e-02 9.97080396e-01 2.67515400e-03 1.77941778e+00] [ 3.77004062e-03 -2.97149824e-03 9.99988478e-01 -8.35920822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters Centerline goodness : 0.903103 with order 3 Centerline is valid? [False, False] Translation: X:58.13, Y:1.78, Z:-0.83 [[ 9.97825669e-01 -6.59069767e-02 -4.51799507e-04 5.81252265e+01] [ 6.59076529e-02 9.97824287e-01 1.69511305e-03 1.78022975e+00] [ 3.39096745e-04 -1.72120436e-03 9.99998461e-01 -8.33989947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters Centerline goodness : 0.933472 with order 3 Centerline is valid? [False, False] Translation: X:58.15, Y:1.78, Z:-0.83 [[ 9.98588171e-01 -5.30453177e-02 -2.80322738e-03 5.81534698e+01] [ 5.30459738e-02 9.98592058e-01 1.60174336e-04 1.78426326e+00] [ 2.79078410e-03 -3.08648123e-04 9.99996058e-01 -8.31627939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters Centerline goodness : 0.995235 with order 1 Centerline is valid? [False, True] Translation: X:58.18, Y:1.79, Z:-0.83 [[ 9.99178303e-01 -4.00060844e-02 -6.49868852e-03 5.81834973e+01] [ 3.99961681e-02 9.99198473e-01 -1.64881053e-03 1.79101555e+00] [ 6.55944210e-03 1.38753306e-03 9.99977524e-01 -8.31446370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters Centerline goodness : 0.997122 with order 1 Centerline is valid? [True, True] Translation: X:58.24, Y:1.78, Z:-0.84 [[ 9.97259227e-01 -7.36953020e-02 -6.56026710e-03 5.82441354e+01] [ 7.36949263e-02 9.97280787e-01 -2.99322917e-04 1.77954215e+00] [ 6.56448703e-03 -1.84955859e-04 9.99978436e-01 -8.42206532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters Centerline goodness : 0.988780 with order 1 Centerline is valid? [True, True] Translation: X:58.30, Y:1.78, Z:-0.85 [[ 9.94009467e-01 -1.09096939e-01 -6.56024792e-03 5.83036096e+01] [ 1.09097327e-01 9.94031027e-01 -2.99742652e-04 1.78330509e+00] [ 6.55379098e-03 -4.17758481e-04 9.99978436e-01 -8.48370381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters Centerline goodness : 0.878639 with order 1 Centerline is valid? [True, False] Translation: X:58.32, Y:1.79, Z:-0.85 [[ 9.95326520e-01 -9.64846315e-02 -3.97920886e-03 5.83241489e+01] [ 9.64875953e-02 9.95334030e-01 5.59248826e-04 1.78915184e+00] [ 3.90668307e-03 -9.40579482e-04 9.99991927e-01 -8.49487180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters Centerline goodness : 0.997857 with order 1 Centerline is valid? [False, True] Translation: X:58.35, Y:1.80, Z:-0.85 [[ 9.96690014e-01 -8.09904877e-02 -7.03963352e-03 5.83499948e+01] [ 8.10075921e-02 9.96711102e-01 2.17907388e-03 1.79577874e+00] [ 6.83999663e-03 -2.74212493e-03 9.99972847e-01 -8.46378790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters Centerline goodness : 0.963485 with order 1 Centerline is valid? [True, True] Translation: X:58.41, Y:1.79, Z:-0.85 [[ 9.84888598e-01 -1.73054772e-01 -6.81873646e-03 5.84083672e+01] [ 1.73055064e-01 9.84911996e-01 -5.51653234e-04 1.78814781e+00] [ 6.81132157e-03 -6.36699892e-04 9.99976600e-01 -8.46830764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters Centerline goodness : 0.992545 with order 1 Centerline is valid? [True, True] Translation: X:58.47, Y:1.82, Z:-0.82 [[ 9.97599355e-01 -6.89132273e-02 -6.81865171e-03 5.84652598e+01] [ 6.89110591e-02 9.97622654e-01 -5.52698835e-04 1.81839725e+00] [ 6.84052968e-03 8.14914908e-05 9.99976600e-01 -8.20266293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters Centerline goodness : 0.992141 with order 1 Centerline is valid? [True, True] Translation: X:58.52, Y:1.83, Z:-0.82 [[ 9.97726094e-01 -6.70533539e-02 -6.81832653e-03 5.85246538e+01] [ 6.70511150e-02 9.97749386e-01 -5.56681719e-04 1.82690297e+00] [ 6.84030848e-03 9.82394806e-05 9.99976600e-01 -8.20514366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters Centerline goodness : 0.991947 with order 1 Centerline is valid? [True, True] Translation: X:58.58, Y:1.84, Z:-0.82 [[ 9.97500337e-01 -7.03319869e-02 -6.81829038e-03 5.85824436e+01] [ 7.03298216e-02 9.97523637e-01 -5.57124118e-04 1.83985379e+00] [ 6.84058946e-03 7.62023493e-05 9.99976600e-01 -8.21891889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters Centerline goodness : 0.990792 with order 1 Centerline is valid? [True, True] Translation: X:58.64, Y:1.85, Z:-0.82 [[ 9.97751507e-01 -6.66741524e-02 -6.81821879e-03 5.86402941e+01] [ 6.66718957e-02 9.97774798e-01 -5.57998803e-04 1.85490857e+00] [ 6.84025098e-03 1.02160574e-04 9.99976600e-01 -8.19251770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:58.70, Y:1.86, Z:-0.84 [[ 9.96287044e-01 -8.58232922e-02 -6.81818394e-03 5.86995343e+01] [ 8.58214803e-02 9.96310374e-01 -5.58424396e-04 1.85819251e+00] [ 6.84095321e-03 -2.87956473e-05 9.99976600e-01 -8.40903767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters Centerline goodness : 0.991506 with order 1 Centerline is valid? [True, True] Translation: X:58.76, Y:1.86, Z:-0.82 [[ 9.94894930e-01 -1.00685607e-01 -6.81811074e-03 5.87573371e+01] [ 1.00684137e-01 9.94918284e-01 -5.59316722e-04 1.86319951e+00] [ 6.83977818e-03 -1.30014228e-04 9.99976600e-01 -8.22962785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters Centerline goodness : 0.994681 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:1.86, Z:-0.83 [[ 9.91815440e-01 -1.27497634e-01 -6.81802033e-03 5.88158221e+01] [ 1.27496787e-01 9.91838825e-01 -5.60416621e-04 1.86204982e+00] [ 6.83382907e-03 -3.13445829e-04 9.99976600e-01 -8.28128235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters Centerline goodness : 0.989522 with order 1 Centerline is valid? [True, True] Translation: X:58.87, Y:1.87, Z:-0.82 [[ 9.94331456e-01 -1.06105943e-01 -6.81793857e-03 5.88744755e+01] [ 1.06104586e-01 9.94354817e-01 -5.61409570e-04 1.87199945e+00] [ 6.83901895e-03 -1.65187355e-04 9.99976600e-01 -8.20626702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:1.87, Z:-0.84 [[ 9.88164602e-01 -1.53245669e-01 -6.81788184e-03 5.89338820e+01] [ 1.53245419e-01 9.88188001e-01 -5.62097637e-04 1.87132292e+00] [ 6.82348805e-03 -4.89364173e-04 9.99976600e-01 -8.41342835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters Centerline goodness : 0.990854 with order 1 Centerline is valid? [True, True] Translation: X:58.99, Y:1.88, Z:-0.82 [[ 9.94430656e-01 -1.05172182e-01 -6.81784596e-03 5.89934773e+01] [ 1.05170796e-01 9.94454015e-01 -5.62532463e-04 1.88052705e+00] [ 6.83919705e-03 -1.57638762e-04 9.99976600e-01 -8.23321720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:59.05, Y:1.89, Z:-0.84 [[ 9.94560256e-01 -1.03939472e-01 -6.81782600e-03 5.90511536e+01] [ 1.03938055e-01 9.94583613e-01 -5.62774295e-04 1.88688702e+00] [ 6.83939248e-03 -1.48918626e-04 9.99976600e-01 -8.37773940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters Centerline goodness : 0.993006 with order 1 Centerline is valid? [True, True] Translation: X:59.11, Y:1.89, Z:-0.82 [[ 9.95072219e-01 -9.89181368e-02 -6.81773038e-03 5.91095596e+01] [ 9.89165942e-02 9.95095568e-01 -5.63930256e-04 1.89038354e+00] [ 6.84007622e-03 -1.13235338e-04 9.99976600e-01 -8.19440124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters Centerline goodness : 0.993983 with order 1 Centerline is valid? [True, True] Translation: X:59.17, Y:1.90, Z:-0.82 [[ 9.95312382e-01 -9.64716743e-02 -6.81745748e-03 5.91684764e+01] [ 9.64700517e-02 9.95335726e-01 -5.67210370e-04 1.89528219e+00] [ 6.84037872e-03 -9.31289707e-05 9.99976600e-01 -8.17436032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:59.23, Y:1.90, Z:-0.85 [[ 9.93711899e-01 -1.11759509e-01 -6.81718456e-03 5.92277546e+01] [ 1.11758223e-01 9.93735264e-01 -5.70471812e-04 1.89973227e+00] [ 6.83823234e-03 -1.94991807e-04 9.99976600e-01 -8.49073224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:59.29, Y:1.91, Z:-0.82 [[ 9.95733785e-01 -9.20204062e-02 -6.81714692e-03 5.92867642e+01] [ 9.20186539e-02 9.95757120e-01 -5.70921247e-04 1.90877761e+00] [ 6.84075898e-03 -5.88191078e-05 9.99976600e-01 -8.18576829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:1.91, Z:-0.82 [[ 9.95415439e-01 -9.54024615e-02 -6.81712777e-03 5.93442446e+01] [ 9.54007869e-02 9.95438779e-01 -5.71149810e-04 1.91303900e+00] [ 6.84052244e-03 -8.18280141e-05 9.99976600e-01 -8.17925215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:1.92, Z:-0.82 [[ 9.95388403e-01 -9.56841560e-02 -6.81682235e-03 5.94016076e+01] [ 9.56824632e-02 9.95411742e-01 -5.74772096e-04 1.92060087e+00] [ 6.84054159e-03 -8.01288742e-05 9.99976600e-01 -8.18355123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:1.93, Z:-0.82 [[ 9.95233177e-01 -9.72854491e-02 -6.81651292e-03 5.94607194e+01] [ 9.72837689e-02 9.95256517e-01 -5.78418592e-04 1.92607493e+00] [ 6.84045062e-03 -8.74746949e-05 9.99976600e-01 -8.16293814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:1.93, Z:-0.81 [[ 9.94911976e-01 -1.00517145e-01 -6.81636046e-03 5.95196820e+01] [ 1.00515528e-01 9.94935320e-01 -5.80209757e-04 1.93045862e+00] [ 6.84015881e-03 -1.07892437e-04 9.99976600e-01 -8.14655449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.58, Y:1.93, Z:-0.81 [[ 9.94498319e-01 -1.04530546e-01 -6.81607711e-03 5.95775184e+01] [ 1.04529001e-01 9.94521668e-01 -5.83519586e-04 1.93028172e+00] [ 6.83973199e-03 -1.32168483e-04 9.99976600e-01 -8.13413167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.64, Y:1.93, Z:-0.83 [[ 9.94372522e-01 -1.05720525e-01 -6.81597950e-03 5.96368705e+01] [ 1.05719000e-01 9.94395873e-01 -5.84657562e-04 1.93067870e+00] [ 6.83959218e-03 -1.39211119e-04 9.99976600e-01 -8.34044596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:1.93, Z:-0.83 [[ 9.94375877e-01 -1.05688983e-01 -6.81570705e-03 5.96946845e+01] [ 1.05687436e-01 9.94399226e-01 -5.87816538e-04 1.93330402e+00] [ 6.83965955e-03 -1.35824014e-04 9.99976600e-01 -8.33751757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:1.94, Z:-0.83 [[ 9.94154630e-01 -1.07750274e-01 -6.81539227e-03 5.97536951e+01] [ 1.07748751e-01 9.94177981e-01 -5.91443904e-04 1.93666644e+00] [ 6.83944116e-03 -1.46363306e-04 9.99976600e-01 -8.33293010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters Centerline goodness : 0.920801 with order 1 Centerline is valid? [True, False] Translation: X:59.74, Y:1.93, Z:-0.84 [[ 9.95386875e-01 -9.57017318e-02 6.79326163e-03 5.97408929e+01] [ 9.56926344e-02 9.95409558e-01 1.65256355e-03 1.93082918e+00] [-6.92023075e-03 -9.94874969e-04 9.99975560e-01 -8.38635252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [False, True] Translation: X:59.73, Y:1.93, Z:-0.84 [[ 9.96227975e-01 -8.42587379e-02 2.07433600e-02 5.97278225e+01] [ 8.42321422e-02 9.96443830e-01 2.15409037e-03 1.92847927e+00] [-2.08510940e-02 -3.98707437e-04 9.99782513e-01 -8.40822750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:59.79, Y:1.93, Z:-0.84 [[ 9.96488986e-01 -8.11001164e-02 2.07959551e-02 5.97898187e+01] [ 8.10899149e-02 9.96705897e-01 1.33473878e-03 1.93217811e+00] [-2.08356986e-02 3.56289742e-04 9.99782850e-01 -8.40879797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:1.93, Z:-0.84 [[ 9.96682234e-01 -7.86894353e-02 2.07965830e-02 5.98530587e+01] [ 7.86789147e-02 9.96899129e-01 1.32488359e-03 1.93498555e+00] [-2.08363498e-02 3.15764642e-04 9.99782850e-01 -8.42841649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:1.94, Z:-0.86 [[ 9.96812486e-01 -7.70216782e-02 2.07973042e-02 5.99151799e+01] [ 7.70110330e-02 9.97029376e-01 1.31346313e-03 1.93558172e+00] [-2.08366884e-02 2.92345439e-04 9.99782850e-01 -8.63822011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:1.94, Z:-0.84 [[ 9.96557175e-01 -8.02573412e-02 2.07980019e-02 5.99781280e+01] [ 8.02476326e-02 9.96774108e-01 1.30232114e-03 1.93577869e+00] [-2.08354306e-02 3.71152937e-04 9.99782850e-01 -8.43107280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:60.04, Y:1.93, Z:-0.84 [[ 9.96682048e-01 -7.86912460e-02 2.07986213e-02 6.00404583e+01] [ 7.86814044e-02 9.96898975e-01 1.29235337e-03 1.93449152e+00] [-2.08358211e-02 3.48399324e-04 9.99782850e-01 -8.43022801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:60.10, Y:1.94, Z:-0.85 [[ 9.96673189e-01 -7.88033148e-02 2.07988319e-02 6.01018817e+01] [ 7.87935685e-02 9.96890120e-01 1.28895481e-03 1.93919525e+00] [-2.08357240e-02 3.54147484e-04 9.99782850e-01 -8.47650070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:60.16, Y:1.95, Z:-0.87 [[ 9.99273663e-01 -3.19300773e-02 2.07994304e-02 6.01610840e+01] [ 3.19103609e-02 9.99489916e-01 1.27922407e-03 1.94527211e+00] [-2.08296666e-02 -6.14577595e-04 9.99782850e-01 -8.68568473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.22, Y:1.95, Z:-0.87 [[ 9.96776636e-01 -7.74836822e-02 2.07994304e-02 6.02222923e+01] [ 7.74738517e-02 9.96993564e-01 1.27922407e-03 1.94623225e+00] [-2.08360172e-02 3.36311317e-04 9.99782850e-01 -8.71108860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.28, Y:1.95, Z:-0.87 [[ 9.96571037e-01 -8.00846316e-02 2.07995140e-02 6.02847676e+01] [ 8.00753956e-02 9.96787991e-01 1.27786373e-03 1.94796919e+00] [-2.08350430e-02 3.92047330e-04 9.99782850e-01 -8.68356577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:1.95, Z:-0.85 [[ 9.96595389e-01 -7.97809669e-02 2.07996897e-02 6.03465995e+01] [ 7.97717247e-02 9.96812343e-01 1.27499721e-03 1.95325603e+00] [-2.08351079e-02 3.88570778e-04 9.99782850e-01 -8.51022090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters Centerline goodness : 0.991902 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:1.95, Z:-0.89 [[ 9.90117366e-01 -1.38690192e-01 2.07998234e-02 6.04059927e+01] [ 1.38693867e-01 9.90334485e-01 1.27281177e-03 1.95489110e+00] [-2.07753089e-02 1.62457489e-03 9.99782850e-01 -8.85570965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters Centerline goodness : 0.992941 with order 1 Centerline is valid? [True, True] Translation: X:60.46, Y:1.96, Z:-0.89 [[ 9.90546447e-01 -1.35591678e-01 2.07998180e-02 6.04649210e+01] [ 1.35594671e-01 9.90763577e-01 1.27289961e-03 1.95965753e+00] [-2.07802967e-02 1.55947829e-03 9.99782850e-01 -8.85109554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:1.97, Z:-0.86 [[ 9.96747674e-01 -7.78552956e-02 2.07996920e-02 6.05250050e+01] [ 7.78456350e-02 9.96964609e-01 1.27495575e-03 1.97244018e+00] [-2.08358189e-02 3.48356057e-04 9.99782850e-01 -8.57030613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:60.59, Y:1.98, Z:-0.86 [[ 9.96409140e-01 -8.20743491e-02 2.07996930e-02 6.05864918e+01] [ 8.20656073e-02 9.96626114e-01 1.27493912e-03 1.97943097e+00] [-2.08341570e-02 4.36578445e-04 9.99782850e-01 -8.55373661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.65, Y:1.98, Z:-0.88 [[ 9.96039079e-01 -8.64494124e-02 2.08003118e-02 6.06474559e+01] [ 8.64418360e-02 9.96256096e-01 1.26476207e-03 1.98306515e+00] [-2.08317754e-02 5.38264701e-04 9.99782850e-01 -8.76099287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:60.71, Y:1.99, Z:-0.86 [[ 9.95826263e-01 -8.88671896e-02 2.08008618e-02 6.07095930e+01] [ 8.88603302e-02 9.96043305e-01 1.25565080e-03 1.98656292e+00] [-2.08301453e-02 5.97961410e-04 9.99782850e-01 -8.61901562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:60.77, Y:1.99, Z:-0.86 [[ 9.95573948e-01 -9.16504917e-02 2.08014720e-02 6.07715131e+01] [ 9.16444518e-02 9.95791014e-01 1.24545948e-03 1.98587186e+00] [-2.08280659e-02 6.66392493e-04 9.99782850e-01 -8.62220406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:60.83, Y:1.98, Z:-0.86 [[ 9.95063495e-01 -9.70357449e-02 2.08015590e-02 6.08322457e+01] [ 9.70309099e-02 9.95280591e-01 1.24400480e-03 1.98218451e+00] [-2.08241009e-02 7.80530439e-04 9.99782850e-01 -8.62596418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:60.89, Y:1.98, Z:-0.86 [[ 9.94908001e-01 -9.86172603e-02 2.08015590e-02 6.08918606e+01] [ 9.86127704e-02 9.95125105e-01 1.24400480e-03 1.98160091e+00] [-2.08228339e-02 8.13629039e-04 9.99782850e-01 -8.64949545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:1.98, Z:-0.87 [[ 9.95313501e-01 -9.44369237e-02 2.08015180e-02 6.09514236e+01] [ 9.44315074e-02 9.95530583e-01 1.24469060e-03 1.98208194e+00] [-2.08260921e-02 7.25461338e-04 9.99782850e-01 -8.70542946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:1.98, Z:-0.89 [[ 9.95655515e-01 -9.07600978e-02 2.08014367e-02 6.10106587e+01] [ 9.07538515e-02 9.95872575e-01 1.24604753e-03 1.98124428e+00] [-2.08286717e-02 6.47176406e-04 9.99782850e-01 -8.86206934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:1.98, Z:-0.87 [[ 9.95758684e-01 -8.96211252e-02 2.08013544e-02 6.10711004e+01] [ 8.96146020e-02 9.95975736e-01 1.24742023e-03 1.98410486e+00] [-2.08294395e-02 6.21975565e-04 9.99782850e-01 -8.70249468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:1.98, Z:-0.89 [[ 9.95615123e-01 -9.12021379e-02 2.08013544e-02 6.11307895e+01] [ 9.11959593e-02 9.95832185e-01 1.24742023e-03 1.98408519e+00] [-2.08284256e-02 6.55049020e-04 9.99782850e-01 -8.88997761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.19, Y:1.99, Z:-0.89 [[ 9.95604824e-01 -9.13144987e-02 2.08013616e-02 6.11911952e+01] [ 9.13083471e-02 9.95821887e-01 1.24729993e-03 1.98586800e+00] [-2.08283477e-02 6.57520120e-04 9.99782850e-01 -8.89816392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:61.25, Y:1.99, Z:-0.89 [[ 9.95887614e-01 -8.81768925e-02 2.08013616e-02 6.12509793e+01] [ 8.81700570e-02 9.96104656e-01 1.24729993e-03 1.98560049e+00] [-2.08303162e-02 5.91886688e-04 9.99782850e-01 -8.89721012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:61.31, Y:1.99, Z:-0.90 [[ 9.96203119e-01 -8.45378777e-02 2.08012754e-02 6.13111705e+01] [ 8.45302193e-02 9.96420134e-01 1.24873641e-03 1.98832103e+00] [-2.08323751e-02 5.14341263e-04 9.99782850e-01 -8.95933863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.37, Y:1.99, Z:-0.90 [[ 9.96554112e-01 -8.02945148e-02 2.08012754e-02 6.13714078e+01] [ 8.02859323e-02 9.96771092e-01 1.24873641e-03 1.99334751e+00] [-2.08343766e-02 4.25616382e-04 9.99782850e-01 -8.97220481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:61.43, Y:2.00, Z:-0.88 [[ 9.96624373e-01 -7.94176684e-02 2.08012754e-02 6.14317511e+01] [ 7.94088949e-02 9.96841345e-01 1.24873641e-03 1.99517988e+00] [-2.08347431e-02 4.07285148e-04 9.99782850e-01 -8.79160542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:61.49, Y:2.00, Z:-0.88 [[ 9.96703742e-01 -7.84152795e-02 2.08013169e-02 6.14926611e+01] [ 7.84063022e-02 9.96920706e-01 1.24804386e-03 1.99989668e+00] [-2.08351293e-02 3.87024357e-04 9.99782850e-01 -8.80173060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.55, Y:2.01, Z:-0.88 [[ 9.96854318e-01 -7.64772544e-02 2.08014018e-02 6.15540190e+01] [ 7.64678849e-02 9.97071266e-01 1.24662816e-03 2.00570347e+00] [-2.08358187e-02 3.47932527e-04 9.99782850e-01 -8.82765590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:61.62, Y:2.01, Z:-0.88 [[ 9.97142923e-01 -7.26172821e-02 2.08019537e-02 6.16156715e+01] [ 7.26072663e-02 9.97359842e-01 1.23734925e-03 2.01071856e+00] [-2.08368862e-02 2.76558939e-04 9.99782850e-01 -8.81307886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:2.02, Z:-0.90 [[ 9.97277180e-01 -7.07494159e-02 2.08025440e-02 6.16760600e+01] [ 7.07392024e-02 9.97494090e-01 1.22734461e-03 2.01766107e+00] [-2.08372486e-02 2.47552598e-04 9.99782850e-01 -8.98326718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.74, Y:2.02, Z:-0.90 [[ 9.97470739e-01 -6.79659896e-02 2.08026429e-02 6.17375343e+01] [ 6.79552058e-02 9.97687620e-01 1.22566616e-03 2.02460344e+00] [-2.08378429e-02 1.91081749e-04 9.99782850e-01 -9.01127179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:61.80, Y:2.03, Z:-0.88 [[ 9.97601735e-01 -6.60151814e-02 2.08032202e-02 6.17986982e+01] [ 6.60041795e-02 9.97818606e-01 1.21578651e-03 2.03114127e+00] [-2.08381006e-02 1.60228750e-04 9.99782850e-01 -8.83739711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.86, Y:2.03, Z:-0.91 [[ 9.97605820e-01 -6.59534117e-02 2.08032612e-02 6.18592332e+01] [ 6.59424110e-02 9.97822691e-01 1.21508476e-03 2.03490240e+00] [-2.08381051e-02 1.59641579e-04 9.99782850e-01 -9.07841734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.92, Y:2.04, Z:-0.91 [[ 9.97947514e-01 -6.05638409e-02 2.08033556e-02 6.19206614e+01] [ 6.05517026e-02 9.98164325e-01 1.21346655e-03 2.04404481e+00] [-2.08386596e-02 4.87026731e-05 9.99782850e-01 -9.11851345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:61.98, Y:2.05, Z:-0.89 [[ 9.98075130e-01 -5.84228773e-02 2.08039169e-02 6.19820386e+01] [ 5.84104762e-02 9.98291925e-01 1.20376667e-03 2.04718929e+00] [-2.08387097e-02 1.37171160e-05 9.99782850e-01 -8.91125303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:62.04, Y:2.05, Z:-0.89 [[ 9.98176498e-01 -5.66645826e-02 2.08039566e-02 6.20433734e+01] [ 5.66518139e-02 9.98393272e-01 1.20307906e-03 2.05495361e+00] [-2.08387023e-02 -2.23033653e-05 9.99782850e-01 -8.92533635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:62.10, Y:2.06, Z:-0.89 [[ 9.98110000e-01 -5.78238713e-02 2.08045159e-02 6.21049436e+01] [ 5.78115576e-02 9.98326800e-01 1.19332930e-03 2.06037264e+00] [-2.08387087e-02 1.16675629e-05 9.99782850e-01 -8.92030957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:2.06, Z:-0.90 [[ 9.97960498e-01 -6.03489334e-02 2.08050650e-02 6.21670849e+01] [ 6.03373694e-02 9.98177339e-01 1.18367798e-03 2.06392949e+00] [-2.08385781e-02 7.40590238e-05 9.99782851e-01 -8.95252159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:2.07, Z:-0.90 [[ 9.97893748e-01 -6.14427465e-02 2.08052230e-02 6.22285233e+01] [ 6.14314783e-02 9.98110605e-01 1.18089354e-03 2.06938350e+00] [-2.08384711e-02 9.96893307e-05 9.99782851e-01 -8.96903483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:2.07, Z:-0.91 [[ 9.97687979e-01 -6.46978815e-02 2.08057876e-02 6.22900079e+01] [ 6.46875300e-02 9.97904882e-01 1.17086101e-03 2.07440195e+00] [-2.08379493e-02 1.77721060e-04 9.99782851e-01 -9.05940722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:2.07, Z:-0.91 [[ 9.97603796e-01 -6.59831741e-02 2.08059434e-02 6.23521385e+01] [ 6.59731599e-02 9.97820714e-01 1.16808572e-03 2.07466192e+00] [-2.08376753e-02 2.07347083e-04 9.99782851e-01 -9.13027167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.42, Y:2.08, Z:-0.92 [[ 9.97446824e-01 -6.83148896e-02 2.08064881e-02 6.24150288e+01] [ 6.83055866e-02 9.97663774e-01 1.15830173e-03 2.07652234e+00] [-2.08370087e-02 2.65854992e-04 9.99782851e-01 -9.16854518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.48, Y:2.08, Z:-0.92 [[ 9.97385998e-01 -6.91970755e-02 2.08071030e-02 6.24765500e+01] [ 6.91881970e-02 9.97602966e-01 1.14714967e-03 2.08124013e+00] [-2.08366070e-02 2.95454920e-04 9.99782851e-01 -9.18059549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.54, Y:2.08, Z:-0.92 [[ 9.97460250e-01 -6.81182205e-02 2.08076378e-02 6.25387917e+01] [ 6.81093113e-02 9.97677216e-01 1.13736514e-03 2.08446070e+00] [-2.08367814e-02 2.82717365e-04 9.99782851e-01 -9.20591694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:62.60, Y:2.09, Z:-0.92 [[ 9.97366783e-01 -6.94731684e-02 2.08081658e-02 6.26006700e+01] [ 6.94647573e-02 9.97583769e-01 1.12762208e-03 2.08807923e+00] [-2.08362279e-02 3.20781384e-04 9.99782851e-01 -9.23385694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:2.09, Z:-0.90 [[ 9.97073229e-01 -7.35661282e-02 2.08086833e-02 6.26628931e+01] [ 7.35588087e-02 9.97290255e-01 1.11798942e-03 2.08875740e+00] [-2.08345432e-02 4.15944629e-04 9.99782851e-01 -8.99716997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:2.09, Z:-0.93 [[ 9.96809306e-01 -7.70597101e-02 2.08088393e-02 6.27248630e+01] [ 7.70532118e-02 9.97026358e-01 1.11507871e-03 2.09230886e+00] [-2.08328889e-02 4.91867069e-04 9.99782851e-01 -9.25955651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:62.79, Y:2.09, Z:-0.93 [[ 9.96846170e-01 -7.65812071e-02 2.08094388e-02 6.27866148e+01] [ 7.65748405e-02 9.97063225e-01 1.10377551e-03 2.09330171e+00] [-2.08328547e-02 4.93185072e-04 9.99782851e-01 -9.25473591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:62.85, Y:2.09, Z:-0.93 [[ 9.96838896e-01 -7.66756851e-02 2.08099570e-02 6.28488998e+01] [ 7.66695447e-02 9.97055958e-01 1.09391821e-03 2.09332770e+00] [-2.08325686e-02 5.05029712e-04 9.99782851e-01 -9.27536060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.91, Y:2.09, Z:-0.92 [[ 9.96502798e-01 -8.09264948e-02 2.08104632e-02 6.29100813e+01] [ 8.09214830e-02 9.96719889e-01 1.08420299e-03 2.08969725e+00] [-2.08299433e-02 6.03602222e-04 9.99782851e-01 -9.24681149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.97, Y:2.09, Z:-0.93 [[ 9.96355531e-01 -8.27198809e-02 2.08104991e-02 6.29720250e+01] [ 8.27152742e-02 9.96572631e-01 1.08351190e-03 2.08722528e+00] [-2.08288019e-02 6.41783072e-04 9.99782851e-01 -9.27177576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:63.03, Y:2.09, Z:-0.93 [[ 9.96728747e-01 -7.80943299e-02 2.08105722e-02 6.30328093e+01] [ 7.80887449e-02 9.96945824e-01 1.08210765e-03 2.08557645e+00] [-2.08315195e-02 5.46503653e-04 9.99782851e-01 -9.34203336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.09, Y:2.08, Z:-0.94 [[ 9.97053832e-01 -7.38280072e-02 2.08106078e-02 6.30943695e+01] [ 7.38215075e-02 9.97270884e-01 1.08142209e-03 2.08369250e+00] [-2.08336525e-02 4.58034396e-04 9.99782851e-01 -9.35592801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:63.16, Y:2.08, Z:-0.94 [[ 9.97396945e-01 -6.90380313e-02 2.08106788e-02 6.31562726e+01] [ 6.90305177e-02 9.97613964e-01 1.08005312e-03 2.08112257e+00] [-2.08355885e-02 3.59330248e-04 9.99782851e-01 -9.38644498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:2.08, Z:-0.94 [[ 9.97688068e-01 -6.46949049e-02 2.08107857e-02 6.32178536e+01] [ 6.46864895e-02 9.97905054e-01 1.07798965e-03 2.08262050e+00] [-2.08369287e-02 2.70679261e-04 9.99782851e-01 -9.40412223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:2.08, Z:-0.94 [[ 9.97839096e-01 -6.23219930e-02 2.08112376e-02 6.32801208e+01] [ 6.23132451e-02 9.98056069e-01 1.06919424e-03 2.08338107e+00] [-2.08374163e-02 2.29931931e-04 9.99782851e-01 -9.40411225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:2.09, Z:-0.94 [[ 9.98033850e-01 -5.91211268e-02 2.08117119e-02 6.33423319e+01] [ 5.91118771e-02 9.98250801e-01 1.05988168e-03 2.08646076e+00] [-2.08379694e-02 1.72421558e-04 9.99782851e-01 -9.42553254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:63.40, Y:2.09, Z:-0.95 [[ 9.98425041e-01 -5.20988457e-02 2.08121895e-02 6.34037490e+01] [ 5.20882673e-02 9.98641932e-01 1.05041867e-03 2.09260392e+00] [-2.08386507e-02 3.53065879e-05 9.99782851e-01 -9.45591776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:63.47, Y:2.10, Z:-0.95 [[ 9.98519441e-01 -5.02569215e-02 2.08126635e-02 6.34669210e+01] [ 5.02461406e-02 9.98736322e-01 1.04093986e-03 2.09614387e+00] [-2.08386775e-02 6.35733046e-06 9.99782851e-01 -9.45057676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:63.53, Y:2.10, Z:-0.95 [[ 9.96586715e-01 -7.98857325e-02 2.08131986e-02 6.35261060e+01] [ 7.98816222e-02 9.96803825e-01 1.03012897e-03 2.09531827e+00] [-2.08289686e-02 6.35979222e-04 9.99782851e-01 -9.50542962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:63.59, Y:2.11, Z:-0.95 [[ 9.98642249e-01 -4.77542690e-02 2.08131736e-02 6.35860420e+01] [ 4.77431593e-02 9.98859113e-01 1.03063338e-03 2.11112961e+00] [-2.08386453e-02 -3.55473684e-05 9.99782851e-01 -9.49294614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:63.65, Y:2.12, Z:-0.95 [[ 9.98747935e-01 -4.54903827e-02 2.08131675e-02 6.36485146e+01] [ 4.54787789e-02 9.98964773e-01 1.03075841e-03 2.12020599e+00] [-2.08385107e-02 -8.29103937e-05 9.99782851e-01 -9.50257011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters Centerline goodness : 0.984581 with order 1 Centerline is valid? [True, True] Translation: X:63.71, Y:2.14, Z:-0.97 [[ 9.99358170e-01 2.91554213e-02 2.08136874e-02 6.37070849e+01] [-2.91829521e-02 9.99573566e-01 1.02015060e-03 2.14450868e+00] [-2.07750688e-02 -1.62690068e-03 9.99782851e-01 -9.66682275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:2.13, Z:-0.95 [[ 9.98743671e-01 -4.55836625e-02 2.08136620e-02 6.37683948e+01] [ 4.55722892e-02 9.98960522e-01 1.02066854e-03 2.13122838e+00] [-2.08385524e-02 -7.08600259e-05 9.99782851e-01 -9.50661566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:2.14, Z:-0.95 [[ 9.98797085e-01 -4.43978958e-02 2.08136767e-02 6.38305487e+01] [ 4.43862713e-02 9.99013923e-01 1.02036925e-03 2.13580066e+00] [-2.08384550e-02 -9.53003359e-05 9.99782851e-01 -9.52173515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters Centerline goodness : 0.996227 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:2.14, Z:-0.95 [[ 9.98908112e-01 -4.18253100e-02 2.08141244e-02 6.38927678e+01] [ 4.18133191e-02 9.99124929e-01 1.01115306e-03 2.14298927e+00] [-2.08382023e-02 -1.39741373e-04 9.99782851e-01 -9.53060586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:63.95, Y:2.16, Z:-0.94 [[ 9.99769552e-01 -5.25303667e-03 2.08146291e-02 6.39521530e+01] [ 5.23333988e-03 9.99985805e-01 1.00065384e-03 2.15782288e+00] [-2.08195901e-02 -8.91493210e-04 9.99782851e-01 -9.42231799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters Centerline goodness : 0.997114 with order 1 Centerline is valid? [True, True] Translation: X:64.01, Y:2.15, Z:-0.95 [[ 9.95530303e-01 -9.21203933e-02 2.08146291e-02 6.40146878e+01] [ 9.21195650e-02 9.95747450e-01 1.00065384e-03 2.14642783e+00] [-2.08182945e-02 9.21253364e-04 9.99782851e-01 -9.52987092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:64.07, Y:2.16, Z:-0.93 [[ 9.99025839e-01 -3.89115439e-02 2.08150051e-02 6.40736587e+01] [ 3.88993036e-02 9.99242642e-01 9.92770406e-04 2.16410686e+00] [-2.08378710e-02 -1.82114084e-04 9.99782851e-01 -9.28437019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters Centerline goodness : 0.978462 with order 1 Centerline is valid? [True, True] Translation: X:64.13, Y:2.18, Z:-0.97 [[ 9.99184124e-01 3.46096123e-02 2.08149091e-02 6.41322239e+01] [-3.46377935e-02 9.99399436e-01 9.94780465e-04 2.18022276e+00] [-2.07679794e-02 -1.71495137e-03 9.99782851e-01 -9.69630024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:2.18, Z:-0.96 [[ 9.98751636e-01 -4.54082531e-02 2.08149150e-02 6.41937098e+01] [ 4.53973838e-02 9.98968512e-01 9.94656636e-04 2.17717866e+00] [-2.08386103e-02 -4.84722582e-05 9.99782851e-01 -9.62204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters Centerline goodness : 0.996617 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:2.18, Z:-0.96 [[ 9.98669345e-01 -4.71834477e-02 2.08149463e-02 6.42557250e+01] [ 4.71729776e-02 9.98886241e-01 9.94000231e-04 2.18234721e+00] [-2.08386638e-02 -1.07745627e-05 9.99782851e-01 -9.62638025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:2.19, Z:-0.93 [[ 9.98596381e-01 -4.87030499e-02 2.08153877e-02 6.43167995e+01] [ 4.86931043e-02 9.98813302e-01 9.84670792e-04 2.19116424e+00] [-2.08386425e-02 3.02771535e-05 9.99782851e-01 -9.33441605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters Centerline goodness : 0.995283 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:2.20, Z:-0.94 [[ 9.98446191e-01 -5.16906565e-02 2.08153936e-02 6.43775708e+01] [ 5.16813626e-02 9.98663140e-01 9.84544744e-04 2.19734924e+00] [-2.08384581e-02 9.27529566e-05 9.99782851e-01 -9.36484243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters Centerline goodness : 0.996870 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:2.20, Z:-0.96 [[ 9.98173572e-01 -5.67117482e-02 2.08158054e-02 6.44373960e+01] [ 5.67037288e-02 9.98390572e-01 9.75759103e-04 2.20023156e+00] [-2.08376409e-02 2.06356838e-04 9.99782851e-01 -9.60204419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters Centerline goodness : 0.996525 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:2.21, Z:-0.96 [[ 9.98010300e-01 -5.95159110e-02 2.08158054e-02 6.44994992e+01] [ 5.95085013e-02 9.98227322e-01 9.75759103e-04 2.20862481e+00] [-2.08369789e-02 2.64899750e-04 9.99782851e-01 -9.64815891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters Centerline goodness : 0.991315 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:2.21, Z:-0.94 [[ 9.98120601e-01 -5.76364213e-02 2.08160588e-02 6.45613175e+01] [ 5.76287163e-02 9.98337613e-01 9.70323524e-04 2.21490722e+00] [-2.08373805e-02 2.31102850e-04 9.99782852e-01 -9.40913317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters Centerline goodness : 0.991253 with order 1 Centerline is valid? [True, True] Translation: X:64.62, Y:2.22, Z:-0.94 [[ 9.98128825e-01 -5.74937973e-02 2.08161235e-02 6.46233117e+01] [ 5.74860903e-02 9.98345837e-01 9.68933239e-04 2.21916467e+00] [-2.08373979e-02 2.29517361e-04 9.99782852e-01 -9.43373673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:2.22, Z:-0.97 [[ 9.98091996e-01 -5.81294860e-02 2.08165748e-02 6.46851317e+01] [ 5.81221214e-02 9.98309020e-01 9.59140346e-04 2.22291213e+00] [-2.08371287e-02 2.52593182e-04 9.99782852e-01 -9.65719622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters Centerline goodness : 0.987079 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:2.23, Z:-0.94 [[ 9.98267419e-01 -5.50346433e-02 2.08170246e-02 6.47475406e+01] [ 5.50268116e-02 9.98484426e-01 9.49275474e-04 2.22730778e+00] [-2.08377179e-02 1.97863713e-04 9.99782852e-01 -9.41014443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters Centerline goodness : 0.991348 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:2.23, Z:-0.94 [[ 9.98397345e-01 -5.26248526e-02 2.08174661e-02 6.48093268e+01] [ 5.26167010e-02 9.98614340e-01 9.39493366e-04 2.22751744e+00] [-2.08380608e-02 1.57358705e-04 9.99782852e-01 -9.44653634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters Centerline goodness : 0.993841 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:2.23, Z:-0.95 [[ 9.98460818e-01 -5.14063268e-02 2.08178992e-02 6.48707244e+01] [ 5.13981126e-02 9.98677811e-01 9.29795296e-04 2.22951821e+00] [-2.08381714e-02 1.41636556e-04 9.99782852e-01 -9.50214352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters Centerline goodness : 0.990263 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:2.23, Z:-0.95 [[ 9.98592391e-01 -4.87835468e-02 2.08182938e-02 6.49327664e+01] [ 4.87749486e-02 9.98809369e-01 9.20875890e-04 2.23427644e+00] [-2.08384305e-02 9.58315499e-05 9.99782852e-01 -9.48350628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters Centerline goodness : 0.995216 with order 1 Centerline is valid? [True, True] Translation: X:64.99, Y:2.24, Z:-0.96 [[ 9.98627539e-01 -4.80585080e-02 2.08187138e-02 6.49934736e+01] [ 4.80499523e-02 9.98844518e-01 9.11279046e-04 2.23708098e+00] [-2.08384529e-02 9.03098559e-05 9.99782852e-01 -9.58675480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters Centerline goodness : 0.995972 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:2.24, Z:-0.97 [[ 9.98618117e-01 -4.82538718e-02 2.08187442e-02 6.50549817e+01] [ 4.82453730e-02 9.98835099e-01 9.10585916e-04 2.24143597e+00] [-2.08384317e-02 9.50804853e-05 9.99782852e-01 -9.68691604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:65.12, Y:2.24, Z:-0.97 [[ 9.98612052e-01 -4.83790511e-02 2.08191668e-02 6.51173369e+01] [ 4.83707832e-02 9.98829042e-01 9.00816877e-04 2.24381344e+00] [-2.08383691e-02 1.07472815e-04 9.99782852e-01 -9.72899294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:65.18, Y:2.25, Z:-0.98 [[ 9.98513127e-01 -5.03793440e-02 2.08196515e-02 6.51798069e+01] [ 5.03717472e-02 9.98730142e-01 8.89473349e-04 2.24762028e+00] [-2.08380246e-02 1.60571407e-04 9.99782852e-01 -9.76154729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:65.24, Y:2.25, Z:-0.96 [[ 9.98484042e-01 -5.09524686e-02 2.08198006e-02 6.52408968e+01] [ 5.09450695e-02 9.98701064e-01 8.85969071e-04 2.24886310e+00] [-2.08378993e-02 1.76040209e-04 9.99782852e-01 -9.60362985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:65.30, Y:2.25, Z:-0.98 [[ 9.98586653e-01 -4.89002091e-02 2.08198359e-02 6.53012939e+01] [ 4.88923812e-02 9.98803660e-01 8.85139608e-04 2.25401958e+00] [-2.08382118e-02 1.34042753e-04 9.99782852e-01 -9.83182320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters Centerline goodness : 0.992980 with order 1 Centerline is valid? [True, True] Translation: X:65.36, Y:2.26, Z:-0.96 [[ 9.98576863e-01 -4.90996927e-02 2.08199241e-02 6.53618449e+01] [ 4.90919516e-02 9.98793873e-01 8.83059008e-04 2.25685516e+00] [-2.08381706e-02 1.40288413e-04 9.99782852e-01 -9.60231543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:65.42, Y:2.26, Z:-0.99 [[ 9.98730744e-01 -4.58631913e-02 2.08199264e-02 6.54218404e+01] [ 4.58547481e-02 9.98947728e-01 8.83004168e-04 2.26198388e+00] [-2.08385156e-02 7.28090717e-05 9.99782852e-01 -9.86730530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters Centerline goodness : 0.992392 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:2.27, Z:-0.96 [[ 9.98820129e-01 -4.38734671e-02 2.08199308e-02 6.54830989e+01] [ 4.38645938e-02 9.99037095e-01 8.82900444e-04 2.26742898e+00] [-2.08386191e-02 3.13990740e-05 9.99782852e-01 -9.57935427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters Centerline goodness : 0.994729 with order 1 Centerline is valid? [True, True] Translation: X:65.54, Y:2.27, Z:-0.96 [[ 9.98690299e-01 -4.67356028e-02 2.08199574e-02 6.55435591e+01] [ 4.67273644e-02 9.98907291e-01 8.82272405e-04 2.27325454e+00] [-2.08384408e-02 9.17448461e-05 9.99782852e-01 -9.63750073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters Centerline goodness : 0.995520 with order 1 Centerline is valid? [True, True] Translation: X:65.61, Y:2.28, Z:-0.97 [[ 9.98520945e-01 -5.02240088e-02 2.08199591e-02 6.56051252e+01] [ 5.02165292e-02 9.98737965e-01 8.82234226e-04 2.27845597e+00] [-2.08379929e-02 1.64576729e-04 9.99782852e-01 -9.67233431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters Centerline goodness : 0.994761 with order 1 Centerline is valid? [True, True] Translation: X:65.67, Y:2.27, Z:-0.99 [[ 9.94252172e-01 -1.05019665e-01 2.08203664e-02 6.56663332e+01] [ 1.05024325e-01 9.94469270e-01 8.72514392e-04 2.27440041e+00] [-2.07968457e-02 1.31914559e-03 9.99782852e-01 -9.91720381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:2.29, Z:-0.97 [[ 9.98288393e-01 -5.46514477e-02 2.08207604e-02 6.57269341e+01] [ 5.46453315e-02 9.98505455e-01 8.63008278e-04 2.28558990e+00] [-2.08368075e-02 2.76226209e-04 9.99782852e-01 -9.72088349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters Centerline goodness : 0.969923 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:2.29, Z:-1.01 [[ 9.99588864e-01 1.97129324e-02 2.08207604e-02 6.57859929e+01] [-1.97351682e-02 9.99804870e-01 8.63008278e-04 2.28897954e+00] [-2.07996852e-02 -1.27355467e-03 9.99782852e-01 -1.01273483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:2.29, Z:-0.98 [[ 9.98106625e-01 -5.78762578e-02 2.08207400e-02 6.58470084e+01] [ 5.78708326e-02 9.98323706e-01 8.63500123e-04 2.28793167e+00] [-2.08358145e-02 3.43048367e-04 9.99782852e-01 -9.79226811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters Centerline goodness : 0.998209 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:2.29, Z:-0.98 [[ 9.98248083e-01 -5.53828664e-02 2.08207496e-02 6.59092801e+01] [ 5.53769038e-02 9.98465149e-01 8.63270076e-04 2.28996005e+00] [-2.08366032e-02 2.91230946e-04 9.99782852e-01 -9.77003172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters Centerline goodness : 0.998210 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:2.29, Z:-0.97 [[ 9.98374348e-01 -5.30580100e-02 2.08208682e-02 6.59712249e+01] [ 5.30516017e-02 9.98591402e-01 8.60400001e-04 2.29433593e+00] [-2.08371910e-02 2.45579116e-04 9.99782852e-01 -9.73767861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:66.03, Y:2.30, Z:-0.99 [[ 9.98234703e-01 -5.56234179e-02 2.08209924e-02 6.60318934e+01] [ 5.56176304e-02 9.98451774e-01 8.57383960e-04 2.29816059e+00] [-2.08364474e-02 3.02143834e-04 9.99782852e-01 -9.87206098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.09, Y:2.30, Z:-1.00 [[ 9.98163754e-01 -5.68823865e-02 2.08210094e-02 6.60937518e+01] [ 5.68768813e-02 9.98380832e-01 8.56969564e-04 2.30101165e+00] [-2.08360432e-02 3.28838125e-04 9.99782852e-01 -9.95007704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:2.30, Z:-1.00 [[ 9.98114898e-01 -5.77331771e-02 2.08214068e-02 6.61562937e+01] [ 5.77280606e-02 9.98331985e-01 8.47203614e-04 2.30410117e+00] [-2.08355881e-02 3.56372884e-04 9.99782852e-01 -9.99168285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:66.22, Y:2.31, Z:-0.98 [[ 9.98299232e-01 -5.44526800e-02 2.08218574e-02 6.62167451e+01] [ 5.44470842e-02 9.98516307e-01 8.35980972e-04 2.30703622e+00] [-2.08364855e-02 2.99130259e-04 9.99782852e-01 -9.82458220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.28, Y:2.31, Z:-1.00 [[ 9.98255837e-01 -5.52424977e-02 2.08218592e-02 6.62765185e+01] [ 5.52370746e-02 9.98472917e-01 8.35934313e-04 2.31159471e+00] [-2.08362416e-02 3.15662285e-04 9.99782852e-01 -9.99807063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:66.34, Y:2.31, Z:-0.98 [[ 9.98338958e-01 -5.37194098e-02 2.08218638e-02 6.63378396e+01] [ 5.37136579e-02 9.98556030e-01 8.35820111e-04 2.31476865e+00] [-2.08366974e-02 2.83986692e-04 9.99782852e-01 -9.84664087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:66.40, Y:2.32, Z:-0.98 [[ 9.98398898e-01 -5.25936227e-02 2.08219182e-02 6.63989811e+01] [ 5.25876543e-02 9.98615963e-01 8.34464219e-04 2.32151104e+00] [-2.08369874e-02 2.61847676e-04 9.99782852e-01 -9.82138380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:2.32, Z:-0.99 [[ 9.98340466e-01 -5.36913253e-02 2.08219767e-02 6.64595873e+01] [ 5.36856260e-02 9.98557539e-01 8.32999886e-04 2.32437896e+00] [-2.08366667e-02 2.86223362e-04 9.99782852e-01 -9.85870962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:66.52, Y:2.33, Z:-0.99 [[ 9.98362889e-01 -5.32727552e-02 2.08220049e-02 6.65209118e+01] [ 5.32669796e-02 9.98579960e-01 8.32296465e-04 2.32673300e+00] [-2.08367755e-02 2.78191405e-04 9.99782852e-01 -9.86090586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters Centerline goodness : 0.996467 with order 1 Centerline is valid? [True, True] Translation: X:66.58, Y:2.33, Z:-0.99 [[ 9.98300757e-01 -5.44246242e-02 2.08220625e-02 6.65831756e+01] [ 5.44191292e-02 9.98517836e-01 8.30852321e-04 2.32957720e+00] [-2.08364196e-02 3.03678008e-04 9.99782852e-01 -9.90700694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters Centerline goodness : 0.994033 with order 1 Centerline is valid? [True, True] Translation: X:66.65, Y:2.33, Z:-0.99 [[ 9.98291053e-01 -5.46021914e-02 2.08224489e-02 6.66456880e+01] [ 5.45969394e-02 9.98508137e-01 8.21052500e-04 2.33087042e+00] [-2.08362159e-02 3.17192616e-04 9.99782852e-01 -9.88968827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters Centerline goodness : 0.995022 with order 1 Centerline is valid? [True, True] Translation: X:66.71, Y:2.33, Z:-1.00 [[ 9.98269496e-01 -5.49947545e-02 2.08228240e-02 6.67079165e+01] [ 5.49897886e-02 9.98486587e-01 8.11425540e-04 2.33259093e+00] [-2.08359347e-02 3.35021326e-04 9.99782852e-01 -1.00016015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters Centerline goodness : 0.992623 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:2.33, Z:-1.00 [[ 9.98194133e-01 -5.63459610e-02 2.08231974e-02 6.67709122e+01] [ 5.63414912e-02 9.98411235e-01 8.01729082e-04 2.33166060e+00] [-2.08352884e-02 3.72928725e-04 9.99782852e-01 -1.00099625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters Centerline goodness : 0.919893 with order 3 Centerline is valid? [True, False] Translation: X:66.76, Y:2.33, Z:-1.00 [[ 9.98413297e-01 -4.41195223e-02 3.49908109e-02 6.67557392e+01] [ 4.40749463e-02 9.99026135e-01 2.04463418e-03 2.32605674e+00] [-3.50469429e-02 -4.99171835e-04 9.99385543e-01 -1.00454710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters Centerline goodness : 0.991658 with order 1 Centerline is valid? [False, True] Translation: X:66.75, Y:2.33, Z:-1.01 [[ 9.98877299e-01 -3.65876258e-02 3.00913119e-02 6.67506111e+01] [ 3.67541885e-02 9.99311825e-01 -5.00069389e-03 2.32786143e+00] [-2.98876403e-02 6.10106135e-03 9.99534645e-01 -1.00601595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters Centerline goodness : 0.845649 with order 3 Centerline is valid? [True, False] Translation: X:66.78, Y:2.33, Z:-1.01 [[ 9.99488921e-01 -2.07576811e-02 2.43108202e-02 6.67831997e+01] [ 2.07956414e-02 9.99782889e-01 -1.30965478e-03 2.32535867e+00] [-2.42783566e-02 1.81454454e-03 9.99703590e-01 -1.00558624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters Centerline goodness : 0.908969 with order 1 Centerline is valid? [False, False] Translation: X:66.79, Y:2.33, Z:-1.01 [[ 9.99546745e-01 -1.98325844e-02 2.26489056e-02 6.67880155e+01] [ 1.98684374e-02 9.99801679e-01 -1.35903820e-03 2.32548682e+00] [-2.26174606e-02 1.80842057e-03 9.99742557e-01 -1.00603013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters Centerline goodness : 0.992220 with order 1 Centerline is valid? [False, True] Translation: X:66.79, Y:2.32, Z:-1.01 [[ 9.99624254e-01 -1.58379568e-02 2.23720600e-02 6.67885577e+01] [ 1.57738104e-02 9.99870962e-01 3.04083151e-03 2.32472015e+00] [-2.24173338e-02 -2.68679630e-03 9.99745090e-01 -1.00643387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters Centerline goodness : 0.991392 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:2.32, Z:-1.00 [[ 9.97414374e-01 -6.82604334e-02 2.24739698e-02 6.68507219e+01] [ 6.82468461e-02 9.97667523e-01 1.37190311e-03 2.31567981e+00] [-2.25151965e-02 1.65421673e-04 9.99746487e-01 -1.00047040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters Centerline goodness : 0.993034 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:2.32, Z:-1.01 [[ 9.94934303e-01 -9.79827975e-02 2.24745402e-02 6.69110887e+01] [ 9.79769799e-02 9.95187749e-01 1.36249425e-03 2.31893995e+00] [-2.24998881e-02 8.46395311e-04 9.99746487e-01 -1.00938342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters Centerline goodness : 0.986756 with order 1 Centerline is valid? [True, True] Translation: X:66.97, Y:2.37, Z:-1.04 [[ 9.98173935e-01 -5.60684319e-02 2.24750037e-02 6.69676496e+01] [ 5.60521376e-02 9.98426924e-01 1.35480492e-03 2.36730505e+00] [-2.25156106e-02 -9.25589527e-05 9.99746487e-01 -1.04476960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters Centerline goodness : 0.983467 with order 1 Centerline is valid? [True, True] Translation: X:67.03, Y:2.38, Z:-1.05 [[ 9.97938206e-01 -6.01182974e-02 2.24750413e-02 6.70297088e+01] [ 6.01030438e-02 9.98191259e-01 1.35418180e-03 2.37605567e+00] [-2.25158009e-02 -5.71366087e-07 9.99746487e-01 -1.04761432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters Centerline goodness : 0.993183 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:2.36, Z:-1.04 [[ 9.98895942e-01 -4.12522129e-02 2.24755997e-02 6.70923160e+01] [ 4.12323907e-02 9.99148678e-01 1.34484864e-03 2.36245717e+00] [-2.25119437e-02 -4.16641142e-04 9.99746487e-01 -1.04400062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters Centerline goodness : 0.994622 with order 1 Centerline is valid? [True, True] Translation: X:67.16, Y:2.36, Z:-1.04 [[ 9.97866433e-01 -6.12977168e-02 2.24760441e-02 6.71554826e+01] [ 6.12831407e-02 9.98119526e-01 1.33738059e-03 2.35678749e+00] [-2.25157569e-02 4.28753711e-05 9.99746487e-01 -1.03786704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters Centerline goodness : 0.994528 with order 1 Centerline is valid? [True, True] Translation: X:67.22, Y:2.35, Z:-1.02 [[ 9.91884562e-01 -1.25139195e-01 2.24765813e-02 6.72173261e+01] [ 1.25141078e-01 9.92138068e-01 1.32829115e-03 2.34656468e+00] [-2.24660932e-02 1.49523213e-03 9.99746487e-01 -1.01725182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters Centerline goodness : 0.965500 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:2.39, Z:-1.05 [[ 9.99745671e-01 -1.84296016e-03 2.24765924e-02 6.72744804e+01] [ 1.81356552e-03 9.99997474e-01 1.32810263e-03 2.39019183e+00] [-2.24789832e-02 -1.28700209e-03 9.99746487e-01 -1.04562662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters Centerline goodness : 0.987514 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:2.36, Z:-1.00 [[ 9.99014659e-01 -3.82689812e-02 2.24765537e-02 6.73375604e+01] [ 3.82487661e-02 9.99267365e-01 1.32875744e-03 2.36213612e+00] [-2.25109368e-02 -4.67747715e-04 9.99746487e-01 -1.00227581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters Centerline goodness : 0.991833 with order 1 Centerline is valid? [True, True] Translation: X:67.40, Y:2.36, Z:-1.00 [[ 9.95462631e-01 -9.24605447e-02 2.24765926e-02 6.74003713e+01] [ 9.24540967e-02 9.95716062e-01 1.32809867e-03 2.35688835e+00] [-2.25031010e-02 7.55980469e-04 9.99746487e-01 -1.00378826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:2.37, Z:-1.03 [[ 9.95901977e-01 -8.76016452e-02 2.24767396e-02 6.74605517e+01] [ 8.75940167e-02 9.96155375e-01 1.32560589e-03 2.36750164e+00] [-2.25064502e-02 6.48654382e-04 9.99746487e-01 -1.03418673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:2.38, Z:-1.04 [[ 9.95478564e-01 -9.22886974e-02 2.24772034e-02 6.75210844e+01] [ 9.22824403e-02 9.95732000e-01 1.31769433e-03 2.37636179e+00] [-2.25028790e-02 7.62514723e-04 9.99746487e-01 -1.04326967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters Centerline goodness : 0.945704 with order 1 Centerline is valid? [True, False] Translation: X:67.51, Y:2.38, Z:-1.04 [[ 9.96189983e-01 -7.91250529e-02 3.66707587e-02 6.75064641e+01] [ 7.90564877e-02 9.96864615e-01 3.31829219e-03 2.37839402e+00] [-3.68183418e-02 -4.06588060e-04 9.99321892e-01 -1.04416706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters Centerline goodness : 0.994773 with order 1 Centerline is valid? [False, True] Translation: X:67.49, Y:2.38, Z:-1.04 [[ 9.96515891e-01 -6.62268052e-02 5.06960386e-02 6.74934298e+01] [ 6.61042524e-02 9.97804331e-01 4.09213455e-03 2.38132029e+00] [-5.08557359e-02 -7.26653382e-04 9.98705746e-01 -1.04492006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:2.40, Z:-1.04 [[ 9.98671667e-01 -8.90504681e-03 5.07503936e-02 6.75548020e+01] [ 8.87357217e-03 9.99960272e-01 8.45469747e-04 2.40435739e+00] [-5.07559064e-02 -3.94009401e-04 9.98711011e-01 -1.03699699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters Centerline goodness : 0.997464 with order 1 Centerline is valid? [True, True] Translation: X:67.62, Y:2.41, Z:-1.04 [[ 9.98673083e-01 -8.74440821e-03 5.07504500e-02 6.76172045e+01] [ 8.71289885e-03 9.99961687e-01 8.42073872e-04 2.40602251e+00] [-5.07558690e-02 -3.98772973e-04 9.98711011e-01 -1.04158257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:67.68, Y:2.40, Z:-1.06 [[ 9.98643049e-01 -1.16803692e-02 5.07506577e-02 6.76786708e+01] [ 1.16532943e-02 9.99931754e-01 8.29363548e-04 2.40255093e+00] [-5.07568815e-02 -2.36825792e-04 9.98711011e-01 -1.06044838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:67.74, Y:2.40, Z:-1.06 [[ 9.98612207e-01 -1.40709713e-02 5.07510304e-02 6.77406394e+01] [ 1.40481742e-02 9.99900995e-01 8.05894384e-04 2.40203871e+00] [-5.07573455e-02 -9.18166537e-05 9.98711011e-01 -1.06026267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:2.40, Z:-1.06 [[ 9.98565452e-01 -1.70685039e-02 5.07513958e-02 6.78038750e+01] [ 1.70507804e-02 9.99854319e-01 7.82186042e-04 2.39731827e+00] [-5.07573530e-02 8.42869483e-05 9.98711011e-01 -1.05808854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:2.39, Z:-1.07 [[ 9.98506562e-01 -2.02212903e-02 5.07518009e-02 6.78661344e+01] [ 2.02090205e-02 9.99795492e-01 7.54955210e-04 2.39111174e+00] [-5.07566879e-02 2.71816454e-04 9.98711012e-01 -1.06666433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:2.39, Z:-1.05 [[ 9.98580472e-01 -1.61634051e-02 5.07521966e-02 6.79280921e+01] [ 1.61473007e-02 9.99869359e-01 7.27345155e-04 2.38515800e+00] [-5.07573227e-02 9.31983098e-05 9.98711012e-01 -1.05081202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters Centerline goodness : 0.997961 with order 1 Centerline is valid? [True, True] Translation: X:67.99, Y:2.38, Z:-1.06 [[ 9.98608868e-01 -1.43018054e-02 5.07522214e-02 6.79892932e+01] [ 1.42833866e-02 9.99897724e-01 7.25607527e-04 2.38221687e+00] [-5.07574082e-02 3.15486564e-07 9.98711012e-01 -1.05919678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:68.05, Y:2.38, Z:-1.08 [[ 9.98647687e-01 -1.12696075e-02 5.07522696e-02 6.80501290e+01] [ 1.12474472e-02 9.99936485e-01 7.22226133e-04 2.37690309e+00] [-5.07571852e-02 -1.50415986e-04 9.98711012e-01 -1.07917330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:68.11, Y:2.38, Z:-1.08 [[ 9.98708364e-01 -2.40378829e-03 5.07525919e-02 6.81125945e+01] [ 2.37137722e-03 9.99996944e-01 6.98815250e-04 2.37517819e+00] [-5.07541166e-02 -5.77559095e-04 9.98711012e-01 -1.07602472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:2.38, Z:-1.08 [[ 9.98693819e-01 5.89904114e-03 5.07529036e-02 6.81747850e+01] [-5.94097390e-03 9.99982124e-01 6.75394474e-04 2.37774246e+00] [-5.07480122e-02 -9.76033962e-04 9.98711013e-01 -1.08276274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:68.24, Y:2.38, Z:-1.06 [[ 9.98631270e-01 1.26370280e-02 5.07532409e-02 6.82362575e+01] [-1.26863122e-02 9.99919315e-01 6.49015637e-04 2.37648950e+00] [-5.07409443e-02 -1.29199877e-03 9.98711013e-01 -1.06488736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:68.30, Y:2.38, Z:-1.09 [[ 9.98598109e-01 1.50307581e-02 5.07532492e-02 6.82961688e+01] [-1.50830969e-02 9.99886033e-01 6.48372072e-04 2.37632181e+00] [-5.07377195e-02 -1.41297930e-03 9.98711013e-01 -1.09184422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:68.36, Y:2.38, Z:-1.10 [[ 9.98536710e-01 1.86693378e-02 5.07532696e-02 6.83584108e+01] [-1.87262878e-02 9.99824439e-01 6.46768775e-04 2.37993356e+00] [-5.07322845e-02 -1.59624270e-03 9.98711013e-01 -1.09609592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:68.42, Y:2.38, Z:-1.10 [[ 9.98499179e-01 2.05783281e-02 5.07535372e-02 6.84201816e+01] [-2.06366367e-02 9.99786847e-01 6.25041676e-04 2.38457098e+00] [-5.07298566e-02 -1.67148591e-03 9.98711013e-01 -1.10233662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters Centerline goodness : 0.996714 with order 1 Centerline is valid? [True, True] Translation: X:68.48, Y:2.39, Z:-1.08 [[ 9.98518206e-01 1.96327281e-02 5.07537926e-02 6.84818017e+01] [-1.96887267e-02 9.99805976e-01 6.03565005e-04 2.38785074e+00] [-5.07320955e-02 -1.60194820e-03 9.98711013e-01 -1.08043796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters Centerline goodness : 0.995614 with order 1 Centerline is valid? [True, True] Translation: X:68.54, Y:2.39, Z:-1.08 [[ 9.98631762e-01 1.25958679e-02 5.07537926e-02 6.85429900e+01] [-1.26427905e-02 9.99919895e-01 6.03565005e-04 2.39421598e+00] [-5.07421245e-02 -1.24440875e-03 9.98711013e-01 -1.07715029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters Centerline goodness : 0.996518 with order 1 Centerline is valid? [True, True] Translation: X:68.60, Y:2.40, Z:-1.09 [[ 9.98671828e-01 8.86740741e-03 5.07538027e-02 6.86033084e+01] [-8.90947718e-03 9.99960128e-01 6.02713829e-04 2.39808031e+00] [-5.07464346e-02 -1.05410317e-03 9.98711013e-01 -1.08772087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters Centerline goodness : 0.996668 with order 1 Centerline is valid? [True, True] Translation: X:68.66, Y:2.40, Z:-1.10 [[ 9.98675426e-01 8.45239422e-03 5.07538287e-02 6.86641699e+01] [-8.49381707e-03 9.99963747e-01 6.00518128e-04 2.39533195e+00] [-5.07469129e-02 -1.03081643e-03 9.98711013e-01 -1.09539110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters Centerline goodness : 0.996664 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:2.40, Z:-1.10 [[ 9.98700882e-01 4.53779429e-03 5.07538751e-02 6.87273651e+01] [-4.57396640e-03 9.99989361e-01 5.96570460e-04 2.39736006e+00] [-5.07506280e-02 -8.27941964e-04 9.98711013e-01 -1.10012006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:2.39, Z:-1.10 [[ 9.98700262e-01 4.66927712e-03 5.07541625e-02 6.87896359e+01] [-4.70432101e-03 9.99988772e-01 5.71025770e-04 2.39297484e+00] [-5.07509263e-02 -8.09047459e-04 9.98711014e-01 -1.09965256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters Centerline goodness : 0.996515 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:2.39, Z:-1.10 [[ 9.98687278e-01 6.90731401e-03 5.07544104e-02 6.88526105e+01] [-6.94407886e-03 9.99975739e-01 5.48066248e-04 2.39218512e+00] [-5.07493934e-02 -8.99789418e-04 9.98711014e-01 -1.10189616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters Centerline goodness : 0.996615 with order 1 Centerline is valid? [True, True] Translation: X:68.92, Y:2.39, Z:-1.11 [[ 9.98632184e-01 1.25588366e-02 5.07546745e-02 6.89157530e+01] [-1.26015891e-02 9.99920460e-01 5.22410810e-04 2.39156490e+00] [-5.07440766e-02 -1.16128580e-03 9.98711014e-01 -1.10768426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters Centerline goodness : 0.997348 with order 1 Centerline is valid? [True, True] Translation: X:68.98, Y:2.39, Z:-1.13 [[ 9.98607489e-01 -1.43881766e-02 5.07549293e-02 6.89762637e+01] [ 1.43815203e-02 9.99896457e-01 4.96365649e-04 2.38723237e+00] [-5.07568158e-02 2.34258589e-04 9.98711015e-01 -1.12782613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters Centerline goodness : 0.997700 with order 1 Centerline is valid? [True, True] Translation: X:69.04, Y:2.40, Z:-1.13 [[ 9.97902136e-01 4.01901129e-02 5.07551187e-02 6.90383324e+01] [-4.02661552e-02 9.99188876e-01 4.76179855e-04 2.39886225e+00] [-5.06948122e-02 -2.51889438e-03 9.98711015e-01 -1.12937955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters Centerline goodness : 0.996318 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:2.40, Z:-1.11 [[ 9.98470268e-01 2.19325713e-02 5.07551688e-02 6.91016296e+01] [-2.19847929e-02 9.99758194e-01 4.70774874e-04 2.39634224e+00] [-5.07325706e-02 -1.58589659e-03 9.98711015e-01 -1.11475616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:2.40, Z:-1.13 [[ 9.98439493e-01 2.32909583e-02 5.07553912e-02 6.91627176e+01] [-2.33436453e-02 9.99727401e-01 4.45434242e-04 2.39907518e+00] [-5.07311807e-02 -1.62955499e-03 9.98711015e-01 -1.13466972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters Centerline goodness : 0.997214 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:2.40, Z:-1.14 [[ 9.98313586e-01 2.81754374e-02 5.07555710e-02 6.92246615e+01] [-2.82333317e-02 9.99601270e-01 4.23907174e-04 2.40165690e+00] [-5.07233895e-02 -1.85619116e-03 9.98711015e-01 -1.13504875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters Centerline goodness : 0.997151 with order 1 Centerline is valid? [True, True] Translation: X:69.29, Y:2.41, Z:-1.14 [[ 9.98379184e-01 2.57460538e-02 5.07557422e-02 6.92864735e+01] [-2.57997175e-02 9.99667051e-01 4.02304971e-04 2.40939223e+00] [-5.07284854e-02 -1.71113672e-03 9.98711016e-01 -1.14347945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters Centerline goodness : 0.997356 with order 1 Centerline is valid? [True, True] Translation: X:69.35, Y:2.41, Z:-1.15 [[ 9.98373272e-01 2.59741113e-02 5.07558339e-02 6.93486280e+01] [-2.60274637e-02 9.99661152e-01 3.90381572e-04 2.40916222e+00] [-5.07284956e-02 -1.71079215e-03 9.98711016e-01 -1.14780633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters Centerline goodness : 0.997803 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:2.41, Z:-1.15 [[ 9.98418968e-01 2.41535198e-02 5.07559963e-02 6.94101172e+01] [-2.42033866e-02 9.99706987e-01 3.67991620e-04 2.41396907e+00] [-5.07322359e-02 -1.59587681e-03 9.98711016e-01 -1.15451634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters Centerline goodness : 0.997906 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:2.41, Z:-1.16 [[ 9.98470084e-01 2.19386492e-02 5.07561462e-02 6.94719702e+01] [-2.19845421e-02 9.99758251e-01 3.46006939e-04 2.41397051e+00] [-5.07362850e-02 -1.46132821e-03 9.98711016e-01 -1.15901847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters Centerline goodness : 0.996764 with order 1 Centerline is valid? [True, True] Translation: X:69.54, Y:2.42, Z:-1.14 [[ 9.98515466e-01 1.97652253e-02 5.07562850e-02 6.95352681e+01] [-1.98072104e-02 9.99803765e-01 3.24278663e-04 2.41587989e+00] [-5.07399154e-02 -1.32913768e-03 9.98711016e-01 -1.13865143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters Centerline goodness : 0.996605 with order 1 Centerline is valid? [True, True] Translation: X:69.60, Y:2.41, Z:-1.14 [[ 9.98618783e-01 1.35761357e-02 5.07564168e-02 6.95973001e+01] [-1.36090102e-02 9.99907347e-01 3.02137059e-04 2.41348314e+00] [-5.07476123e-02 -9.92464337e-04 9.98711017e-01 -1.14250785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters Centerline goodness : 0.997255 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:2.41, Z:-1.14 [[ 9.98646051e-01 1.13946479e-02 5.07565413e-02 6.96600281e+01] [-1.14235593e-02 9.99934710e-01 2.79538538e-04 2.41498468e+00] [-5.07500422e-02 -8.58980417e-04 9.98711017e-01 -1.14006822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:2.41, Z:-1.16 [[ 9.98658964e-01 1.02000044e-02 5.07566080e-02 6.97194356e+01] [-1.02267295e-02 9.99947670e-01 2.66852080e-04 2.41023266e+00] [-5.07512300e-02 -7.85568324e-04 9.98711017e-01 -1.16322212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:69.78, Y:2.41, Z:-1.14 [[ 9.98658304e-01 1.02643613e-02 5.07566148e-02 6.97811752e+01] [-1.02911039e-02 9.99947010e-01 2.65561381e-04 2.41184962e+00] [-5.07511993e-02 -7.87546674e-04 9.98711017e-01 -1.14439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:2.42, Z:-1.17 [[ 9.98673922e-01 8.61180763e-03 5.07566263e-02 6.98406285e+01] [-8.63630488e-03 9.99962672e-01 2.63341002e-04 2.41681235e+00] [-5.07524638e-02 -7.01341491e-04 9.98711017e-01 -1.17259518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:2.42, Z:-1.17 [[ 9.98604974e-01 1.45557447e-02 5.07566347e-02 6.99023927e+01] [-1.45878292e-02 9.99893558e-01 2.61708713e-04 2.42054862e+00] [-5.07474227e-02 -1.00177274e-03 9.98711017e-01 -1.17474950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:2.43, Z:-1.16 [[ 9.98385873e-01 2.54833816e-02 5.07567418e-02 6.99663326e+01] [-2.55284108e-02 9.99674068e-01 2.38963159e-04 2.42771743e+00] [-5.07341090e-02 -1.53431640e-03 9.98711017e-01 -1.15613691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:2.44, Z:-1.17 [[ 9.97738616e-01 4.40612741e-02 5.07568504e-02 7.00267069e+01] [-4.41289591e-02 9.99025820e-01 2.13095352e-04 2.44310763e+00] [-5.06980149e-02 -2.45246044e-03 9.98711018e-01 -1.16957447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:2.44, Z:-1.17 [[ 9.98082947e-01 3.54141968e-02 5.07569263e-02 7.00884832e+01] [-3.54697124e-02 9.99370733e-01 1.93141725e-04 2.44487119e+00] [-5.07181467e-02 -1.99310504e-03 9.98711018e-01 -1.16945950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:2.46, Z:-1.19 [[ 9.96687504e-01 6.35432821e-02 5.07569684e-02 7.01483148e+01] [-6.36344908e-02 9.97973255e-01 1.81368748e-04 2.45967723e+00] [-5.06425722e-02 -3.41066180e-03 9.98711018e-01 -1.19152779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:70.21, Y:2.46, Z:-1.17 [[ 9.98315357e-01 2.81100223e-02 5.07570091e-02 7.02109594e+01] [-2.81548952e-02 9.99603558e-01 1.69158445e-04 2.45694798e+00] [-5.07321319e-02 -1.59793175e-03 9.98711018e-01 -1.16811843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:70.27, Y:2.46, Z:-1.19 [[ 9.98410598e-01 2.44949272e-02 5.07570311e-02 7.02713526e+01] [-2.45347854e-02 9.99698964e-01 1.62271015e-04 2.45823922e+00] [-5.07377766e-02 -1.40732597e-03 9.98711018e-01 -1.18597057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters Centerline goodness : 0.998554 with order 1 Centerline is valid? [True, True] Translation: X:70.33, Y:2.47, Z:-1.18 [[ 9.98482662e-01 2.13564068e-02 5.07570363e-02 7.03331165e+01] [-2.13921319e-02 9.99771149e-01 1.60637477e-04 2.46556759e+00] [-5.07419899e-02 -1.24619495e-03 9.98711018e-01 -1.17517459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters Centerline goodness : 0.997308 with order 1 Centerline is valid? [True, True] Translation: X:70.39, Y:2.47, Z:-1.17 [[ 9.98591195e-01 1.54708841e-02 5.07570465e-02 7.03937219e+01] [-1.54988478e-02 9.99879873e-01 1.57362292e-04 2.47109483e+00] [-5.07485146e-02 -9.43816335e-04 9.98711018e-01 -1.17480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:2.47, Z:-1.20 [[ 9.98626587e-01 1.29869518e-02 5.07570510e-02 7.04535773e+01] [-1.30116346e-02 9.99915333e-01 1.55878872e-04 2.47123551e+00] [-5.07507292e-02 -8.16096985e-04 9.98711018e-01 -1.20111134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:70.52, Y:2.48, Z:-1.18 [[ 9.98633303e-01 1.24598250e-02 5.07570583e-02 7.05163775e+01] [-1.24837057e-02 9.99922064e-01 1.53481466e-04 2.47565778e+00] [-5.07511901e-02 -7.86907880e-04 9.98711018e-01 -1.18242119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:70.58, Y:2.48, Z:-1.19 [[ 9.98648065e-01 1.12141677e-02 5.07571180e-02 7.05775667e+01] [-1.12352569e-02 9.99936874e-01 1.30185625e-04 2.47939804e+00] [-5.07524540e-02 -7.00278885e-04 9.98711018e-01 -1.18518520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.64, Y:2.48, Z:-1.21 [[ 9.98662288e-01 9.86655199e-03 5.07571222e-02 7.06375727e+01] [-9.88581795e-03 9.99951126e-01 1.28529700e-04 2.47921816e+00] [-5.07533734e-02 -6.30133434e-04 9.98711018e-01 -1.21031158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:2.48, Z:-1.19 [[ 9.98703676e-01 3.83172759e-03 5.07571253e-02 7.07001529e+01] [-3.84314255e-03 9.99992607e-01 1.27299007e-04 2.47988889e+00] [-5.07562623e-02 -3.22200854e-04 9.98711018e-01 -1.18616500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:2.48, Z:-1.20 [[ 9.98709813e-01 1.55676865e-03 5.07571295e-02 7.07605728e+01] [-1.56516167e-03 9.99998767e-01 1.25609753e-04 2.47983179e+00] [-5.07568714e-02 -2.04890807e-04 9.98711018e-01 -1.19675901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:2.48, Z:-1.20 [[ 9.98709793e-01 1.56954850e-03 5.07571337e-02 7.08223500e+01] [-1.57787093e-03 9.99998747e-01 1.23896266e-04 2.47745760e+00] [-5.07568756e-02 -2.03824620e-04 9.98711018e-01 -1.19869379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters Centerline goodness : 0.997308 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:2.47, Z:-1.20 [[ 9.98710618e-01 8.99893538e-04 5.07571810e-02 7.08829606e+01] [-9.06129005e-04 9.99999584e-01 9.98379895e-05 2.47482422e+00] [-5.07570701e-02 -1.45701814e-04 9.98711019e-01 -1.19674463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:2.47, Z:-1.20 [[ 9.98709221e-01 -1.89752311e-03 5.07571838e-02 7.09432378e+01] [ 1.89497164e-03 9.99998200e-01 9.83910375e-05 2.47340710e+00] [-5.07572791e-02 -2.08061270e-06 9.98711019e-01 -1.20244202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:2.47, Z:-1.23 [[ 9.98699040e-01 -4.89236594e-03 5.07571899e-02 7.10045281e+01] [ 4.89384419e-03 9.99988021e-01 9.51557241e-05 2.46773771e+00] [-5.07570474e-02 1.53365848e-04 9.98711019e-01 -1.22517900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:71.07, Y:2.47, Z:-1.23 [[ 9.98686063e-01 -7.06054547e-03 5.07572236e-02 7.10669511e+01] [ 7.06604691e-03 9.99975033e-01 7.10562001e-05 2.46559976e+00] [-5.07564581e-02 2.87690087e-04 9.98711019e-01 -1.22730937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:2.46, Z:-1.21 [[ 9.98699553e-01 -4.78592026e-03 5.07572460e-02 7.11284774e+01] [ 4.78972140e-03 9.99988528e-01 4.67467008e-05 2.46322567e+00] [-5.07568875e-02 1.96427159e-04 9.98711019e-01 -1.21059649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:2.46, Z:-1.24 [[ 9.98701226e-01 -4.42310607e-03 5.07572482e-02 7.11879968e+01] [ 4.42656657e-03 9.99990202e-01 4.42355013e-05 2.46229499e+00] [-5.07569465e-02 1.80502289e-04 9.98711019e-01 -1.23503139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:2.46, Z:-1.24 [[ 9.98705421e-01 -3.34427000e-03 5.07572497e-02 7.12495369e+01] [ 3.34642586e-03 9.99994400e-01 4.25086660e-05 2.45796012e+00] [-5.07571076e-02 1.27401738e-04 9.98711019e-01 -1.23990731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:2.46, Z:-1.22 [[ 9.98710963e-01 3.36162808e-04 5.07572584e-02 7.13112798e+01] [-3.37520538e-04 9.99999943e-01 1.81781341e-05 2.45539414e+00] [-5.07572494e-02 -3.52863190e-05 9.98711019e-01 -1.22037107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.37, Y:2.45, Z:-1.24 [[ 9.98703458e-01 3.88632631e-03 5.07572590e-02 7.13706959e+01] [-3.89217861e-03 9.99992425e-01 1.64579748e-05 2.45345614e+00] [-5.07568105e-02 -2.13992954e-04 9.98711019e-01 -1.24431545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:2.46, Z:-1.25 [[ 9.98662171e-01 9.87765114e-03 5.07572594e-02 7.14327692e+01] [-9.89114995e-03 9.99951081e-01 1.47632895e-05 2.45518424e+00] [-5.07546306e-02 -5.16791203e-04 9.98711019e-01 -1.24559460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:71.49, Y:2.46, Z:-1.23 [[ 9.98638399e-01 1.20436018e-02 5.07572554e-02 7.14944497e+01] [-1.20586997e-02 9.99927291e-01 -8.77790805e-06 2.45605766e+00] [-5.07536706e-02 -6.03300546e-04 9.98711020e-01 -1.22794625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:71.55, Y:2.46, Z:-1.25 [[ 9.98598536e-01 1.49888059e-02 5.07572553e-02 7.15540682e+01] [-1.50076858e-02 9.99887378e-01 -9.15712742e-06 2.45952414e+00] [-5.07516762e-02 -7.52604646e-04 9.98711020e-01 -1.25185303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.62, Y:2.46, Z:-1.26 [[ 9.98571274e-01 1.67066518e-02 5.07572552e-02 7.16171592e+01] [-1.67277078e-02 9.99860082e-01 -9.96428701e-06 2.46408869e+00] [-5.07503198e-02 -8.39102484e-04 9.98711020e-01 -1.25874082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:71.68, Y:2.47, Z:-1.24 [[ 9.98565600e-01 1.70424526e-02 5.07572360e-02 7.16792603e+01] [-1.70625880e-02 9.99854423e-01 -3.66093586e-05 2.46822531e+00] [-5.07504708e-02 -8.29492961e-04 9.98711020e-01 -1.24072190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:71.74, Y:2.48, Z:-1.24 [[ 9.98603088e-01 1.46824933e-02 5.07572347e-02 7.17416182e+01] [-1.46994983e-02 9.99891956e-01 -3.82706994e-05 2.47521286e+00] [-5.07523126e-02 -7.07888648e-04 9.98711020e-01 -1.24334390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:2.48, Z:-1.27 [[ 9.98606464e-01 1.44511762e-02 5.07572065e-02 7.18019431e+01] [-1.44667008e-02 9.99895350e-01 -6.15276713e-05 2.48136206e+00] [-5.07527839e-02 -6.72847390e-04 9.98711020e-01 -1.27002425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:2.49, Z:-1.25 [[ 9.98568735e-01 1.68579674e-02 5.07571706e-02 7.18639839e+01] [-1.68754878e-02 9.99857595e-01 -8.33819593e-05 2.48919282e+00] [-5.07513482e-02 -7.73289399e-04 9.98711021e-01 -1.24970652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:2.50, Z:-1.25 [[ 9.98565865e-01 1.70271075e-02 5.07571685e-02 7.19250030e+01] [-1.70447823e-02 9.99854724e-01 -8.46385677e-05 2.50300465e+00] [-5.07512359e-02 -7.80627704e-04 9.98711021e-01 -1.25225919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:2.51, Z:-1.28 [[ 9.98644270e-01 1.15469169e-02 5.07571657e-02 7.19861392e+01] [-1.15574329e-02 9.99933207e-01 -8.63233423e-05 2.50549483e+00] [-5.07547722e-02 -5.00416223e-04 9.98711021e-01 -1.27943133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.05, Y:2.51, Z:-1.28 [[ 9.98672778e-01 8.74058351e-03 5.07571155e-02 7.20484461e+01] [-8.74629641e-03 9.99961744e-01 -1.09561055e-04 2.51326897e+00] [-5.07561314e-02 -3.34521134e-04 9.98711021e-01 -1.28141965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:2.52, Z:-1.29 [[ 9.98707376e-01 2.70070693e-03 5.07571001e-02 7.21097261e+01] [-2.69828140e-03 9.99996353e-01 -1.16309629e-04 2.51516537e+00] [-5.07572291e-02 -2.07976544e-05 9.98711021e-01 -1.28759980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:2.52, Z:-1.27 [[ 9.98710390e-01 1.12923472e-03 5.07570919e-02 7.21732305e+01] [-1.12460592e-03 9.99999360e-01 -1.19754389e-04 2.51595661e+00] [-5.07571947e-02 6.25182266e-05 9.98711021e-01 -1.27067246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:2.52, Z:-1.30 [[ 9.98710376e-01 -1.14419310e-03 5.07570242e-02 7.22347243e+01] [ 1.15297297e-03 9.99999325e-01 -1.43699120e-04 2.51757186e+00] [-5.07568255e-02 2.02035279e-04 9.98711021e-01 -1.29574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:72.30, Y:2.52, Z:-1.27 [[ 9.98704574e-01 -3.59273024e-03 5.07569324e-02 7.22963712e+01] [ 3.60605487e-03 9.99993484e-01 -1.70945432e-04 2.51708655e+00] [-5.07559875e-02 3.53756268e-04 9.98711022e-01 -1.27239014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters Centerline goodness : 0.996955 with order 1 Centerline is valid? [True, True] Translation: X:72.36, Y:2.51, Z:-1.27 [[ 9.98695515e-01 -5.56791366e-03 5.07569324e-02 7.23580750e+01] [ 5.58378741e-03 9.99984396e-01 -1.70945432e-04 2.51464809e+00] [-5.07551886e-02 4.54138356e-04 9.98711022e-01 -1.27378212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:72.42, Y:2.51, Z:-1.29 [[ 9.98183644e-01 -3.24523545e-02 5.07568467e-02 7.24185978e+01] [ 3.25040632e-02 9.99471585e-01 -1.93433495e-04 2.50600795e+00] [-5.07237487e-02 1.84288590e-03 9.98711022e-01 -1.28826341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters Centerline goodness : 0.996455 with order 1 Centerline is valid? [True, True] Translation: X:72.48, Y:2.51, Z:-1.28 [[ 9.98661158e-01 -9.98214472e-03 5.07567542e-02 7.24810703e+01] [ 1.00059670e-02 9.99949916e-01 -2.15258035e-04 2.50965924e+00] [-5.07520633e-02 7.22840245e-04 9.98711022e-01 -1.27996639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:72.54, Y:2.51, Z:-1.28 [[ 9.98682658e-01 -7.53075652e-03 5.07566390e-02 7.25426933e+01] [ 7.55265488e-03 9.99971450e-01 -2.39651999e-04 2.50844892e+00] [-5.07533851e-02 6.22683672e-04 9.98711022e-01 -1.28445647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:72.60, Y:2.51, Z:-1.29 [[ 9.98704654e-01 -3.57629731e-03 5.07565150e-02 7.26044030e+01] [ 3.59430659e-03 9.99993506e-01 -2.63545228e-04 2.50650487e+00] [-5.07552428e-02 4.45638322e-04 9.98711023e-01 -1.28718300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters Centerline goodness : 0.996103 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:2.51, Z:-1.29 [[ 9.98708623e-01 -2.20813856e-03 5.07563743e-02 7.26674517e+01] [ 2.22564054e-03 9.99997482e-01 -2.88306744e-04 2.50596481e+00] [-5.07556099e-02 4.00899876e-04 9.98711023e-01 -1.28811883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters Centerline goodness : 0.996370 with order 1 Centerline is valid? [True, True] Translation: X:72.73, Y:2.50, Z:-1.29 [[ 9.98709621e-01 -1.70299696e-03 5.07562035e-02 7.27295818e+01] [ 1.72124302e-03 9.99998469e-01 -3.15776455e-04 2.50487164e+00] [-5.07555880e-02 4.02732745e-04 9.98711023e-01 -1.29345763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:72.79, Y:2.50, Z:-1.29 [[ 9.98710982e-01 -4.46837721e-04 5.07560405e-02 7.27900591e+01] [ 4.64698572e-04 9.99999834e-01 -3.40095885e-04 2.49869988e+00] [-5.07558801e-02 3.63243755e-04 9.98711024e-01 -1.29204596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters Centerline goodness : 0.995372 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:2.50, Z:-1.30 [[ 9.98705721e-01 3.27221369e-03 5.07560409e-02 7.28523878e+01] [-3.25915538e-03 9.99994631e-01 -3.40038325e-04 2.49612472e+00] [-5.07568811e-02 1.74176397e-04 9.98711024e-01 -1.29864573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:72.91, Y:2.49, Z:-1.32 [[ 9.98708528e-01 2.25966019e-03 5.07559810e-02 7.29117632e+01] [-2.24485181e-03 9.99997419e-01 -3.48761195e-04 2.49211843e+00] [-5.07566381e-02 2.34371124e-04 9.98711024e-01 -1.31972990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters Centerline goodness : 0.997255 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:2.49, Z:-1.31 [[ 9.98708803e-01 2.13506484e-03 5.07559656e-02 7.29741582e+01] [-2.11998301e-03 9.99997691e-01 -3.50977852e-04 2.48996020e+00] [-5.07565978e-02 2.42922885e-04 9.98711024e-01 -1.31089458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:2.48, Z:-1.33 [[ 9.98710092e-01 1.41020642e-03 5.07559287e-02 7.30349844e+01] [-1.39392139e-03 9.99998965e-01 -3.56246035e-04 2.48497254e+00] [-5.07563785e-02 2.85036735e-04 9.98711024e-01 -1.32820202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:2.48, Z:-1.33 [[ 9.98709382e-01 -1.84996635e-03 5.07557615e-02 7.30964816e+01] [ 1.87159727e-03 9.99998177e-01 -3.78652210e-04 2.47963155e+00] [-5.07549685e-02 4.73157860e-04 9.98711024e-01 -1.33306962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:73.16, Y:2.47, Z:-1.34 [[ 9.98705740e-01 -3.27355270e-03 5.07555704e-02 7.31588786e+01] [ 3.29824474e-03 9.99994480e-01 -4.02740628e-04 2.47317497e+00] [-5.07539718e-02 5.69623671e-04 9.98711024e-01 -1.33591864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:73.22, Y:2.47, Z:-1.34 [[ 9.98711049e-01 -3.64026401e-04 5.07553696e-02 7.32210293e+01] [ 3.86178037e-04 9.99999834e-01 -4.26633318e-04 2.47011163e+00] [-5.07552059e-02 4.45684018e-04 9.98711024e-01 -1.33982594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:73.28, Y:2.47, Z:-1.34 [[ 9.98707149e-01 2.81849587e-03 5.07551545e-02 7.32828596e+01] [-2.79922071e-03 9.99995981e-01 -4.50846800e-04 2.47018356e+00] [-5.07562212e-02 3.08189042e-04 9.98711025e-01 -1.34302396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:2.47, Z:-1.34 [[ 9.98680446e-01 7.82971911e-03 5.07549290e-02 7.33453329e+01] [-7.81568649e-03 9.99969344e-01 -4.74945234e-04 2.46740690e+00] [-5.07570918e-02 7.76339048e-05 9.98711025e-01 -1.33748606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:2.47, Z:-1.34 [[ 9.98657471e-01 1.03545999e-02 5.07546892e-02 7.34077465e+01] [-1.03425867e-02 9.99946389e-01 -4.99327688e-04 2.46770979e+00] [-5.07571385e-02 -2.62774490e-05 9.98711025e-01 -1.34146726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:2.47, Z:-1.32 [[ 9.98611197e-01 1.41303963e-02 5.07543988e-02 7.34689828e+01] [-1.41218362e-02 9.99900143e-01 -5.27274980e-04 2.46631894e+00] [-5.07567813e-02 -1.90202606e-04 9.98711026e-01 -1.32493658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:2.47, Z:-1.35 [[ 9.98502214e-01 2.04284296e-02 5.07543974e-02 7.35289331e+01] [-2.04279921e-02 9.99791188e-01 -5.27414125e-04 2.46812238e+00] [-5.07545735e-02 -5.10186258e-04 9.98711026e-01 -1.34851844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters Centerline goodness : 0.997558 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:2.47, Z:-1.33 [[ 9.98480696e-01 2.14544431e-02 5.07543694e-02 7.35912616e+01] [-2.14551938e-02 9.99769670e-01 -5.30094574e-04 2.46773914e+00] [-5.07540521e-02 -5.59655634e-04 9.98711026e-01 -1.32838964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters Centerline goodness : 0.998010 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:2.47, Z:-1.33 [[ 9.98467771e-01 2.20477912e-02 5.07543525e-02 7.36519069e+01] [-2.20492258e-02 9.99756745e-01 -5.31710738e-04 2.46745904e+00] [-5.07537293e-02 -5.88198142e-04 9.98711026e-01 -1.32991525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:73.71, Y:2.47, Z:-1.35 [[ 9.98480424e-01 2.14672532e-02 5.07543167e-02 7.37113266e+01] [-2.14677657e-02 9.99769398e-01 -5.35107510e-04 2.46883215e+00] [-5.07540999e-02 -5.55287405e-04 9.98711026e-01 -1.35468829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:2.47, Z:-1.36 [[ 9.98446531e-01 2.29896763e-02 5.07543038e-02 7.37738886e+01] [-2.29920922e-02 9.99735503e-01 -5.36325764e-04 2.46976286e+00] [-5.07532094e-02 -6.31455035e-04 9.98711026e-01 -1.35891937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:73.84, Y:2.47, Z:-1.33 [[ 9.98483351e-01 2.13314237e-02 5.07539975e-02 7.38358103e+01] [-2.13302976e-02 9.99772324e-01 -5.63897627e-04 2.46943390e+00] [-5.07544708e-02 -5.19555479e-04 9.98711026e-01 -1.33396412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:2.47, Z:-1.34 [[ 9.98581564e-01 1.60901377e-02 5.07539814e-02 7.38965038e+01] [-1.60821726e-02 9.99870514e-01 -5.65337540e-04 2.46956750e+00] [-5.07565058e-02 -2.51698645e-04 9.98711026e-01 -1.34271291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:2.47, Z:-1.36 [[ 9.98623350e-01 1.32454054e-02 5.07539499e-02 7.39567108e+01] [-1.32336252e-02 9.99912270e-01 -5.68158729e-04 2.46783563e+00] [-5.07570227e-02 -1.04282173e-04 9.98711026e-01 -1.36484809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:2.46, Z:-1.35 [[ 9.98686164e-01 7.07000295e-03 5.07539209e-02 7.40182212e+01] [-7.05012172e-03 9.99974985e-01 -5.70735640e-04 2.46200269e+00] [-5.07566864e-02 2.12164467e-04 9.98711026e-01 -1.35020159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:2.46, Z:-1.38 [[ 9.98693265e-01 5.98357923e-03 5.07538986e-02 7.40779987e+01] [-5.96219583e-03 9.99982062e-01 -5.72706273e-04 2.45864461e+00] [-5.07564150e-02 2.69353215e-04 9.98711026e-01 -1.37548349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:74.14, Y:2.46, Z:-1.35 [[ 9.98628618e-01 1.28424676e-02 5.07538638e-02 7.41404248e+01] [-1.28297799e-02 9.99917529e-01 -5.75781599e-04 2.46085337e+00] [-5.07570725e-02 -7.61689187e-05 9.98711026e-01 -1.35014544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:2.46, Z:-1.36 [[ 9.98459039e-01 2.24409061e-02 5.07538418e-02 7.42012583e+01] [-2.24405101e-02 9.99748013e-01 -5.77711078e-04 2.46274621e+00] [-5.07540168e-02 -5.62121253e-04 9.98711026e-01 -1.36100644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.26, Y:2.46, Z:-1.38 [[ 9.98415815e-01 2.42880368e-02 5.07538256e-02 7.42615946e+01] [-2.42899535e-02 9.99704788e-01 -5.79126924e-04 2.46308946e+00] [-5.07529083e-02 -6.54598586e-04 9.98711026e-01 -1.37791419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:74.32, Y:2.46, Z:-1.36 [[ 9.98512682e-01 1.99116917e-02 5.07537927e-02 7.43228294e+01] [-1.99078126e-02 9.99801650e-01 -5.82002807e-04 2.46407286e+00] [-5.07553143e-02 -4.29259810e-04 9.98711026e-01 -1.36470025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:74.39, Y:2.47, Z:-1.37 [[ 9.98536084e-01 1.87014061e-02 5.07537792e-02 7.43850402e+01] [-1.86959054e-02 9.99825046e-01 -5.83170728e-04 2.46872617e+00] [-5.07558058e-02 -3.66570838e-04 9.98711026e-01 -1.36961540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:2.47, Z:-1.37 [[ 9.98559240e-01 1.74220019e-02 5.07534964e-02 7.44473882e+01] [-1.74136472e-02 9.99848187e-01 -6.06829790e-04 2.46607735e+00] [-5.07563635e-02 -2.77847985e-04 9.98711026e-01 -1.36923602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:74.51, Y:2.47, Z:-1.37 [[ 9.98570673e-01 1.67547987e-02 5.07532000e-02 7.45091800e+01] [-1.67443706e-02 9.99859604e-01 -6.30680531e-04 2.46674025e+00] [-5.07566414e-02 -2.20051305e-04 9.98711027e-01 -1.37152815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:74.57, Y:2.46, Z:-1.37 [[ 9.98556385e-01 1.75859407e-02 5.07531351e-02 7.45706554e+01] [-1.75763220e-02 9.99845322e-01 -6.35862196e-04 2.46495900e+00] [-5.07564669e-02 -2.57109191e-04 9.98711027e-01 -1.37361990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.63, Y:2.46, Z:-1.40 [[ 9.98568001e-01 1.69139357e-02 5.07529847e-02 7.46302678e+01] [-1.69028504e-02 9.99856927e-01 -6.47650242e-04 2.46455866e+00] [-5.07566776e-02 -2.11147300e-04 9.98711027e-01 -1.39698108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:74.69, Y:2.46, Z:-1.37 [[ 9.98580050e-01 1.61870609e-02 5.07529589e-02 7.46924594e+01] [-1.61749353e-02 9.99868966e-01 -6.49660650e-04 2.46466670e+00] [-5.07568247e-02 -1.72187662e-04 9.98711027e-01 -1.37479608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.75, Y:2.46, Z:-1.39 [[ 9.98574040e-01 1.65537084e-02 5.07529457e-02 7.47526421e+01] [-1.65420036e-02 9.99862960e-01 -6.50692032e-04 2.46403403e+00] [-5.07567619e-02 -1.89791238e-04 9.98711027e-01 -1.38572862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:2.47, Z:-1.39 [[ 9.98584241e-01 1.59265110e-02 5.07529299e-02 7.48144790e+01] [-1.59139340e-02 9.99873153e-01 -6.51923369e-04 2.46529780e+00] [-5.07568749e-02 -1.56678374e-04 9.98711027e-01 -1.38579909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:2.47, Z:-1.39 [[ 9.98622412e-01 1.33204433e-02 5.07527758e-02 7.48775559e+01] [-1.33039040e-02 9.99911279e-01 -6.63705069e-04 2.46505110e+00] [-5.07571138e-02 -1.24192985e-05 9.98711027e-01 -1.38976105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:74.94, Y:2.47, Z:-1.39 [[ 9.98643365e-01 1.16457422e-02 5.07524082e-02 7.49400207e+01] [-1.16256687e-02 9.99932181e-01 -6.90716274e-04 2.46531205e+00] [-5.07570102e-02 9.97485401e-05 9.98711027e-01 -1.39137640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:75.00, Y:2.47, Z:-1.39 [[ 9.98658863e-01 1.02324081e-02 5.07520729e-02 7.50025813e+01] [-1.02093001e-02 9.99947628e-01 -7.14536183e-04 2.46595640e+00] [-5.07567264e-02 1.95434748e-04 9.98711028e-01 -1.39475209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:75.06, Y:2.46, Z:-1.40 [[ 9.98654635e-01 1.06379598e-02 5.07518869e-02 7.50647863e+01] [-1.06147157e-02 9.99943398e-01 -7.27513969e-04 2.46493118e+00] [-5.07567535e-02 1.87818350e-04 9.98711028e-01 -1.39832601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:2.46, Z:-1.42 [[ 9.98662908e-01 9.83250340e-03 5.07515310e-02 7.51250355e+01] [-9.80699839e-03 9.99951628e-01 -7.51548597e-04 2.46296912e+00] [-5.07564656e-02 2.52823524e-04 9.98711028e-01 -1.42270400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:2.46, Z:-1.40 [[ 9.98625584e-01 1.30854923e-02 5.07514800e-02 7.51873436e+01] [-1.30640112e-02 9.99914377e-01 -7.54974124e-04 2.46265777e+00] [-5.07570137e-02 9.09185733e-05 9.98711028e-01 -1.39942521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:2.46, Z:-1.41 [[ 9.98599469e-01 1.49462368e-02 5.07514579e-02 7.52483032e+01] [-1.49270818e-02 9.99888299e-01 -7.56459063e-04 2.46190584e+00] [-5.07570951e-02 -2.17154278e-06 9.98711028e-01 -1.40535519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.31, Y:2.46, Z:-1.43 [[ 9.98586248e-01 1.58050857e-02 5.07514061e-02 7.53083990e+01] [-1.57868633e-02 9.99875091e-01 -7.59919562e-04 2.46414941e+00] [-5.07570773e-02 -4.23602835e-05 9.98711028e-01 -1.42887160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:75.37, Y:2.47, Z:-1.41 [[ 9.98476305e-01 2.16648472e-02 5.07513802e-02 7.53704593e+01] [-2.16541008e-02 9.99765232e-01 -7.61643439e-04 2.46670974e+00] [-5.07559663e-02 -3.38492576e-04 9.98711028e-01 -1.41289541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:75.43, Y:2.47, Z:-1.41 [[ 9.98377018e-01 2.58386057e-02 5.07513279e-02 7.54327961e+01] [-2.58330710e-02 9.99665978e-01 -7.65114766e-04 2.47336379e+00] [-5.07541453e-02 -5.47189660e-04 9.98711028e-01 -1.41402472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:75.49, Y:2.48, Z:-1.42 [[ 9.98340363e-01 2.72187280e-02 5.07509564e-02 7.54944720e+01] [-2.72137609e-02 9.99629326e-01 -7.89005379e-04 2.47702184e+00] [-5.07536201e-02 -5.93428479e-04 9.98711028e-01 -1.41725546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:2.48, Z:-1.44 [[ 9.98334004e-01 2.74516471e-02 5.07506055e-02 7.55545112e+01] [-2.74458644e-02 9.99622962e-01 -8.10967843e-04 2.48256248e+00] [-5.07537330e-02 -5.83277461e-04 9.98711028e-01 -1.43842186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:2.49, Z:-1.44 [[ 9.98220844e-01 3.12973576e-02 5.07505787e-02 7.56171452e+01] [-3.12964552e-02 9.99509816e-01 -8.12643910e-04 2.49058762e+00] [-5.07511351e-02 -7.77115124e-04 9.98711028e-01 -1.43620750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:2.49, Z:-1.44 [[ 9.98360179e-01 2.64834276e-02 5.07501909e-02 7.56795986e+01] [-2.64751133e-02 9.99649123e-01 -8.36181830e-04 2.49355759e+00] [-5.07545288e-02 -5.08806409e-04 9.98711029e-01 -1.44446020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:75.74, Y:2.49, Z:-1.45 [[ 9.98416739e-01 2.42579247e-02 5.07500511e-02 7.57420987e+01] [-2.42463102e-02 9.99705658e-01 -8.44581788e-04 2.49257586e+00] [-5.07556010e-02 -3.87256888e-04 9.98711029e-01 -1.44500855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:2.50, Z:-1.45 [[ 9.98427427e-01 2.38148457e-02 5.07496414e-02 7.58044121e+01] [-2.38014423e-02 9.99716328e-01 -8.68523036e-04 2.49629660e+00] [-5.07559289e-02 -3.40757442e-04 9.98711029e-01 -1.45014618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.87, Y:2.50, Z:-1.45 [[ 9.98314379e-01 2.81587827e-02 5.07492220e-02 7.58667140e+01] [-2.81497753e-02 9.99603318e-01 -8.92371907e-04 2.50084002e+00] [-5.07542188e-02 -5.37711490e-04 9.98711029e-01 -1.45423083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:2.50, Z:-1.45 [[ 9.98120906e-01 3.43397287e-02 5.07487937e-02 7.59285537e+01] [-3.43374965e-02 9.99409874e-01 -9.16099039e-04 2.50403855e+00] [-5.07503042e-02 -8.28208922e-04 9.98711030e-01 -1.45436584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters Centerline goodness : 0.961241 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:2.53, Z:-1.47 [[ 9.90659611e-01 1.26562706e-01 5.07485616e-02 7.59879056e+01] [-1.26679128e-01 9.91943313e-01 -9.28783527e-04 2.53063482e+00] [-5.04572457e-02 -5.50867518e-03 9.98711030e-01 -1.47266254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:2.51, Z:-1.46 [[ 9.98311373e-01 2.82663474e-02 5.07485642e-02 7.60491943e+01] [-2.82556354e-02 9.99600298e-01 -9.28638652e-04 2.50702454e+00] [-5.07545292e-02 -5.06862402e-04 9.98711030e-01 -1.46192694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:2.51, Z:-1.46 [[ 9.98274392e-01 2.95436515e-02 5.07485115e-02 7.61122127e+01] [-2.95344428e-02 9.99563329e-01 -9.31509746e-04 2.51031009e+00] [-5.07538713e-02 -5.68926685e-04 9.98711030e-01 -1.46349382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:76.18, Y:2.51, Z:-1.45 [[ 9.98300633e-01 2.86441281e-02 5.07479971e-02 7.61759446e+01] [-2.86323740e-02 9.99589550e-01 -9.58738537e-04 2.51242926e+00] [-5.07546298e-02 -4.95926345e-04 9.98711030e-01 -1.45287667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.24, Y:2.51, Z:-1.47 [[ 9.98320999e-01 2.79262869e-02 5.07474667e-02 7.62369174e+01] [-2.79122184e-02 9.99609892e-01 -9.86036889e-04 2.51237061e+00] [-5.07552061e-02 -4.32093042e-04 9.98711030e-01 -1.47100583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.30, Y:2.52, Z:-1.46 [[ 9.98366381e-01 2.62547361e-02 5.07469967e-02 7.62994259e+01] [-2.62373087e-02 9.99655233e-01 -1.00966311e-03 2.51526002e+00] [-5.07560092e-02 -3.23450916e-04 9.98711031e-01 -1.45819582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:76.36, Y:2.52, Z:-1.46 [[ 9.98433783e-01 2.35531206e-02 5.07467413e-02 7.63618543e+01] [-2.35315614e-02 9.99722572e-01 -1.02233888e-03 2.51505183e+00] [-5.07567420e-02 -1.73412387e-04 9.98711031e-01 -1.46132678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.42, Y:2.51, Z:-1.49 [[ 9.98488860e-01 2.10908116e-02 5.07461725e-02 7.64230650e+01] [-2.10646768e-02 9.99777564e-01 -1.04983526e-03 2.51434132e+00] [-5.07570266e-02 -2.07029120e-05 9.98711031e-01 -1.48554508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.49, Y:2.51, Z:-1.47 [[ 9.98536151e-01 1.87198625e-02 5.07456553e-02 7.64863212e+01] [-1.86894262e-02 9.99824760e-01 -1.07426675e-03 2.51131973e+00] [-5.07568728e-02 1.24287011e-04 9.98711031e-01 -1.46746759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.55, Y:2.51, Z:-1.49 [[ 9.98558304e-01 1.74998331e-02 5.07451343e-02 7.65478835e+01] [-1.74665990e-02 9.99846844e-01 -1.09833991e-03 2.50911261e+00] [-5.07565831e-02 2.10411526e-04 9.98711032e-01 -1.48653113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.61, Y:2.51, Z:-1.48 [[ 9.98564105e-01 1.71672575e-02 5.07445942e-02 7.66100664e+01] [-1.71323538e-02 9.99852600e-01 -1.12274926e-03 2.50662063e+00] [-5.07563890e-02 2.51762762e-04 9.98711032e-01 -1.48471991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:76.67, Y:2.50, Z:-1.50 [[ 9.98571501e-01 1.67331506e-02 5.07440478e-02 7.66715382e+01] [-1.66964582e-02 9.99859947e-01 -1.14692622e-03 2.50495000e+00] [-5.07561326e-02 2.98041962e-04 9.98711032e-01 -1.49536531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.73, Y:2.50, Z:-1.50 [[ 9.98511945e-01 1.99738584e-02 5.07438757e-02 7.67344531e+01] [-1.99409635e-02 9.99800493e-01 -1.15448882e-03 2.50495814e+00] [-5.07568116e-02 1.40889102e-04 9.98711032e-01 -1.49891707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.80, Y:2.50, Z:-1.48 [[ 9.98480009e-01 2.15126911e-02 5.07432374e-02 7.67978807e+01] [-2.14803893e-02 9.99768571e-01 -1.18189370e-03 2.50323502e+00] [-5.07569197e-02 9.01127351e-05 9.98711033e-01 -1.48122279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:76.86, Y:2.50, Z:-1.48 [[ 9.98489339e-01 2.10765820e-02 5.07426577e-02 7.68610496e+01] [-2.10424781e-02 9.99777855e-01 -1.20628094e-03 2.49867188e+00] [-5.07568098e-02 1.36707397e-04 9.98711033e-01 -1.48467605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.92, Y:2.50, Z:-1.49 [[ 9.98452738e-01 2.27460192e-02 5.07419753e-02 7.69237151e+01] [-2.27126440e-02 9.99741273e-01 -1.23433540e-03 2.49850031e+00] [-5.07569232e-02 7.99411409e-05 9.98711033e-01 -1.48811316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.99, Y:2.50, Z:-1.49 [[ 9.98395376e-01 2.51395058e-02 5.07412851e-02 7.69856343e+01] [-2.51078094e-02 9.99683953e-01 -1.26208349e-03 2.49961566e+00] [-5.07569766e-02 -1.39441955e-05 9.98711034e-01 -1.49054572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:77.05, Y:2.50, Z:-1.50 [[ 9.98479426e-01 2.15457840e-02 5.07406699e-02 7.70474855e+01] [-2.15082164e-02 9.99767844e-01 -1.28635316e-03 2.49713009e+00] [-5.07566056e-02 1.93055855e-04 9.98711034e-01 -1.49737526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:77.11, Y:2.50, Z:-1.49 [[ 9.98562103e-01 1.72966807e-02 5.07400416e-02 7.71090177e+01] [-1.72523949e-02 9.99850307e-01 -1.31067544e-03 2.49570245e+00] [-5.07551165e-02 4.33403586e-04 9.98711034e-01 -1.49239398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.17, Y:2.49, Z:-1.52 [[ 9.98593886e-01 1.53526245e-02 5.07399966e-02 7.71687201e+01] [-1.53057426e-02 9.99881999e-01 -1.31241439e-03 2.49458194e+00] [-5.07541583e-02 5.33955659e-04 9.98711034e-01 -1.52069675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.23, Y:2.49, Z:-1.52 [[ 9.98630594e-01 1.27437019e-02 5.07398825e-02 7.72300398e+01] [-1.26932315e-02 9.99918571e-01 -1.31681231e-03 2.48939039e+00] [-5.07525319e-02 6.70955984e-04 9.98711034e-01 -1.52080814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.29, Y:2.48, Z:-1.53 [[ 9.98612009e-01 1.41254679e-02 5.07397945e-02 7.72908756e+01] [-1.40766079e-02 9.99900048e-01 -1.32019352e-03 2.48172266e+00] [-5.07533713e-02 6.04116908e-04 9.98711034e-01 -1.52575651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.35, Y:2.48, Z:-1.51 [[ 9.98624304e-01 1.32280377e-02 5.07397056e-02 7.73537380e+01] [-1.31778469e-02 9.99912292e-01 -1.32360444e-03 2.47578080e+00] [-5.07527640e-02 6.53143494e-04 9.98711034e-01 -1.51233346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:2.47, Z:-1.51 [[ 9.98614472e-01 1.39528616e-02 5.07390729e-02 7.74153871e+01] [-1.39023954e-02 9.99902449e-01 -1.34742834e-03 2.46901048e+00] [-5.07529237e-02 6.40166788e-04 9.98711035e-01 -1.51383749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:2.46, Z:-1.51 [[ 9.98578612e-01 1.63207453e-02 5.07384451e-02 7.74775389e+01] [-1.62721527e-02 9.99866660e-01 -1.37066711e-03 2.46259368e+00] [-5.07540500e-02 5.43095131e-04 9.98711035e-01 -1.51249886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:2.46, Z:-1.52 [[ 9.98554807e-01 1.77192912e-02 5.07377915e-02 7.75387914e+01] [-1.76712943e-02 9.99842878e-01 -1.39444970e-03 2.45936612e+00] [-5.07545282e-02 4.95832002e-04 9.98711035e-01 -1.51711764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.60, Y:2.46, Z:-1.52 [[ 9.98492522e-01 2.09372807e-02 5.07376951e-02 7.76003024e+01] [-2.08932572e-02 9.99780735e-01 -1.39795025e-03 2.45812741e+00] [-5.07558393e-02 3.35767154e-04 9.98711035e-01 -1.52029565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:77.66, Y:2.46, Z:-1.52 [[ 9.98416352e-01 2.43009992e-02 5.07370693e-02 7.76632549e+01] [-2.42601799e-02 9.99704670e-01 -1.42030430e-03 2.45748135e+00] [-5.07565999e-02 1.87164611e-04 9.98711036e-01 -1.52153872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.73, Y:2.45, Z:-1.53 [[ 9.98345375e-01 2.70618300e-02 5.07362732e-02 7.77258766e+01] [-2.70231560e-02 9.99633759e-01 -1.44819511e-03 2.45444782e+00] [-5.07568823e-02 7.47446679e-05 9.98711036e-01 -1.52622294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:77.79, Y:2.45, Z:-1.53 [[ 9.98238320e-01 3.07598729e-02 5.07354628e-02 7.77882491e+01] [-3.07245558e-02 9.99526800e-01 -1.47605365e-03 2.45417611e+00] [-5.07568579e-02 -8.53712406e-05 9.98711036e-01 -1.52981308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.85, Y:2.46, Z:-1.55 [[ 9.98042164e-01 3.65762730e-02 5.07347442e-02 7.78497183e+01] [-3.65472297e-02 9.99330801e-01 -1.50035238e-03 2.45891743e+00] [-5.07556698e-02 -3.56799418e-04 9.98711037e-01 -1.55352463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:77.91, Y:2.46, Z:-1.54 [[ 9.97953446e-01 3.89227423e-02 5.07340188e-02 7.79126607e+01] [-3.88955017e-02 9.99242121e-01 -1.52449301e-03 2.45867103e+00] [-5.07549060e-02 -4.51952066e-04 9.98711037e-01 -1.53994428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.97, Y:2.46, Z:-1.56 [[ 9.98063943e-01 3.59791433e-02 5.07332912e-02 7.79738428e+01] [-3.59468900e-02 9.99352502e-01 -1.54833439e-03 2.45849956e+00] [-5.07561493e-02 -2.78367309e-04 9.98711037e-01 -1.55979319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:2.46, Z:-1.54 [[ 9.98125131e-01 3.42407729e-02 5.07325472e-02 7.80372211e+01] [-3.42050553e-02 9.99413599e-01 -1.57233951e-03 2.46035924e+00] [-5.07566358e-02 -1.65918002e-04 9.98711037e-01 -1.54307723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:2.46, Z:-1.57 [[ 9.98084411e-01 3.54089489e-02 5.07317926e-02 7.80979412e+01] [-3.53735202e-02 9.99372886e-01 -1.59632380e-03 2.46064336e+00] [-5.07565021e-02 -2.01296195e-04 9.98711038e-01 -1.56816689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:78.16, Y:2.46, Z:-1.55 [[ 9.98133533e-01 3.39972595e-02 5.07310225e-02 7.81600764e+01] [-3.39587831e-02 9.99421921e-01 -1.62043195e-03 2.45671077e+00] [-5.07567862e-02 -1.05356323e-04 9.98711038e-01 -1.54719491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.22, Y:2.45, Z:-1.55 [[ 9.98270417e-01 2.97077273e-02 5.07309101e-02 7.82223249e+01] [-2.96635364e-02 9.99558621e-01 -1.62394407e-03 2.45419328e+00] [-5.07567623e-02 1.16277127e-04 9.98711038e-01 -1.55428756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:78.28, Y:2.45, Z:-1.56 [[ 9.98291662e-01 2.89866097e-02 5.07300041e-02 7.82843212e+01] [-2.89400741e-02 9.99579784e-01 -1.65177180e-03 2.45137461e+00] [-5.07565657e-02 1.80819943e-04 9.98711038e-01 -1.55520450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.34, Y:2.45, Z:-1.58 [[ 9.98355780e-01 2.66886284e-02 5.07292146e-02 7.83440616e+01] [-2.66379134e-02 9.99643743e-01 -1.67567249e-03 2.44740436e+00] [-5.07558634e-02 3.21596886e-04 9.98711039e-01 -1.57651778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:2.45, Z:-1.56 [[ 9.98365352e-01 2.63282395e-02 5.07291578e-02 7.84052301e+01] [-2.62769723e-02 9.99653293e-01 -1.67738979e-03 2.44546288e+00] [-5.07557324e-02 3.41639167e-04 9.98711039e-01 -1.56331010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:2.44, Z:-1.57 [[ 9.98379785e-01 2.57751307e-02 5.07291578e-02 7.84667670e+01] [-2.57231501e-02 9.99667698e-01 -1.67738979e-03 2.44404008e+00] [-5.07555353e-02 3.69758315e-04 9.98711039e-01 -1.56839484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:2.45, Z:-1.57 [[ 9.98393866e-01 2.52246319e-02 5.07287570e-02 7.85291824e+01] [-2.51713296e-02 9.99681724e-01 -1.68942494e-03 2.44532723e+00] [-5.07552264e-02 4.09801238e-04 9.98711039e-01 -1.56797853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:78.59, Y:2.44, Z:-1.56 [[ 9.98406876e-01 2.47059657e-02 5.07279484e-02 7.85906748e+01] [-2.46507780e-02 9.99694655e-01 -1.71336615e-03 2.44403293e+00] [-5.07547892e-02 4.60153149e-04 9.98711039e-01 -1.56451524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.65, Y:2.44, Z:-1.58 [[ 9.98423817e-01 2.40117094e-02 5.07278910e-02 7.86509475e+01] [-2.39555400e-02 9.99711554e-01 -1.71506337e-03 2.44326654e+00] [-5.07544403e-02 4.97146092e-04 9.98711039e-01 -1.57809366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:78.71, Y:2.44, Z:-1.58 [[ 9.98416557e-01 2.43118152e-02 5.07278473e-02 7.87129147e+01] [-2.42559673e-02 9.99704307e-01 -1.71635526e-03 2.44281331e+00] [-5.07545752e-02 4.83184498e-04 9.98711039e-01 -1.57890534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:2.45, Z:-1.58 [[ 9.98379572e-01 2.57875338e-02 5.07270462e-02 7.87752750e+01] [-2.57324025e-02 9.99667353e-01 -1.73971508e-03 2.44567760e+00] [-5.07550349e-02 4.31567223e-04 9.98711039e-01 -1.58121577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:2.45, Z:-1.58 [[ 9.98308980e-01 2.83907233e-02 5.07261976e-02 7.88375571e+01] [-2.83377103e-02 9.99596850e-01 -1.76411557e-03 2.44932932e+00] [-5.07558318e-02 3.23668127e-04 9.98711040e-01 -1.58423817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:78.90, Y:2.45, Z:-1.59 [[ 9.98295402e-01 2.88656930e-02 5.07253519e-02 7.89004039e+01] [-2.88120738e-02 9.99583247e-01 -1.78810705e-03 2.45312023e+00] [-5.07558269e-02 3.23556463e-04 9.98711040e-01 -1.58940959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:78.96, Y:2.45, Z:-1.59 [[ 9.98396622e-01 2.51241799e-02 5.07243667e-02 7.89624713e+01] [-2.50643364e-02 9.99684191e-01 -1.81563056e-03 2.45332721e+00] [-5.07539638e-02 5.41346826e-04 9.98711040e-01 -1.59035068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:2.45, Z:-1.59 [[ 9.98477403e-01 2.16795268e-02 5.07235012e-02 7.90240772e+01] [-2.16140292e-02 9.99764697e-01 -1.83949811e-03 2.45413766e+00] [-5.07514453e-02 7.40358059e-04 9.98711041e-01 -1.59448388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:79.09, Y:2.45, Z:-1.60 [[ 9.98527661e-01 1.92271411e-02 5.07230429e-02 7.90866152e+01] [-1.91578446e-02 9.99814756e-01 -1.85204896e-03 2.44957059e+00] [-5.07492564e-02 8.77577940e-04 9.98711041e-01 -1.59894880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:2.45, Z:-1.62 [[ 9.98575048e-01 1.65875328e-02 5.07220577e-02 7.91473738e+01] [-1.65134836e-02 9.99861878e-01 -1.87865124e-03 2.45143416e+00] [-5.07462140e-02 1.03837639e-03 9.98711041e-01 -1.61827640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:2.44, Z:-1.61 [[ 9.98617343e-01 1.38089999e-02 5.07219333e-02 7.92093022e+01] [-1.37312002e-02 9.99903951e-01 -1.88200341e-03 2.44310782e+00] [-5.07430501e-02 1.18292822e-03 9.98711041e-01 -1.60668588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:2.44, Z:-1.62 [[ 9.98605845e-01 1.46196282e-02 5.07211253e-02 7.92708084e+01] [-1.45417801e-02 9.99892451e-01 -1.90353256e-03 2.43863131e+00] [-5.07434992e-02 1.16330329e-03 9.98711041e-01 -1.62468987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:79.33, Y:2.43, Z:-1.61 [[ 9.98566328e-01 1.71098044e-02 5.07202537e-02 7.93330985e+01] [-1.70339999e-02 9.99853055e-01 -1.92647964e-03 2.43465469e+00] [-5.07457623e-02 1.05974891e-03 9.98711042e-01 -1.61070791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:2.43, Z:-1.63 [[ 9.98501869e-01 2.05318263e-02 5.07194369e-02 7.93953844e+01] [-2.04593516e-02 9.99788788e-01 -1.94775131e-03 2.42841877e+00] [-5.07487152e-02 9.07146527e-04 9.98711042e-01 -1.63169235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:2.42, Z:-1.64 [[ 9.98340804e-01 2.72620962e-02 5.07189975e-02 7.94572366e+01] [-2.71977204e-02 9.99628154e-01 -1.95912527e-03 2.42031785e+00] [-5.07535477e-02 5.76433584e-04 9.98711042e-01 -1.63514582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:2.41, Z:-1.62 [[ 9.98127858e-01 3.41826661e-02 5.07180846e-02 7.95205684e+01] [-3.41260298e-02 9.99415571e-01 -1.98248096e-03 2.41214527e+00] [-5.07562100e-02 2.47962608e-04 9.98711042e-01 -1.61951691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:2.41, Z:-1.62 [[ 9.97949344e-01 3.90489155e-02 5.07177454e-02 7.95824369e+01] [-3.89981194e-02 9.99237300e-01 -1.99112234e-03 2.40583549e+00] [-5.07568141e-02 9.14254299e-06 9.98711042e-01 -1.62415347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:2.40, Z:-1.63 [[ 9.97655721e-01 4.59441716e-02 5.07168177e-02 7.96432219e+01] [-4.59010896e-02 9.98943958e-01 -2.01447820e-03 2.39922793e+00] [-5.07558121e-02 -3.18201496e-04 9.98711042e-01 -1.62808699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.70, Y:2.39, Z:-1.65 [[ 9.97521528e-01 4.87710896e-02 5.07166786e-02 7.97043273e+01] [-4.87314806e-02 9.98809877e-01 -2.01797452e-03 2.39241592e+00] [-5.07547383e-02 -4.58525812e-04 9.98711042e-01 -1.64768932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:2.39, Z:-1.63 [[ 9.97242799e-01 5.41723694e-02 5.07164084e-02 7.97672405e+01] [-5.41393938e-02 9.98531335e-01 -2.02474203e-03 2.38961585e+00] [-5.07516080e-02 -7.26596196e-04 9.98711042e-01 -1.62984495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:2.39, Z:-1.63 [[ 9.96898016e-01 6.01848253e-02 5.07162048e-02 7.98290024e+01] [-6.01593617e-02 9.98186722e-01 -2.02982750e-03 2.39099928e+00] [-5.07464071e-02 -1.02752351e-03 9.98711042e-01 -1.63159545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters Centerline goodness : 0.957451 with order 2 Centerline is valid? [True, True] Translation: X:79.85, Y:2.34, Z:-1.66 [[ 9.97848628e-01 -4.15460073e-02 5.07153279e-02 7.98524675e+01] [ 4.17035387e-02 9.99127923e-01 -2.05150787e-03 2.34436883e+00] [-5.05858682e-02 4.16210295e-03 9.98711043e-01 -1.66114024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:2.39, Z:-1.66 [[ 9.96579640e-01 6.50253661e-02 5.09972779e-02 7.99445598e+01] [-6.53325828e-02 9.97853937e-01 4.37874757e-03 2.38533519e+00] [-5.06031048e-02 -7.69555456e-03 9.98689193e-01 -1.65988470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:2.39, Z:-1.64 [[ 9.97079554e-01 5.71554451e-02 5.06519369e-02 8.00082070e+01] [-5.71002169e-02 9.98365226e-01 -2.53791117e-03 2.38839906e+00] [-5.07141879e-02 -3.61737249e-04 9.98713142e-01 -1.64284673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:2.38, Z:-1.67 [[ 9.97621632e-01 4.67501946e-02 5.06507490e-02 8.00691037e+01] [-4.66803637e-02 9.98906594e-01 -2.56140292e-03 2.37931275e+00] [-5.07151132e-02 1.90915576e-04 9.98713142e-01 -1.67006504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:2.38, Z:-1.67 [[ 9.97706395e-01 4.49062965e-02 5.06495278e-02 8.01308677e+01] [-4.48328763e-02 9.98991156e-01 -2.58532744e-03 2.37689028e+00] [-5.07145278e-02 3.08633707e-04 9.98713143e-01 -1.67271611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:2.37, Z:-1.66 [[ 9.97431197e-01 5.06533164e-02 5.06482910e-02 8.01934791e+01] [-5.05860799e-02 9.98716296e-01 -2.60933406e-03 2.37233885e+00] [-5.07154450e-02 4.05326937e-05 9.98713143e-01 -1.65590317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:2.37, Z:-1.65 [[ 9.97195335e-01 5.51030126e-02 5.06470280e-02 8.02543847e+01] [-5.50402769e-02 9.98480662e-01 -2.63362220e-03 2.36739208e+00] [-5.07151986e-02 -1.61390672e-04 9.98713143e-01 -1.65356642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:2.36, Z:-1.66 [[ 9.97005730e-01 5.84333980e-02 5.06469385e-02 8.03151724e+01] [-5.83748682e-02 9.98291255e-01 -2.63534274e-03 2.36397768e+00] [-5.07143878e-02 -3.29056553e-04 9.98713143e-01 -1.66201683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:2.36, Z:-1.67 [[ 9.97010724e-01 5.83482912e-02 5.06467427e-02 8.03775631e+01] [-5.82894608e-02 9.98296236e-01 -2.63910123e-03 2.36349111e+00] [-5.07144396e-02 -3.20959097e-04 9.98713143e-01 -1.66556648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:2.36, Z:-1.67 [[ 9.96881129e-01 6.05231317e-02 5.06454902e-02 8.04400920e+01] [-6.04658957e-02 9.98166712e-01 -2.66292191e-03 2.36308302e+00] [-5.07138108e-02 -4.07708331e-04 9.98713144e-01 -1.67072877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:2.36, Z:-1.67 [[ 9.96764310e-01 6.24178691e-02 5.06450389e-02 8.05028102e+01] [-6.23626421e-02 9.98049981e-01 -2.67147734e-03 2.36216432e+00] [-5.07130280e-02 -4.95525173e-04 9.98713144e-01 -1.66766823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:2.36, Z:-1.67 [[ 9.96727577e-01 6.30027432e-02 5.06437745e-02 8.05648977e+01] [-6.29470636e-02 9.98013228e-01 -2.69523631e-03 2.35988454e+00] [-5.07129641e-02 -5.01460538e-04 9.98713144e-01 -1.67025515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:2.36, Z:-1.69 [[ 9.96987286e-01 5.87510708e-02 5.06424984e-02 8.06247978e+01] [-5.86887010e-02 9.98272630e-01 -2.71900474e-03 2.35501324e+00] [-5.07147645e-02 -2.61329290e-04 9.98713144e-01 -1.68811031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:2.35, Z:-1.69 [[ 9.97320820e-01 5.27875865e-02 5.06424061e-02 8.06878420e+01] [-5.27174437e-02 9.98605762e-01 -2.72072137e-03 2.35098565e+00] [-5.07154189e-02 4.36938714e-05 9.98713144e-01 -1.69275859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:2.35, Z:-1.68 [[ 9.97428875e-01 5.07063834e-02 5.06409032e-02 8.07491372e+01] [-5.06321535e-02 9.98713588e-01 -2.74841451e-03 2.34539645e+00] [-5.07151203e-02 1.77290008e-04 9.98713145e-01 -1.68105110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:2.34, Z:-1.69 [[ 9.97326111e-01 5.26890488e-02 5.06408094e-02 8.08106315e+01] [-5.26172853e-02 9.98610964e-01 -2.75014102e-03 2.33948432e+00] [-5.07153698e-02 7.82055375e-05 9.98713145e-01 -1.68933101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:2.33, Z:-1.71 [[ 9.97182112e-01 5.53478278e-02 5.06404319e-02 8.08724192e+01] [-5.52791379e-02 9.98467133e-01 -2.75707434e-03 2.33459054e+00] [-5.07154050e-02 -5.00542107e-05 9.98713145e-01 -1.70776320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.94, Y:2.33, Z:-1.71 [[ 9.96914236e-01 5.99808812e-02 5.06389131e-02 8.09350442e+01] [-5.99167603e-02 9.98199493e-01 -2.78469436e-03 2.32893236e+00] [-5.07147658e-02 -2.58018166e-04 9.98713145e-01 -1.70972087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:81.00, Y:2.32, Z:-1.71 [[ 9.96789390e-01 6.20223053e-02 5.06373966e-02 8.09973056e+01] [-6.19594292e-02 9.98074708e-01 -2.81200350e-03 2.32459157e+00] [-5.07143117e-02 -3.34488939e-04 9.98713145e-01 -1.71328418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.06, Y:2.32, Z:-1.72 [[ 9.96836097e-01 6.12682956e-02 5.06358639e-02 8.10590265e+01] [-6.12030588e-02 9.98121297e-01 -2.83933748e-03 2.32019341e+00] [-5.07146955e-02 -2.68715666e-04 9.98713146e-01 -1.71651617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:81.12, Y:2.31, Z:-1.70 [[ 9.96961942e-01 5.91864144e-02 5.06345259e-02 8.11210387e+01] [-5.91172920e-02 9.98246938e-01 -2.86300115e-03 2.31212010e+00] [-5.07152112e-02 -1.39072868e-04 9.98713146e-01 -1.69835912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:2.31, Z:-1.70 [[ 9.96981642e-01 5.88537981e-02 5.06343315e-02 8.11814447e+01] [-5.87840726e-02 9.98266606e-01 -2.86643489e-03 2.30583969e+00] [-5.07152628e-02 -1.18709263e-04 9.98713146e-01 -1.69650726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:2.30, Z:-1.73 [[ 9.97016268e-01 5.82642679e-02 5.06343315e-02 8.12405407e+01] [-5.81937827e-02 9.98301191e-01 -2.86643489e-03 2.29816876e+00] [-5.07153242e-02 -8.87210709e-05 9.98713146e-01 -1.72772602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:2.29, Z:-1.71 [[ 9.96785909e-01 6.20807967e-02 5.06342372e-02 8.13035486e+01] [-6.20151465e-02 9.98071087e-01 -2.86810076e-03 2.29318122e+00] [-5.07146221e-02 -2.81207214e-04 9.98713146e-01 -1.70960321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:2.28, Z:-1.73 [[ 9.96674275e-01 6.38490473e-02 5.06328805e-02 8.13630969e+01] [-6.37844705e-02 9.97959507e-01 -2.89185461e-03 2.28487228e+00] [-5.07142066e-02 -3.47354369e-04 9.98713146e-01 -1.73320770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:81.43, Y:2.28, Z:-1.73 [[ 9.96511864e-01 6.63357014e-02 5.06327833e-02 8.14252265e+01] [-6.62742452e-02 9.97797250e-01 -2.89355514e-03 2.28427354e+00] [-5.07131980e-02 -4.72187471e-04 9.98713146e-01 -1.73473394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:2.28, Z:-1.74 [[ 9.96559247e-01 6.56211071e-02 5.06313914e-02 8.14869403e+01] [-6.55575021e-02 9.97844527e-01 -2.91770953e-03 2.28161778e+00] [-5.07137201e-02 -4.11597137e-04 9.98713147e-01 -1.73772326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:81.55, Y:2.28, Z:-1.71 [[ 9.96997197e-01 5.85934396e-02 5.06300013e-02 8.15485975e+01] [-5.85195595e-02 9.98281928e-01 -2.94163587e-03 2.27743338e+00] [-5.07153759e-02 -3.00426519e-05 9.98713147e-01 -1.71279313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:81.61, Y:2.28, Z:-1.74 [[ 9.96897469e-01 6.02664986e-02 5.06298820e-02 8.16078183e+01] [-6.01946704e-02 9.98182316e-01 -2.94368690e-03 2.27800132e+00] [-5.07152586e-02 -1.13095046e-04 9.98713147e-01 -1.74259937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters Centerline goodness : 0.997646 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:2.28, Z:-1.72 [[ 9.97084656e-01 5.70860464e-02 5.06297575e-02 8.16693548e+01] [-5.70100113e-02 9.98369261e-01 -2.94582626e-03 2.27672468e+00] [-5.07153592e-02 5.08351100e-05 9.98713147e-01 -1.72265737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters Centerline goodness : 0.998455 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:2.28, Z:-1.73 [[ 9.97156760e-01 5.58124492e-02 5.06297091e-02 8.17308611e+01] [-5.57347310e-02 9.98441264e-01 -2.94665870e-03 2.27553306e+00] [-5.07152510e-02 1.16447418e-04 9.98713147e-01 -1.72833841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:2.28, Z:-1.75 [[ 9.97054814e-01 5.76055651e-02 5.06290191e-02 8.17909325e+01] [-5.75295575e-02 9.98339420e-01 -2.95846656e-03 2.27578112e+00] [-5.07153697e-02 3.70882589e-05 9.98713147e-01 -1.75116620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:2.28, Z:-1.73 [[ 9.96986720e-01 5.87724752e-02 5.06288035e-02 8.18535055e+01] [-5.86977840e-02 9.98271404e-01 -2.96215136e-03 2.27887174e+00] [-5.07153797e-02 -1.85730053e-05 9.98713147e-01 -1.73421428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters Centerline goodness : 0.997554 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:2.28, Z:-1.74 [[ 9.96831784e-01 6.13443993e-02 5.06286450e-02 8.19154782e+01] [-6.12728852e-02 9.98116648e-01 -2.96485914e-03 2.27700992e+00] [-5.07151709e-02 -1.46697324e-04 9.98713147e-01 -1.73687312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters Centerline goodness : 0.996910 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:2.28, Z:-1.74 [[ 9.96761147e-01 6.24828252e-02 5.06271917e-02 8.19768442e+01] [-6.24115285e-02 9.98046023e-01 -2.98947004e-03 2.27549785e+00] [-5.07150579e-02 -1.79932829e-04 9.98713147e-01 -1.73587632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:2.28, Z:-1.76 [[ 9.96426201e-01 6.76146016e-02 5.06269851e-02 8.20368730e+01] [-6.75497445e-02 9.97711418e-01 -2.99296573e-03 2.27529976e+00] [-5.07134893e-02 -4.37570435e-04 9.98713147e-01 -1.76445377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters Centerline goodness : 0.997908 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:2.28, Z:-1.75 [[ 9.96110637e-01 7.21147144e-02 5.06267423e-02 8.20993618e+01] [-7.20554547e-02 9.97396124e-01 -2.99706759e-03 2.27909784e+00] [-5.07110492e-02 -6.62522024e-04 9.98713147e-01 -1.74674458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters Centerline goodness : 0.997356 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:2.28, Z:-1.75 [[ 9.95902782e-01 7.49305809e-02 5.06266426e-02 8.21619141e+01] [-7.48748703e-02 9.97188428e-01 -2.99874987e-03 2.27986659e+00] [-5.07090002e-02 -8.04199964e-04 9.98713147e-01 -1.74867921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:2.28, Z:-1.76 [[ 9.96182777e-01 7.11123029e-02 5.06252457e-02 8.22234518e+01] [-7.10504751e-02 9.97468143e-01 -3.02215105e-03 2.28300053e+00] [-5.07119819e-02 -5.86332933e-04 9.98713148e-01 -1.75661667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters Centerline goodness : 0.998154 with order 1 Centerline is valid? [True, True] Translation: X:82.29, Y:2.29, Z:-1.76 [[ 9.96455300e-01 6.71867006e-02 5.06239278e-02 8.22853124e+01] [-6.71186954e-02 9.97740354e-01 -3.04406725e-03 2.28639434e+00] [-5.07140565e-02 -3.64535043e-04 9.98713148e-01 -1.76005753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters Centerline goodness : 0.997956 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:2.29, Z:-1.76 [[ 9.96846803e-01 6.11044289e-02 5.06231249e-02 8.23472576e+01] [-6.10279075e-02 9.98131378e-01 -3.05736237e-03 2.28958392e+00] [-5.07153478e-02 -4.17014828e-05 9.98713148e-01 -1.76387603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters Centerline goodness : 0.997760 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:2.29, Z:-1.77 [[ 9.97218762e-01 5.47009202e-02 5.06216273e-02 8.24093397e+01] [-5.46149017e-02 9.98502736e-01 -3.08195978e-03 2.28619357e+00] [-5.07144194e-02 3.08692914e-04 9.98713148e-01 -1.76896228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters Centerline goodness : 0.997259 with order 1 Centerline is valid? [True, True] Translation: X:82.47, Y:2.28, Z:-1.77 [[ 9.97732450e-01 4.43571768e-02 5.06201455e-02 8.24697427e+01] [-4.42566237e-02 9.99015367e-01 -3.10610880e-03 2.28142937e+00] [-5.07080815e-02 8.58788809e-04 9.98713148e-01 -1.76746820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:2.28, Z:-1.79 [[ 9.97882419e-01 4.08445723e-02 5.06201455e-02 8.25297793e+01] [-4.07395035e-02 9.99164974e-01 -3.10610880e-03 2.27782064e+00] [-5.07047441e-02 1.03729176e-03 9.98713148e-01 -1.79064092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters Centerline goodness : 0.997612 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:2.27, Z:-1.78 [[ 9.97850921e-01 4.16070983e-02 5.06200428e-02 8.25936274e+01] [-4.15029247e-02 9.99133549e-01 -3.10778315e-03 2.27491215e+00] [-5.07054888e-02 1.00022446e-03 9.98713148e-01 -1.77751945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:82.65, Y:2.27, Z:-1.80 [[ 9.98000702e-01 3.78467609e-02 5.06183955e-02 8.26545080e+01] [-3.77364064e-02 9.99282812e-01 -3.13438540e-03 2.26670834e+00] [-5.07007190e-02 1.21796248e-03 9.98713149e-01 -1.79737756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:82.72, Y:2.26, Z:-1.78 [[ 9.97975300e-01 3.85126406e-02 5.06169720e-02 8.27170125e+01] [-3.84019847e-02 9.99257384e-01 -3.15720780e-03 2.26099791e+00] [-5.07009754e-02 1.20702322e-03 9.98713149e-01 -1.78220215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters Centerline goodness : 0.997811 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:2.25, Z:-1.79 [[ 9.98081599e-01 3.56537291e-02 5.06155376e-02 8.27783992e+01] [-3.55382440e-02 9.99363258e-01 -3.18003884e-03 2.24957207e+00] [-5.06966888e-02 1.37515093e-03 9.98713149e-01 -1.78658228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters Centerline goodness : 0.998158 with order 1 Centerline is valid? [True, True] Translation: X:82.84, Y:2.24, Z:-1.79 [[ 9.98015922e-01 3.74490735e-02 5.06140953e-02 8.28401022e+01] [-3.73347389e-02 9.99297683e-01 -3.20283176e-03 2.23907917e+00] [-5.06984912e-02 1.30681306e-03 9.98713150e-01 -1.79135996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters Centerline goodness : 0.998158 with order 1 Centerline is valid? [True, True] Translation: X:82.90, Y:2.23, Z:-1.80 [[ 9.97659438e-01 4.59783306e-02 5.06126409e-02 8.29028224e+01] [-4.58737989e-02 9.98942035e-01 -3.22565221e-03 2.23303273e+00] [-5.07074046e-02 8.96308261e-04 9.98713150e-01 -1.79625955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:82.96, Y:2.22, Z:-1.79 [[ 9.97155636e-01 5.58495600e-02 5.06109162e-02 8.29644427e+01] [-5.57563648e-02 9.98439106e-01 -3.25248914e-03 2.22319445e+00] [-5.07135681e-02 4.21357167e-04 9.98713150e-01 -1.79241052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters Centerline goodness : 0.998159 with order 1 Centerline is valid? [True, True] Translation: X:83.02, Y:2.21, Z:-1.82 [[ 9.96868442e-01 6.07608388e-02 5.06105772e-02 8.30249827e+01] [-6.06736996e-02 9.98152338e-01 -3.25775613e-03 2.21481174e+00] [-5.07150100e-02 1.76823313e-04 9.98713150e-01 -1.81646797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:83.09, Y:2.21, Z:-1.82 [[ 9.96373833e-01 6.83952725e-02 5.06089985e-02 8.30875859e+01] [-6.83167342e-02 9.97658284e-01 -3.28210020e-03 2.20948493e+00] [-5.07149667e-02 -1.87242743e-04 9.98713151e-01 -1.82124680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters Centerline goodness : 0.987959 with order 1 Centerline is valid? [True, True] Translation: X:83.15, Y:2.23, Z:-1.83 [[ 9.86895316e-01 1.53220582e-01 5.06071924e-02 8.31484266e+01] [-1.53250598e-01 9.88181815e-01 -3.30971603e-03 2.22665176e+00] [-5.05162239e-02 -4.48923925e-03 9.98713151e-01 -1.82600346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:83.21, Y:2.20, Z:-1.83 [[ 9.95377156e-01 8.16286050e-02 5.06071931e-02 8.32074482e+01] [-8.15657377e-02 9.96662469e-01 -3.30970618e-03 2.20007186e+00] [-5.07084567e-02 -8.33407109e-04 9.98713151e-01 -1.82611043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:83.27, Y:2.20, Z:-1.81 [[ 9.94798573e-01 8.84009194e-02 5.06070843e-02 8.32713898e+01] [-8.83467165e-02 9.96084280e-01 -3.31136784e-03 2.20144069e+00] [-5.07016491e-02 -1.17682573e-03 9.98713151e-01 -1.80706739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters Centerline goodness : 0.997260 with order 1 Centerline is valid? [True, True] Translation: X:83.33, Y:2.20, Z:-1.81 [[ 9.94577349e-01 9.08570087e-02 5.06053531e-02 8.33346660e+01] [-9.08046459e-02 9.95863131e-01 -3.33761658e-03 2.20002904e+00] [-5.06992513e-02 -1.27568332e-03 9.98713151e-01 -1.81013183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:83.40, Y:2.21, Z:-1.82 [[ 9.94493818e-01 9.17677537e-02 5.06036064e-02 8.33971888e+01] [-9.17152322e-02 9.95779594e-01 -3.36389381e-03 2.20556657e+00] [-5.06987356e-02 -1.29574991e-03 9.98713152e-01 -1.81864149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters Centerline goodness : 0.961307 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:2.17, Z:-1.84 [[ 9.98709677e-01 4.27798493e-03 5.06031690e-02 8.34562541e+01] [-4.11267515e-03 9.99985863e-01 -3.37046045e-03 2.16732191e+00] [-5.06168724e-02 3.15799707e-03 9.98713152e-01 -1.84057852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.52, Y:2.21, Z:-1.84 [[ 9.95143123e-01 8.44372043e-02 5.06016160e-02 8.35209819e+01] [-8.43736988e-02 9.96428403e-01 -3.39361735e-03 2.21142389e+00] [-5.07074350e-02 -8.92310535e-04 9.98713152e-01 -1.84323237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:83.58, Y:2.21, Z:-1.83 [[ 9.95474572e-01 8.04356127e-02 5.06012792e-02 8.35837775e+01] [-8.03666855e-02 9.96759572e-01 -3.39863125e-03 2.21144845e+00] [-5.07106804e-02 -6.83406109e-04 9.98713152e-01 -1.82792903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:2.21, Z:-1.84 [[ 9.96053675e-01 7.29160389e-02 5.05996853e-02 8.36453501e+01] [-7.28362128e-02 9.97338044e-01 -3.42219873e-03 2.20988322e+00] [-5.07145244e-02 -2.76795824e-04 9.98713152e-01 -1.83562247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:2.21, Z:-1.84 [[ 9.96508091e-01 6.64181769e-02 5.05989142e-02 8.37078440e+01] [-6.63293988e-02 9.97791873e-01 -3.43356169e-03 2.20828212e+00] [-5.07152363e-02 6.53764387e-05 9.98713152e-01 -1.83811767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:83.77, Y:2.20, Z:-1.84 [[ 9.96813758e-01 6.16623973e-02 5.05972391e-02 8.37700094e+01] [-6.15662504e-02 9.98097009e-01 -3.45807159e-03 2.20340856e+00] [-5.07141860e-02 3.31971044e-04 9.98713153e-01 -1.84304075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.83, Y:2.20, Z:-1.86 [[ 9.97142811e-01 5.60921436e-02 5.05953178e-02 8.38305821e+01] [-5.59874138e-02 9.98425389e-01 -3.48595796e-03 2.19590718e+00] [-5.07111847e-02 6.43296926e-04 9.98713153e-01 -1.85893348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:83.89, Y:2.19, Z:-1.86 [[ 9.97078690e-01 5.72209260e-02 5.05949704e-02 8.38926216e+01] [-5.71173927e-02 9.98361366e-01 -3.49099264e-03 2.19055156e+00] [-5.07118216e-02 5.90941574e-04 9.98713153e-01 -1.86294152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters Centerline goodness : 0.996813 with order 1 Centerline is valid? [True, True] Translation: X:83.96, Y:2.20, Z:-1.87 [[ 9.92556171e-01 1.10781591e-01 5.05933383e-02 8.39553904e+01] [-1.10746021e-01 9.93842526e-01 -3.51448765e-03 2.20393384e+00] [-5.06711517e-02 -2.11468448e-03 9.98713153e-01 -1.86599079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:2.18, Z:-1.86 [[ 9.96937468e-01 5.96329089e-02 5.05924905e-02 8.40170010e+01] [-5.95306696e-02 9.98220247e-01 -3.52664990e-03 2.18040131e+00] [-5.07127528e-02 5.04044584e-04 9.98713153e-01 -1.85527261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.08, Y:2.18, Z:-1.87 [[ 9.96672474e-01 6.39105569e-02 5.05907206e-02 8.40779582e+01] [-6.38125438e-02 9.97955582e-01 -3.55185973e-03 2.17721262e+00] [-5.07142934e-02 3.11718252e-04 9.98713154e-01 -1.87375022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:84.14, Y:2.17, Z:-1.86 [[ 9.96577009e-01 6.53825680e-02 5.05903621e-02 8.41421742e+01] [-6.52861913e-02 9.97860241e-01 -3.55695858e-03 2.17467784e+00] [-5.07146741e-02 2.41931077e-04 9.98713154e-01 -1.85806969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.20, Y:2.17, Z:-1.88 [[ 9.96530820e-01 6.60843345e-02 5.05883944e-02 8.42040393e+01] [-6.59874518e-02 9.97814014e-01 -3.58472817e-03 2.17034050e+00] [-5.07147032e-02 2.34092870e-04 9.98713154e-01 -1.88080824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:2.17, Z:-1.87 [[ 9.96670272e-01 6.39482520e-02 5.05864637e-02 8.42653241e+01] [-6.38472466e-02 9.97953147e-01 -3.61176976e-03 2.16670289e+00] [-5.07138870e-02 3.69937120e-04 9.98713154e-01 -1.86842582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:2.16, Z:-1.89 [[ 9.96709597e-01 6.33326582e-02 5.05861049e-02 8.43261359e+01] [-6.32306058e-02 9.97992389e-01 -3.61678810e-03 2.16146649e+00] [-5.07136085e-02 4.06297354e-04 9.98713154e-01 -1.88569973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:84.39, Y:2.18, Z:-1.88 [[ 9.93098135e-01 1.05816712e-01 5.05857479e-02 8.43895692e+01] [-1.05769251e-01 9.94384105e-01 -3.62177367e-03 2.18017981e+00] [-5.06849079e-02 -1.75363999e-03 9.98713154e-01 -1.88232843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters Centerline goodness : 0.968164 with order 3 Centerline is valid? [True, True] Translation: X:84.35, Y:2.11, Z:-1.89 [[ 9.97867557e-01 -4.12502618e-02 5.05841388e-02 8.43462666e+01] [ 4.14872760e-02 9.99132387e-01 -3.64411090e-03 2.11431267e+00] [-5.03899308e-02 5.73493817e-03 9.98713155e-01 -1.89176286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:2.15, Z:-1.87 [[ 9.95982159e-01 7.31772091e-02 5.16200974e-02 8.44899744e+01] [-7.38746968e-02 9.97198505e-01 1.17333485e-02 2.14690008e+00] [-5.06168702e-02 -1.54996248e-02 9.98597864e-01 -1.87030460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:2.16, Z:-1.90 [[ 9.96163972e-01 7.15692808e-02 5.03505606e-02 8.45524500e+01] [-7.14551160e-02 9.97435528e-01 -4.06611571e-03 2.15769099e+00] [-5.05124470e-02 4.52712826e-04 9.98723329e-01 -1.89846689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:2.15, Z:-1.90 [[ 9.96316278e-01 6.94184095e-02 5.03483726e-02 8.46143618e+01] [-6.93001397e-02 9.97587459e-01 -4.09302974e-03 2.15393465e+00] [-5.05110367e-02 5.88802898e-04 9.98723329e-01 -1.90131843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:2.15, Z:-1.90 [[ 9.96346999e-01 6.89774768e-02 5.03464611e-02 8.46764401e+01] [-6.88574633e-02 9.97618016e-01 -4.11640987e-03 2.14753643e+00] [-5.05104761e-02 6.34643026e-04 9.98723330e-01 -1.90383714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:84.74, Y:2.14, Z:-1.89 [[ 9.96425027e-01 6.78424084e-02 5.03445427e-02 8.47382545e+01] [-6.77197685e-02 9.97695793e-01 -4.13973984e-03 2.14169751e+00] [-5.05093884e-02 7.15619604e-04 9.98723330e-01 -1.89012605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:2.13, Z:-1.89 [[ 9.96330516e-01 6.92167426e-02 5.03442678e-02 8.48003616e+01] [-6.90956868e-02 9.97601434e-01 -4.14308028e-03 2.13348409e+00] [-5.05102843e-02 6.49305555e-04 9.98723330e-01 -1.89350002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:84.86, Y:2.13, Z:-1.89 [[ 9.95806600e-01 7.63854662e-02 5.03435772e-02 8.48623943e+01] [-7.62731368e-02 9.97078319e-01 -4.15145516e-03 2.12680598e+00] [-5.05136001e-02 2.94183901e-04 9.98723330e-01 -1.89138621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.92, Y:2.12, Z:-1.91 [[ 9.95326229e-01 8.24100818e-02 5.03416033e-02 8.49223948e+01] [-8.23042464e-02 9.96598504e-01 -4.17525469e-03 2.12384933e+00] [-5.05144496e-02 1.24127778e-05 9.98723330e-01 -1.91434377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.99, Y:2.12, Z:-1.92 [[ 9.94610679e-01 9.06385577e-02 5.03413198e-02 8.49856886e+01] [-9.05430748e-02 9.95883774e-01 -4.17867036e-03 2.12213174e+00] [-5.05128522e-02 -4.01907717e-04 9.98723330e-01 -1.91922630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.05, Y:2.12, Z:-1.92 [[ 9.94692142e-01 8.97414279e-02 5.03390376e-02 8.50481904e+01] [-8.96434145e-02 9.95965044e-01 -4.20598445e-03 2.11711217e+00] [-5.05133728e-02 -3.28903528e-04 9.98723331e-01 -1.92237588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:2.11, Z:-1.93 [[ 9.95215730e-01 8.37368515e-02 5.03367691e-02 8.51096217e+01] [-8.36297934e-02 9.96487902e-01 -4.23296105e-03 2.11209137e+00] [-5.05144363e-02 3.05582414e-06 9.98723331e-01 -1.92815670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters Centerline goodness : 0.924185 with order 1 Centerline is valid? [True, False] Translation: X:85.12, Y:2.09, Z:-1.92 [[ 9.96807651e-01 6.88889060e-02 4.03587049e-02 8.51207459e+01] [-6.99706792e-02 9.97209304e-01 2.60328079e-02 2.08857756e+00] [-3.84527044e-02 -2.87736281e-02 9.98846068e-01 -1.92496730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:85.14, Y:2.05, Z:-1.92 [[ 9.98023782e-01 5.68095366e-02 2.68553048e-02 8.51369175e+01] [-5.83800054e-02 9.96376772e-01 6.18474113e-02 2.05363749e+00] [-2.32444791e-02 -6.32930001e-02 9.97724256e-01 -1.91834669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:2.10, Z:-1.93 [[ 9.98124171e-01 5.69526249e-02 2.24619008e-02 8.52027122e+01] [-5.69316606e-02 9.98376840e-01 -1.57222197e-03 2.10487813e+00] [-2.25149837e-02 2.90479437e-04 9.99746463e-01 -1.92721779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:85.26, Y:2.09, Z:-1.93 [[ 9.98364243e-01 5.25769356e-02 2.24611734e-02 8.52642449e+01] [-5.25546318e-02 9.98616796e-01 -1.58254605e-03 2.09152877e+00] [-2.25133105e-02 3.99518695e-04 9.99746463e-01 -1.93012527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:2.09, Z:-1.94 [[ 9.97132190e-01 7.22698073e-02 2.24604284e-02 8.53269339e+01] [-7.22522554e-02 9.97385118e-01 -1.59304982e-03 2.09473123e+00] [-2.25168265e-02 -3.43353592e-05 9.99746464e-01 -1.93907385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:2.08, Z:-1.95 [[ 9.98367579e-01 5.25142247e-02 2.24595851e-02 8.53859144e+01] [-5.24914034e-02 9.98620086e-01 -1.60485194e-03 2.07505011e+00] [-2.25128704e-02 4.23297006e-04 9.99746464e-01 -1.94874956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters Centerline goodness : 0.967041 with order 3 Centerline is valid? [True, True] Translation: X:85.56, Y:2.09, Z:-1.96 [[ 9.89435726e-01 1.43221893e-01 2.24595851e-02 8.55570728e+01] [-1.43222163e-01 9.89689263e-01 -1.60485194e-03 2.09258759e+00] [-2.24578601e-02 -1.62881252e-03 9.99746464e-01 -1.96330724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:2.08, Z:-1.95 [[ 9.98107933e-01 5.77837971e-02 2.10139836e-02 8.54672363e+01] [-5.73733826e-02 9.98159671e-01 -1.96358568e-02 2.07677151e+00] [-2.21099453e-02 1.83930611e-02 9.99586337e-01 -1.95265559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:2.05, Z:-1.95 [[ 9.97772604e-01 6.28582377e-02 2.23309732e-02 8.55278953e+01] [-6.28375258e-02 9.98022441e-01 -1.62868067e-03 2.05433637e+00] [-2.23891884e-02 2.21829842e-04 9.99749306e-01 -1.95179654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:2.05, Z:-1.95 [[ 9.97404277e-01 6.84548751e-02 2.23302080e-02 8.55896729e+01] [-6.84353317e-02 9.97654208e-01 -1.63910571e-03 2.04669958e+00] [-2.23900308e-02 1.06675850e-04 9.99749306e-01 -1.95174606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:85.65, Y:2.04, Z:-1.93 [[ 9.97285224e-01 7.01682152e-02 2.23294225e-02 8.56521962e+01] [-7.01488632e-02 9.97535170e-01 -1.64973807e-03 2.04183349e+00] [-2.23901434e-02 7.88757939e-05 9.99749306e-01 -1.93424681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.71, Y:2.04, Z:-1.95 [[ 9.97340516e-01 6.93779587e-02 2.23291976e-02 8.57131116e+01] [-6.93583407e-02 9.97590441e-01 -1.65277618e-03 2.03555169e+00] [-2.23900603e-02 9.96645536e-05 9.99749306e-01 -1.95402142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:2.03, Z:-1.94 [[ 9.97478726e-01 6.73617546e-02 2.23290269e-02 8.57740446e+01] [-6.73415798e-02 9.97728607e-01 -1.65507924e-03 2.03079358e+00] [-2.23897979e-02 1.47234386e-04 9.99749306e-01 -1.93864266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.84, Y:2.03, Z:-1.94 [[ 9.97585801e-01 6.57570347e-02 2.23289706e-02 8.58365622e+01] [-6.57364409e-02 9.97835647e-01 -1.65583812e-03 2.02537469e+00] [-2.23895259e-02 1.84013535e-04 9.99749306e-01 -1.94008858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:85.90, Y:2.02, Z:-1.96 [[ 9.97842467e-01 6.17403354e-02 2.23280661e-02 8.58977719e+01] [-6.17184651e-02 9.98092205e-01 -1.66794667e-03 2.01800864e+00] [-2.23884483e-02 2.86294053e-04 9.99749306e-01 -1.95800806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:2.01, Z:-1.96 [[ 9.97940465e-01 6.01356617e-02 2.23278190e-02 8.59606433e+01] [-6.01133160e-02 9.98190160e-01 -1.67124833e-03 2.01217965e+00] [-2.23879108e-02 3.25607097e-04 9.99749306e-01 -1.96006613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:86.02, Y:2.00, Z:-1.95 [[ 9.97904733e-01 6.07260520e-02 2.23269089e-02 8.60219709e+01] [-6.07035840e-02 9.98154418e-01 -1.68331930e-03 2.00232678e+00] [-2.23879241e-02 3.24468910e-04 9.99749306e-01 -1.94561636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.08, Y:2.00, Z:-1.95 [[ 9.97814386e-01 6.21929834e-02 2.23267419e-02 8.60842529e+01] [-6.21708330e-02 9.98064099e-01 -1.68553074e-03 1.99613864e+00] [-2.23883478e-02 2.93774674e-04 9.99749306e-01 -1.94545977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.15, Y:1.99, Z:-1.96 [[ 9.97463414e-01 6.75891727e-02 2.23258067e-02 8.61451423e+01] [-6.75680980e-02 9.97713220e-01 -1.69782909e-03 1.99182406e+00] [-2.23895073e-02 1.85010104e-04 9.99749306e-01 -1.96176798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.21, Y:1.99, Z:-1.97 [[ 9.96927427e-01 7.50817422e-02 2.23256890e-02 8.62073086e+01] [-7.50625104e-02 9.97177382e-01 -1.69937471e-03 1.98744746e+00] [-2.23902642e-02 1.83309961e-05 9.99749306e-01 -1.96515066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:86.27, Y:1.98, Z:-1.95 [[ 9.96662333e-01 7.85225729e-02 2.23248762e-02 8.62696524e+01] [-7.85039663e-02 9.96912335e-01 -1.70998647e-03 1.98459301e+00] [-2.23902170e-02 -4.83122292e-05 9.99749307e-01 -1.95001688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:86.33, Y:1.98, Z:-1.95 [[ 9.96700638e-01 7.80349149e-02 2.23246428e-02 8.63318525e+01] [-7.80161179e-02 9.96950626e-01 -1.71302878e-03 1.98044385e+00] [-2.23902426e-02 -3.43050802e-05 9.99749307e-01 -1.95050001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.39, Y:1.98, Z:-1.95 [[ 9.96676211e-01 7.83465137e-02 2.23238288e-02 8.63944419e+01] [-7.83275587e-02 9.96926187e-01 -1.72357178e-03 1.97717115e+00] [-2.23902453e-02 -3.07280167e-05 9.99749307e-01 -1.95100534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:1.97, Z:-1.97 [[ 9.96511290e-01 8.04170876e-02 2.23235370e-02 8.64563333e+01] [-8.03985676e-02 9.96761299e-01 -1.72734194e-03 1.97402129e+00] [-2.23901456e-02 -7.34646514e-05 9.99749307e-01 -1.97236298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.52, Y:1.97, Z:-1.98 [[ 9.96316083e-01 8.28007177e-02 2.23227191e-02 8.65188230e+01] [-8.27825604e-02 9.96566118e-01 -1.73784820e-03 1.96984796e+00] [-2.23899606e-02 -1.16485731e-04 9.99749307e-01 -1.97607440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:1.97, Z:-1.95 [[ 9.95869581e-01 8.80084447e-02 2.23224272e-02 8.65813343e+01] [-8.79915110e-02 9.96119702e-01 -1.74158923e-03 1.96775206e+00] [-2.23890841e-02 -2.29788368e-04 9.99749307e-01 -1.95426256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:1.97, Z:-1.95 [[ 9.95563092e-01 9.14103321e-02 2.23221953e-02 8.66433386e+01] [-9.13941866e-02 9.95813265e-01 -1.74455699e-03 1.96581134e+00] [-2.23882087e-02 -3.03302326e-04 9.99749307e-01 -1.95256615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.70, Y:1.96, Z:-1.98 [[ 9.95899721e-01 8.76669895e-02 2.23213870e-02 8.67046374e+01] [-8.76496731e-02 9.96149816e-01 -1.75483831e-03 1.95858825e+00] [-2.23892870e-02 -2.08819292e-04 9.99749307e-01 -1.97743834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:86.77, Y:1.96, Z:-1.96 [[ 9.95955699e-01 8.70289454e-02 2.23205781e-02 8.67675449e+01] [-8.70112395e-02 9.96205766e-01 -1.76506784e-03 1.95524459e+00] [-2.23895006e-02 -1.84211789e-04 9.99749307e-01 -1.95888932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.83, Y:1.95, Z:-1.98 [[ 9.95867952e-01 8.80275556e-02 2.23197446e-02 8.68293472e+01] [-8.80098657e-02 9.96118021e-01 -1.77554580e-03 1.95377343e+00] [-2.23893967e-02 -1.96148566e-04 9.99749307e-01 -1.98071935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:86.89, Y:1.95, Z:-1.96 [[ 9.95914564e-01 8.74988425e-02 2.23189047e-02 8.68917418e+01] [-8.74807846e-02 9.96164606e-01 -1.78604133e-03 1.94857646e+00] [-2.23895794e-02 -1.73730717e-04 9.99749307e-01 -1.95938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:86.95, Y:1.95, Z:-1.96 [[ 9.96105179e-01 8.53016773e-02 2.23180731e-02 8.69541151e+01] [-8.52828364e-02 9.96355163e-01 -1.79637305e-03 1.94566179e+00] [-2.23899610e-02 -1.13972078e-04 9.99749307e-01 -1.96345607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:1.94, Z:-1.98 [[ 9.96211418e-01 8.40520775e-02 2.23172216e-02 8.70153744e+01] [-8.40326874e-02 9.96461360e-01 -1.80689031e-03 1.94041880e+00] [-2.23901218e-02 -7.53313451e-05 9.99749307e-01 -1.98467867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:1.94, Z:-1.96 [[ 9.96316898e-01 8.27926208e-02 2.23163610e-02 8.70780528e+01] [-8.27726781e-02 9.96566797e-01 -1.81745700e-03 1.93618320e+00] [-2.23902164e-02 -3.64218402e-05 9.99749307e-01 -1.96395057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:1.93, Z:-1.97 [[ 9.96097014e-01 8.53976361e-02 2.23155014e-02 8.71400373e+01] [-8.53781118e-02 9.96346946e-01 -1.82795094e-03 1.92977067e+00] [-2.23900844e-02 -8.44388991e-05 9.99749307e-01 -1.96636318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:1.93, Z:-1.97 [[ 9.95681917e-01 9.01087067e-02 2.23146155e-02 8.72021373e+01] [-9.00901240e-02 9.95931920e-01 -1.83870183e-03 1.92651892e+00] [-2.23895209e-02 -1.79564316e-04 9.99749307e-01 -1.97066747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:1.92, Z:-1.97 [[ 9.95524491e-01 9.18318285e-02 2.23137526e-02 8.72652565e+01] [-9.18134451e-02 9.95774509e-01 -1.84911480e-03 1.92326825e+00] [-2.23892737e-02 -2.07863431e-04 9.99749307e-01 -1.97270856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:1.92, Z:-1.98 [[ 9.95526223e-01 9.18132837e-02 2.23127653e-02 8.73267492e+01] [-9.17946304e-02 9.95776221e-01 -1.86095310e-03 1.91930045e+00] [-2.23893813e-02 -1.95564427e-04 9.99749307e-01 -1.97742105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:1.92, Z:-1.98 [[ 9.95650171e-01 9.04594552e-02 2.23119601e-02 8.73887384e+01] [-9.04402467e-02 9.95900127e-01 -1.87055739e-03 1.91592603e+00] [-2.23896935e-02 -1.55478387e-04 9.99749307e-01 -1.97979582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:1.91, Z:-1.97 [[ 9.96307105e-01 8.29118056e-02 2.23110853e-02 8.74501070e+01] [-8.28904711e-02 9.96556888e-01 -1.88093395e-03 1.91430663e+00] [-2.23902174e-02 2.46114888e-05 9.99749307e-01 -1.97439271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:1.91, Z:-2.00 [[ 9.96645417e-01 7.87409192e-02 2.23109931e-02 8.75117792e+01] [-7.87185149e-02 9.96895107e-01 -1.88202742e-03 1.90839563e+00] [-2.23899124e-02 1.19425763e-04 9.99749307e-01 -1.99734062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:1.90, Z:-1.98 [[ 9.97153950e-01 7.20154846e-02 2.23107408e-02 8.75731853e+01] [-7.19913296e-02 9.97403477e-01 -1.88501345e-03 1.90325460e+00] [-2.23885606e-02 2.73468720e-04 9.99749307e-01 -1.98466542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:1.90, Z:-1.98 [[ 9.97196405e-01 7.14252455e-02 2.23106127e-02 8.76353427e+01] [-7.14009088e-02 9.97445914e-01 -1.88652827e-03 1.89776141e+00] [-2.23883752e-02 2.88241185e-04 9.99749307e-01 -1.98442221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:87.70, Y:1.89, Z:-2.00 [[ 9.97347301e-01 6.92866264e-02 2.23097198e-02 8.76957037e+01] [-6.92615199e-02 9.97596734e-01 -1.89702841e-03 1.88938469e+00] [-2.23875423e-02 3.46791057e-04 9.99749307e-01 -2.00372009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:87.76, Y:1.88, Z:-2.00 [[ 9.97488386e-01 6.72250026e-02 2.23095914e-02 8.77570336e+01] [-6.71993469e-02 9.97737763e-01 -1.89853820e-03 1.87923466e+00] [-2.23867510e-02 3.94579841e-04 9.99749307e-01 -2.00487843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:1.87, Z:-1.99 [[ 9.97685147e-01 6.42391575e-02 2.23087136e-02 8.78174503e+01] [-6.42125262e-02 9.97934421e-01 -1.90879644e-03 1.86922701e+00] [-2.23852527e-02 4.71878999e-04 9.99749307e-01 -1.98967493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:1.86, Z:-1.99 [[ 9.97657479e-01 6.46674528e-02 2.23086502e-02 8.78796072e+01] [-6.46409119e-02 9.97906762e-01 -1.90953804e-03 1.86087528e+00] [-2.23854378e-02 4.63013414e-04 9.99749307e-01 -1.99304313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:1.85, Z:-2.01 [[ 9.97500882e-01 6.70399857e-02 2.23076312e-02 8.79391294e+01] [-6.70137733e-02 9.97750200e-01 -1.92136815e-03 1.85216522e+00] [-2.23862520e-02 4.21647877e-04 9.99749308e-01 -2.00892826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:1.85, Z:-1.99 [[ 9.97122588e-01 7.24493948e-02 2.23076312e-02 8.80003358e+01] [-7.24245351e-02 9.97372044e-01 -1.92136815e-03 1.84531561e+00] [-2.23882097e-02 3.00219755e-04 9.99749308e-01 -1.99264856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:1.84, Z:-1.98 [[ 9.96965819e-01 7.45756798e-02 2.23075019e-02 8.80601775e+01] [-7.45513186e-02 9.97215325e-01 -1.92286810e-03 1.83537704e+00] [-2.23887820e-02 2.53980085e-04 9.99749308e-01 -1.98426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:1.83, Z:-1.99 [[ 9.96943381e-01 7.48750395e-02 2.23074720e-02 8.81204005e+01] [-7.48507454e-02 9.97192894e-01 -1.92321559e-03 1.83196017e+00] [-2.23888534e-02 2.47606146e-04 9.99749308e-01 -1.99389094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.18, Y:1.82, Z:-2.02 [[ 9.97094210e-01 7.28389585e-02 2.23074477e-02 8.81822451e+01] [-7.28141486e-02 9.97343672e-01 -1.92349734e-03 1.82394440e+00] [-2.23882973e-02 2.93610246e-04 9.99749308e-01 -2.01642078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.24, Y:1.82, Z:-2.02 [[ 9.97113478e-01 7.25750476e-02 2.23063785e-02 8.82439913e+01] [-7.25498961e-02 9.97362905e-01 -1.93581738e-03 1.81844109e+00] [-2.23880465e-02 3.11904158e-04 9.99749308e-01 -2.01833164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:1.81, Z:-2.00 [[ 9.97112794e-01 7.25847233e-02 2.23054687e-02 8.83059307e+01] [-7.25593410e-02 9.97362198e-01 -1.94624424e-03 1.81181005e+00] [-2.23878989e-02 3.22154921e-04 9.99749308e-01 -1.99784520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:1.80, Z:-2.00 [[ 9.97508383e-01 6.69293058e-02 2.23045517e-02 8.83668003e+01] [-6.69022760e-02 9.97757614e-01 -1.95669733e-03 1.80096459e+00] [-2.23854967e-02 4.59596715e-04 9.99749308e-01 -1.99703211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:1.79, Z:-2.02 [[ 9.97848188e-01 6.16566068e-02 2.23037159e-02 8.84277771e+01] [-6.16280484e-02 9.98097249e-01 -1.96617818e-03 1.79161313e+00] [-2.23825054e-02 5.87412850e-04 9.99749308e-01 -2.01970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:88.49, Y:1.78, Z:-2.00 [[ 9.97715108e-01 6.37742070e-02 2.23027959e-02 8.84904657e+01] [-6.37459453e-02 9.97964202e-01 -1.97655961e-03 1.77883280e+00] [-2.23834454e-02 5.50330572e-04 9.99749308e-01 -2.00172081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:88.55, Y:1.77, Z:-2.02 [[ 9.97539444e-01 6.64657119e-02 2.23017350e-02 8.85509460e+01] [-6.64378565e-02 9.97788583e-01 -1.98845783e-03 1.76835092e+00] [-2.23845809e-02 5.01885641e-04 9.99749308e-01 -2.01702853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:1.76, Z:-2.02 [[ 9.97020892e-01 7.38375210e-02 2.23016019e-02 8.86133772e+01] [-7.38114746e-02 9.97270227e-01 -1.98994972e-03 1.75638369e+00] [-2.23876566e-02 3.37907323e-04 9.99749308e-01 -2.01924347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:1.75, Z:-2.00 [[ 9.96433857e-01 8.13772445e-02 2.23005000e-02 8.86741807e+01] [-8.13528102e-02 9.96683356e-01 -2.00222235e-03 1.75016635e+00] [-2.23894725e-02 1.80873792e-04 9.99749308e-01 -2.00446761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:88.73, Y:1.74, Z:-2.02 [[ 9.95732597e-01 8.95504674e-02 2.23004308e-02 8.87340612e+01] [-8.95280640e-02 9.95982286e-01 -2.00299312e-03 1.74151186e+00] [-2.23902030e-02 -2.06885320e-06 9.99749308e-01 -2.02360568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:88.80, Y:1.74, Z:-2.01 [[ 9.95589941e-01 9.11228133e-02 2.23002948e-02 8.87961898e+01] [-9.11007703e-02 9.95839662e-01 -2.00450599e-03 1.73803926e+00] [-2.23901743e-02 -3.59080332e-05 9.99749308e-01 -2.00765427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:1.74, Z:-2.03 [[ 9.95155337e-01 9.57526037e-02 2.23000901e-02 8.88577176e+01] [-9.57316715e-02 9.95405154e-01 -2.00678037e-03 1.73702272e+00] [-2.23897791e-02 -1.37766712e-04 9.99749308e-01 -2.02836320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:1.73, Z:-2.01 [[ 9.94936567e-01 9.79997618e-02 2.22996296e-02 8.89203804e+01] [-9.79792794e-02 9.95186421e-01 -2.01188474e-03 1.73475300e+00] [-2.23894528e-02 -1.83203943e-04 9.99749308e-01 -2.01273814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:1.73, Z:-2.01 [[ 9.94540075e-01 1.01945120e-01 2.22986843e-02 8.89839487e+01] [-1.01925395e-01 9.94789990e-01 -2.02230843e-03 1.73464705e+00] [-2.23886724e-02 -2.61535433e-04 9.99749308e-01 -2.01292191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:1.73, Z:-2.03 [[ 9.94687823e-01 1.00493537e-01 2.22976028e-02 8.90450909e+01] [-1.00473182e-01 9.94937687e-01 -2.03416323e-03 1.73177610e+00] [-2.23891456e-02 -2.16953699e-04 9.99749308e-01 -2.02839979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.11, Y:1.73, Z:-2.04 [[ 9.94992082e-01 9.74351737e-02 2.22967326e-02 8.91056581e+01] [-9.74138375e-02 9.95241864e-01 -2.04365749e-03 1.72564102e+00] [-2.23897658e-02 -1.38587264e-04 9.99749308e-01 -2.03555552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:1.73, Z:-2.02 [[ 9.94605852e-01 1.01301830e-01 2.22965963e-02 8.91679701e+01] [-1.01281431e-01 9.94855713e-01 -2.04514337e-03 1.72693764e+00] [-2.23890730e-02 -2.24119623e-04 9.99749308e-01 -2.02085075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:1.72, Z:-2.04 [[ 9.94787994e-01 9.94974820e-02 2.22957103e-02 8.92287834e+01] [-9.94764149e-02 9.95037799e-01 -2.05475746e-03 1.72034387e+00] [-2.23895177e-02 -1.73849270e-04 9.99749308e-01 -2.03661125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:89.29, Y:1.72, Z:-2.02 [[ 9.94691036e-01 1.00462179e-01 2.22955741e-02 8.92920581e+01] [-1.00441321e-01 9.94940859e-01 -2.05623427e-03 1.72145831e+00] [-2.23893514e-02 -1.94079116e-04 9.99749308e-01 -2.01890224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:1.72, Z:-2.04 [[ 9.94556823e-01 1.01782359e-01 2.22952312e-02 8.93527621e+01] [-1.01761750e-01 9.94806666e-01 -2.05994515e-03 1.71887605e+00] [-2.23891107e-02 -2.20069240e-04 9.99749308e-01 -2.03501758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.41, Y:1.72, Z:-2.04 [[ 9.94841730e-01 9.89588745e-02 2.22951608e-02 8.94144958e+01] [-9.89375388e-02 9.95091512e-01 -2.06070698e-03 1.71642897e+00] [-2.23896505e-02 -1.55751044e-04 9.99749308e-01 -2.04045131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.48, Y:1.71, Z:-2.04 [[ 9.95071479e-01 9.66215375e-02 2.22941947e-02 8.94761844e+01] [-9.65993821e-02 9.95321189e-01 -2.07110643e-03 1.71100826e+00] [-2.23899979e-02 -9.27064899e-05 9.99749308e-01 -2.04343510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.54, Y:1.71, Z:-2.04 [[ 9.95526545e-01 9.18145445e-02 2.22932187e-02 8.95387785e+01] [-9.17909493e-02 9.95776124e-01 -2.08155864e-03 1.70811339e+00] [-2.23901723e-02 2.59311663e-05 9.99749308e-01 -2.04366727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:89.60, Y:1.70, Z:-2.03 [[ 9.95738170e-01 8.94905569e-02 2.22920844e-02 8.96008730e+01] [-8.94661088e-02 9.95987667e-01 -2.09363626e-03 1.69820883e+00] [-2.23900018e-02 9.03274875e-05 9.99749308e-01 -2.02655863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.66, Y:1.70, Z:-2.03 [[ 9.95473829e-01 9.23848689e-02 2.22910863e-02 8.96625219e+01] [-9.23609094e-02 9.95723373e-01 -2.10420979e-03 1.69651687e+00] [-2.23901528e-02 3.58607714e-05 9.99749308e-01 -2.03057185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:89.72, Y:1.69, Z:-2.03 [[ 9.95341601e-01 9.37988731e-02 2.22905702e-02 8.97236189e+01] [-9.37751460e-02 9.95591167e-01 -2.10966307e-03 1.68633329e+00] [-2.23901788e-02 9.53394244e-06 9.99749308e-01 -2.02536376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:1.68, Z:-2.05 [[ 9.95123262e-01 9.60876313e-02 2.22903545e-02 8.97852353e+01] [-9.60644272e-02 9.95372878e-01 -2.11194005e-03 1.68298070e+00] [-2.23901456e-02 -3.96694644e-05 9.99749308e-01 -2.05088280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.85, Y:1.68, Z:-2.04 [[ 9.94811337e-01 9.92652441e-02 2.22893658e-02 8.98463204e+01] [-9.92426046e-02 9.95061004e-01 -2.12232395e-03 1.67906882e+00] [-2.23899517e-02 -1.00742783e-04 9.99749309e-01 -2.03872308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:1.67, Z:-2.03 [[ 9.94608088e-01 1.01281502e-01 2.22892085e-02 8.99082728e+01] [-1.01259332e-01 9.94857797e-01 -2.12397450e-03 1.67499037e+00] [-2.23897122e-02 -1.44468138e-04 9.99749309e-01 -2.03423227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:89.97, Y:1.67, Z:-2.04 [[ 9.94634384e-01 1.01023149e-01 2.22882196e-02 8.99712597e+01] [-1.01000682e-01 9.94884067e-01 -2.13430103e-03 1.67100622e+00] [-2.23898084e-02 -1.28276195e-04 9.99749309e-01 -2.03606372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:1.67, Z:-2.04 [[ 9.94776956e-01 9.96097077e-02 2.22870751e-02 9.00336370e+01] [-9.95866201e-02 9.95026582e-01 -2.14618591e-03 1.66718586e+00] [-2.23900131e-02 -8.45182003e-05 9.99749309e-01 -2.04025009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:90.10, Y:1.66, Z:-2.04 [[ 9.95122455e-01 9.60969813e-02 2.22860666e-02 9.00952100e+01] [-9.60727790e-02 9.95371976e-01 -2.15660810e-03 1.66221671e+00] [-2.23901697e-02 5.00479470e-06 9.99749309e-01 -2.03608541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.16, Y:1.66, Z:-2.06 [[ 9.95709175e-01 8.98141689e-02 2.22857511e-02 9.01559569e+01] [-8.97883195e-02 9.95958530e-01 -2.15986360e-03 1.65567521e+00] [-2.23896702e-02 1.49595870e-04 9.99749309e-01 -2.05948083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:90.22, Y:1.65, Z:-2.04 [[ 9.95640955e-01 9.05673208e-02 2.22856040e-02 9.02179948e+01] [-9.05416261e-02 9.95890326e-01 -2.16137961e-03 1.65083372e+00] [-2.23897678e-02 1.34183236e-04 9.99749309e-01 -2.04151081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.28, Y:1.65, Z:-2.07 [[ 9.95731307e-01 8.95687401e-02 2.22846494e-02 9.02791951e+01] [-8.95425759e-02 9.95980629e-01 -2.17117834e-03 1.64661115e+00] [-2.23895488e-02 1.66485341e-04 9.99749309e-01 -2.06561336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.34, Y:1.64, Z:-2.07 [[ 9.95662696e-01 9.03282849e-02 2.22844283e-02 9.03409708e+01] [-9.03022602e-02 9.95912033e-01 -2.17344523e-03 1.63965129e+00] [-2.23896538e-02 1.51684101e-04 9.99749309e-01 -2.06706525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.40, Y:1.63, Z:-2.07 [[ 9.95443585e-01 9.27120249e-02 2.22834087e-02 9.04032975e+01] [-9.26863644e-02 9.95692959e-01 -2.18384843e-03 1.63427530e+00] [-2.23899022e-02 1.08529766e-04 9.99749309e-01 -2.06846207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:1.63, Z:-2.05 [[ 9.94985031e-01 9.75104317e-02 2.22823786e-02 9.04660887e+01] [-9.74857396e-02 9.95234503e-01 -2.19430884e-03 1.63108116e+00] [-2.23901600e-02 1.10902865e-05 9.99749309e-01 -2.04714787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters Centerline goodness : 0.979600 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:1.66, Z:-2.07 [[ 9.82848913e-01 1.83061529e-01 2.22820806e-02 9.05309181e+01] [-1.83058402e-01 9.83099585e-01 -2.19733029e-03 1.66231462e+00] [-2.23077509e-02 -1.91927839e-03 9.99749309e-01 -2.07183820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:1.63, Z:-2.07 [[ 9.94593192e-01 1.01429473e-01 2.22810334e-02 9.05899342e+01] [-1.01405460e-01 9.94842730e-01 -2.20789834e-03 1.63067909e+00] [-2.23900701e-02 -6.34577799e-05 9.99749309e-01 -2.07275684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.65, Y:1.63, Z:-2.07 [[ 9.94853363e-01 9.88451055e-02 2.22807446e-02 9.06538056e+01] [-9.88203785e-02 9.95102831e-01 -2.21080969e-03 1.63212611e+00] [-2.23901597e-02 -2.36015972e-06 9.99749309e-01 -2.07210302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:1.63, Z:-2.06 [[ 9.95115070e-01 9.61749440e-02 2.22795551e-02 9.07165983e+01] [-9.61492807e-02 9.95364443e-01 -2.22273198e-03 1.63094060e+00] [-2.23900481e-02 6.97108899e-05 9.99749309e-01 -2.05719154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:1.62, Z:-2.06 [[ 9.95462404e-01 9.25109206e-02 2.22785018e-02 9.07785533e+01] [-9.24841042e-02 9.95711657e-01 -2.23323994e-03 1.62419537e+00] [-2.23895630e-02 1.62699118e-04 9.99749309e-01 -2.05648238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:1.62, Z:-2.08 [[ 9.95577504e-01 9.12641698e-02 2.22774306e-02 9.08397182e+01] [-9.12368034e-02 9.95826697e-01 -2.24387517e-03 1.61667099e+00] [-2.23892455e-02 2.01430089e-04 9.99749309e-01 -2.07742307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:1.61, Z:-2.06 [[ 9.95595256e-01 9.10705805e-02 2.22763645e-02 9.09020999e+01] [-9.10429299e-02 9.95844417e-01 -2.25440923e-03 1.60966042e+00] [-2.23891036e-02 2.16373640e-04 9.99749309e-01 -2.05766256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.96, Y:1.60, Z:-2.07 [[ 9.95632237e-01 9.06656449e-02 2.22753053e-02 9.09627651e+01] [-9.06376600e-02 9.95881361e-01 -2.26482638e-03 1.59825085e+00] [-2.23889033e-02 2.35952610e-04 9.99749309e-01 -2.06553028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:91.02, Y:1.58, Z:-2.06 [[ 9.95670704e-01 9.02424775e-02 2.22743170e-02 9.10233694e+01] [-9.02141702e-02 9.95919791e-01 -2.27450481e-03 1.58351038e+00] [-2.23886901e-02 2.55198778e-04 9.99749309e-01 -2.05823450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:1.57, Z:-2.08 [[ 9.95800934e-01 8.87939422e-02 2.22740900e-02 9.10844242e+01] [-8.87652229e-02 9.96049975e-01 -2.27672638e-03 1.57253977e+00] [-2.23882663e-02 2.90001691e-04 9.99749309e-01 -2.08182791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.14, Y:1.55, Z:-2.06 [[ 9.95405593e-01 9.31213403e-02 2.22737838e-02 9.11436580e+01] [-9.30936368e-02 9.95654748e-01 -2.27971747e-03 1.55411514e+00] [-2.23892890e-02 1.95695976e-04 9.99749309e-01 -2.06055268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:1.55, Z:-2.06 [[ 9.94789485e-01 9.94874794e-02 2.22737838e-02 9.12057969e+01] [-9.94613704e-02 9.95038813e-01 -2.27971747e-03 1.54622473e+00] [-2.23900828e-02 5.24579023e-05 9.99749309e-01 -2.06217999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:1.54, Z:-2.06 [[ 9.93749619e-01 1.09387518e-01 2.22725112e-02 9.12685542e+01] [-1.09363616e-01 9.93999168e-01 -2.29208402e-03 1.53826786e+00] [-2.23895830e-02 -1.58044743e-04 9.99749309e-01 -2.06479052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:1.53, Z:-2.06 [[ 9.93571522e-01 1.10993790e-01 2.22712530e-02 9.13291502e+01] [-1.10970018e-01 9.93821083e-01 -2.30424471e-03 1.53061278e+00] [-2.23893976e-02 -1.82009429e-04 9.99749309e-01 -2.06075288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:1.52, Z:-2.09 [[ 9.93374268e-01 1.12745540e-01 2.22712206e-02 9.13886976e+01] [-1.12722202e-01 9.93623870e-01 -2.30455742e-03 1.52385612e+00] [-2.23890450e-02 -2.21172987e-04 9.99749309e-01 -2.08721575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:1.52, Z:-2.07 [[ 9.93313741e-01 1.13277561e-01 2.22711843e-02 9.14497447e+01] [-1.13254348e-01 9.93563355e-01 -2.30490861e-03 1.52181275e+00] [-2.23889270e-02 -2.32811076e-04 9.99749309e-01 -2.06607306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:1.52, Z:-2.07 [[ 9.93013713e-01 1.15878218e-01 2.22711748e-02 9.15116543e+01] [-1.15855657e-01 9.93263386e-01 -2.30500001e-03 1.51930009e+00] [-2.23882418e-02 -2.91344984e-04 9.99749309e-01 -2.06853444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:1.52, Z:-2.07 [[ 9.92984855e-01 1.16125451e-01 2.22700939e-02 9.15740049e+01] [-1.16102719e-01 9.93234513e-01 -2.31539698e-03 1.51653761e+00] [-2.23883024e-02 -2.86464320e-04 9.99749310e-01 -2.06569390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:91.64, Y:1.51, Z:-2.07 [[ 9.93090848e-01 1.15215699e-01 2.22690347e-02 9.16358071e+01] [-1.15192511e-01 9.93340464e-01 -2.32553941e-03 1.51458853e+00] [-2.23886719e-02 -2.55754117e-04 9.99749310e-01 -2.06849738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:91.70, Y:1.52, Z:-2.07 [[ 9.93196791e-01 1.14298951e-01 2.22684677e-02 9.16979115e+01] [-1.14275411e-01 9.93446374e-01 -2.33095608e-03 1.51655030e+00] [-2.23889543e-02 -2.29640209e-04 9.99749310e-01 -2.06815628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:1.51, Z:-2.07 [[ 9.93347288e-01 1.12983575e-01 2.22683119e-02 9.17603263e+01] [-1.12959671e-01 9.93596836e-01 -2.33244386e-03 1.51291184e+00] [-2.23892521e-02 -1.98494397e-04 9.99749310e-01 -2.07016423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:1.51, Z:-2.07 [[ 9.94118807e-01 1.05980981e-01 2.22672134e-02 9.18221842e+01] [-1.05955086e-01 9.94368157e-01 -2.34288387e-03 1.50948014e+00] [-2.23901091e-02 -3.02195872e-05 9.99749310e-01 -2.07227601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:1.51, Z:-2.10 [[ 9.94741537e-01 9.99674664e-02 2.22661058e-02 9.18831939e+01] [-9.99398289e-02 9.94990700e-01 -2.35336348e-03 1.50786934e+00] [-2.23898280e-02 1.15717603e-04 9.99749310e-01 -2.09760200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:91.94, Y:1.50, Z:-2.08 [[ 9.95393438e-01 9.32530496e-02 2.22659463e-02 9.19445894e+01] [-9.32236978e-02 9.95642404e-01 -2.35487135e-03 1.50308137e+00] [-2.23885193e-02 2.68309641e-04 9.99749310e-01 -2.07766687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:1.50, Z:-2.08 [[ 9.95569394e-01 9.13554437e-02 2.22657849e-02 9.20074198e+01] [-9.13255832e-02 9.95818299e-01 -2.35639670e-03 1.49914162e+00] [-2.23879457e-02 3.12520645e-04 9.99749310e-01 -2.08111245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters Centerline goodness : 0.997807 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:1.49, Z:-2.08 [[ 9.95548014e-01 9.15884460e-02 2.22645083e-02 9.20684810e+01] [-9.15583755e-02 9.95796894e-01 -2.36839731e-03 1.49412280e+00] [-2.23878461e-02 3.19351028e-04 9.99749310e-01 -2.07755643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters Centerline goodness : 0.998405 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:1.49, Z:-2.08 [[ 9.95286541e-01 9.43874983e-02 2.22643564e-02 9.21290423e+01] [-9.43580958e-02 9.95535501e-01 -2.36982511e-03 1.49006963e+00] [-2.23886390e-02 2.57832770e-04 9.99749310e-01 -2.08331864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:1.48, Z:-2.09 [[ 9.95127281e-01 9.60520480e-02 2.22642787e-02 9.21906323e+01] [-9.60230456e-02 9.95376288e-01 -2.37055413e-03 1.48400013e+00] [-2.23890317e-02 2.21119233e-04 9.99749310e-01 -2.08791618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:1.48, Z:-2.11 [[ 9.94909390e-01 9.82835491e-02 2.22631738e-02 9.22531329e+01] [-9.82548740e-02 9.95158435e-01 -2.38088653e-03 1.48149202e+00] [-2.23893871e-02 1.81301029e-04 9.99749310e-01 -2.10809550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:92.32, Y:1.48, Z:-2.09 [[ 9.94918020e-01 9.81964387e-02 2.22618984e-02 9.23158434e+01] [-9.81674763e-02 9.95167032e-01 -2.39275246e-03 1.47668255e+00] [-2.23892671e-02 1.95198156e-04 9.99749310e-01 -2.09283271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters Centerline goodness : 0.997858 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:1.47, Z:-2.09 [[ 9.94968604e-01 9.76828292e-02 2.22607692e-02 9.23769498e+01] [-9.76535043e-02 9.95217573e-01 -2.40321177e-03 1.47242588e+00] [-2.23890613e-02 2.17278139e-04 9.99749310e-01 -2.08745565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters Centerline goodness : 0.889238 with order 3 Centerline is valid? [True, False] Translation: X:92.39, Y:1.44, Z:-2.08 [[ 9.96306133e-01 8.50861745e-02 1.15944878e-02 9.23895794e+01] [-8.54148477e-02 9.95842900e-01 3.16420951e-02 1.43943567e+00] [-8.85398352e-03 -3.25155548e-02 9.99432012e-01 -2.08307442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters Centerline goodness : 0.998204 with order 1 Centerline is valid? [False, True] Translation: X:92.40, Y:1.42, Z:-2.08 [[ 9.97611862e-01 6.90403452e-02 2.00097539e-03 9.23988504e+01] [-6.90374613e-02 9.95852899e-01 5.92522812e-02 1.41582107e+00] [ 2.09812081e-03 -5.92489208e-02 9.98241035e-01 -2.07818936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:92.47, Y:1.47, Z:-2.09 [[ 9.97505359e-01 7.05303493e-02 -2.92042193e-03 9.24657952e+01] [-7.05299392e-02 9.97509633e-01 2.43310248e-04 1.47004861e+00] [ 2.93030976e-03 -3.67260953e-05 9.99995706e-01 -2.08771721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters Centerline goodness : 0.998403 with order 1 Centerline is valid? [True, True] Translation: X:92.53, Y:1.46, Z:-2.09 [[ 9.97492594e-01 7.07106571e-02 -2.92030724e-03 9.25277464e+01] [-7.07102437e-02 9.97496868e-01 2.44679100e-04 1.46454804e+00] [ 2.93029874e-03 -3.75699537e-05 9.99995706e-01 -2.08672254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters Centerline goodness : 0.998007 with order 1 Centerline is valid? [True, True] Translation: X:92.59, Y:1.45, Z:-2.09 [[ 9.97524364e-01 7.02610548e-02 -2.92027258e-03 9.25879789e+01] [-7.02606383e-02 9.97528638e-01 2.45092102e-04 1.45196402e+00] [ 2.93027595e-03 -3.93051276e-05 9.99995706e-01 -2.08840904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:92.65, Y:1.44, Z:-2.08 [[ 9.97521181e-01 7.03062246e-02 -2.92024730e-03 9.26488564e+01] [-7.03058074e-02 9.97525455e-01 2.45392879e-04 1.44377342e+00] [ 2.93027366e-03 -3.94742507e-05 9.99995706e-01 -2.08452822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:1.43, Z:-2.09 [[ 9.97337022e-01 7.28720536e-02 -2.92023017e-03 9.27105013e+01] [-7.28716469e-02 9.97341297e-01 2.45596615e-04 1.43363988e+00] [ 2.93036327e-03 -3.21406155e-05 9.99995706e-01 -2.08657638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters Centerline goodness : 0.998352 with order 1 Centerline is valid? [True, True] Translation: X:92.77, Y:1.42, Z:-2.09 [[ 9.97068671e-01 7.64561184e-02 -2.92019650e-03 9.27716009e+01] [-7.64557258e-02 9.97072947e-01 2.45996233e-04 1.42415771e+00] [ 2.93045685e-03 -2.20093938e-05 9.99995706e-01 -2.08603908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:92.83, Y:1.42, Z:-2.10 [[ 9.96861685e-01 7.91091284e-02 -2.92016213e-03 9.28333991e+01] [-7.91087460e-02 9.96865962e-01 2.46403624e-04 1.41590621e+00] [ 2.93050300e-03 -1.46199674e-05 9.99995706e-01 -2.10433910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters Centerline goodness : 0.998152 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:1.41, Z:-2.09 [[ 9.96452514e-01 8.41062492e-02 -2.92012811e-03 9.28958216e+01] [-8.41058871e-02 9.96456792e-01 2.46806066e-04 1.41294986e+00] [ 2.93053942e-03 -3.30559740e-07 9.99995706e-01 -2.08697025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:92.96, Y:1.41, Z:-2.09 [[ 9.96019201e-01 8.90911026e-02 -2.92009378e-03 9.29575533e+01] [-8.90907607e-02 9.96023481e-01 2.47211616e-04 1.40922924e+00] [ 2.93050633e-03 1.39258599e-05 9.99995706e-01 -2.08653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters Centerline goodness : 0.998156 with order 1 Centerline is valid? [True, True] Translation: X:93.02, Y:1.41, Z:-2.08 [[ 9.95446044e-01 9.52819362e-02 -2.92006001e-03 9.30188696e+01] [-9.52816197e-02 9.95450326e-01 2.47609856e-04 1.40942353e+00] [ 2.93036744e-03 3.17457956e-05 9.99995706e-01 -2.08134975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters Centerline goodness : 0.997607 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:1.41, Z:-2.08 [[ 9.95224441e-01 9.75693862e-02 -2.92004307e-03 9.30812480e+01] [-9.75690790e-02 9.95228724e-01 2.47809484e-04 1.40933211e+00] [ 2.93028936e-03 3.82798573e-05 9.99995706e-01 -2.08084756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters Centerline goodness : 0.997452 with order 1 Centerline is valid? [True, True] Translation: X:93.14, Y:1.41, Z:-2.08 [[ 9.95403279e-01 9.57276676e-02 -2.92000975e-03 9.31434848e+01] [-9.57273513e-02 9.95407561e-01 2.48201505e-04 1.40741961e+00] [ 2.93035953e-03 3.24642070e-05 9.99995706e-01 -2.07940606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:93.20, Y:1.40, Z:-2.10 [[ 9.95676210e-01 9.28458822e-02 -2.91997640e-03 9.32047087e+01] [-9.28455524e-02 9.95680492e-01 2.48593215e-04 1.40496622e+00] [ 2.93044439e-03 2.35884716e-05 9.99995706e-01 -2.10389171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters Centerline goodness : 0.998009 with order 1 Centerline is valid? [True, True] Translation: X:93.27, Y:1.41, Z:-2.08 [[ 9.95650046e-01 9.31260389e-02 -2.91996826e-03 9.32670430e+01] [-9.31257100e-02 9.95654328e-01 2.48688802e-04 1.40721679e+00] [ 2.93043843e-03 2.43171001e-05 9.99995706e-01 -2.08140464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters Centerline goodness : 0.998357 with order 1 Centerline is valid? [True, True] Translation: X:93.33, Y:1.41, Z:-2.08 [[ 9.95641391e-01 9.32185319e-02 -2.91993501e-03 9.33300359e+01] [-9.32182022e-02 9.95645672e-01 2.49078509e-04 1.40982245e+00] [ 2.93043939e-03 2.41982194e-05 9.99995706e-01 -2.08116732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:93.39, Y:1.41, Z:-2.09 [[ 9.96119438e-01 8.79632822e-02 -2.91990151e-03 9.33917510e+01] [-8.79629288e-02 9.96123718e-01 2.49470600e-04 1.40910567e+00] [ 2.93052740e-03 8.34057516e-06 9.99995706e-01 -2.08563379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:93.45, Y:1.41, Z:-2.08 [[ 9.96886191e-01 7.87997273e-02 -2.91987616e-03 9.34539750e+01] [-7.87993337e-02 9.96890467e-01 2.49766980e-04 1.40767145e+00] [ 2.93047828e-03 -1.89049575e-05 9.99995706e-01 -2.08425112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:1.41, Z:-2.10 [[ 9.97260065e-01 7.39177774e-02 -2.91984300e-03 9.35157677e+01] [-7.39173617e-02 9.97264339e-01 2.50154099e-04 1.40535886e+00] [ 2.93034613e-03 -3.36416023e-05 9.99995706e-01 -2.10437100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:1.40, Z:-2.08 [[ 9.97345651e-01 7.27538793e-02 -2.91982635e-03 9.35768507e+01] [-7.27534581e-02 9.97349924e-01 2.50348269e-04 1.40281399e+00] [ 2.93030239e-03 -3.72562934e-05 9.99995706e-01 -2.08044452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:1.40, Z:-2.10 [[ 9.97220286e-01 7.44525126e-02 -2.91980952e-03 9.36377330e+01] [-7.44520981e-02 9.97224560e-01 2.50544430e-04 1.39934517e+00] [ 2.93035942e-03 -3.24620440e-05 9.99995706e-01 -2.10399814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:1.40, Z:-2.09 [[ 9.95928140e-01 9.01033600e-02 -2.91980127e-03 9.36988012e+01] [-9.01030124e-02 9.95932420e-01 2.50640492e-04 1.40244248e+00] [ 2.93050829e-03 1.34629705e-05 9.99995706e-01 -2.08757924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:1.39, Z:-2.08 [[ 9.97066262e-01 7.64875419e-02 -2.91980127e-03 9.37598422e+01] [-7.64871359e-02 9.97070537e-01 2.50640492e-04 1.39298353e+00] [ 2.93041869e-03 -2.65779426e-05 9.99995706e-01 -2.08345672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:1.39, Z:-2.10 [[ 9.97219526e-01 7.44626904e-02 -2.91978436e-03 9.38210474e+01] [-7.44622751e-02 9.97223800e-01 2.50837313e-04 1.38868958e+00] [ 2.93035648e-03 -3.27260804e-05 9.99995706e-01 -2.09526957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters Centerline goodness : 0.902576 with order 1 Centerline is valid? [True, False] Translation: X:93.78, Y:1.36, Z:-2.09 [[ 9.97302790e-01 7.31847480e-02 5.58006106e-03 9.37796876e+01] [-7.33361178e-02 9.96689532e-01 3.50968641e-02 1.36184160e+00] [-2.99303329e-03 -3.54114205e-02 9.99368337e-01 -2.08726911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [False, True] Translation: X:93.74, Y:1.34, Z:-2.08 [[ 9.97572749e-01 6.90381141e-02 9.07465315e-03 9.37438336e+01] [-6.94893295e-02 9.95376265e-01 6.63123162e-02 1.33814712e+00] [-4.45461711e-03 -6.67819511e-02 9.97757650e-01 -2.08050157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:1.38, Z:-2.08 [[ 9.99901157e-01 1.22495224e-02 6.90106415e-03 9.38070852e+01] [-1.22482472e-02 9.99924962e-01 -2.27021345e-04 1.37917679e+00] [-6.90332721e-03 1.42472966e-04 9.99976162e-01 -2.08334858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:93.87, Y:1.37, Z:-2.08 [[ 9.99915959e-01 1.09750372e-02 6.90095833e-03 9.38696175e+01] [-1.09737098e-02 9.99939761e-01 -2.30193899e-04 1.37438123e+00] [-6.90306900e-03 1.54445440e-04 9.99976162e-01 -2.08435652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters Centerline goodness : 0.965676 with order 1 Centerline is valid? [True, True] Translation: X:93.93, Y:1.40, Z:-2.09 [[ 9.95144567e-01 9.81818074e-02 6.90090340e-03 9.39317542e+01] [-9.81825506e-02 9.95168394e-01 -2.31829001e-04 1.39792933e+00] [-6.89032234e-03 -4.46844926e-04 9.99976162e-01 -2.09090279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:93.99, Y:1.36, Z:-2.07 [[ 9.99910255e-01 1.14830046e-02 6.90088815e-03 9.39930590e+01] [-1.14816749e-02 9.99934056e-01 -2.32281869e-04 1.35646249e+00] [-6.90310038e-03 1.53027269e-04 9.99976162e-01 -2.06725293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters Centerline goodness : 0.998206 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:1.35, Z:-2.07 [[ 9.99887549e-01 1.33142545e-02 6.90076479e-03 9.40550129e+01] [-1.33129434e-02 9.99911351e-01 -2.35890816e-04 1.35248687e+00] [-6.90329375e-03 1.43994799e-04 9.99976162e-01 -2.06776100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters Centerline goodness : 0.993418 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:1.37, Z:-2.08 [[ 9.96731527e-01 8.04900185e-02 6.90073373e-03 9.41171964e+01] [-8.04903040e-02 9.96755364e-01 -2.36795880e-04 1.36793020e+00] [-6.89740306e-03 -3.19420236e-04 9.99976162e-01 -2.08459193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:94.18, Y:1.34, Z:-2.09 [[ 9.99743637e-01 2.15647808e-02 6.90070362e-03 9.41782217e+01] [-2.15636539e-02 9.99767449e-01 -2.37670277e-04 1.34157710e+00] [-6.90422416e-03 8.88049629e-05 9.99976162e-01 -2.08522693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:1.34, Z:-2.08 [[ 9.99569892e-01 2.85028700e-02 6.90059322e-03 9.42401890e+01] [-2.85018866e-02 9.99593710e-01 -2.40833415e-04 1.34013563e+00] [-6.90465402e-03 4.40499049e-05 9.99976162e-01 -2.08404418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:1.34, Z:-2.07 [[ 9.99276317e-01 3.74062064e-02 6.90056070e-03 9.43023144e+01] [-3.74054288e-02 9.99300143e-01 -2.41761509e-04 1.34296174e+00] [-6.90477468e-03 -1.65318822e-05 9.99976162e-01 -2.06937641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:1.35, Z:-2.07 [[ 9.98985714e-01 4.44963597e-02 6.90052769e-03 9.43649185e+01] [-4.44957446e-02 9.99009544e-01 -2.42700182e-04 1.34815944e+00] [-6.90449230e-03 -6.45901035e-05 9.99976162e-01 -2.06646680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:1.35, Z:-2.07 [[ 9.99047158e-01 4.30947735e-02 6.90049467e-03 9.44273142e+01] [-4.30941186e-02 9.99070987e-01 -2.43635474e-04 1.34972357e+00] [-6.90458344e-03 -5.39674073e-05 9.99976162e-01 -2.06531883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:1.35, Z:-2.07 [[ 9.99257101e-01 3.79160907e-02 6.90046192e-03 9.44892046e+01] [-3.79153059e-02 9.99280926e-01 -2.44559532e-04 1.35400224e+00] [-6.90477272e-03 -1.72552755e-05 9.99976162e-01 -2.06791547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:1.35, Z:-2.09 [[ 9.99409674e-01 3.36554307e-02 6.90043689e-03 9.45506734e+01] [-3.36545395e-02 9.99433495e-01 -2.45263610e-04 1.35443055e+00] [-6.90478222e-03 1.28877988e-05 9.99976162e-01 -2.08587213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:1.35, Z:-2.07 [[ 9.99439355e-01 3.27621610e-02 6.90041173e-03 9.46116215e+01] [-3.27612436e-02 9.99463176e-01 -2.45969611e-04 1.35248292e+00] [-6.90476592e-03 1.97656396e-05 9.99976162e-01 -2.06840098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:1.35, Z:-2.07 [[ 9.99450389e-01 3.24238132e-02 6.90038862e-03 9.46735122e+01] [-3.24228833e-02 9.99474210e-01 -2.46616226e-04 1.35270911e+00] [-6.90475670e-03 2.27501887e-05 9.99976162e-01 -2.06970459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:94.74, Y:1.35, Z:-2.07 [[ 9.99455213e-01 3.22748065e-02 6.90035477e-03 9.47358368e+01] [-3.22738665e-02 9.99479032e-01 -2.47559779e-04 1.34974717e+00] [-6.90474985e-03 2.47237827e-05 9.99976162e-01 -2.07185853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:1.34, Z:-2.07 [[ 9.99501341e-01 3.08132162e-02 6.90032085e-03 9.47979043e+01] [-3.08122349e-02 9.99525159e-01 -2.48501618e-04 1.34432850e+00] [-6.90470143e-03 3.57633933e-05 9.99976162e-01 -2.07149948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.86, Y:1.34, Z:-2.09 [[ 9.99537790e-01 2.96073123e-02 6.90028677e-03 9.48589416e+01] [-2.96062958e-02 9.99561606e-01 -2.49444202e-04 1.34164500e+00] [-6.90464710e-03 4.50369750e-05 9.99976162e-01 -2.08849572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:1.34, Z:-2.09 [[ 9.99527465e-01 2.99538363e-02 6.90026991e-03 9.49209748e+01] [-2.99528248e-02 9.99551282e-01 -2.49909867e-04 1.34022934e+00] [-6.90465939e-03 4.31092002e-05 9.99976162e-01 -2.08912309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.98, Y:1.34, Z:-2.09 [[ 9.99442576e-01 3.26638082e-02 6.90023634e-03 9.49830114e+01] [-3.26628549e-02 9.99466395e-01 -2.50833174e-04 1.33651187e+00] [-6.90474751e-03 2.53119353e-05 9.99976162e-01 -2.09087784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:95.05, Y:1.34, Z:-2.09 [[ 9.99388240e-01 3.42860584e-02 6.90020262e-03 9.50454567e+01] [-3.42851374e-02 9.99412060e-01 -2.51757397e-04 1.33578308e+00] [-6.90477749e-03 1.50289863e-05 9.99976162e-01 -2.09232028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:95.11, Y:1.33, Z:-2.09 [[ 9.99455869e-01 3.22545105e-02 6.90016849e-03 9.51072192e+01] [-3.22535346e-02 9.99479687e-01 -2.52689496e-04 1.33367955e+00] [-6.90472862e-03 2.99971764e-05 9.99976162e-01 -2.09257452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:95.17, Y:1.33, Z:-2.09 [[ 9.99616291e-01 2.68264654e-02 6.90013391e-03 9.51692159e+01] [-2.68253537e-02 9.99640103e-01 -2.53630353e-04 1.32957204e+00] [-6.90445458e-03 6.84345006e-05 9.99976162e-01 -2.09455271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:1.32, Z:-2.10 [[ 9.99667847e-01 2.48311294e-02 6.90009975e-03 9.52312221e+01] [-2.48299638e-02 9.99691657e-01 -2.54556207e-04 1.32499161e+00] [-6.90429307e-03 8.31424281e-05 9.99976162e-01 -2.09527552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:95.29, Y:1.32, Z:-2.09 [[ 9.99671800e-01 2.46714567e-02 6.90006594e-03 9.52928660e+01] [-2.46702809e-02 9.99695610e-01 -2.55469444e-04 1.32258815e+00] [-6.90426843e-03 8.51590337e-05 9.99976162e-01 -2.09391868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters Centerline goodness : 0.998308 with order 1 Centerline is valid? [True, True] Translation: X:95.36, Y:1.32, Z:-2.07 [[ 9.99601892e-01 2.73577566e-02 6.90004055e-03 9.53553650e+01] [-2.73566402e-02 9.99625704e-01 -2.56153243e-04 1.31854364e+00] [-6.90446568e-03 6.72893400e-05 9.99976162e-01 -2.07244698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:95.42, Y:1.32, Z:-2.09 [[ 9.99490860e-01 3.11514083e-02 6.90000603e-03 9.54173109e+01] [-3.11503758e-02 9.99514676e-01 -2.57079810e-04 1.31839109e+00] [-6.90466569e-03 4.20111391e-05 9.99976162e-01 -2.09388325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:1.32, Z:-2.08 [[ 9.99334087e-01 3.58297661e-02 6.89997121e-03 9.54784172e+01] [-3.58288387e-02 9.99357908e-01 -2.58011149e-04 1.31979418e+00] [-6.90478527e-03 1.06213802e-05 9.99976162e-01 -2.07552016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters Centerline goodness : 0.954349 with order 3 Centerline is valid? [True, True] Translation: X:95.65, Y:1.35, Z:-2.10 [[ 9.92021222e-01 1.25882030e-01 6.89994670e-03 9.56496873e+01] [-1.25883251e-01 9.92045029e-01 -2.58664799e-04 1.35095579e+00] [-6.87761908e-03 -6.11986755e-04 9.99976162e-01 -2.09872065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:1.32, Z:-2.09 [[ 9.99362257e-01 3.50734920e-02 6.70289668e-03 9.55722598e+01] [-3.50381111e-02 9.99371790e-01 -5.32495805e-03 1.31794901e+00] [-6.88545073e-03 5.08670526e-03 9.99963357e-01 -2.09236213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:1.32, Z:-2.08 [[ 9.98994731e-01 4.42993187e-02 6.86282904e-03 9.56330994e+01] [-4.42988892e-02 9.99018299e-01 -2.14659116e-04 1.31719487e+00] [-6.86560105e-03 -8.95723780e-05 9.99976427e-01 -2.07883013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:95.69, Y:1.32, Z:-2.09 [[ 9.96652591e-01 8.14648058e-02 6.86282157e-03 9.56927496e+01] [-8.14652525e-02 9.96676159e-01 -2.14897686e-04 1.32211864e+00] [-6.85751724e-03 -3.44903156e-04 9.99976427e-01 -2.08954860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters Centerline goodness : 0.996710 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:1.31, Z:-2.07 [[ 9.99002041e-01 4.41341526e-02 6.86279396e-03 9.57543583e+01] [-4.41337115e-02 9.99025610e-01 -2.15775915e-04 1.31371889e+00] [-6.86563001e-03 -8.73199889e-05 9.99976427e-01 -2.07264313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters Centerline goodness : 0.996761 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:1.32, Z:-2.07 [[ 9.98739882e-01 4.97146956e-02 6.86269416e-03 9.58155880e+01] [-4.97143647e-02 9.98763452e-01 -2.18904628e-04 1.31668085e+00] [-6.86509089e-03 -1.22545698e-04 9.99976427e-01 -2.07345546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters Centerline goodness : 0.997060 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:1.32, Z:-2.08 [[ 9.98487600e-01 5.45473864e-02 6.86267138e-03 9.58781197e+01] [-5.45471646e-02 9.98511171e-01 -2.19616513e-04 1.32063332e+00] [-6.86443354e-03 -1.55054901e-04 9.99976427e-01 -2.07643741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:95.94, Y:1.33, Z:-2.09 [[ 9.98382577e-01 5.64369911e-02 6.86264201e-03 9.59387635e+01] [-5.64368077e-02 9.98406149e-01 -2.20530315e-04 1.32509559e+00] [-6.86415005e-03 -1.67131983e-04 9.99976427e-01 -2.09240356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters Centerline goodness : 0.997808 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:1.33, Z:-2.08 [[ 9.98360779e-01 5.68213004e-02 6.86263496e-03 9.59998796e+01] [-5.68211245e-02 9.98384350e-01 -2.20749516e-04 1.33081712e+00] [-6.86409062e-03 -1.69554978e-04 9.99976427e-01 -2.07682864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:96.06, Y:1.33, Z:-2.08 [[ 9.98512049e-01 5.40979812e-02 6.86261785e-03 9.60624762e+01] [-5.40977375e-02 9.98535621e-01 -2.21280314e-04 1.33222786e+00] [-6.86453919e-03 -1.50301039e-04 9.99976427e-01 -2.08074132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:96.12, Y:1.33, Z:-2.08 [[ 9.98773563e-01 4.90334019e-02 6.86258856e-03 9.61245890e+01] [-4.90330324e-02 9.98797133e-01 -2.22184907e-04 1.33302041e+00] [-6.86522826e-03 -1.14581116e-04 9.99976427e-01 -2.07580322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters Centerline goodness : 0.967251 with order 2 Centerline is valid? [True, True] Translation: X:96.21, Y:1.37, Z:-2.11 [[ 9.90671885e-01 1.36096001e-01 6.86255901e-03 9.62137780e+01] [-1.36097685e-01 9.90695397e-01 -2.23093881e-04 1.37045339e+00] [-6.82906781e-03 -7.12965561e-04 9.99976427e-01 -2.10506171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:1.33, Z:-2.10 [[ 9.99889916e-01 1.31753643e-02 6.82384267e-03 9.62389572e+01] [-1.31669930e-02 9.99912505e-01 -1.27024337e-03 1.32503403e+00] [-6.83998153e-03 1.18025405e-03 9.99975911e-01 -2.10218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters Centerline goodness : 0.994965 with order 1 Centerline is valid? [True, True] Translation: X:96.30, Y:1.31, Z:-2.11 [[ 9.99411908e-01 -3.35980006e-02 6.85660870e-03 9.63009311e+01] [ 3.36002448e-02 9.99435330e-01 -2.12342675e-04 1.30846093e+00] [-6.84560268e-03 4.42601528e-04 9.99976471e-01 -2.10670243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:96.36, Y:1.32, Z:-2.07 [[ 9.99248162e-01 3.81588524e-02 6.85652906e-03 9.63628183e+01] [-3.81582762e-02 9.99271685e-01 -2.14883851e-04 1.32221828e+00] [-6.85973506e-03 -4.69110364e-05 9.99976471e-01 -2.07219110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:96.42, Y:1.32, Z:-2.08 [[ 9.99385809e-01 3.43655653e-02 6.85651420e-03 9.64245624e+01] [-3.43648966e-02 9.99409329e-01 -2.15356680e-04 1.31866012e+00] [-6.85986512e-03 -2.03989915e-05 9.99976471e-01 -2.08035863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:96.49, Y:1.32, Z:-2.10 [[ 9.99578226e-01 2.82198362e-02 6.85648503e-03 9.64855292e+01] [-2.82190165e-02 9.99601741e-01 -2.16281421e-04 1.31547126e+00] [-6.85985780e-03 2.27069350e-05 9.99976471e-01 -2.09571167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:96.55, Y:1.31, Z:-2.10 [[ 9.99593208e-01 2.76840450e-02 6.85647776e-03 9.65478800e+01] [-2.76832111e-02 9.99616723e-01 -2.16511706e-04 1.31075467e+00] [-6.85984375e-03 2.66143095e-05 9.99976471e-01 -2.09649793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.61, Y:1.31, Z:-2.10 [[ 9.99547087e-01 2.93020487e-02 6.85644894e-03 9.66096713e+01] [-2.93012466e-02 9.99570603e-01 -2.17420766e-04 1.30630596e+00] [-6.85987567e-03 1.64197922e-05 9.99976471e-01 -2.09839023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:96.67, Y:1.30, Z:-2.10 [[ 9.99434608e-01 3.29158700e-02 6.85641994e-03 9.66713825e+01] [-3.29151467e-02 9.99458126e-01 -2.18331424e-04 1.30368648e+00] [-6.85989119e-03 -7.47208723e-06 9.99976471e-01 -2.09758734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:96.73, Y:1.30, Z:-2.08 [[ 9.99442407e-01 3.26782157e-02 6.85639052e-03 9.67319473e+01] [-3.26774806e-02 9.99465924e-01 -2.19251412e-04 1.29784158e+00] [-6.85989343e-03 -4.92040872e-06 9.99976471e-01 -2.08003664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:1.29, Z:-2.08 [[ 9.99491360e-01 3.11450122e-02 6.85638348e-03 9.67936173e+01] [-3.11442394e-02 9.99514876e-01 -2.19471263e-04 1.29439722e+00] [-6.85989272e-03 5.82278260e-06 9.99976471e-01 -2.08051290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:96.86, Y:1.29, Z:-2.08 [[ 9.99482599e-01 3.14248995e-02 6.85635319e-03 9.68561621e+01] [-3.14241269e-02 9.99506116e-01 -2.20413512e-04 1.28966569e+00] [-6.85989342e-03 4.84455680e-06 9.99976471e-01 -2.08292269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:96.92, Y:1.29, Z:-2.08 [[ 9.99318158e-01 3.62796170e-02 6.85630764e-03 9.69190407e+01] [-3.62789489e-02 9.99341678e-01 -2.21821316e-04 1.28528437e+00] [-6.85984158e-03 -2.70695659e-05 9.99976471e-01 -2.08009287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:96.98, Y:1.28, Z:-2.08 [[ 9.99036782e-01 4.33416729e-02 6.85626208e-03 9.69806738e+01] [-4.33411615e-02 9.99060305e-01 -2.23220690e-04 1.28445952e+00] [-6.85949405e-03 -7.41526825e-05 9.99976471e-01 -2.08293818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:1.28, Z:-2.11 [[ 9.98931247e-01 4.57094815e-02 6.85623912e-03 9.70410287e+01] [-4.57090210e-02 9.98954771e-01 -2.23923751e-04 1.28172392e+00] [-6.85930822e-03 -8.97075465e-05 9.99976471e-01 -2.10518744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:97.10, Y:1.28, Z:-2.09 [[ 9.98923585e-01 4.58766071e-02 6.85623939e-03 9.71023830e+01] [-4.58761506e-02 9.98947110e-01 -2.23915487e-04 1.27983122e+00] [-6.85929301e-03 -9.08634101e-05 9.99976471e-01 -2.08955691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:1.28, Z:-2.09 [[ 9.98822856e-01 4.80197361e-02 6.85622766e-03 9.71651285e+01] [-4.80193277e-02 9.98846382e-01 -2.24274005e-04 1.28313416e+00] [-6.85908777e-03 -1.05221441e-04 9.99976471e-01 -2.08785724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:1.28, Z:-2.09 [[ 9.98680325e-01 5.08979443e-02 6.85619013e-03 9.72284793e+01] [-5.08975959e-02 9.98703852e-01 -2.25415795e-04 1.28470825e+00] [-6.85877669e-03 -1.23845274e-04 9.99976471e-01 -2.08648602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters Centerline goodness : 0.916575 with order 1 Centerline is valid? [True, False] Translation: X:97.28, Y:1.26, Z:-2.09 [[ 9.99438137e-01 3.01867849e-02 -1.45659829e-02 9.72773079e+01] [-2.97677939e-02 9.99159757e-01 2.81719532e-02 1.26092658e+00] [ 1.54041646e-02 -2.77225272e-02 9.99496960e-01 -2.08677853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [False, True] Translation: X:97.37, Y:1.24, Z:-2.08 [[ 9.99026825e-01 1.07603574e-02 -4.27740354e-02 9.73651790e+01] [-8.65590780e-03 9.98757170e-01 4.90835158e-02 1.24172035e+00] [ 4.32490307e-02 -4.86655009e-02 9.97878344e-01 -2.08331535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:97.42, Y:1.29, Z:-2.08 [[ 9.99086881e-01 5.87523138e-03 -4.23188686e-02 9.74238231e+01] [-5.89885498e-03 9.99982508e-01 -4.33376547e-04 1.29377926e+00] [ 4.23155822e-02 6.82613692e-04 9.99104061e-01 -2.08334018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:1.30, Z:-2.09 [[ 9.99094961e-01 4.28844100e-03 -4.23186576e-02 9.74835814e+01] [-4.31147696e-03 9.99990603e-01 -4.53090968e-04 1.29671350e+00] [ 4.23163168e-02 6.35136820e-04 9.99104062e-01 -2.09483091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:1.30, Z:-2.08 [[ 9.99103857e-01 -7.95155989e-04 -4.23184542e-02 9.75419439e+01] [ 7.75904326e-04 9.99999588e-01 -4.71346539e-04 1.29873314e+00] [ 4.23188116e-02 4.38089073e-04 9.99104062e-01 -2.07963731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:97.60, Y:1.30, Z:-2.08 [[ 9.99067177e-01 -8.59900908e-03 -4.23182244e-02 9.76005085e+01] [ 8.58591550e-03 9.99963020e-01 -4.91153056e-04 1.29688493e+00] [ 4.23208829e-02 1.27354199e-04 9.99104062e-01 -2.07699913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:97.66, Y:1.30, Z:-2.08 [[ 9.99022547e-01 -1.27725705e-02 -4.23179810e-02 9.76595100e+01] [ 1.27623663e-02 9.99918427e-01 -5.11293311e-04 1.29747707e+00] [ 4.23210596e-02 -2.92840299e-05 9.99104062e-01 -2.08049675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.72, Y:1.30, Z:-2.09 [[ 9.99012469e-01 -1.35387508e-02 -4.23177255e-02 9.77202198e+01] [ 1.35283720e-02 9.99908346e-01 -5.31635860e-04 1.29781811e+00] [ 4.23210446e-02 -4.13790797e-05 9.99104062e-01 -2.08860482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:97.78, Y:1.30, Z:-2.07 [[ 9.98984923e-01 -1.54380970e-02 -4.23177076e-02 9.77783935e+01] [ 1.54293612e-02 9.99880818e-01 -5.33058881e-04 1.29700989e+00] [ 4.23208935e-02 -1.20417412e-04 9.99104062e-01 -2.06789203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:97.84, Y:1.29, Z:-2.06 [[ 9.98943983e-01 -1.78923123e-02 -4.23176535e-02 9.78369840e+01] [ 1.78855970e-02 9.99839896e-01 -5.37319023e-04 1.29392695e+00] [ 4.23204921e-02 -2.20124892e-04 9.99104062e-01 -2.06405378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:97.90, Y:1.31, Z:-2.07 [[ 9.99070414e-01 8.21866095e-03 -4.23173901e-02 9.78960449e+01] [-8.24963311e-03 9.99965816e-01 -5.57320877e-04 1.30559947e+00] [ 4.23113630e-02 9.05905742e-04 9.99104063e-01 -2.07400334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:97.95, Y:1.30, Z:-2.06 [[ 9.99030677e-01 -1.21230651e-02 -4.23171150e-02 9.79543882e+01] [ 1.21094750e-02 9.99926511e-01 -5.77478443e-04 1.29723905e+00] [ 4.23210059e-02 6.44806329e-05 9.99104063e-01 -2.05907918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:98.02, Y:1.30, Z:-2.08 [[ 9.99082824e-01 -6.54197682e-03 -4.23168293e-02 9.80155200e+01] [ 6.52252579e-03 9.99978549e-01 -5.97705770e-04 1.30090543e+00] [ 4.23198318e-02 3.21144958e-04 9.99104063e-01 -2.07603058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.07, Y:1.31, Z:-2.05 [[ 9.99061009e-01 -9.29442956e-03 -4.23168169e-02 9.80744190e+01] [ 9.27740922e-03 9.99956785e-01 -5.98581748e-04 1.30539160e+00] [ 4.23205516e-02 2.05429258e-04 9.99104063e-01 -2.05288974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.13, Y:1.31, Z:-2.06 [[ 9.98983967e-01 -1.55023313e-02 -4.23167968e-02 9.81330995e+01] [ 1.54908175e-02 9.99879830e-01 -5.99999263e-04 1.30823720e+00] [ 4.23210130e-02 -5.61321330e-05 9.99104063e-01 -2.06299568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:98.19, Y:1.31, Z:-2.04 [[ 9.98894936e-01 -2.04501610e-02 -4.23166391e-02 9.81925799e+01] [ 2.04426219e-02 9.99790841e-01 -6.10922122e-04 1.30790218e+00] [ 4.23202817e-02 -2.54816041e-04 9.99104063e-01 -2.04407659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:1.31, Z:-2.07 [[ 9.98795603e-01 -2.48324234e-02 -4.23165960e-02 9.82530313e+01] [ 2.48286891e-02 9.99691532e-01 -6.13893461e-04 1.30801416e+00] [ 4.23187872e-02 -4.37511518e-04 9.99104063e-01 -2.06987834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.31, Y:1.31, Z:-2.04 [[ 9.98728603e-01 -2.73951946e-02 -4.23164360e-02 9.83111363e+01] [ 2.73933001e-02 9.99624538e-01 -6.24731520e-04 1.30761577e+00] [ 4.23176624e-02 -5.35249593e-04 9.99104063e-01 -2.04194228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.37, Y:1.31, Z:-2.06 [[ 9.98718967e-01 -2.77443763e-02 -4.23163743e-02 9.83709965e+01] [ 2.77426192e-02 9.99614902e-01 -6.28881944e-04 1.30815237e+00] [ 4.23175263e-02 -5.45890732e-04 9.99104063e-01 -2.05876613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.43, Y:1.30, Z:-2.04 [[ 9.98656418e-01 -2.99113316e-02 -4.23163114e-02 9.84306592e+01] [ 2.99113404e-02 9.99552355e-01 -6.33088082e-04 1.30480248e+00] [ 4.23163052e-02 -6.33500117e-04 9.99104063e-01 -2.03856723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:98.49, Y:1.30, Z:-2.04 [[ 9.98555870e-01 -3.30984174e-02 -4.23162907e-02 9.84901670e+01] [ 3.31012272e-02 9.99451803e-01 -6.34465807e-04 1.30384934e+00] [ 4.23140929e-02 -7.67171598e-04 9.99104063e-01 -2.04091984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:1.30, Z:-2.04 [[ 9.98474809e-01 -3.54597226e-02 -4.23162271e-02 9.85484655e+01] [ 3.54644726e-02 9.99370734e-01 -6.38679307e-04 1.30103142e+00] [ 4.23122464e-02 -8.63017480e-04 9.99104063e-01 -2.03564669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:1.30, Z:-2.06 [[ 9.98384420e-01 -3.79197983e-02 -4.23159293e-02 9.86086870e+01] [ 3.79259440e-02 9.99280336e-01 -6.57841003e-04 1.29863192e+00] [ 4.23104212e-02 -9.48093355e-04 9.99104063e-01 -2.05695992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:1.29, Z:-2.04 [[ 9.98246064e-01 -4.14026837e-02 -4.23156463e-02 9.86681093e+01] [ 4.14112043e-02 9.99141960e-01 -6.75563616e-04 1.29424080e+00] [ 4.23073080e-02 -1.07796315e-03 9.99104063e-01 -2.03627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:98.73, Y:1.29, Z:-2.03 [[ 9.98196514e-01 -4.25806011e-02 -4.23156247e-02 9.87272453e+01] [ 4.25901216e-02 9.99092400e-01 -6.76913389e-04 1.28997709e+00] [ 4.23060425e-02 -1.12653502e-03 9.99104063e-01 -2.02573466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:98.79, Y:1.29, Z:-2.03 [[ 9.98146369e-01 -4.37405803e-02 -4.23153353e-02 9.87870159e+01] [ 4.37503948e-02 9.99042252e-01 -6.94549135e-04 1.28739769e+00] [ 4.23051878e-02 -1.15805093e-03 9.99104064e-01 -2.03442874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:98.85, Y:1.29, Z:-2.02 [[ 9.98201103e-01 -4.24732496e-02 -4.23152684e-02 9.88460317e+01] [ 4.24817550e-02 9.99096999e-01 -6.98601443e-04 1.28545032e+00] [ 4.23067295e-02 -1.10028213e-03 9.99104064e-01 -2.01818610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:98.90, Y:1.28, Z:-2.02 [[ 9.98085039e-01 -4.51184742e-02 -4.23152235e-02 9.89047376e+01] [ 4.51292391e-02 9.98980911e-01 -7.01311201e-04 1.27985220e+00] [ 4.23037426e-02 -1.20968562e-03 9.99104064e-01 -2.02081111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:98.96, Y:1.28, Z:-2.02 [[ 9.98028899e-01 -4.63439982e-02 -4.23149017e-02 9.89646246e+01] [ 4.63550623e-02 9.98924767e-01 -7.20215546e-04 1.27550969e+00] [ 4.23027810e-02 -1.24271398e-03 9.99104064e-01 -2.02120346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:1.27, Z:-2.04 [[ 9.97891869e-01 -4.92064083e-02 -4.23148554e-02 9.90252541e+01] [ 4.92199270e-02 9.98787703e-01 -7.22927821e-04 1.27323646e+00] [ 4.22991299e-02 -1.36133030e-03 9.99104064e-01 -2.03897150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:99.08, Y:1.27, Z:-2.02 [[ 9.97980133e-01 -4.73826082e-02 -4.23148101e-02 9.90834802e+01] [ 4.73943778e-02 9.98875992e-01 -7.25569020e-04 1.26691009e+00] [ 4.23016272e-02 -1.28138063e-03 9.99104064e-01 -2.01659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:99.14, Y:1.26, Z:-2.02 [[ 9.97957435e-01 -4.78583463e-02 -4.23147404e-02 9.91423094e+01] [ 4.78703716e-02 9.98853290e-01 -7.29613364e-04 1.26258077e+00] [ 4.23011357e-02 -1.29749926e-03 9.99104064e-01 -2.01696963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:99.20, Y:1.26, Z:-2.03 [[ 9.97987179e-01 -4.72343155e-02 -4.23144118e-02 9.92024854e+01] [ 4.72449935e-02 9.98883052e-01 -7.48193213e-04 1.25846824e+00] [ 4.23024892e-02 -1.25245688e-03 9.99104064e-01 -2.02995641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:99.26, Y:1.26, Z:-2.03 [[ 9.98071625e-01 -4.54150393e-02 -4.23143650e-02 9.92609941e+01] [ 4.54239725e-02 9.98967516e-01 -7.50832444e-04 1.25884511e+00] [ 4.23047752e-02 -1.17270200e-03 9.99104064e-01 -2.02718529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:99.32, Y:1.26, Z:-2.01 [[ 9.98309012e-01 -3.98577490e-02 -4.23140236e-02 9.93202110e+01] [ 3.98608990e-02 9.99204942e-01 -7.69606769e-04 1.26118748e+00] [ 4.23110562e-02 -9.18369644e-04 9.99104064e-01 -2.01034271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:99.38, Y:1.26, Z:-2.00 [[ 9.98381731e-01 -3.79926871e-02 -4.23139989e-02 9.93784923e+01] [ 3.79941059e-02 9.99277666e-01 -7.70960804e-04 1.26200181e+00] [ 4.23127249e-02 -8.37969371e-04 9.99104064e-01 -2.00120483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:99.44, Y:1.27, Z:-2.00 [[ 9.98347374e-01 -3.88851601e-02 -4.23138989e-02 9.94375602e+01] [ 3.88871488e-02 9.99243307e-01 -7.76412066e-04 1.26673278e+00] [ 4.23120711e-02 -8.70337937e-04 9.99104064e-01 -2.00261919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:99.50, Y:1.27, Z:-2.02 [[ 9.98439772e-01 -3.64360698e-02 -4.23135352e-02 9.94969754e+01] [ 3.64350416e-02 9.99335707e-01 -7.95747456e-04 1.26787270e+00] [ 4.23144206e-02 -7.47189510e-04 9.99104064e-01 -2.01870293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.55, Y:1.27, Z:-2.01 [[ 9.98489957e-01 -3.50339847e-02 -4.23134316e-02 9.95548674e+01] [ 3.50314666e-02 9.99385889e-01 -8.01220583e-04 1.27294549e+00] [ 4.23155164e-02 -6.82290860e-04 9.99104064e-01 -2.01387360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:99.61, Y:1.27, Z:-2.01 [[ 9.98490568e-01 -3.50170747e-02 -4.23130005e-02 9.96141916e+01] [ 3.50136027e-02 9.99386497e-01 -8.23376712e-04 1.27477322e+00] [ 4.23158736e-02 -6.59396706e-04 9.99104065e-01 -2.01174483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:99.67, Y:1.27, Z:-1.99 [[ 9.98445756e-01 -3.62727403e-02 -4.23126451e-02 9.96724006e+01] [ 3.62696377e-02 9.99341686e-01 -8.41253556e-04 1.27349922e+00] [ 4.23153046e-02 -6.94718262e-04 9.99104065e-01 -1.98998532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:99.73, Y:1.27, Z:-1.99 [[ 9.98387410e-01 -3.78448237e-02 -4.23125248e-02 9.97309221e+01] [ 3.78428774e-02 9.99283343e-01 -8.47259124e-04 1.27456580e+00] [ 4.23142656e-02 -7.55334844e-04 9.99104065e-01 -1.99037527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:99.79, Y:1.28, Z:-1.99 [[ 9.98406382e-01 -3.73414655e-02 -4.23120691e-02 9.97899227e+01] [ 3.73381279e-02 9.99302311e-01 -8.69435016e-04 1.27570611e+00] [ 4.23150144e-02 -7.11803979e-04 9.99104065e-01 -1.98898183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:1.28, Z:-1.98 [[ 9.98525951e-01 -3.39948303e-02 -4.23116537e-02 9.98491054e+01] [ 3.39876522e-02 9.99421857e-01 -8.89204688e-04 1.27877942e+00] [ 4.23174199e-02 -5.50179810e-04 9.99104065e-01 -1.98433894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:1.28, Z:-2.00 [[ 9.98425135e-01 -3.68375621e-02 -4.23112705e-02 9.99096595e+01] [ 3.68321773e-02 9.99321053e-01 -9.07080951e-04 1.28282534e+00] [ 4.23159580e-02 -6.52763794e-04 9.99104065e-01 -1.99860988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:1.29, Z:-1.97 [[ 9.98290329e-01 -4.03259426e-02 -4.23111971e-02 9.99676318e+01] [ 4.03235440e-02 9.99186260e-01 -9.10487404e-04 1.28544777e+00] [ 4.23134831e-02 -7.97206649e-04 9.99104065e-01 -1.97436087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:100.03, Y:1.29, Z:-1.99 [[ 9.97956426e-01 -4.78826200e-02 -4.23110681e-02 1.00028205e+02] [ 4.78867518e-02 9.98852351e-01 -9.16446965e-04 1.28728196e+00] [ 4.23063917e-02 -1.11156548e-03 9.99104065e-01 -1.99356016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:100.09, Y:1.28, Z:-1.99 [[ 9.97678427e-01 -5.33623062e-02 -4.23110086e-02 1.00086857e+02] [ 5.33712421e-02 9.98574317e-01 -9.19185794e-04 1.28208315e+00] [ 4.22997363e-02 -1.34113924e-03 9.99104065e-01 -1.99359353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:100.15, Y:1.28, Z:-1.97 [[ 9.97642765e-01 -5.40252374e-02 -4.23105924e-02 1.00145166e+02] [ 5.40339732e-02 9.98538657e-01 -9.37958596e-04 1.27719308e+00] [ 4.22994356e-02 -1.35046181e-03 9.99104066e-01 -1.96598199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters Centerline goodness : 0.997364 with order 1 Centerline is valid? [True, True] Translation: X:100.20, Y:1.28, Z:-1.96 [[ 9.97834201e-01 -5.03659400e-02 -4.23105030e-02 1.00203646e+02] [ 5.03712198e-02 9.98730120e-01 -9.41974325e-04 1.27653981e+00] [ 4.23042172e-02 -1.19129745e-03 9.99104066e-01 -1.96175682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:100.26, Y:1.28, Z:-1.96 [[ 9.98079148e-01 -4.52534183e-02 -4.23100800e-02 1.00263640e+02] [ 4.52533189e-02 9.98975082e-01 -9.60604246e-04 1.27711536e+00] [ 4.23101863e-02 -9.55912479e-04 9.99104066e-01 -1.96477107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:100.32, Y:1.28, Z:-1.96 [[ 9.98156987e-01 -4.35027841e-02 -4.23100181e-02 1.00322008e+02] [ 4.35009979e-02 9.99052919e-01 -9.63326980e-04 1.27702448e+00] [ 4.23118544e-02 -8.78976452e-04 9.99104066e-01 -1.96260441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:100.38, Y:1.28, Z:-1.96 [[ 9.98139269e-01 -4.39075650e-02 -4.23098641e-02 1.00381340e+02] [ 4.39058576e-02 9.99035202e-01 -9.70042594e-04 1.27616281e+00] [ 4.23116358e-02 -8.89413262e-04 9.99104066e-01 -1.95968377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:100.44, Y:1.28, Z:-1.95 [[ 9.98325826e-01 -3.94392660e-02 -4.23094567e-02 1.00439722e+02] [ 3.94328087e-02 9.99221736e-01 -9.87498432e-04 1.27555532e+00] [ 4.23154750e-02 -6.82535525e-04 9.99104066e-01 -1.95244712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:100.50, Y:1.28, Z:-1.95 [[ 9.98676229e-01 -2.92529819e-02 -4.23090198e-02 1.00499366e+02] [ 2.92366070e-02 9.99572013e-01 -1.00587520e-03 1.27823677e+00] [ 4.23203369e-02 -2.32428527e-04 9.99104066e-01 -1.94525388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:100.56, Y:1.28, Z:-1.95 [[ 9.98877795e-01 -2.12861741e-02 -4.23089856e-02 1.00560043e+02] [ 2.12625937e-02 9.99773418e-01 -1.00731127e-03 1.28049730e+00] [ 4.23208409e-02 1.06582084e-04 9.99104066e-01 -1.95324726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:100.62, Y:1.28, Z:-1.97 [[ 9.98956331e-01 -1.72105159e-02 -4.23089518e-02 1.00620831e+02] [ 1.71832214e-02 9.99851849e-01 -1.00872879e-03 1.28326991e+00] [ 4.23200444e-02 2.80671922e-04 9.99104066e-01 -1.97120490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:100.68, Y:1.29, Z:-1.96 [[ 9.99065727e-01 -8.81071437e-03 -4.23089119e-02 1.00680697e+02] [ 8.77582075e-03 9.99960981e-01 -1.01039826e-03 1.28954532e+00] [ 4.23161634e-02 6.38158845e-04 9.99104066e-01 -1.95558317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:100.74, Y:1.29, Z:-1.95 [[ 9.99093256e-01 -4.75641413e-03 -4.23088964e-02 1.00738827e+02] [ 4.71786029e-03 9.99988360e-01 -1.01104897e-03 1.29344833e+00] [ 4.23132129e-02 8.10524745e-04 9.99104066e-01 -1.94561435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:100.80, Y:1.30, Z:-1.94 [[ 9.99102059e-01 -2.25237509e-03 -4.23084255e-02 1.00796850e+02] [ 2.21075968e-03 9.99997025e-01 -1.03038203e-03 1.29905835e+00] [ 4.23106205e-02 9.35923041e-04 9.99104066e-01 -1.93649527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:100.86, Y:1.30, Z:-1.96 [[ 9.99102400e-01 -2.10494307e-03 -4.23079507e-02 1.00858021e+02] [ 2.06238541e-03 9.99997323e-01 -1.04952410e-03 1.30461581e+00] [ 4.23100466e-02 9.61326750e-04 9.99104067e-01 -1.95903414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:100.92, Y:1.31, Z:-1.93 [[ 9.99098404e-01 -3.52386739e-03 -4.23079288e-02 1.00917290e+02] [ 3.48254335e-03 9.99993384e-01 -1.05040760e-03 1.30872139e+00] [ 4.23113504e-02 9.02121360e-04 9.99104067e-01 -1.93108606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:1.32, Z:-1.93 [[ 9.99095084e-01 -4.36497659e-03 -4.23079288e-02 1.00975743e+02] [ 4.32440602e-03 9.99990098e-01 -1.05040760e-03 1.31516090e+00] [ 4.23120948e-02 8.66500406e-04 9.99104067e-01 -1.93183323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:1.32, Z:-1.93 [[ 9.99090453e-01 -5.32412369e-03 -4.23074430e-02 1.01033591e+02] [ 5.28359909e-03 9.99985470e-01 -1.06962073e-03 1.32106363e+00] [ 4.23125231e-02 8.45112292e-04 9.99104067e-01 -1.92844141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:1.33, Z:-1.93 [[ 9.99097935e-01 -3.66654043e-03 -4.23068766e-02 1.01091800e+02] [ 3.62360180e-03 9.99992839e-01 -1.09157434e-03 1.32814618e+00] [ 4.23105759e-02 9.37286395e-04 9.99104067e-01 -1.92731130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:1.34, Z:-1.93 [[ 9.99104464e-01 6.43634273e-04 -4.23066963e-02 1.01150448e+02] [-6.90726994e-04 9.99999158e-01 -1.09851858e-03 1.34207653e+00] [ 4.23059536e-02 1.12675719e-03 9.99104067e-01 -1.92776043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:1.35, Z:-1.92 [[ 9.99104527e-01 5.75144508e-04 -4.23061872e-02 1.01209037e+02] [-6.22991204e-04 9.99999181e-01 -1.11778673e-03 1.35457039e+00] [ 4.23055097e-02 1.14314217e-03 9.99104067e-01 -1.92138899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:1.37, Z:-1.92 [[ 9.99089202e-01 -5.56743156e-03 -4.23056730e-02 1.01267181e+02] [ 5.52427634e-03 9.99984095e-01 -1.13691998e-03 1.36503137e+00] [ 4.23113299e-02 9.02176242e-04 9.99104067e-01 -1.91893909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:1.37, Z:-1.92 [[ 9.99004921e-01 -1.41226308e-02 -4.23050722e-02 1.01326304e+02] [ 1.40862117e-02 9.99900113e-01 -1.15885280e-03 1.37142336e+00] [ 4.23172126e-02 5.61781446e-04 9.99104068e-01 -1.91822212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:101.38, Y:1.38, Z:-1.92 [[ 9.98970569e-01 -1.63746802e-02 -4.23045284e-02 1.01384804e+02] [ 1.63394524e-02 9.99865808e-01 -1.17837866e-03 1.38189201e+00] [ 4.23181470e-02 4.85932773e-04 9.99104068e-01 -1.91547399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:1.39, Z:-1.93 [[ 9.99056818e-01 -9.79020301e-03 -4.23039639e-02 1.01445425e+02] [ 9.74823208e-03 9.99951767e-01 -1.19830542e-03 1.39316536e+00] [ 4.23136551e-02 7.84786343e-04 9.99104068e-01 -1.93259549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:1.40, Z:-1.93 [[ 9.99061434e-01 -9.30748517e-03 -4.23039238e-02 1.01504729e+02] [ 9.26502194e-03 9.99956359e-01 -1.19972044e-03 1.39883332e+00] [ 4.23132440e-02 8.06647645e-04 9.99104068e-01 -1.92627218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:1.41, Z:-1.91 [[ 9.98966282e-01 -1.66358690e-02 -4.23038443e-02 1.01562546e+02] [ 1.65998532e-02 9.99861490e-01 -1.20251837e-03 1.40789800e+00] [ 4.23179897e-02 4.99037702e-04 9.99104068e-01 -1.90993705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:1.41, Z:-1.93 [[ 9.98777873e-01 -2.55576685e-02 -4.23032725e-02 1.01621755e+02] [ 2.55288117e-02 9.99673340e-01 -1.22230704e-03 1.41123126e+00] [ 4.23206930e-02 1.40860948e-04 9.99104068e-01 -1.92655976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:1.42, Z:-1.91 [[ 9.98540532e-01 -3.35745851e-02 -4.23031055e-02 1.01679087e+02] [ 3.35526739e-02 9.99436196e-01 -1.22805973e-03 1.41840114e+00] [ 4.23204864e-02 -1.93114890e-04 9.99104068e-01 -1.90732348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:1.42, Z:-1.90 [[ 9.98564856e-01 -3.28436159e-02 -4.23027918e-02 1.01736984e+02] [ 3.28205952e-02 9.99460491e-01 -1.23877277e-03 1.42334766e+00] [ 4.23206548e-02 -1.51407853e-04 9.99104068e-01 -1.89728712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:101.80, Y:1.43, Z:-1.90 [[ 9.98669564e-01 -2.94894129e-02 -4.23022058e-02 1.01795698e+02] [ 2.94625497e-02 9.99565093e-01 -1.25847126e-03 1.43203426e+00] [ 4.23209198e-02 1.04661020e-05 9.99104068e-01 -1.89845229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:1.44, Z:-1.89 [[ 9.98767114e-01 -2.59774079e-02 -4.23016121e-02 1.01853955e+02] [ 2.59465635e-02 9.99662514e-01 -1.27811958e-03 1.43903043e+00] [ 4.23205382e-02 1.78962342e-04 9.99104069e-01 -1.89150047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:101.91, Y:1.45, Z:-1.89 [[ 9.98814923e-01 -2.40701747e-02 -4.23010101e-02 1.01912022e+02] [ 2.40367896e-02 9.99710232e-01 -1.29774258e-03 1.44840512e+00] [ 4.23199895e-02 2.79424176e-04 9.99104069e-01 -1.89035260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:101.97, Y:1.46, Z:-1.91 [[ 9.98792815e-01 -2.49719181e-02 -4.23003013e-02 1.01972049e+02] [ 2.49383796e-02 9.99688118e-01 -1.32044890e-03 1.45656149e+00] [ 4.23200828e-02 2.63953899e-04 9.99104069e-01 -1.90857724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:102.03, Y:1.46, Z:-1.88 [[ 9.98715347e-01 -2.78988810e-02 -4.23002115e-02 1.02028973e+02] [ 2.78678450e-02 9.99610740e-01 -1.32331903e-03 1.46437832e+00] [ 4.23206649e-02 1.42803291e-04 9.99104069e-01 -1.87879374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:102.09, Y:1.47, Z:-1.88 [[ 9.98667259e-01 -2.95705419e-02 -4.22999900e-02 1.02088673e+02] [ 2.95407063e-02 9.99562693e-01 -1.33036263e-03 1.47078801e+00] [ 4.23208315e-02 7.90180182e-05 9.99104069e-01 -1.88120859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:102.15, Y:1.48, Z:-1.88 [[ 9.98621043e-01 -3.10923076e-02 -4.22999016e-02 1.02147664e+02] [ 3.10637177e-02 9.99516517e-01 -1.33316790e-03 1.47530522e+00] [ 4.23209016e-02 1.73373212e-05 9.99104069e-01 -1.87547602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:102.21, Y:1.47, Z:-1.90 [[ 9.95601379e-01 -8.35980683e-02 -4.22996164e-02 1.02207171e+02] [ 8.36162582e-02 9.96497125e-01 -1.34215760e-03 1.46884313e+00] [ 4.22636479e-02 -2.20068169e-03 9.99104069e-01 -1.90085303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:1.48, Z:-1.87 [[ 9.98378527e-01 -3.80934524e-02 -4.22990132e-02 1.02265796e+02] [ 3.80699667e-02 9.99274149e-01 -1.36090588e-03 1.48215857e+00] [ 4.23201520e-02 -2.51622819e-04 9.99104069e-01 -1.87278353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:102.32, Y:1.48, Z:-1.87 [[ 9.98122333e-01 -4.43013080e-02 -4.22989680e-02 1.02324408e+02] [ 4.42833329e-02 9.99018083e-01 -1.36230845e-03 1.47903957e+00] [ 4.23177860e-02 -5.13388793e-04 9.99104069e-01 -1.87409949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:102.39, Y:1.48, Z:-1.89 [[ 9.98031915e-01 -4.62938724e-02 -4.22986302e-02 1.02385505e+02] [ 4.62772446e-02 9.98927691e-01 -1.37271688e-03 1.47867897e+00] [ 4.23168214e-02 -5.87448798e-04 9.99104069e-01 -1.89099482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:1.48, Z:-1.87 [[ 9.97986560e-01 -4.72615353e-02 -4.22986112e-02 1.02444649e+02] [ 4.72457512e-02 9.98882352e-01 -1.37330252e-03 1.47664743e+00] [ 4.23162406e-02 -6.27892201e-04 9.99104069e-01 -1.86540560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:1.48, Z:-1.86 [[ 9.98054492e-01 -4.58046145e-02 -4.22985670e-02 1.02503088e+02] [ 4.57874650e-02 9.98950258e-01 -1.37466399e-03 1.47904292e+00] [ 4.23171303e-02 -5.64754586e-04 9.99104069e-01 -1.86261226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:1.48, Z:-1.88 [[ 9.98210208e-01 -4.22760666e-02 -4.22979400e-02 1.02564828e+02] [ 4.22549444e-02 9.99105889e-01 -1.39369214e-03 1.47815549e+00] [ 4.23190408e-02 -3.96099384e-04 9.99104070e-01 -1.88466900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:1.48, Z:-1.86 [[ 9.98208521e-01 -4.23158482e-02 -4.22979547e-02 1.02623616e+02] [ 4.22947806e-02 9.99104204e-01 -1.39324628e-03 1.48175327e+00] [ 4.23190207e-02 -3.98232399e-04 9.99104070e-01 -1.85633060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:1.48, Z:-1.86 [[ 9.98356703e-01 -3.86623931e-02 -4.22979098e-02 1.02682208e+02] [ 3.86379899e-02 9.99252301e-01 -1.39460849e-03 1.48325640e+00] [ 4.23202026e-02 -2.41989481e-04 9.99104070e-01 -1.85646741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:102.74, Y:1.48, Z:-1.88 [[ 9.98342521e-01 -3.90275861e-02 -4.22972712e-02 1.02742946e+02] [ 3.90027011e-02 9.99238105e-01 -1.41371456e-03 1.48457476e+00] [ 4.23202190e-02 -2.38336465e-04 9.99104070e-01 -1.87620301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:102.80, Y:1.49, Z:-1.85 [[ 9.98161961e-01 -4.34009845e-02 -4.22972157e-02 1.02802460e+02] [ 4.33799531e-02 9.99057644e-01 -1.41537251e-03 1.48574975e+00] [ 4.23187852e-02 -4.22080229e-04 9.99104070e-01 -1.85233700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:102.86, Y:1.49, Z:-1.87 [[ 9.98068803e-01 -4.54929814e-02 -4.22972100e-02 1.02863317e+02] [ 4.54738200e-02 9.98964528e-01 -1.41554430e-03 1.48730779e+00] [ 4.23178097e-02 -5.10605106e-04 9.99104070e-01 -1.87339672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:102.92, Y:1.49, Z:-1.85 [[ 9.98274955e-01 -4.07193466e-02 -4.22971463e-02 1.02922255e+02] [ 4.06958213e-02 9.99170577e-01 -1.41744501e-03 1.49490553e+00] [ 4.23197814e-02 -3.06317247e-04 9.99104070e-01 -1.85029515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:102.98, Y:1.50, Z:-1.86 [[ 9.98390091e-01 -3.77912920e-02 -4.22971011e-02 1.02982925e+02] [ 3.77650829e-02 9.99285638e-01 -1.41879124e-03 1.50068626e+00] [ 4.23205036e-02 -1.80846411e-04 9.99104070e-01 -1.86471051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:103.04, Y:1.51, Z:-1.84 [[ 9.98496122e-01 -3.48776690e-02 -4.22970783e-02 1.03042527e+02] [ 3.48488179e-02 9.99391587e-01 -1.41947029e-03 1.50920714e+00] [ 4.23208521e-02 -5.66676038e-05 9.99104070e-01 -1.84312081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:103.10, Y:1.51, Z:-1.84 [[ 9.98426584e-01 -3.68146063e-02 -4.22970612e-02 1.03100806e+02] [ 3.67874708e-02 9.99322103e-01 -1.41998087e-03 1.51250139e+00] [ 4.23206642e-02 -1.38255256e-04 9.99104070e-01 -1.83948874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:103.16, Y:1.52, Z:-1.83 [[ 9.98430218e-01 -3.67166924e-02 -4.22963899e-02 1.03158998e+02] [ 3.66886336e-02 9.99325708e-01 -1.43970147e-03 1.52165950e+00] [ 4.23207309e-02 -1.14355297e-04 9.99104070e-01 -1.83221732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:103.22, Y:1.53, Z:-1.83 [[ 9.98513552e-01 -3.43767174e-02 -4.22957153e-02 1.03217896e+02] [ 3.43457317e-02 9.99408946e-01 -1.45925621e-03 1.52555459e+00] [ 4.23208807e-02 4.40980757e-06 9.99104070e-01 -1.83279473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters Centerline goodness : 0.997765 with order 1 Centerline is valid? [True, True] Translation: X:103.28, Y:1.54, Z:-1.83 [[ 9.98767312e-01 -2.59805118e-02 -4.22950348e-02 1.03277794e+02] [ 2.59411751e-02 9.99662377e-01 -1.47872060e-03 1.53533233e+00] [ 4.23191729e-02 3.79714902e-04 9.99104070e-01 -1.82903298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:103.34, Y:1.53, Z:-1.83 [[ 9.98135583e-01 -4.40056600e-02 -4.22949162e-02 1.03337185e+02] [ 4.39823437e-02 9.99031209e-01 -1.48210489e-03 1.53174542e+00] [ 4.23191622e-02 -3.80887914e-04 9.99104070e-01 -1.82710128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:103.40, Y:1.54, Z:-1.85 [[ 9.98044914e-01 -4.60163262e-02 -4.22947710e-02 1.03398097e+02] [ 4.59946391e-02 9.98940581e-01 -1.48623575e-03 1.53656292e+00] [ 4.23183542e-02 -4.62002696e-04 9.99104070e-01 -1.84779895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:103.46, Y:1.54, Z:-1.83 [[ 9.97240851e-01 -6.10068830e-02 -4.22947470e-02 1.03457511e+02] [ 6.09986269e-02 9.98136742e-01 -1.48691865e-03 1.53971548e+00] [ 4.23066533e-02 -1.09710548e-03 9.99104070e-01 -1.83310612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:103.52, Y:1.54, Z:-1.85 [[ 9.97156671e-01 -6.23677120e-02 -4.22946967e-02 1.03517846e+02] [ 6.23606179e-02 9.98052573e-01 -1.48834848e-03 1.54058487e+00] [ 4.23051557e-02 -1.15340680e-03 9.99104070e-01 -1.84593837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:103.58, Y:1.54, Z:-1.83 [[ 9.96766571e-01 -6.83195954e-02 -4.22946227e-02 1.03577812e+02] [ 6.83177609e-02 9.97662499e-01 -1.49044862e-03 1.54180923e+00] [ 4.22975858e-02 -1.40384456e-03 9.99104070e-01 -1.83048543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:103.64, Y:1.54, Z:-1.81 [[ 9.96857182e-01 -6.69845056e-02 -4.22946189e-02 1.03635939e+02] [ 6.69814666e-02 9.97753106e-01 -1.49055524e-03 1.54036837e+00] [ 4.22994315e-02 -1.34708491e-03 9.99104070e-01 -1.80754783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:103.70, Y:1.55, Z:-1.84 [[ 9.96964261e-01 -6.53718775e-02 -4.22939611e-02 1.03697282e+02] [ 6.53666078e-02 9.97860175e-01 -1.50899369e-03 1.54684691e+00] [ 4.23021052e-02 -1.26019999e-03 9.99104071e-01 -1.83542063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:103.76, Y:1.54, Z:-1.83 [[ 9.96852152e-01 -6.70597591e-02 -4.22939145e-02 1.03756198e+02] [ 6.70559510e-02 9.97748074e-01 -1.51029750e-03 1.54386993e+00] [ 4.22999519e-02 -1.33051535e-03 9.99104071e-01 -1.83408001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:103.81, Y:1.54, Z:-1.83 [[ 9.96367842e-01 -7.39080666e-02 -4.22932762e-02 1.03814612e+02] [ 7.39096661e-02 9.97263770e-01 -1.52796582e-03 1.53849887e+00] [ 4.22904811e-02 -1.60346592e-03 9.99104071e-01 -1.82922460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:103.87, Y:1.53, Z:-1.83 [[ 9.96135100e-01 -7.69816250e-02 -4.22929286e-02 1.03873108e+02] [ 7.69855832e-02 9.97031021e-01 -1.53752661e-03 1.53498085e+00] [ 4.22857231e-02 -1.72436155e-03 9.99104071e-01 -1.82760609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:103.93, Y:1.53, Z:-1.80 [[ 9.96063928e-01 -7.78974593e-02 -4.22922854e-02 1.03932939e+02] [ 7.79014997e-02 9.96959848e-01 -1.55502164e-03 1.53085342e+00] [ 4.22848426e-02 -1.74573149e-03 9.99104071e-01 -1.80209907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:103.99, Y:1.52, Z:-1.82 [[ 9.95833744e-01 -8.07868591e-02 -4.22922857e-02 1.03993935e+02] [ 8.07934990e-02 9.96729649e-01 -1.55501220e-03 1.52012130e+00] [ 4.22795996e-02 -1.86840812e-03 9.99104071e-01 -1.82423567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:104.05, Y:1.52, Z:-1.82 [[ 9.95894109e-01 -8.00393285e-02 -4.22922038e-02 1.04051893e+02] [ 8.00452017e-02 9.96790018e-01 -1.55723627e-03 1.51770279e+00] [ 4.22810868e-02 -1.83444556e-03 9.99104071e-01 -1.82143949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:104.11, Y:1.51, Z:-1.80 [[ 9.95855898e-01 -8.05137477e-02 -4.22914615e-02 1.04111243e+02] [ 8.05192038e-02 9.96751810e-01 -1.57714336e-03 1.50822754e+00] [ 4.22810725e-02 -1.83466729e-03 9.99104071e-01 -1.79513086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:104.17, Y:1.50, Z:-1.80 [[ 9.95700910e-01 -8.24083360e-02 -4.22914283e-02 1.04170839e+02] [ 8.24154590e-02 9.96596810e-01 -1.57803296e-03 1.50128014e+00] [ 4.22775456e-02 -1.91421862e-03 9.99104071e-01 -1.79625360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:104.23, Y:1.49, Z:-1.80 [[ 9.95699167e-01 -8.24297568e-02 -4.22907201e-02 1.04229414e+02] [ 8.24361041e-02 9.96595073e-01 -1.59678944e-03 1.49458801e+00] [ 4.22783462e-02 -1.89636028e-03 9.99104071e-01 -1.80328214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:104.29, Y:1.49, Z:-1.79 [[ 9.96024488e-01 -7.84011234e-02 -4.22904712e-02 1.04288051e+02] [ 7.84035681e-02 9.96920413e-01 -1.60335275e-03 1.49173401e+00] [ 4.22859387e-02 -1.71874524e-03 9.99104071e-01 -1.79252424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:1.49, Z:-1.79 [[ 9.96117780e-01 -7.72071353e-02 -4.22897909e-02 1.04347398e+02] [ 7.72077538e-02 9.97013708e-01 -1.62110047e-03 1.48534072e+00] [ 4.22886618e-02 -1.65029277e-03 9.99104071e-01 -1.79139778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:1.48, Z:-1.81 [[ 9.96302929e-01 -7.47803848e-02 -4.22890891e-02 1.04408584e+02] [ 7.47780533e-02 9.97198855e-01 -1.63920672e-03 1.48195288e+00] [ 4.22932117e-02 -1.52914930e-03 9.99104072e-01 -1.81164249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters Centerline goodness : 0.996019 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:1.50, Z:-1.81 [[ 9.98922658e-01 -1.91092392e-02 -4.22890137e-02 1.04467942e+02] [ 1.90568713e-02 9.99817054e-01 -1.64115052e-03 1.50183048e+00] [ 4.23126382e-02 8.33486149e-04 9.99104072e-01 -1.80727515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:1.48, Z:-1.80 [[ 9.97176253e-01 -6.20577189e-02 -4.22890114e-02 1.04527420e+02] [ 6.20438673e-02 9.98072074e-01 -1.64120856e-03 1.47764900e+00] [ 4.23093310e-02 -9.87199614e-04 9.99104072e-01 -1.80101623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters Centerline goodness : 0.968759 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:1.50, Z:-1.80 [[ 9.98719036e-01 2.77847475e-02 -4.22882340e-02 1.04586775e+02] [-2.78798626e-02 9.99609901e-01 -1.66100104e-03 1.50476660e+00] [ 4.22255869e-02 2.83786351e-03 9.99104072e-01 -1.80321150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:1.48, Z:-1.80 [[ 9.97666601e-01 -5.36009537e-02 -4.22881796e-02 1.04645765e+02] [ 5.35786100e-02 9.98562251e-01 -1.66238376e-03 1.47610888e+00] [ 4.23164852e-02 -6.07237129e-04 9.99104072e-01 -1.79657660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:104.70, Y:1.48, Z:-1.78 [[ 9.97768668e-01 -5.16669241e-02 -4.22872863e-02 1.04704202e+02] [ 5.16418941e-02 9.98664246e-01 -1.68480649e-03 1.47859277e+00] [ 4.23178496e-02 -5.02748438e-04 9.99104072e-01 -1.77506531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:104.76, Y:1.48, Z:-1.77 [[ 9.97812287e-01 -5.08176998e-02 -4.22871181e-02 1.04762715e+02] [ 5.07917292e-02 9.98707839e-01 -1.68901709e-03 1.48337271e+00] [ 4.23183083e-02 -4.62513851e-04 9.99104072e-01 -1.77198582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:104.82, Y:1.49, Z:-1.78 [[ 9.97530064e-01 -5.60859856e-02 -4.22863197e-02 1.04821463e+02] [ 5.60639070e-02 9.98425720e-01 -1.70877492e-03 1.48753716e+00] [ 4.23155875e-02 -6.66181939e-04 9.99104072e-01 -1.78354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:104.88, Y:1.49, Z:-1.78 [[ 9.97059186e-01 -6.39129909e-02 -4.22860333e-02 1.04880479e+02] [ 6.38976429e-02 9.97954983e-01 -1.71583414e-03 1.48862856e+00] [ 4.23092217e-02 -9.91189666e-04 9.99104072e-01 -1.78188650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:104.94, Y:1.49, Z:-1.79 [[ 9.96682843e-01 -6.95360928e-02 -4.22852387e-02 1.04940149e+02] [ 6.95249773e-02 9.97578702e-01 -1.73519686e-03 1.49209950e+00] [ 4.23035124e-02 -1.21043932e-03 9.99104072e-01 -1.78507440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:105.00, Y:1.49, Z:-1.78 [[ 9.96486126e-01 -7.23005490e-02 -4.22851297e-02 1.05000162e+02] [ 7.22918060e-02 9.97382010e-01 -1.73785080e-03 1.49366426e+00] [ 4.23000752e-02 -1.32512418e-03 9.99104072e-01 -1.78109403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:105.06, Y:1.50, Z:-1.75 [[ 9.96587246e-01 -7.08931090e-02 -4.22850758e-02 1.05057981e+02] [ 7.08830452e-02 9.97483117e-01 -1.73916036e-03 1.49679242e+00] [ 4.23019437e-02 -1.26406991e-03 9.99104073e-01 -1.75250723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:105.12, Y:1.50, Z:-1.75 [[ 9.96587781e-01 -7.08860460e-02 -4.22843165e-02 1.05116948e+02] [ 7.08752015e-02 9.97483643e-01 -1.75742809e-03 1.50107486e+00] [ 4.23024912e-02 -1.24547809e-03 9.99104073e-01 -1.75246846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:105.18, Y:1.50, Z:-1.75 [[ 9.96417305e-01 -7.32438251e-02 -4.22835317e-02 1.05175512e+02] [ 7.32343080e-02 9.97313181e-01 -1.77611379e-03 1.50203593e+00] [ 4.23000129e-02 -1.32685467e-03 9.99104073e-01 -1.75065158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:105.23, Y:1.50, Z:-1.77 [[ 9.96325188e-01 -7.44868650e-02 -4.22827011e-02 1.05233167e+02] [ 7.44776366e-02 9.97221067e-01 -1.79567065e-03 1.50442553e+00] [ 4.22989542e-02 -1.36004375e-03 9.99104073e-01 -1.77056270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:105.29, Y:1.51, Z:-1.75 [[ 9.96359102e-01 -7.40320702e-02 -4.22822940e-02 1.05290655e+02] [ 7.40220286e-02 9.97254973e-01 -1.80520568e-03 1.50919771e+00] [ 4.22998711e-02 -1.33118807e-03 9.99104073e-01 -1.74629151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:105.35, Y:1.51, Z:-1.75 [[ 9.96637352e-01 -7.01873594e-02 -4.22814714e-02 1.05348754e+02] [ 7.01730530e-02 9.97533165e-01 -1.82427319e-03 1.51053454e+00] [ 4.23052109e-02 -1.14888113e-03 9.99104073e-01 -1.74581287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:105.41, Y:1.51, Z:-1.77 [[ 9.96648178e-01 -7.00336348e-02 -4.22811824e-02 1.05410404e+02] [ 7.00189074e-02 9.97543984e-01 -1.83094692e-03 1.51121192e+00] [ 4.23055670e-02 -1.13567228e-03 9.99104073e-01 -1.76871594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:105.47, Y:1.51, Z:-1.73 [[ 9.97021497e-01 -6.45014974e-02 -4.22810875e-02 1.05469330e+02] [ 6.44817060e-02 9.97917206e-01 -1.83313613e-03 1.51339587e+00] [ 4.23112647e-02 -8.98680521e-04 9.99104073e-01 -1.73438800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:105.53, Y:1.52, Z:-1.73 [[ 9.97235712e-01 -6.11003258e-02 -4.22810274e-02 1.05528213e+02] [ 6.10774206e-02 9.98131346e-01 -1.83452085e-03 1.51650819e+00] [ 4.23141086e-02 -7.52966391e-04 9.99104073e-01 -1.73342498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:105.59, Y:1.52, Z:-1.73 [[ 9.97222463e-01 -6.13167721e-02 -4.22801806e-02 1.05587066e+02] [ 6.12932427e-02 9.98118080e-01 -1.85383304e-03 1.52050217e+00] [ 4.23142838e-02 -7.42805421e-04 9.99104073e-01 -1.73291862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:105.65, Y:1.53, Z:-1.73 [[ 9.97511846e-01 -5.64143466e-02 -4.22792942e-02 1.05645524e+02] [ 5.63855676e-02 9.98407310e-01 -1.87383393e-03 1.52674453e+00] [ 4.23176675e-02 -5.14770460e-04 9.99104074e-01 -1.73024071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:105.70, Y:1.53, Z:-1.73 [[ 9.97466696e-01 -5.72077536e-02 -4.22784022e-02 1.05703921e+02] [ 5.71788429e-02 9.98362156e-01 -1.89374865e-03 1.53133978e+00] [ 4.23174938e-02 -5.28478911e-04 9.99104074e-01 -1.73150036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:105.76, Y:1.54, Z:-1.73 [[ 9.97329668e-01 -5.95495374e-02 -4.22774869e-02 1.05762559e+02] [ 5.95218724e-02 9.98225167e-01 -1.91396588e-03 1.53764531e+00] [ 4.23164272e-02 -6.07580227e-04 9.99104074e-01 -1.72788183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.82, Y:1.54, Z:-1.74 [[ 9.97221136e-01 -6.13408198e-02 -4.22765845e-02 1.05823391e+02] [ 6.13139271e-02 9.98116658e-01 -1.93369424e-03 1.53988048e+00] [ 4.23155777e-02 -6.63822655e-04 9.99104074e-01 -1.74445809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.88, Y:1.55, Z:-1.74 [[ 9.97473991e-01 -5.70818719e-02 -4.22764258e-02 1.05881717e+02] [ 5.70510086e-02 9.98369385e-01 -1.93715761e-03 1.54548629e+00] [ 4.23180659e-02 -4.79648402e-04 9.99104074e-01 -1.73978916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:105.94, Y:1.55, Z:-1.71 [[ 9.97622425e-01 -5.44267860e-02 -4.22755437e-02 1.05939461e+02] [ 5.43927318e-02 9.98517703e-01 -1.95622244e-03 1.54963445e+00] [ 4.23193497e-02 -3.47910927e-04 9.99104074e-01 -1.71381355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:106.00, Y:1.55, Z:-1.71 [[ 9.97491323e-01 -5.67795559e-02 -4.22746192e-02 1.05998545e+02] [ 5.67467752e-02 9.98386648e-01 -1.97600021e-03 1.55282690e+00] [ 4.23186118e-02 -4.27905250e-04 9.99104075e-01 -1.71094652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:106.06, Y:1.55, Z:-1.71 [[ 9.97018004e-01 -6.45603297e-02 -4.22736655e-02 1.06057772e+02] [ 6.45336792e-02 9.97913533e-01 -1.99619821e-03 1.55444144e+00] [ 4.23143381e-02 -7.37829616e-04 9.99104075e-01 -1.71042114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:1.56, Z:-1.73 [[ 9.96858205e-01 -6.69826318e-02 -4.22734602e-02 1.06117113e+02] [ 6.69579735e-02 9.97753791e-01 -2.00053593e-03 1.55690647e+00] [ 4.23125063e-02 -8.36294567e-04 9.99104075e-01 -1.72688058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:106.17, Y:1.56, Z:-1.71 [[ 9.97006235e-01 -6.47421428e-02 -4.22731937e-02 1.06174844e+02] [ 6.47152338e-02 9.97901756e-01 -2.00615216e-03 1.55845840e+00] [ 4.23143768e-02 -7.35573401e-04 9.99104075e-01 -1.70580073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:106.23, Y:1.58, Z:-1.73 [[ 9.98962072e-01 -1.69657089e-02 -4.22722595e-02 1.06233799e+02] [ 1.68951597e-02 9.99855215e-01 -2.02564773e-03 1.58268496e+00] [ 4.23005056e-02 1.30934867e-03 9.99104075e-01 -1.72939295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:106.29, Y:1.57, Z:-1.70 [[ 9.97024639e-01 -6.44593314e-02 -4.22713042e-02 1.06292272e+02] [ 6.44305052e-02 9.97920100e-01 -2.04539023e-03 1.56888308e+00] [ 4.23152286e-02 -6.84257024e-04 9.99104075e-01 -1.70128577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters Centerline goodness : 0.998157 with order 1 Centerline is valid? [True, True] Translation: X:106.35, Y:1.58, Z:-1.73 [[ 9.96911568e-01 -6.61852386e-02 -4.22710316e-02 1.06353103e+02] [ 6.61577244e-02 9.97807070e-01 -2.05100723e-03 1.57540950e+00] [ 4.23140806e-02 -7.51882430e-04 9.99104075e-01 -1.72568225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:106.41, Y:1.58, Z:-1.72 [[ 9.96154884e-01 -7.67372764e-02 -4.22710037e-02 1.06411279e+02] [ 7.67192213e-02 9.97050627e-01 -2.05158340e-03 1.57973250e+00] [ 4.23037636e-02 -1.19930366e-03 9.99104075e-01 -1.72170791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:106.47, Y:1.58, Z:-1.70 [[ 9.96027377e-01 -7.83753910e-02 -4.22701031e-02 1.06470754e+02] [ 7.83580292e-02 9.96923134e-01 -2.06997496e-03 1.58069489e+00] [ 4.23022787e-02 -1.25045024e-03 9.99104075e-01 -1.69682282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:106.53, Y:1.58, Z:-1.72 [[ 9.94723952e-01 -9.34745793e-02 -4.22701041e-02 1.06530823e+02] [ 9.34708077e-02 9.95619869e-01 -2.06995435e-03 1.58223703e+00] [ 4.22784436e-02 -1.89198759e-03 9.99104075e-01 -1.71622239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:106.59, Y:1.58, Z:-1.72 [[ 9.96549860e-01 -7.14256352e-02 -4.22700325e-02 1.06590112e+02] [ 7.14019645e-02 9.97445472e-01 -2.07141441e-03 1.58447349e+00] [ 4.23100046e-02 -9.53895624e-04 9.99104075e-01 -1.71570518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters Centerline goodness : 0.996361 with order 1 Centerline is valid? [True, True] Translation: X:106.65, Y:1.59, Z:-1.68 [[ 9.96745671e-01 -6.86396149e-02 -4.22690289e-02 1.06647956e+02] [ 6.86125809e-02 9.97641187e-01 -2.09169553e-03 1.58759299e+00] [ 4.23128974e-02 -8.15298699e-04 9.99104076e-01 -1.68386274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters Centerline goodness : 0.995909 with order 1 Centerline is valid? [True, True] Translation: X:106.71, Y:1.59, Z:-1.68 [[ 9.96982079e-01 -6.51158990e-02 -4.22688221e-02 1.06705553e+02] [ 6.50855230e-02 9.97877488e-01 -2.09586531e-03 1.58930327e+00] [ 4.23155802e-02 -6.61548239e-04 9.99104076e-01 -1.68205429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters Centerline goodness : 0.967705 with order 3 Centerline is valid? [True, True] Translation: X:106.88, Y:1.63, Z:-1.70 [[ 9.98887761e-01 2.08969996e-02 -4.22676828e-02 1.06877353e+02] [-2.10052531e-02 9.99777121e-01 -2.11859667e-03 1.63058742e+00] [ 4.22139899e-02 3.00408366e-03 9.99104076e-01 -1.70246431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:1.57, Z:-1.72 [[ 9.98141231e-01 -4.25007430e-02 -4.36780247e-02 1.06785571e+02] [ 4.39326408e-02 9.98510167e-01 3.23630975e-02 1.56520928e+00] [ 4.22374960e-02 -3.42218330e-02 9.98521337e-01 -1.71567849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:1.60, Z:-1.67 [[ 9.97222257e-01 -6.15026927e-02 -4.20141448e-02 1.06841144e+02] [ 6.14704012e-02 9.98106778e-01 -2.06126341e-03 1.60201095e+00] [ 4.20613760e-02 -5.27088589e-04 9.99114890e-01 -1.67370126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:1.61, Z:-1.69 [[ 9.98353529e-01 -3.90520035e-02 -4.20139404e-02 1.06899622e+02] [ 3.89996456e-02 9.99237090e-01 -2.06542165e-03 1.61060677e+00] [ 4.20625464e-02 4.23492214e-04 9.99114890e-01 -1.68642795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:1.61, Z:-1.70 [[ 9.98639857e-01 -3.08754476e-02 -4.20136136e-02 1.06960515e+02] [ 3.08155776e-02 9.99522940e-01 -2.07204696e-03 1.61289415e+00] [ 4.20575460e-02 7.74554911e-04 9.99114890e-01 -1.69600047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:1.60, Z:-1.72 [[ 9.94747225e-01 -9.33424830e-02 -4.20135667e-02 1.07020052e+02] [ 9.33379826e-02 9.95632324e-01 -2.07299876e-03 1.60088346e+00] [ 4.20235639e-02 -1.85935180e-03 9.99114890e-01 -1.71641401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:1.60, Z:-1.69 [[ 9.95888103e-01 -8.02606274e-02 -4.20132969e-02 1.07077557e+02] [ 8.02442649e-02 9.96773062e-01 -2.07845163e-03 1.60497492e+00] [ 4.20445405e-02 -1.30142088e-03 9.99114890e-01 -1.68711324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:1.61, Z:-1.71 [[ 9.96746948e-01 -6.87784346e-02 -4.20124733e-02 1.07135985e+02] [ 6.87511788e-02 9.97631639e-01 -2.09496779e-03 1.61063172e+00] [ 4.20570612e-02 -8.00254311e-04 9.99114890e-01 -1.71314820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:107.19, Y:1.61, Z:-1.68 [[ 9.96995512e-01 -6.50762985e-02 -4.20121861e-02 1.07194698e+02] [ 6.50455153e-02 9.97880087e-01 -2.10071298e-03 1.61123124e+00] [ 4.20598305e-02 -6.38302878e-04 9.99114890e-01 -1.68344284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:1.61, Z:-1.68 [[ 9.96884503e-01 -6.67553033e-02 -4.20121185e-02 1.07252484e+02] [ 6.67259531e-02 9.97769126e-01 -2.10206307e-03 1.61326820e+00] [ 4.20587186e-02 -7.07784546e-04 9.99114890e-01 -1.68111548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:107.31, Y:1.61, Z:-1.71 [[ 9.96259186e-01 -7.55162780e-02 -4.20110273e-02 1.07313393e+02] [ 7.54937958e-02 9.97144010e-01 -2.12364918e-03 1.61077547e+00] [ 4.20514144e-02 -1.05586692e-03 9.99114890e-01 -1.70817553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters Centerline goodness : 0.994530 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:1.61, Z:-1.65 [[ 9.96108396e-01 -7.74799568e-02 -4.20109445e-02 1.07371440e+02] [ 7.74591499e-02 9.96993261e-01 -2.12528640e-03 1.60821503e+00] [ 4.20492957e-02 -1.13711642e-03 9.99114890e-01 -1.65388377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:1.61, Z:-1.67 [[ 9.96235452e-01 -7.58288872e-02 -4.20107720e-02 1.07429078e+02] [ 7.58064702e-02 9.97120277e-01 -2.12869197e-03 1.60899024e+00] [ 4.20512089e-02 -1.06400993e-03 9.99114890e-01 -1.67365025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:1.60, Z:-1.65 [[ 9.96504741e-01 -7.22042875e-02 -4.20100121e-02 1.07486884e+02] [ 7.21780243e-02 9.97389461e-01 -2.14358458e-03 1.60430747e+00] [ 4.20551193e-02 -8.96107472e-04 9.99114890e-01 -1.65090483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters Centerline goodness : 0.994830 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:1.60, Z:-1.64 [[ 9.96480330e-01 -7.25409759e-02 -4.20090340e-02 1.07545328e+02] [ 7.25142110e-02 9.97365035e-01 -2.16258346e-03 1.60457168e+00] [ 4.20552176e-02 -8.91280078e-04 9.99114890e-01 -1.64270436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters Centerline goodness : 0.995623 with order 1 Centerline is valid? [True, True] Translation: X:107.61, Y:1.60, Z:-1.64 [[ 9.96512760e-01 -7.20942668e-02 -4.20087500e-02 1.07605357e+02] [ 7.20668735e-02 9.97397446e-01 -2.16808613e-03 1.59994068e+00] [ 4.20557266e-02 -8.66913776e-04 9.99114890e-01 -1.64287463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters Centerline goodness : 0.996872 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:1.59, Z:-1.64 [[ 9.96283966e-01 -7.51899921e-02 -4.20086094e-02 1.07664776e+02] [ 7.51652328e-02 9.97168730e-01 -2.17080793e-03 1.59466567e+00] [ 4.20528947e-02 -9.94845768e-04 9.99114890e-01 -1.64278271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:1.59, Z:-1.64 [[ 9.96465489e-01 -7.27453838e-02 -4.20075998e-02 1.07723524e+02] [ 7.27176379e-02 9.97350163e-01 -2.19017236e-03 1.59246642e+00] [ 4.20556114e-02 -8.72262252e-04 9.99114891e-01 -1.63900037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:1.59, Z:-1.64 [[ 9.96768796e-01 -6.84646852e-02 -4.20065889e-02 1.07782200e+02] [ 6.84323299e-02 9.97653314e-01 -2.20939142e-03 1.59326793e+00] [ 4.20592779e-02 -6.72356324e-04 9.99114891e-01 -1.63847945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:1.60, Z:-1.65 [[ 9.97116204e-01 -6.32044981e-02 -4.20055550e-02 1.07842589e+02] [ 6.31666555e-02 9.98000504e-01 -2.22887715e-03 1.59676880e+00] [ 4.20624401e-02 -4.30900899e-04 9.99114891e-01 -1.65264540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:1.60, Z:-1.65 [[ 9.97074425e-01 -6.38602905e-02 -4.20054064e-02 1.07901330e+02] [ 6.38229116e-02 9.97958744e-01 -2.23167484e-03 1.59871819e+00] [ 4.20621780e-02 -4.55761430e-04 9.99114891e-01 -1.64732634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:1.59, Z:-1.65 [[ 9.91384452e-01 -1.24066523e-01 -4.20043612e-02 1.07960728e+02] [ 1.24081892e-01 9.92269427e-01 -2.25117672e-03 1.59221761e+00] [ 4.19589391e-02 -2.98019899e-03 9.99114891e-01 -1.65172640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:108.02, Y:1.60, Z:-1.63 [[ 9.96467421e-01 -7.27208864e-02 -4.20041830e-02 1.08019242e+02] [ 7.26904082e-02 9.97352005e-01 -2.25449690e-03 1.60151567e+00] [ 4.20569051e-02 -8.06768498e-04 9.99114891e-01 -1.62541510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:108.08, Y:1.60, Z:-1.64 [[ 9.96298716e-01 -7.49967898e-02 -4.20041623e-02 1.08079012e+02] [ 7.49683160e-02 9.97183367e-01 -2.25488127e-03 1.59756711e+00] [ 4.20549609e-02 -9.02446002e-04 9.99114891e-01 -1.63734913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:108.14, Y:1.60, Z:-1.62 [[ 9.96306961e-01 -7.48873500e-02 -4.20038709e-02 1.08138169e+02] [ 7.48585507e-02 9.97191601e-01 -2.26029788e-03 1.59964153e+00] [ 4.20551749e-02 -8.92398383e-04 9.99114891e-01 -1.61804774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.20, Y:1.60, Z:-1.63 [[ 9.96392160e-01 -7.37451828e-02 -4.20037190e-02 1.08197166e+02] [ 7.37152506e-02 9.97276762e-01 -2.26311642e-03 1.59979686e+00] [ 4.20562268e-02 -8.41363214e-04 9.99114891e-01 -1.63211074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:108.26, Y:1.60, Z:-1.62 [[ 9.96399668e-01 -7.36442366e-02 -4.20027071e-02 1.08256134e+02] [ 7.36134300e-02 9.97284241e-01 -2.28174398e-03 1.60236983e+00] [ 4.20566751e-02 -8.18434394e-04 9.99114891e-01 -1.61818813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:108.32, Y:1.61, Z:-1.63 [[ 9.95993222e-01 -7.89511718e-02 -4.20025601e-02 1.08316508e+02] [ 7.89249639e-02 9.96877942e-01 -2.28444739e-03 1.60552220e+00] [ 4.20517854e-02 -1.03975642e-03 9.99114891e-01 -1.62772072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:108.38, Y:1.60, Z:-1.63 [[ 9.95363699e-01 -8.65268614e-02 -4.20024873e-02 1.08375843e+02] [ 8.65073292e-02 9.96248592e-01 -2.28578531e-03 1.59941421e+00] [ 4.20427006e-02 -1.35833527e-03 9.99114891e-01 -1.62668255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:108.44, Y:1.60, Z:-1.62 [[ 9.95230237e-01 -8.80491519e-02 -4.20014598e-02 1.08435111e+02] [ 8.80301837e-02 9.96115142e-01 -2.30451135e-03 1.59901787e+00] [ 4.20412004e-02 -1.40387685e-03 9.99114892e-01 -1.62364467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:108.50, Y:1.59, Z:-1.61 [[ 9.95376666e-01 -8.63785555e-02 -4.20004439e-02 1.08495279e+02] [ 8.63573277e-02 9.96261520e-01 -2.32287973e-03 1.59358093e+00] [ 4.20440731e-02 -1.31490582e-03 9.99114892e-01 -1.60998473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:108.56, Y:1.59, Z:-1.62 [[ 9.95390070e-01 -8.62239939e-02 -4.20003708e-02 1.08555484e+02] [ 8.62025730e-02 9.96274919e-01 -2.32420210e-03 1.59167849e+00] [ 4.20443180e-02 -1.30705233e-03 9.99114892e-01 -1.62019958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.61, Y:1.59, Z:-1.62 [[ 9.95113718e-01 -8.93569788e-02 -4.20002217e-02 1.08614897e+02] [ 8.93382300e-02 9.95998628e-01 -2.32689215e-03 1.58611170e+00] [ 4.20400873e-02 -1.43670317e-03 9.99114892e-01 -1.61694826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:1.59, Z:-1.61 [[ 9.95119531e-01 -8.92927124e-02 -4.19991734e-02 1.08673729e+02] [ 8.92731152e-02 9.96004422e-01 -2.34566280e-03 1.58600092e+00] [ 4.20408130e-02 -1.41518218e-03 9.99114892e-01 -1.61440554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:1.58, Z:-1.61 [[ 9.95218974e-01 -8.81779462e-02 -4.19981282e-02 1.08733339e+02] [ 8.81565751e-02 9.96103824e-01 -2.36422957e-03 1.58198029e+00] [ 4.20429690e-02 -1.34948501e-03 9.99114892e-01 -1.61147622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters Centerline goodness : 0.936331 with order 3 Centerline is valid? [True, False] Translation: X:108.72, Y:1.58, Z:-1.61 [[ 9.96851949e-01 -7.45968372e-02 -2.68608322e-02 1.08715524e+02] [ 7.46400555e-02 9.97210355e-01 6.08554633e-04 1.57537703e+00] [ 2.67405038e-02 -2.61153288e-03 9.99638998e-01 -1.61221261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:108.70, Y:1.57, Z:-1.61 [[ 9.98080126e-01 -6.07440576e-02 -1.20922491e-02 1.08698907e+02] [ 6.07801357e-02 9.98147691e-01 2.63843945e-03 1.57113811e+00] [ 1.19095810e-02 -3.36834252e-03 9.99923405e-01 -1.61282916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.76, Y:1.57, Z:-1.61 [[ 9.98451069e-01 -5.43328756e-02 -1.19750360e-02 1.08758059e+02] [ 5.43313359e-02 9.98522859e-01 -4.54098905e-04 1.57439054e+00] [ 1.19820197e-02 -1.97224169e-04 9.99928194e-01 -1.61079963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.82, Y:1.58, Z:-1.61 [[ 9.98779952e-01 -4.79083211e-02 -1.19749766e-02 1.08816325e+02] [ 4.79063008e-02 9.98851730e-01 -4.55660816e-04 1.57963943e+00] [ 1.19830561e-02 -1.18571944e-04 9.99928194e-01 -1.60958574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.87, Y:1.59, Z:-1.61 [[ 9.99013988e-01 -4.27511061e-02 -1.19747296e-02 1.08874723e+02] [ 4.27486386e-02 9.99085752e-01 -4.62062613e-04 1.58754599e+00] [ 1.19835354e-02 -5.02963735e-05 9.99928194e-01 -1.60797677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.93, Y:1.60, Z:-1.61 [[ 9.99216257e-01 -3.77290744e-02 -1.19745070e-02 1.08932885e+02] [ 3.77261779e-02 9.99288005e-01 -4.67761914e-04 1.59631196e+00] [ 1.19836294e-02 1.56429282e-05 9.99928194e-01 -1.60813105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:1.61, Z:-1.60 [[ 9.99342567e-01 -3.42205555e-02 -1.19744421e-02 1.08990882e+02] [ 3.42173873e-02 9.99414304e-01 -4.69417329e-04 1.60973265e+00] [ 1.19834924e-02 5.93745975e-05 9.99928194e-01 -1.59674864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:109.05, Y:1.62, Z:-1.59 [[ 9.99441355e-01 -3.12024492e-02 -1.19743782e-02 1.09049611e+02] [ 3.11990449e-02 9.99513080e-01 -4.71041397e-04 1.61542159e+00] [ 1.19832453e-02 9.71890893e-05 9.99928194e-01 -1.58753550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:1.63, Z:-1.61 [[ 9.99554877e-01 -2.73251594e-02 -1.19743157e-02 1.09108376e+02] [ 2.73214579e-02 9.99626588e-01 -4.72624151e-04 1.63046354e+00] [ 1.19827589e-02 1.45258012e-04 9.99928194e-01 -1.60779219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:1.64, Z:-1.59 [[ 9.99524930e-01 -2.83995121e-02 -1.19742527e-02 1.09167003e+02] [ 2.83958686e-02 9.99596644e-01 -4.74214929e-04 1.63751259e+00] [ 1.19828903e-02 1.33970337e-04 9.99928194e-01 -1.58890352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:1.64, Z:-1.58 [[ 9.99362337e-01 -3.36383515e-02 -1.19741895e-02 1.09226835e+02] [ 3.36350649e-02 9.99434068e-01 -4.75806000e-04 1.64232248e+00] [ 1.19834182e-02 7.27499555e-05 9.99928194e-01 -1.58227260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:1.65, Z:-1.59 [[ 9.99086419e-01 -4.10237373e-02 -1.19741735e-02 1.09285834e+02] [ 4.10209762e-02 9.99158172e-01 -4.76208643e-04 1.65090475e+00] [ 1.19836291e-02 -1.54186966e-05 9.99928194e-01 -1.58886836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:109.34, Y:1.65, Z:-1.59 [[ 9.98707228e-01 -4.94013480e-02 -1.19741251e-02 1.09344914e+02] [ 4.93991742e-02 9.98779001e-01 -4.77421453e-04 1.65200592e+00] [ 1.19830900e-02 -1.14707636e-04 9.99928194e-01 -1.59168721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters Centerline goodness : 0.997911 with order 1 Centerline is valid? [True, True] Translation: X:109.40, Y:1.66, Z:-1.59 [[ 9.98399270e-01 -5.52767529e-02 -1.19740596e-02 1.09404117e+02] [ 5.52749818e-02 9.98471055e-01 -4.79057877e-04 1.65562104e+00] [ 1.19822327e-02 -1.83574894e-04 9.99928194e-01 -1.59395359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:109.46, Y:1.66, Z:-1.61 [[ 9.98309452e-01 -5.68758361e-02 -1.19739971e-02 1.09464350e+02] [ 5.68741613e-02 9.98381239e-01 -4.80617264e-04 1.65549876e+00] [ 1.19819495e-02 -2.01206282e-04 9.99928194e-01 -1.61006935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:109.52, Y:1.66, Z:-1.61 [[ 9.98475729e-01 -5.38780242e-02 -1.19739817e-02 1.09523371e+02] [ 5.38761293e-02 9.98547511e-01 -4.80999005e-04 1.65755286e+00] [ 1.19825049e-02 -1.64845955e-04 9.99928194e-01 -1.61108400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:109.58, Y:1.66, Z:-1.61 [[ 9.98574502e-01 -5.20152796e-02 -1.19739186e-02 1.09582009e+02] [ 5.20132320e-02 9.98646279e-01 -4.82564679e-04 1.65699414e+00] [ 1.19828100e-02 -1.40925424e-04 9.99928194e-01 -1.60918703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:109.64, Y:1.66, Z:-1.61 [[ 9.98507606e-01 -5.32840274e-02 -1.19738550e-02 1.09641330e+02] [ 5.32820522e-02 9.98579385e-01 -4.84136986e-04 1.65884919e+00] [ 1.19826416e-02 -1.54577106e-04 9.99928194e-01 -1.60951901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:109.70, Y:1.66, Z:-1.59 [[ 9.98414172e-01 -5.50069986e-02 -1.19738070e-02 1.09700511e+02] [ 5.50051330e-02 9.98485954e-01 -4.85321869e-04 1.66218319e+00] [ 1.19823742e-02 -1.74068617e-04 9.99928194e-01 -1.58855816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:109.76, Y:1.67, Z:-1.59 [[ 9.98497511e-01 -5.34728835e-02 -1.19737746e-02 1.09759046e+02] [ 5.34708981e-02 9.98569290e-01 -4.86121371e-04 1.66919705e+00] [ 1.19826379e-02 -1.54857500e-04 9.99928194e-01 -1.59497542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:1.67, Z:-1.60 [[ 9.98445287e-01 -5.44393206e-02 -1.19737123e-02 1.09817969e+02] [ 5.44373863e-02 9.98517067e-01 -4.87650298e-04 1.67126984e+00] [ 1.19825034e-02 -1.64925459e-04 9.99928194e-01 -1.59618195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:109.88, Y:1.68, Z:-1.61 [[ 9.98423113e-01 -5.48445071e-02 -1.19736488e-02 1.09877785e+02] [ 5.48425833e-02 9.98494893e-01 -4.89204294e-04 1.67714787e+00] [ 1.19824573e-02 -1.68232957e-04 9.99928194e-01 -1.60828655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters Centerline goodness : 0.997262 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:1.68, Z:-1.59 [[ 9.98306510e-01 -5.69275285e-02 -1.19736330e-02 1.09936574e+02] [ 5.69257498e-02 9.98378295e-01 -4.89590730e-04 1.68050614e+00] [ 1.19820865e-02 -1.92846423e-04 9.99928194e-01 -1.58721609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters Centerline goodness : 0.998005 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:1.68, Z:-1.59 [[ 9.98249380e-01 -5.79207087e-02 -1.19735846e-02 1.09995246e+02] [ 5.79189872e-02 9.98321166e-01 -4.90771854e-04 1.68235230e+00] [ 1.19819088e-02 -2.03585194e-04 9.99928194e-01 -1.59053812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters Centerline goodness : 0.997759 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:1.68, Z:-1.59 [[ 9.98297327e-01 -5.70883745e-02 -1.19735202e-02 1.10053963e+02] [ 5.70865744e-02 9.98369110e-01 -4.92337766e-04 1.68188050e+00] [ 1.19820995e-02 -1.92027776e-04 9.99928194e-01 -1.59042359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:1.69, Z:-1.60 [[ 9.98466375e-01 -5.40512160e-02 -1.19734531e-02 1.10114334e+02] [ 5.40491781e-02 9.98538153e-01 -4.93964307e-04 1.68523305e+00] [ 1.19826491e-02 -1.53948547e-04 9.99928194e-01 -1.60314971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:110.17, Y:1.68, Z:-1.61 [[ 9.95579322e-01 -9.31582029e-02 -1.19734370e-02 1.10171438e+02] [ 9.31589761e-02 9.95651124e-01 -4.94354886e-04 1.68291109e+00] [ 1.19674192e-02 -6.23263627e-04 9.99928194e-01 -1.61407478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters Centerline goodness : 0.996119 with order 1 Centerline is valid? [True, True] Translation: X:110.23, Y:1.69, Z:-1.58 [[ 9.99263393e-01 -3.64597102e-02 -1.19733419e-02 1.10229740e+02] [ 3.64563764e-02 9.99335122e-01 -4.96646658e-04 1.68639444e+00] [ 1.19834887e-02 5.97761648e-05 9.99928194e-01 -1.58115038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters Centerline goodness : 0.997459 with order 1 Centerline is valid? [True, True] Translation: X:110.29, Y:1.70, Z:-1.61 [[ 9.99603783e-01 2.54739353e-02 -1.19730988e-02 1.10288331e+02] [-2.54817724e-02 9.99675161e-01 -5.02440547e-04 1.70012796e+00] [ 1.19564103e-02 8.07337250e-04 9.99928194e-01 -1.60811427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters Centerline goodness : 0.960177 with order 1 Centerline is valid? [True, True] Translation: X:110.35, Y:1.72, Z:-1.63 [[ 9.97313588e-01 7.22651597e-02 -1.19730656e-02 1.10348272e+02] [-7.22763408e-02 9.97384518e-01 -5.03230549e-04 1.71599157e+00] [ 1.19053842e-02 1.36724803e-03 9.99928194e-01 -1.62510027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters Centerline goodness : 0.997553 with order 1 Centerline is valid? [True, True] Translation: X:110.41, Y:1.71, Z:-1.59 [[ 9.99726612e-01 -2.00835111e-02 -1.19730559e-02 1.10408025e+02] [ 2.00789210e-02 9.99798271e-01 -5.03459938e-04 1.71383702e+00] [ 1.19807519e-02 2.62916253e-04 9.99928194e-01 -1.58589147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:110.47, Y:1.73, Z:-1.58 [[ 9.99756189e-01 -1.85528481e-02 -1.19730393e-02 1.10466572e+02] [ 1.85481436e-02 9.99827841e-01 -5.03854621e-04 1.72874193e+00] [ 1.19803260e-02 2.81654124e-04 9.99928194e-01 -1.58215857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:1.74, Z:-1.59 [[ 9.99803808e-01 -1.57795316e-02 -1.19729736e-02 1.10524550e+02] [ 1.57746097e-02 9.99875445e-01 -5.05412391e-04 1.74446840e+00] [ 1.19794574e-02 3.16444248e-04 9.99928194e-01 -1.59401166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:1.76, Z:-1.58 [[ 9.99583126e-01 -2.62721175e-02 -1.19729078e-02 1.10582218e+02] [ 2.62679292e-02 9.99654810e-01 -5.06965104e-04 1.75950076e+00] [ 1.19820939e-02 1.92250268e-04 9.99928194e-01 -1.58139042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:110.64, Y:1.77, Z:-1.59 [[ 9.99591592e-01 -2.59480238e-02 -1.19728236e-02 1.10641535e+02] [ 2.59437885e-02 9.99663274e-01 -5.08947042e-04 1.76706559e+00] [ 1.19819982e-02 1.98118782e-04 9.99928194e-01 -1.59127645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:110.70, Y:1.78, Z:-1.59 [[ 9.99404550e-01 -3.23604371e-02 -1.19727904e-02 1.10700421e+02] [ 3.23566524e-02 9.99476256e-01 -5.09726688e-04 1.77665635e+00] [ 1.19830147e-02 1.22023755e-04 9.99928194e-01 -1.59118892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:110.76, Y:1.77, Z:-1.60 [[ 9.96414974e-01 -8.37487465e-02 -1.19727213e-02 1.10760214e+02] [ 8.37486376e-02 9.96486781e-01 -5.11345045e-04 1.76972080e+00] [ 1.19734830e-02 -4.93187234e-04 9.99928194e-01 -1.59621517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:110.82, Y:1.80, Z:-1.57 [[ 9.99068005e-01 -4.14701912e-02 -1.19726688e-02 1.10817988e+02] [ 4.14670264e-02 9.99139741e-01 -5.12571334e-04 1.79558252e+00] [ 1.19836256e-02 1.56226494e-05 9.99928194e-01 -1.57301578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.88, Y:1.80, Z:-1.59 [[ 9.99080688e-01 -4.11635129e-02 -1.19725989e-02 1.10876478e+02] [ 4.11603065e-02 9.99152423e-01 -5.14197760e-04 1.80084472e+00] [ 1.19836174e-02 2.09292108e-05 9.99928194e-01 -1.59008549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters Centerline goodness : 0.985435 with order 1 Centerline is valid? [True, True] Translation: X:110.93, Y:1.78, Z:-1.60 [[ 9.90456452e-01 -1.37305045e-01 -1.19725300e-02 1.10934956e+02] [ 1.37308751e-01 9.90528163e-01 -5.15797985e-04 1.78128114e+00] [ 1.19299498e-02 -1.13305769e-03 9.99928194e-01 -1.59988487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:110.99, Y:1.81, Z:-1.58 [[ 9.98756650e-01 -4.83922959e-02 -1.19724631e-02 1.10992623e+02] [ 4.83895710e-02 9.98828405e-01 -5.17344445e-04 1.81444519e+00] [ 1.19834717e-02 -6.26411496e-05 9.99928194e-01 -1.57529134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.05, Y:1.83, Z:-1.59 [[ 9.98935851e-01 -4.45401772e-02 -1.19724095e-02 1.11052111e+02] [ 4.45371607e-02 9.99007594e-01 -5.18583402e-04 1.82578823e+00] [ 1.19836258e-02 -1.51855728e-05 9.99928194e-01 -1.58902380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:111.11, Y:1.84, Z:-1.57 [[ 9.98889046e-01 -4.55778124e-02 -1.19723746e-02 1.11110705e+02] [ 4.55748608e-02 9.98960791e-01 -5.19386910e-04 1.83714357e+00] [ 1.19836053e-02 -2.68294123e-05 9.99928194e-01 -1.57358987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.17, Y:1.85, Z:-1.57 [[ 9.98839864e-01 -4.66432252e-02 -1.19723225e-02 1.11168792e+02] [ 4.66403358e-02 9.98911612e-01 -5.20585981e-04 1.85358069e+00] [ 1.19835737e-02 -3.84111098e-05 9.99928194e-01 -1.57182468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.23, Y:1.86, Z:-1.59 [[ 9.98692558e-01 -4.96974824e-02 -1.19722526e-02 1.11229090e+02] [ 4.96947932e-02 9.98764314e-01 -5.22188692e-04 1.86043674e+00] [ 1.19834101e-02 -7.34526544e-05 9.99928194e-01 -1.58755338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.29, Y:1.87, Z:-1.59 [[ 9.98234148e-01 -5.81829192e-02 -1.19722354e-02 1.11287191e+02] [ 5.81808352e-02 9.98305924e-01 -5.22581188e-04 1.86862651e+00] [ 1.19823589e-02 -1.74896270e-04 9.99928194e-01 -1.58657932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.35, Y:1.88, Z:-1.59 [[ 9.97884350e-01 -6.39022041e-02 -1.19721684e-02 1.11345764e+02] [ 6.39005131e-02 9.97956136e-01 -5.24112500e-04 1.87837429e+00] [ 1.19811909e-02 -2.42024042e-04 9.99928194e-01 -1.58611449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.40, Y:1.88, Z:-1.59 [[ 9.97305126e-01 -7.23820029e-02 -1.19721015e-02 1.11403816e+02] [ 7.23809038e-02 9.97376924e-01 -5.25637226e-04 1.88430834e+00] [ 1.19787444e-02 -3.42330824e-04 9.99928194e-01 -1.58506211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters Centerline goodness : 0.960924 with order 3 Centerline is valid? [True, True] Translation: X:111.58, Y:1.94, Z:-1.59 [[ 9.99889483e-01 8.81438458e-03 -1.19720099e-02 1.11576038e+02] [-8.82133311e-03 9.99960952e-01 -5.27714223e-04 1.93949956e+00] [ 1.19668909e-02 6.33264989e-04 9.99928194e-01 -1.59022873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:1.88, Z:-1.57 [[ 9.94842716e-01 -1.00674367e-01 -1.23548166e-02 1.11483400e+02] [ 1.00779086e-01 9.94875310e-01 8.16663623e-03 1.88402208e+00] [ 1.14693311e-02 -9.36962570e-03 9.99890326e-01 -1.56615859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:1.89, Z:-1.56 [[ 9.94518238e-01 -1.03885349e-01 -1.18873266e-02 1.11545200e+02] [ 1.03885194e-01 9.94589094e-01 -6.32208934e-04 1.89351061e+00] [ 1.18886826e-02 -6.06173914e-04 9.99929143e-01 -1.56426741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:1.89, Z:-1.58 [[ 9.94792838e-01 -1.01222010e-01 -1.18875969e-02 1.11606281e+02] [ 1.01221726e-01 9.94863694e-01 -6.27084282e-04 1.89083088e+00] [ 1.18900133e-02 -5.79464125e-04 9.99929143e-01 -1.58344504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.67, Y:1.89, Z:-1.58 [[ 9.94818441e-01 -1.00970066e-01 -1.18876156e-02 1.11667090e+02] [ 1.00969769e-01 9.94889297e-01 -6.26728382e-04 1.89028331e+00] [ 1.18901424e-02 -5.76808851e-04 9.99929143e-01 -1.58299020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.73, Y:1.89, Z:-1.56 [[ 9.94783459e-01 -1.01314134e-01 -1.18876156e-02 1.11727784e+02] [ 1.01313861e-01 9.94854315e-01 -6.26728382e-04 1.88845309e+00] [ 1.18899422e-02 -5.80921216e-04 9.99929143e-01 -1.56471669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.79, Y:1.89, Z:-1.57 [[ 9.95166839e-01 -9.74763858e-02 -1.18876341e-02 1.11788558e+02] [ 9.74758437e-02 9.95237694e-01 -6.26378031e-04 1.88697686e+00] [ 1.18920786e-02 -5.35406519e-04 9.99929143e-01 -1.56770784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.85, Y:1.88, Z:-1.56 [[ 9.94998595e-01 -9.91790270e-02 -1.18876341e-02 1.11848840e+02] [ 9.91786061e-02 9.95069451e-01 -6.26378031e-04 1.88286147e+00] [ 1.18911451e-02 -5.55753720e-04 9.99929143e-01 -1.56362943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.91, Y:1.88, Z:-1.58 [[ 9.95160901e-01 -9.75369955e-02 -1.18875969e-02 1.11908825e+02] [ 9.75364493e-02 9.95231756e-01 -6.27083481e-04 1.88274976e+00] [ 1.18920778e-02 -5.35425030e-04 9.99929143e-01 -1.57984188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.97, Y:1.88, Z:-1.57 [[ 9.95809767e-01 -9.06730106e-02 -1.18875599e-02 1.11969060e+02] [ 9.06719675e-02 9.95880615e-01 -6.27784282e-04 1.88069874e+00] [ 1.18955135e-02 -4.52714724e-04 9.99929143e-01 -1.56586865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:112.03, Y:1.88, Z:-1.56 [[ 9.96302398e-01 -8.50894701e-02 -1.18875401e-02 1.12027678e+02] [ 8.50880254e-02 9.96373240e-01 -6.28158984e-04 1.88227430e+00] [ 1.18978765e-02 -3.85651011e-04 9.99929143e-01 -1.56118816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.09, Y:1.88, Z:-1.56 [[ 9.96684533e-01 -8.04899341e-02 -1.18874648e-02 1.12086092e+02] [ 8.04881455e-02 9.96755367e-01 -6.29579873e-04 1.88161936e+00] [ 1.18995692e-02 -3.29307477e-04 9.99929143e-01 -1.56346277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.14, Y:1.88, Z:-1.57 [[ 9.96643876e-01 -8.09918213e-02 -1.18873533e-02 1.12144779e+02] [ 8.09900434e-02 9.96714710e-01 -6.31677939e-04 1.88359270e+00] [ 1.18994607e-02 -3.33199314e-04 9.99929143e-01 -1.56666845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:112.20, Y:1.88, Z:-1.56 [[ 9.96670358e-01 -8.06652994e-02 -1.18872747e-02 1.12203903e+02] [ 8.06634807e-02 9.96741191e-01 -6.33154829e-04 1.88285775e+00] [ 1.18996099e-02 -3.27822301e-04 9.99929143e-01 -1.56329344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:1.88, Z:-1.58 [[ 9.96465971e-01 -8.31520510e-02 -1.18871968e-02 1.12263873e+02] [ 8.31503916e-02 9.96536808e-01 -6.34614394e-04 1.88470768e+00] [ 1.18987986e-02 -3.56053417e-04 9.99929143e-01 -1.57670872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:1.89, Z:-1.56 [[ 9.96307069e-01 -8.50348070e-02 -1.18871770e-02 1.12323284e+02] [ 8.50332771e-02 9.96377910e-01 -6.34983479e-04 1.88567453e+00] [ 1.18981163e-02 -3.78167090e-04 9.99929143e-01 -1.56120302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:1.89, Z:-1.56 [[ 9.96286938e-01 -8.52703509e-02 -1.18871381e-02 1.12382019e+02] [ 8.52688290e-02 9.96357778e-01 -6.35711574e-04 1.88996835e+00] [ 1.18980499e-02 -3.80251209e-04 9.99929143e-01 -1.55631758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:1.90, Z:-1.57 [[ 9.96747437e-01 -7.97072474e-02 -1.18870566e-02 1.12440753e+02] [ 7.97053120e-02 9.96818267e-01 -6.37232868e-04 1.89649192e+00] [ 1.19000272e-02 -3.12301323e-04 9.99929143e-01 -1.57363103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:1.90, Z:-1.57 [[ 9.96808287e-01 -7.89426327e-02 -1.18869770e-02 1.12499253e+02] [ 7.89406253e-02 9.96879115e-01 -6.38714321e-04 1.90150218e+00] [ 1.19003009e-02 -3.01689665e-04 9.99929143e-01 -1.57316279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:1.91, Z:-1.56 [[ 9.97080048e-01 -7.54326184e-02 -1.18868970e-02 1.12557931e+02] [ 7.54303439e-02 9.97150868e-01 -6.40198469e-04 1.90880834e+00] [ 1.19013215e-02 -2.58303610e-04 9.99929143e-01 -1.55939093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:1.92, Z:-1.57 [[ 9.97361346e-01 -7.16173708e-02 -1.18868363e-02 1.12617470e+02] [ 7.16148120e-02 9.97432157e-01 -6.41323013e-04 1.91879674e+00] [ 1.19022427e-02 -2.11642766e-04 9.99929143e-01 -1.57022891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:1.93, Z:-1.56 [[ 9.97551045e-01 -6.89247224e-02 -1.18867961e-02 1.12676479e+02] [ 6.89219635e-02 9.97621848e-01 -6.42068999e-04 1.92906006e+00] [ 1.19027819e-02 -1.78764723e-04 9.99929143e-01 -1.55603285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:1.94, Z:-1.57 [[ 9.97808817e-01 -6.50866323e-02 -1.18867551e-02 1.12736110e+02] [ 6.50835921e-02 9.97879608e-01 -6.42826007e-04 1.94345425e+00] [ 1.19033899e-02 -1.32215264e-04 9.99929143e-01 -1.57022591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:1.95, Z:-1.57 [[ 9.97744123e-01 -6.60709523e-02 -1.18867343e-02 1.12794662e+02] [ 6.60679774e-02 9.97814917e-01 -6.43211539e-04 1.95449157e+00] [ 1.19032584e-02 -1.43571957e-04 9.99929143e-01 -1.56942365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:1.96, Z:-1.57 [[ 9.97612217e-01 -6.80336156e-02 -1.18866523e-02 1.12853372e+02] [ 6.80307619e-02 9.97683016e-01 -6.44723113e-04 1.96333104e+00] [ 1.19029739e-02 -1.65474356e-04 9.99929143e-01 -1.57044355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:1.98, Z:-1.57 [[ 9.97390114e-01 -7.12156551e-02 -1.18865699e-02 1.12911434e+02] [ 7.12130093e-02 9.97460921e-01 -6.46237219e-04 1.97702809e+00] [ 1.19024112e-02 -2.01927802e-04 9.99929143e-01 -1.56897103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:1.99, Z:-1.57 [[ 9.97435774e-01 -7.05732790e-02 -1.18864882e-02 1.12970316e+02] [ 7.05705696e-02 9.97506579e-01 -6.47736453e-04 1.98902354e+00] [ 1.19025631e-02 -1.92760736e-04 9.99929143e-01 -1.56897974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:2.00, Z:-1.57 [[ 9.97504956e-01 -6.95886080e-02 -1.18864474e-02 1.13030408e+02] [ 6.95858199e-02 9.97575758e-01 -6.48484899e-04 2.00117823e+00] [ 1.19027590e-02 -1.80261288e-04 9.99929143e-01 -1.56904280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:2.01, Z:-1.57 [[ 9.97183285e-01 -7.40554476e-02 -1.18864474e-02 1.13090100e+02] [ 7.40529766e-02 9.97254098e-01 -6.48484899e-04 2.01040360e+00] [ 1.19018322e-02 -2.33568511e-04 9.99929143e-01 -1.56783447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:2.02, Z:-1.55 [[ 9.96596936e-01 -8.15675168e-02 -1.18864273e-02 1.13150994e+02] [ 8.15655751e-02 9.96667766e-01 -6.48852649e-04 2.01766569e+00] [ 1.18997443e-02 -3.22878720e-04 9.99929143e-01 -1.54604489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:2.03, Z:-1.55 [[ 9.96444024e-01 -8.34147402e-02 -1.18864679e-02 1.13213113e+02] [ 8.34129387e-02 9.96514858e-01 -6.48108799e-04 2.02602729e+00] [ 1.18991037e-02 -3.45681078e-04 9.99929143e-01 -1.54609987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.28, Y:2.03, Z:-1.57 [[ 9.95820003e-01 -9.05606237e-02 -1.18867370e-02 1.13275279e+02] [ 9.05593896e-02 9.95890849e-01 -6.43134691e-04 2.02857014e+00] [ 1.18961353e-02 -4.36009259e-04 9.99929143e-01 -1.56646581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:113.34, Y:2.03, Z:-1.54 [[ 9.95304440e-01 -9.60613130e-02 -1.18867959e-02 1.13336461e+02] [ 9.60604833e-02 9.95375292e-01 -6.42045096e-04 2.03295242e+00] [ 1.18934986e-02 -5.02821023e-04 9.99929143e-01 -1.54459675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:113.40, Y:2.03, Z:-1.55 [[ 9.95789793e-01 -9.08921702e-02 -1.18870399e-02 1.13399391e+02] [ 9.08910269e-02 9.95860640e-01 -6.37494853e-04 2.03374348e+00] [ 1.18957785e-02 -4.45614396e-04 9.99929143e-01 -1.54557628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:113.46, Y:2.04, Z:-1.55 [[ 9.95606831e-01 -9.28748050e-02 -1.18873360e-02 1.13461263e+02] [ 9.28738692e-02 9.95677681e-01 -6.31925138e-04 2.04043950e+00] [ 1.18946451e-02 -4.74873904e-04 9.99929143e-01 -1.54703650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:113.52, Y:2.05, Z:-1.56 [[ 9.96001667e-01 -8.85401804e-02 -1.18875963e-02 1.13522794e+02] [ 8.85389950e-02 9.96072514e-01 -6.26990146e-04 2.04700392e+00] [ 1.18964217e-02 -4.28032596e-04 9.99929143e-01 -1.55996992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters Centerline goodness : 0.996864 with order 1 Centerline is valid? [True, True] Translation: X:113.58, Y:2.05, Z:-1.53 [[ 9.95224598e-01 -9.68848893e-02 -1.18876771e-02 1.13584117e+02] [ 9.68843161e-02 9.95295453e-01 -6.25453506e-04 2.05001881e+00] [ 1.18923480e-02 -5.29262753e-04 9.99929143e-01 -1.53421082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters Centerline goodness : 0.996814 with order 1 Centerline is valid? [True, True] Translation: X:113.65, Y:2.05, Z:-1.54 [[ 9.95080866e-01 -9.83501541e-02 -1.18877342e-02 1.13645301e+02] [ 9.83496981e-02 9.95151721e-01 -6.24366363e-04 2.05457066e+00] [ 1.18915057e-02 -5.47860052e-04 9.99929143e-01 -1.53717375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:113.71, Y:2.06, Z:-1.54 [[ 9.94711725e-01 -1.02016004e-01 -1.18877716e-02 1.13707010e+02] [ 1.02015818e-01 9.94782581e-01 -6.23653119e-04 2.06127910e+00] [ 1.18893708e-02 -5.92385675e-04 9.99929143e-01 -1.54041037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:113.77, Y:2.07, Z:-1.56 [[ 9.94952514e-01 -9.96402229e-02 -1.18878447e-02 1.13768503e+02] [ 9.96398840e-02 9.95023370e-01 -6.22258131e-04 2.06669292e+00] [ 1.18906852e-02 -5.65386171e-04 9.99929143e-01 -1.55829323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:113.83, Y:2.08, Z:-1.56 [[ 9.95102537e-01 -9.81306268e-02 -1.18878809e-02 1.13830847e+02] [ 9.81301887e-02 9.95173392e-01 -6.21565774e-04 2.07695416e+00] [ 1.18914974e-02 -5.48038313e-04 9.99929143e-01 -1.55711266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:113.89, Y:2.08, Z:-1.56 [[ 9.94965166e-01 -9.95137655e-02 -1.18881643e-02 1.13893707e+02] [ 9.95134910e-02 9.95036022e-01 -6.16096837e-04 2.08298633e+00] [ 1.18904618e-02 -5.70037838e-04 9.99929143e-01 -1.55577392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters Centerline goodness : 0.997652 with order 1 Centerline is valid? [True, True] Translation: X:113.95, Y:2.11, Z:-1.56 [[ 9.98834092e-01 -4.67880409e-02 -1.18884466e-02 1.13952143e+02] [ 4.67840873e-02 9.98904838e-01 -6.10600377e-04 2.10596683e+00] [ 1.19039956e-02 5.36983503e-05 9.99929143e-01 -1.55922840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:114.01, Y:2.09, Z:-1.56 [[ 9.93767512e-01 -1.10836802e-01 -1.18884335e-02 1.14013537e+02] [ 1.10837397e-01 9.93838366e-01 -6.10855295e-04 2.08890382e+00] [ 1.18828866e-02 -7.10634879e-04 9.99929143e-01 -1.55695577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:114.08, Y:2.09, Z:-1.56 [[ 9.93401058e-01 -1.14074553e-01 -1.18884335e-02 1.14075419e+02] [ 1.14075378e-01 9.93471909e-01 -6.10855295e-04 2.09070624e+00] [ 1.18805078e-02 -7.49353253e-04 9.99929143e-01 -1.55550829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:114.14, Y:2.09, Z:-1.53 [[ 9.92740666e-01 -1.19685547e-01 -1.18886542e-02 1.14137948e+02] [ 1.19686825e-01 9.92811511e-01 -6.06528301e-04 2.08741863e+00] [ 1.18757855e-02 -8.20789968e-04 9.99929144e-01 -1.53446234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters Centerline goodness : 0.996307 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:2.08, Z:-1.53 [[ 9.92344738e-01 -1.22925098e-01 -1.18887228e-02 1.14200243e+02] [ 1.22926623e-01 9.92415578e-01 -6.05181742e-04 2.08400802e+00] [ 1.18729457e-02 -8.60891627e-04 9.99929144e-01 -1.53119742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:2.08, Z:-1.53 [[ 9.93280341e-01 -1.15120880e-01 -1.18889572e-02 1.14262173e+02] [ 1.15121903e-01 9.93351190e-01 -6.00540566e-04 2.08234993e+00] [ 1.18790446e-02 -7.72174248e-04 9.99929144e-01 -1.53069760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:2.09, Z:-1.55 [[ 9.94551933e-01 -1.03562067e-01 -1.18890822e-02 1.14323850e+02] [ 1.03562295e-01 9.94622789e-01 -5.98056004e-04 2.08596315e+00] [ 1.18870880e-02 -6.36462889e-04 9.99929144e-01 -1.54900833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:2.09, Z:-1.53 [[ 9.95682957e-01 -9.20548669e-02 -1.18891332e-02 1.14384957e+02] [ 9.20542886e-02 9.95753811e-01 -5.97041483e-04 2.08641727e+00] [ 1.18936102e-02 -4.99981665e-04 9.99929144e-01 -1.53103068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:2.09, Z:-1.55 [[ 9.95843388e-01 -9.03027938e-02 -1.18891555e-02 1.14446511e+02] [ 9.03020961e-02 9.95914241e-01 -5.96595685e-04 2.08859289e+00] [ 1.18944536e-02 -4.79499796e-04 9.99929144e-01 -1.55148267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:2.09, Z:-1.53 [[ 9.96351315e-01 -8.45145181e-02 -1.18891734e-02 1.14506755e+02] [ 8.45134130e-02 9.96422163e-01 -5.96240142e-04 2.09387336e+00] [ 1.18970268e-02 -4.10729968e-04 9.99929144e-01 -1.52905613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:114.57, Y:2.10, Z:-1.53 [[ 9.96437419e-01 -8.34932196e-02 -1.18891821e-02 1.14570041e+02] [ 8.34920439e-02 9.96508266e-01 -5.96066508e-04 2.09870347e+00] [ 1.18974357e-02 -3.98709138e-04 9.99929144e-01 -1.52732201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.63, Y:2.10, Z:-1.55 [[ 9.96179722e-01 -8.65135965e-02 -1.18894666e-02 1.14631376e+02] [ 8.65127038e-02 9.96250573e-01 -5.90334903e-04 2.10375345e+00] [ 1.18959599e-02 -4.40510248e-04 9.99929144e-01 -1.54529737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:114.69, Y:2.10, Z:-1.52 [[ 9.95783746e-01 -9.09580740e-02 -1.18894845e-02 1.14692152e+02] [ 9.09575018e-02 9.95854600e-01 -5.89975559e-04 2.10463057e+00] [ 1.18938608e-02 -4.93949733e-04 9.99929144e-01 -1.52380017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:114.75, Y:2.11, Z:-1.52 [[ 9.95491128e-01 -9.41066107e-02 -1.18895020e-02 1.14754269e+02] [ 9.41062668e-02 9.95561983e-01 -5.89621720e-04 2.10941546e+00] [ 1.18922235e-02 -5.31913458e-04 9.99929144e-01 -1.51910334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:2.11, Z:-1.52 [[ 9.95455546e-01 -9.44822236e-02 -1.18897464e-02 1.14816717e+02] [ 9.44819657e-02 9.95526402e-01 -5.84652063e-04 2.10850802e+00] [ 1.18917957e-02 -5.41371473e-04 9.99929144e-01 -1.52235514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:2.11, Z:-1.55 [[ 9.95372143e-01 -9.53568258e-02 -1.18899852e-02 1.14877535e+02] [ 9.53566886e-02 9.95443000e-01 -5.79754872e-04 2.10822332e+00] [ 1.18910861e-02 -5.56717764e-04 9.99929144e-01 -1.54714136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:2.11, Z:-1.55 [[ 9.95373749e-01 -9.53400695e-02 -1.18899852e-02 1.14940089e+02] [ 9.53399310e-02 9.95444605e-01 -5.79754872e-04 2.10836285e+00] [ 1.18910955e-02 -5.56517587e-04 9.99929144e-01 -1.54557614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:2.10, Z:-1.52 [[ 9.95502993e-01 -9.39809227e-02 -1.18902186e-02 1.15000896e+02] [ 9.39807450e-02 9.95573849e-01 -5.74928132e-04 2.10299522e+00] [ 1.18916229e-02 -5.45108923e-04 9.99929144e-01 -1.52206399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:2.10, Z:-1.54 [[ 9.95068698e-01 -9.84728831e-02 -1.18902560e-02 1.15062953e+02] [ 9.84730345e-02 9.95139554e-01 -5.74153036e-04 2.09854731e+00] [ 1.18890026e-02 -5.99547875e-04 9.99929144e-01 -1.54216523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:115.13, Y:2.10, Z:-1.54 [[ 9.94790626e-01 -1.01243426e-01 -1.18902900e-02 1.15125248e+02] [ 1.01243783e-01 9.94861482e-01 -5.73447509e-04 2.09509129e+00] [ 1.18872493e-02 -6.33357739e-04 9.99929144e-01 -1.54094420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:115.19, Y:2.09, Z:-1.52 [[ 9.93940348e-01 -1.09275798e-01 -1.18905182e-02 1.15187303e+02] [ 1.09276785e-01 9.94011198e-01 -5.68676984e-04 2.08797298e+00] [ 1.18814508e-02 -7.34126596e-04 9.99929144e-01 -1.51699075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:115.25, Y:2.08, Z:-1.54 [[ 9.94130956e-01 -1.07527910e-01 -1.18907468e-02 1.15249774e+02] [ 1.07528830e-01 9.94201807e-01 -5.63855336e-04 2.07987698e+00] [ 1.18824322e-02 -7.18052044e-04 9.99929144e-01 -1.54033433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:2.07, Z:-1.54 [[ 9.94387398e-01 -1.05129976e-01 -1.18907956e-02 1.15311354e+02] [ 1.05130737e-01 9.94458250e-01 -5.62825663e-04 2.07175427e+00] [ 1.18840696e-02 -6.90421349e-04 9.99929144e-01 -1.53997107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:2.07, Z:-1.54 [[ 9.95018523e-01 -9.89785209e-02 -1.18908275e-02 1.15371457e+02] [ 9.89788513e-02 9.95089378e-01 -5.62150445e-04 2.06697956e+00] [ 1.18880769e-02 -6.17590340e-04 9.99929144e-01 -1.53743774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:2.06, Z:-1.54 [[ 9.95824346e-01 -9.05123257e-02 -1.18907951e-02 1.15431701e+02] [ 9.05120453e-02 9.95895202e-01 -5.62833918e-04 2.06214186e+00] [ 1.18929292e-02 -5.15776469e-04 9.99929144e-01 -1.53688659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:2.06, Z:-1.54 [[ 9.96854131e-01 -7.83610253e-02 -1.18907621e-02 1.15490491e+02] [ 7.83598726e-02 9.96924979e-01 -5.63530204e-04 2.06338812e+00] [ 1.18983566e-02 -3.70001193e-04 9.99929144e-01 -1.53766142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:2.07, Z:-1.54 [[ 9.97503634e-01 -6.96068426e-02 -1.18906942e-02 1.15549582e+02] [ 6.96050509e-02 9.97574467e-01 -5.64960021e-04 2.06611135e+00] [ 1.19011780e-02 -2.64102701e-04 9.99929144e-01 -1.53757499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:2.07, Z:-1.54 [[ 9.97692374e-01 -6.68471429e-02 -1.18906244e-02 1.15608033e+02] [ 6.68451378e-02 9.97763202e-01 -5.66425821e-04 2.06989925e+00] [ 1.19018914e-02 -2.29711703e-04 9.99929144e-01 -1.53530253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:115.67, Y:2.07, Z:-1.52 [[ 9.97602826e-01 -6.81704953e-02 -1.18905533e-02 1.15668273e+02] [ 6.81685664e-02 9.97673656e-01 -5.67913710e-04 2.07209198e+00] [ 1.19016067e-02 -2.44009651e-04 9.99929144e-01 -1.51743060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.73, Y:2.08, Z:-1.52 [[ 9.97651318e-01 -6.74571157e-02 -1.18905533e-02 1.15727037e+02] [ 6.74551362e-02 9.97722147e-01 -5.67913710e-04 2.07878552e+00] [ 1.19017782e-02 -2.35499031e-04 9.99929144e-01 -1.51928407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.79, Y:2.08, Z:-1.53 [[ 9.97818992e-01 -6.49297776e-02 -1.18904793e-02 1.15786871e+02] [ 6.49276002e-02 9.97889815e-01 -5.69458377e-04 2.08384066e+00] [ 1.19023630e-02 -2.03803905e-04 9.99929144e-01 -1.53144830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.85, Y:2.09, Z:-1.53 [[ 9.98090301e-01 -6.06165593e-02 -1.18904617e-02 1.15845107e+02] [ 6.06140715e-02 9.98161114e-01 -5.69826357e-04 2.09075460e+00] [ 1.19031374e-02 -1.51991134e-04 9.99929144e-01 -1.53124253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:115.90, Y:2.09, Z:-1.51 [[ 9.97887993e-01 -6.38605738e-02 -1.18903895e-02 1.15904911e+02] [ 6.38582983e-02 9.97958812e-01 -5.71329705e-04 2.09359438e+00] [ 1.19026044e-02 -1.89176984e-04 9.99929144e-01 -1.51478774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:115.96, Y:2.10, Z:-1.52 [[ 9.97659355e-01 -6.73381738e-02 -1.18903708e-02 1.15962843e+02] [ 6.73361405e-02 9.97730183e-01 -5.71717754e-04 2.09645551e+00] [ 1.19018803e-02 -2.30272112e-04 9.99929144e-01 -1.51598068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:116.02, Y:2.10, Z:-1.51 [[ 9.97262306e-01 -7.29829671e-02 -1.18902797e-02 1.16021575e+02] [ 7.29813121e-02 9.97333143e-01 -5.73606299e-04 2.09771008e+00] [ 1.19004335e-02 -2.95732273e-04 9.99929144e-01 -1.51010323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.08, Y:2.10, Z:-1.53 [[ 9.97188153e-01 -7.39892613e-02 -1.18902080e-02 1.16081372e+02] [ 7.39876601e-02 9.97258991e-01 -5.75088154e-04 2.09711141e+00] [ 1.19001672e-02 -3.06257576e-04 9.99929144e-01 -1.52822782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:116.14, Y:2.10, Z:-1.53 [[ 9.97488268e-01 -6.98267813e-02 -1.18901722e-02 1.16140183e+02] [ 6.98248757e-02 9.97559099e-01 -5.75826855e-04 2.09853490e+00] [ 1.19013576e-02 -2.55849268e-04 9.99929144e-01 -1.52699859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.20, Y:2.11, Z:-1.52 [[ 9.97831801e-01 -6.47327009e-02 -1.18901003e-02 1.16198207e+02] [ 6.47304161e-02 9.97902620e-01 -5.77307610e-04 2.10754079e+00] [ 1.19025330e-02 -1.93595251e-04 9.99929144e-01 -1.52495670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.26, Y:2.11, Z:-1.52 [[ 9.98020211e-01 -6.17599000e-02 -1.18900277e-02 1.16256465e+02] [ 6.17573864e-02 9.98091023e-01 -5.78800100e-04 2.11420503e+00] [ 1.19030765e-02 -1.56642836e-04 9.99929144e-01 -1.52444887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.31, Y:2.12, Z:-1.52 [[ 9.97980506e-01 -6.23982253e-02 -1.18899535e-02 1.16314948e+02] [ 6.23957388e-02 9.98051319e-01 -5.80320895e-04 2.12144402e+00] [ 1.19029947e-02 -1.62733491e-04 9.99929144e-01 -1.52477345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.37, Y:2.13, Z:-1.52 [[ 9.97872364e-01 -6.41044106e-02 -1.18898795e-02 1.16373593e+02] [ 6.41020272e-02 9.97943181e-01 -5.81832880e-04 2.12814105e+00] [ 1.19027222e-02 -1.81570427e-04 9.99929144e-01 -1.52400183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.43, Y:2.14, Z:-1.52 [[ 9.97659691e-01 -6.73333005e-02 -1.18898058e-02 1.16432045e+02] [ 6.73311285e-02 9.97730514e-01 -5.83335305e-04 2.13678806e+00] [ 1.19020999e-02 -2.18583920e-04 9.99929144e-01 -1.52270184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:116.49, Y:2.14, Z:-1.50 [[ 9.97372250e-01 -7.14648819e-02 -1.18897322e-02 1.16490826e+02] [ 7.14629854e-02 9.97443081e-01 -5.84830237e-04 2.14080540e+00] [ 1.19011260e-02 -2.66382312e-04 9.99929144e-01 -1.50107766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:116.55, Y:2.14, Z:-1.52 [[ 9.96975492e-01 -7.68017131e-02 -1.18896769e-02 1.16550329e+02] [ 7.68001823e-02 9.97046332e-01 -5.85952346e-04 2.14313660e+00] [ 1.18995609e-02 -3.28949227e-04 9.99929144e-01 -1.52166291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.61, Y:2.14, Z:-1.52 [[ 9.96375036e-01 -8.42343452e-02 -1.18896215e-02 1.16610087e+02] [ 8.42333294e-02 9.96445885e-01 -5.87074307e-04 2.14096658e+00] [ 1.18968163e-02 -4.16556224e-04 9.99929144e-01 -1.51993494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:2.14, Z:-1.50 [[ 9.96291037e-01 -8.52221041e-02 -1.18895857e-02 1.16670022e+02] [ 8.52211499e-02 9.96361887e-01 -5.87798563e-04 2.14063917e+00] [ 1.18964235e-02 -4.27625727e-04 9.99929144e-01 -1.50072328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:2.14, Z:-1.50 [[ 9.96232557e-01 -8.59030240e-02 -1.18895857e-02 1.16729729e+02] [ 8.59021182e-02 9.96303408e-01 -5.87798563e-04 2.13935235e+00] [ 1.18961285e-02 -4.35756533e-04 9.99929144e-01 -1.49802015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:2.14, Z:-1.52 [[ 9.96378938e-01 -8.41881831e-02 -1.18895495e-02 1.16789949e+02] [ 8.41871466e-02 9.96449787e-01 -5.88530811e-04 2.14067914e+00] [ 1.18968864e-02 -4.14547541e-04 9.99929144e-01 -1.51711408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:2.14, Z:-1.50 [[ 9.96312553e-01 -8.49702078e-02 -1.18895312e-02 1.16849520e+02] [ 8.49692225e-02 9.96383402e-01 -5.88899635e-04 2.14373204e+00] [ 1.18965705e-02 -4.23516125e-04 9.99929144e-01 -1.49785594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:2.14, Z:-1.52 [[ 9.96304547e-01 -8.50640329e-02 -1.18895134e-02 1.16910702e+02] [ 8.50630500e-02 9.96375396e-01 -5.89259048e-04 2.14122745e+00] [ 1.18965434e-02 -4.24276805e-04 9.99929144e-01 -1.51711577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.97, Y:2.15, Z:-1.50 [[ 9.96666514e-01 -8.07124485e-02 -1.18895080e-02 1.16971084e+02] [ 8.07111550e-02 9.96737359e-01 -5.89367721e-04 2.14604845e+00] [ 1.18982861e-02 -3.72212853e-04 9.99929144e-01 -1.49906549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.03, Y:2.15, Z:-1.51 [[ 9.97207762e-01 -7.37246165e-02 -1.18895032e-02 1.17030998e+02] [ 7.37228252e-02 9.97278596e-01 -5.89464140e-04 2.14792576e+00] [ 1.19006051e-02 -2.88709553e-04 9.99929144e-01 -1.51392167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.09, Y:2.15, Z:-1.50 [[ 9.97777456e-01 -6.55651487e-02 -1.18894669e-02 1.17091068e+02] [ 6.55627694e-02 9.97848273e-01 -5.90195723e-04 2.15246796e+00] [ 1.19025803e-02 -1.90622391e-04 9.99929144e-01 -1.49570667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:2.16, Z:-1.51 [[ 9.97659931e-01 -6.73297984e-02 -1.18894669e-02 1.17150782e+02] [ 6.73275443e-02 9.97730752e-01 -5.90195723e-04 2.15579401e+00] [ 1.19022245e-02 -2.11673986e-04 9.99929144e-01 -1.51161226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:2.16, Z:-1.49 [[ 9.97418172e-01 -7.08211193e-02 -1.18894301e-02 1.17209517e+02] [ 7.08191043e-02 9.97489000e-01 -5.90936004e-04 2.15785276e+00] [ 1.19014265e-02 -2.52588483e-04 9.99929144e-01 -1.49481903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:2.16, Z:-1.49 [[ 9.97151163e-01 -7.44862402e-02 -1.18893720e-02 1.17267184e+02] [ 7.44844716e-02 9.97221998e-01 -5.92104076e-04 2.15771718e+00] [ 1.19004469e-02 -2.95156319e-04 9.99929144e-01 -1.49441275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:2.16, Z:-1.51 [[ 9.96797036e-01 -7.90842232e-02 -1.18892623e-02 1.17327515e+02] [ 7.90827552e-02 9.96867877e-01 -5.94298259e-04 2.15701352e+00] [ 1.18990233e-02 -3.47840875e-04 9.99929144e-01 -1.51114414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:2.16, Z:-1.51 [[ 9.96453361e-01 -8.33027376e-02 -1.18892441e-02 1.17386508e+02] [ 8.33015651e-02 9.96524207e-01 -5.94661278e-04 2.15760244e+00] [ 1.18974565e-02 -3.97840414e-04 9.99929144e-01 -1.51119598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.44, Y:2.16, Z:-1.51 [[ 9.96332111e-01 -8.47406213e-02 -1.18891714e-02 1.17444949e+02] [ 8.47395337e-02 9.96402959e-01 -5.96111928e-04 2.16105564e+00] [ 1.18969204e-02 -4.13557384e-04 9.99929144e-01 -1.51108409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:117.50, Y:2.17, Z:-1.51 [[ 9.96186556e-01 -8.64349181e-02 -1.18890990e-02 1.17504032e+02] [ 8.64339339e-02 9.96257405e-01 -5.97551472e-04 2.16556123e+00] [ 1.18962523e-02 -4.32348857e-04 9.99929144e-01 -1.50992595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.56, Y:2.17, Z:-1.49 [[ 9.96196089e-01 -8.63249853e-02 -1.18890268e-02 1.17564565e+02] [ 8.63239762e-02 9.96266938e-01 -5.98984624e-04 2.16901270e+00] [ 1.18963517e-02 -4.29601929e-04 9.99929144e-01 -1.49223698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:2.17, Z:-1.49 [[ 9.96289557e-01 -8.52394861e-02 -1.18890389e-02 1.17623314e+02] [ 8.52384026e-02 9.96360405e-01 -5.98743962e-04 2.17399644e+00] [ 1.18968043e-02 -4.16880332e-04 9.99929144e-01 -1.49167527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:2.18, Z:-1.51 [[ 9.96642021e-01 -8.10144148e-02 -1.18889638e-02 1.17683208e+02] [ 8.10130132e-02 9.96712863e-01 -6.00231917e-04 2.17803128e+00] [ 1.18985106e-02 -3.64944433e-04 9.99929144e-01 -1.50800294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:2.18, Z:-1.49 [[ 9.96609385e-01 -8.14149005e-02 -1.18889450e-02 1.17743109e+02] [ 8.14135229e-02 9.96680228e-01 -6.00605145e-04 2.17736707e+00] [ 1.18983746e-02 -3.69352170e-04 9.99929144e-01 -1.49197166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:2.18, Z:-1.51 [[ 9.96939345e-01 -7.72696347e-02 -1.18889255e-02 1.17802612e+02] [ 7.72679580e-02 9.97010181e-01 -6.00989973e-04 2.18056343e+00] [ 1.18998181e-02 -3.19482448e-04 9.99929144e-01 -1.50992164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:2.18, Z:-1.51 [[ 9.97149036e-01 -7.45147840e-02 -1.18889026e-02 1.17861802e+02] [ 7.45129061e-02 9.97219868e-01 -6.01442952e-04 2.18322141e+00] [ 1.19006663e-02 -2.86148423e-04 9.99929144e-01 -1.50666923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:2.19, Z:-1.51 [[ 9.97452964e-01 -7.03295041e-02 -1.18888468e-02 1.17919955e+02] [ 7.03273159e-02 9.97523787e-01 -6.02544813e-04 2.19170131e+00] [ 1.19017841e-02 -2.35100572e-04 9.99929144e-01 -1.50763786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.98, Y:2.20, Z:-1.51 [[ 9.97443609e-01 -7.04620718e-02 -1.18887719e-02 1.17978671e+02] [ 7.04598754e-02 9.97514432e-01 -6.04018393e-04 2.19670207e+00] [ 1.19017819e-02 -2.35207100e-04 9.99929144e-01 -1.50775484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:2.20, Z:-1.49 [[ 9.97092077e-01 -7.52731565e-02 -1.18886963e-02 1.18038272e+02] [ 7.52712841e-02 9.97162909e-01 -6.05503596e-04 2.20432050e+00] [ 1.19005451e-02 -2.91134595e-04 9.99929144e-01 -1.48573130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:2.21, Z:-1.49 [[ 9.96866868e-01 -7.81991550e-02 -1.18886767e-02 1.18097473e+02] [ 7.81974859e-02 9.96937704e-01 -6.05886522e-04 2.20757058e+00] [ 1.18996499e-02 -3.25676433e-04 9.99929144e-01 -1.48877863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:2.21, Z:-1.51 [[ 9.96563986e-01 -8.19687878e-02 -1.18885964e-02 1.18156939e+02] [ 8.19673679e-02 9.96634829e-01 -6.07458241e-04 2.21174637e+00] [ 1.18983819e-02 -3.69105952e-04 9.99929144e-01 -1.50615544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:118.22, Y:2.21, Z:-1.49 [[ 9.96553488e-01 -8.20963374e-02 -1.18885573e-02 1.18216988e+02] [ 8.20949175e-02 9.96624330e-01 -6.08222223e-04 2.21414469e+00] [ 1.18983583e-02 -3.69864157e-04 9.99929144e-01 -1.48797614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:2.22, Z:-1.48 [[ 9.96784802e-01 -7.92383839e-02 -1.18885392e-02 1.18276769e+02] [ 7.92367567e-02 9.96855640e-01 -6.08576700e-04 2.21838773e+00] [ 1.18993800e-02 -3.35389282e-04 9.99929144e-01 -1.48487231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:2.22, Z:-1.48 [[ 9.97263927e-01 -7.29611115e-02 -1.18884997e-02 1.18335154e+02] [ 7.29590291e-02 9.97334753e-01 -6.09346792e-04 2.22285580e+00] [ 1.19012726e-02 -2.59693823e-04 9.99929144e-01 -1.48306614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:2.23, Z:-1.48 [[ 9.97959270e-01 -6.27372404e-02 -1.18884214e-02 1.18393978e+02] [ 6.27344142e-02 9.98030070e-01 -6.10870837e-04 2.23097060e+00] [ 1.19033264e-02 -1.36188938e-04 9.99929144e-01 -1.48309947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:2.24, Z:-1.50 [[ 9.98354079e-01 -5.61052546e-02 -1.18883424e-02 1.18452856e+02] [ 5.61019397e-02 9.98424858e-01 -6.12403816e-04 2.23757278e+00] [ 1.19039757e-02 -5.55632233e-05 9.99929144e-01 -1.50420643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:2.24, Z:-1.49 [[ 9.98582591e-01 -5.18794662e-02 -1.18882620e-02 1.18511158e+02] [ 5.18758333e-02 9.98653354e-01 -6.13960977e-04 2.24455329e+00] [ 1.19041047e-02 -3.62275633e-06 9.99929144e-01 -1.48606052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:2.25, Z:-1.48 [[ 9.98622080e-01 -5.11137242e-02 -1.18882019e-02 1.18569485e+02] [ 5.11100232e-02 9.98692839e-01 -6.15122749e-04 2.25156118e+00] [ 1.19041033e-02 6.66888361e-06 9.99929144e-01 -1.48344920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:2.26, Z:-1.49 [[ 9.98722479e-01 -4.91129525e-02 -1.18881191e-02 1.18627955e+02] [ 4.91090908e-02 9.98793230e-01 -6.16718581e-04 2.25905699e+00] [ 1.19040618e-02 3.21159892e-05 9.99929144e-01 -1.48652206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:118.69, Y:2.26, Z:-1.49 [[ 9.98459863e-01 -5.41901861e-02 -1.18880377e-02 1.18686605e+02] [ 5.41866654e-02 9.98530632e-01 -6.18283543e-04 2.26428937e+00] [ 1.19040747e-02 -2.68418219e-05 9.99929144e-01 -1.48894481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:118.75, Y:2.27, Z:-1.50 [[ 9.98010100e-01 -6.19234693e-02 -1.18879564e-02 1.18746227e+02] [ 6.19204785e-02 9.98080894e-01 -6.19843070e-04 2.26742150e+00] [ 1.19035250e-02 -1.17498305e-04 9.99929144e-01 -1.50181623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.81, Y:2.27, Z:-1.50 [[ 9.97683113e-01 -6.69856888e-02 -1.18879154e-02 1.18805415e+02] [ 6.69830478e-02 9.97753921e-01 -6.20628063e-04 2.27168805e+00] [ 1.19027874e-02 -1.77098670e-04 9.99929144e-01 -1.50077012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:2.28, Z:-1.50 [[ 9.97930030e-01 -6.32007391e-02 -1.18878564e-02 1.18864320e+02] [ 6.31978161e-02 9.98000826e-01 -6.21756115e-04 2.27666023e+00] [ 1.19033860e-02 -1.30817465e-04 9.99929144e-01 -1.50105267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:118.92, Y:2.28, Z:-1.50 [[ 9.98130238e-01 -5.99558967e-02 -1.18877777e-02 1.18923019e+02] [ 5.99527256e-02 9.98201023e-01 -6.23258015e-04 2.28347737e+00] [ 1.19037599e-02 -9.06120042e-05 9.99929144e-01 -1.49768623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:2.29, Z:-1.50 [[ 9.97813125e-01 -6.50203779e-02 -1.18876989e-02 1.18981532e+02] [ 6.50175482e-02 9.97883925e-01 -6.24757672e-04 2.29118365e+00] [ 1.19031656e-02 -1.49517631e-04 9.99929144e-01 -1.49582850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:2.30, Z:-1.48 [[ 9.97275524e-01 -7.28025709e-02 -1.18876189e-02 1.19040179e+02] [ 7.28002756e-02 9.97346343e-01 -6.26276747e-04 2.29691130e+00] [ 1.19016677e-02 -2.40851457e-04 9.99929144e-01 -1.47572241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.10, Y:2.31, Z:-1.49 [[ 9.97112763e-01 -7.49988233e-02 -1.18875594e-02 1.19100093e+02] [ 7.49966705e-02 9.97183587e-01 -6.27403237e-04 2.30565816e+00] [ 1.19011336e-02 -2.65935600e-04 9.99929144e-01 -1.49299082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.16, Y:2.31, Z:-1.49 [[ 9.97129075e-01 -7.47816367e-02 -1.18875399e-02 1.19160894e+02] [ 7.47794641e-02 9.97199899e-01 -6.27772333e-04 2.30842165e+00] [ 1.19011994e-02 -2.62973818e-04 9.99929144e-01 -1.49353099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.22, Y:2.32, Z:-1.49 [[ 9.97393856e-01 -7.11630724e-02 -1.18875399e-02 1.19221216e+02] [ 7.11606428e-02 9.97464670e-01 -6.27772333e-04 2.31925868e+00] [ 1.19020753e-02 -2.19788713e-04 9.99929144e-01 -1.49336633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.28, Y:2.32, Z:-1.49 [[ 9.97523910e-01 -6.93161957e-02 -1.18875399e-02 1.19281820e+02] [ 6.93136350e-02 9.97594720e-01 -6.27772333e-04 2.32410363e+00] [ 1.19024618e-02 -1.97750689e-04 9.99929144e-01 -1.49230780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:119.34, Y:2.34, Z:-1.47 [[ 9.97260702e-01 -7.30053350e-02 -1.18875399e-02 1.19341243e+02] [ 7.30030362e-02 9.97331521e-01 -6.27772333e-04 2.33780183e+00] [ 1.19016490e-02 -2.41773829e-04 9.99929144e-01 -1.47158729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.40, Y:2.35, Z:-1.49 [[ 9.97125477e-01 -7.48296073e-02 -1.18875399e-02 1.19402103e+02] [ 7.48274381e-02 9.97196300e-01 -6.27772333e-04 2.34507429e+00] [ 1.19011868e-02 -2.63546369e-04 9.99929144e-01 -1.49141841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:2.36, Z:-1.47 [[ 9.96573154e-01 -8.18574074e-02 -1.18875592e-02 1.19463904e+02] [ 8.18557419e-02 9.96643991e-01 -6.27406552e-04 2.35504653e+00] [ 1.18990223e-02 -3.47808453e-04 9.99929144e-01 -1.46934856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:119.53, Y:2.36, Z:-1.47 [[ 9.96119453e-01 -8.72050147e-02 -1.18878235e-02 1.19525992e+02] [ 8.72037896e-02 9.96190299e-01 -6.22357557e-04 2.35955926e+00] [ 1.18968072e-02 -4.16720793e-04 9.99929144e-01 -1.47010883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:119.59, Y:2.36, Z:-1.49 [[ 9.95638469e-01 -9.25349260e-02 -1.18880834e-02 1.19587978e+02] [ 9.25341397e-02 9.95709321e-01 -6.17354361e-04 2.36080980e+00] [ 1.18942023e-02 -4.85391815e-04 9.99929144e-01 -1.49231781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:2.36, Z:-1.49 [[ 9.95062419e-01 -9.85365638e-02 -1.18881386e-02 1.19650818e+02] [ 9.85362174e-02 9.95133275e-01 -6.16288015e-04 2.35775655e+00] [ 1.18910092e-02 -5.58167170e-04 9.99929144e-01 -1.49290236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.71, Y:2.35, Z:-1.49 [[ 9.94361085e-01 -1.05378832e-01 -1.18883851e-02 1.19713471e+02] [ 1.05379030e-01 9.94431941e-01 -6.11495624e-04 2.35154889e+00] [ 1.18866286e-02 -6.44739044e-04 9.99929144e-01 -1.49197167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:2.34, Z:-1.47 [[ 9.94185367e-01 -1.07023911e-01 -1.18886280e-02 1.19774831e+02] [ 1.07024283e-01 9.94256222e-01 -6.06736277e-04 2.34293893e+00] [ 1.18852777e-02 -6.69163567e-04 9.99929144e-01 -1.47425023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:119.84, Y:2.34, Z:-1.47 [[ 9.94511035e-01 -1.03954131e-01 -1.18886453e-02 1.19837813e+02] [ 1.03954289e-01 9.94581891e-01 -6.06398360e-04 2.33585161e+00] [ 1.18872689e-02 -6.32805803e-04 9.99929144e-01 -1.47192256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:119.90, Y:2.33, Z:-1.47 [[ 9.95025761e-01 -9.89059645e-02 -1.18888889e-02 1.19900211e+02] [ 9.89058197e-02 9.95096617e-01 -6.01582826e-04 2.32858240e+00] [ 1.18900933e-02 -5.77289897e-04 9.99929144e-01 -1.46940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.96, Y:2.32, Z:-1.49 [[ 9.95524590e-01 -9.37520105e-02 -1.18891364e-02 1.19962170e+02] [ 9.37515576e-02 9.95595445e-01 -5.96652744e-04 2.31843712e+00] [ 1.18927074e-02 -5.20642574e-04 9.99929144e-01 -1.48924639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:120.02, Y:2.31, Z:-1.49 [[ 9.96226864e-01 -8.59690862e-02 -1.18891539e-02 1.20022140e+02] [ 8.59680837e-02 9.96297713e-01 -5.96302009e-04 2.31460717e+00] [ 1.18964004e-02 -4.28035702e-04 9.99929144e-01 -1.48822175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:2.31, Z:-1.47 [[ 9.96765132e-01 -7.94853486e-02 -1.18891186e-02 1.20081888e+02] [ 7.94838768e-02 9.96835973e-01 -5.97006564e-04 2.31458008e+00] [ 1.18989544e-02 -3.49917908e-04 9.99929144e-01 -1.46770625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:2.32, Z:-1.47 [[ 9.97138709e-01 -7.46528265e-02 -1.18891075e-02 1.20140542e+02] [ 7.46510086e-02 9.97209542e-01 -5.97226516e-04 2.31766293e+00] [ 1.19005161e-02 -2.92016191e-04 9.99929144e-01 -1.46995570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:2.32, Z:-1.49 [[ 9.97262466e-01 -7.29809854e-02 -1.18890525e-02 1.20200306e+02] [ 7.29790358e-02 9.97333296e-01 -5.98320322e-04 2.32016255e+00] [ 1.19010139e-02 -2.70969186e-04 9.99929144e-01 -1.48534476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:2.33, Z:-1.49 [[ 9.97360345e-01 -7.16309600e-02 -1.18890147e-02 1.20258570e+02] [ 7.16289056e-02 9.97431171e-01 -5.99070042e-04 2.32836896e+00] [ 1.19013858e-02 -2.54108408e-04 9.99929144e-01 -1.48566246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:120.32, Y:2.33, Z:-1.47 [[ 9.97550199e-01 -6.89365881e-02 -1.18889392e-02 1.20317295e+02] [ 6.89343246e-02 9.97621019e-01 -6.00565141e-04 2.33324324e+00] [ 1.19020565e-02 -2.20462116e-04 9.99929144e-01 -1.46947404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.38, Y:2.34, Z:-1.48 [[ 9.97483667e-01 -6.98926862e-02 -1.18888819e-02 1.20377059e+02] [ 6.98904771e-02 9.97554489e-01 -6.01696373e-04 2.33676738e+00] [ 1.19018617e-02 -2.30737324e-04 9.99929144e-01 -1.48430400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:120.44, Y:2.34, Z:-1.46 [[ 9.97493791e-01 -6.97480685e-02 -1.18888428e-02 1.20435882e+02] [ 6.97458399e-02 9.97564612e-01 -6.02467950e-04 2.33805054e+00] [ 1.19019098e-02 -2.28239289e-04 9.99929144e-01 -1.46489760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.50, Y:2.34, Z:-1.48 [[ 9.97662627e-01 -6.72899629e-02 -1.18887856e-02 1.20495407e+02] [ 6.72875464e-02 9.97733442e-01 -6.03594555e-04 2.34012408e+00] [ 1.19024549e-02 -1.97783484e-04 9.99929144e-01 -1.48107106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.55, Y:2.34, Z:-1.48 [[ 9.97879207e-01 -6.39980177e-02 -1.18887269e-02 1.20554258e+02] [ 6.39953538e-02 9.97950013e-01 -6.04749743e-04 2.34401027e+00] [ 1.19030579e-02 -1.57356088e-04 9.99929144e-01 -1.47985452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.61, Y:2.35, Z:-1.48 [[ 9.98153386e-01 -5.95691070e-02 -1.18886495e-02 1.20612456e+02] [ 5.95661109e-02 9.98224179e-01 -6.06266665e-04 2.34971609e+00] [ 1.19036522e-02 -1.03013490e-04 9.99929144e-01 -1.47733638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.67, Y:2.36, Z:-1.48 [[ 9.98456177e-01 -5.42579461e-02 -1.18885711e-02 1.20670548e+02] [ 5.42545551e-02 9.98526952e-01 -6.07799392e-04 2.36196378e+00] [ 1.19040367e-02 -3.81480816e-05 9.99929144e-01 -1.47693377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.73, Y:2.37, Z:-1.47 [[ 9.98264526e-01 -5.76766918e-02 -1.18884919e-02 1.20729218e+02] [ 5.76735247e-02 9.98335311e-01 -6.09344983e-04 2.37246851e+00] [ 1.19038463e-02 -7.73637524e-05 9.99929144e-01 -1.47369519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.79, Y:2.38, Z:-1.47 [[ 9.97737086e-01 -6.61768273e-02 -1.18884118e-02 1.20787960e+02] [ 6.61742447e-02 9.97807895e-01 -6.10904862e-04 2.38034186e+00] [ 1.19027789e-02 -1.77184232e-04 9.99929144e-01 -1.47199264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:120.85, Y:2.39, Z:-1.47 [[ 9.97492095e-01 -6.97723977e-02 -1.18883329e-02 1.20846717e+02] [ 6.97700521e-02 9.97562913e-01 -6.12436396e-04 2.39233803e+00] [ 1.19020911e-02 -2.18549141e-04 9.99929144e-01 -1.47219765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.91, Y:2.40, Z:-1.47 [[ 9.97695670e-01 -6.67983349e-02 -1.18882942e-02 1.20905610e+02] [ 6.67957692e-02 9.97766480e-01 -6.13186763e-04 2.40226859e+00] [ 1.19027013e-02 -1.82313975e-04 9.99929144e-01 -1.47211743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:120.96, Y:2.41, Z:-1.45 [[ 9.97836985e-01 -6.46530814e-02 -1.18882554e-02 1.20964102e+02] [ 6.46503546e-02 9.97907789e-01 -6.13937685e-04 2.41299659e+00] [ 1.19030756e-02 -1.55970197e-04 9.99929144e-01 -1.45351778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:121.02, Y:2.42, Z:-1.47 [[ 9.97746683e-01 -6.60320168e-02 -1.18882359e-02 1.21022997e+02] [ 6.60293833e-02 9.97817490e-01 -6.14315138e-04 2.42312292e+00] [ 1.19028542e-02 -1.72041993e-04 9.99929144e-01 -1.47112546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:121.08, Y:2.44, Z:-1.45 [[ 9.97520261e-01 -6.93685828e-02 -1.18881754e-02 1.21082628e+02] [ 6.93661722e-02 9.97591076e-01 -6.15483092e-04 2.43595397e+00] [ 1.19022329e-02 -2.10680369e-04 9.99929144e-01 -1.45181594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.14, Y:2.44, Z:-1.47 [[ 9.97180734e-01 -7.40895019e-02 -1.18881754e-02 1.21143426e+02] [ 7.40874265e-02 9.97251560e-01 -6.15483092e-04 2.44373113e+00] [ 1.19011023e-02 -2.67016440e-04 9.99929144e-01 -1.47238610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.21, Y:2.45, Z:-1.47 [[ 9.96978256e-01 -7.67660605e-02 -1.18882140e-02 1.21205731e+02] [ 7.67641841e-02 9.97049087e-01 -6.14737484e-04 2.44758360e+00] [ 1.19003239e-02 -2.99709142e-04 9.99929144e-01 -1.47097004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.27, Y:2.46, Z:-1.47 [[ 9.97086351e-01 -7.53490026e-02 -1.18884733e-02 1.21267950e+02] [ 7.53470859e-02 9.97157182e-01 -6.09679897e-04 2.45705917e+00] [ 1.19006153e-02 -2.87858318e-04 9.99929144e-01 -1.46825600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:121.33, Y:2.46, Z:-1.45 [[ 9.97166262e-01 -7.42839675e-02 -1.18885662e-02 1.21329922e+02] [ 7.42819967e-02 9.97237091e-01 -6.07863159e-04 2.45972563e+00] [ 1.19008737e-02 -2.76965804e-04 9.99929144e-01 -1.44719304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:121.39, Y:2.46, Z:-1.47 [[ 9.97378093e-01 -7.13834695e-02 -1.18886405e-02 1.21392167e+02] [ 7.13813101e-02 9.97448916e-01 -6.06407357e-04 2.46444464e+00] [ 1.19015990e-02 -2.43809320e-04 9.99929144e-01 -1.46621720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.45, Y:2.47, Z:-1.46 [[ 9.97514449e-01 -6.94519820e-02 -1.18889001e-02 1.21454399e+02] [ 6.94497467e-02 9.97585270e-01 -6.01274144e-04 2.46964845e+00] [ 1.19019513e-02 -2.25901453e-04 9.99929144e-01 -1.46476856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.52, Y:2.48, Z:-1.46 [[ 9.97682943e-01 -6.69880042e-02 -1.18891559e-02 1.21515912e+02] [ 6.69856547e-02 9.97753761e-01 -5.96172820e-04 2.47622958e+00] [ 1.19023864e-02 -2.01611438e-04 9.99929144e-01 -1.46453244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.58, Y:2.48, Z:-1.46 [[ 9.97610639e-01 -6.80563025e-02 -1.18891928e-02 1.21577606e+02] [ 6.80540376e-02 9.97681459e-01 -5.95435977e-04 2.47957895e+00] [ 1.19021504e-02 -2.15094309e-04 9.99929144e-01 -1.46328801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.64, Y:2.48, Z:-1.46 [[ 9.97497997e-01 -6.96878187e-02 -1.18892295e-02 1.21638766e+02] [ 6.96856783e-02 9.97568821e-01 -5.94703136e-04 2.48400720e+00] [ 1.19017682e-02 -2.35293833e-04 9.99929144e-01 -1.46235495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.70, Y:2.48, Z:-1.46 [[ 9.97355797e-01 -7.16942111e-02 -1.18892663e-02 1.21699961e+02] [ 7.16922220e-02 9.97426625e-01 -5.93964949e-04 2.48493029e+00] [ 1.19012546e-02 -2.59973537e-04 9.99929144e-01 -1.46318148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.76, Y:2.49, Z:-1.46 [[ 9.97059292e-01 -7.57060982e-02 -1.18893029e-02 1.21762248e+02] [ 7.57044028e-02 9.97130128e-01 -5.93232103e-04 2.48534951e+00] [ 1.19000934e-02 -3.08584996e-04 9.99929144e-01 -1.46343997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.82, Y:2.48, Z:-1.46 [[ 9.96899498e-01 -7.77819400e-02 -1.18895527e-02 1.21824670e+02] [ 7.77804523e-02 9.96970338e-01 -5.88181897e-04 2.48232452e+00] [ 1.18992813e-02 -3.38416552e-04 9.99929144e-01 -1.46193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:121.89, Y:2.48, Z:-1.44 [[ 9.97024597e-01 -7.61615722e-02 -1.18897974e-02 1.21886813e+02] [ 7.61600288e-02 9.97095437e-01 -5.83193231e-04 2.48282344e+00] [ 1.18996797e-02 -3.24069318e-04 9.99929144e-01 -1.44090983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:2.49, Z:-1.46 [[ 9.97446019e-01 -7.04277381e-02 -1.18900439e-02 1.21949391e+02] [ 7.04258478e-02 9.97516850e-01 -5.78123207e-04 2.48648426e+00] [ 1.19012351e-02 -2.60719735e-04 9.99929144e-01 -1.46020065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:2.49, Z:-1.46 [[ 9.97402190e-01 -7.10457127e-02 -1.18902893e-02 1.22010883e+02] [ 7.10439270e-02 9.97473023e-01 -5.73031345e-04 2.48847947e+00] [ 1.19009543e-02 -2.73190130e-04 9.99929144e-01 -1.45861346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:2.49, Z:-1.46 [[ 9.97390335e-01 -7.12119301e-02 -1.18903244e-02 1.22072113e+02] [ 7.12101649e-02 9.97461170e-01 -5.72303450e-04 2.49118146e+00] [ 1.19008917e-02 -2.75902030e-04 9.99929144e-01 -1.45793790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:2.50, Z:-1.46 [[ 9.97385431e-01 -7.12805886e-02 -1.18903593e-02 1.22133389e+02] [ 7.12788369e-02 9.97456265e-01 -5.71576854e-04 2.49715180e+00] [ 1.19008557e-02 -2.77448554e-04 9.99929144e-01 -1.45866698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.20, Y:2.50, Z:-1.43 [[ 9.97437206e-01 -7.05523862e-02 -1.18903944e-02 1.22195024e+02] [ 7.05505915e-02 9.97508039e-01 -5.70845663e-04 2.50302138e+00] [ 1.19010385e-02 -2.69491656e-04 9.99929144e-01 -1.43222185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:122.26, Y:2.51, Z:-1.43 [[ 9.97125197e-01 -7.48328440e-02 -1.18906368e-02 1.22257325e+02] [ 7.48314140e-02 9.97196039e-01 -5.65751680e-04 2.50960198e+00] [ 1.18996327e-02 -3.25667908e-04 9.99929144e-01 -1.43393174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:2.51, Z:-1.44 [[ 9.96620777e-01 -8.12750534e-02 -1.18908781e-02 1.22319890e+02] [ 8.12741422e-02 9.96691627e-01 -5.60633666e-04 2.50990833e+00] [ 1.18971042e-02 -4.07681757e-04 9.99929144e-01 -1.43659982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:2.51, Z:-1.46 [[ 9.96097648e-01 -8.74533033e-02 -1.18909471e-02 1.22382059e+02] [ 8.74528490e-02 9.96168503e-01 -5.59165950e-04 2.50923328e+00] [ 1.18942879e-02 -4.82913314e-04 9.99929144e-01 -1.45596689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:2.51, Z:-1.44 [[ 9.95855481e-01 -9.01690711e-02 -1.18911759e-02 1.22444693e+02] [ 9.01688685e-02 9.95926337e-01 -5.54257236e-04 2.50551958e+00] [ 1.18927121e-02 -5.20253769e-04 9.99929144e-01 -1.43551682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.51, Y:2.50, Z:-1.44 [[ 9.96732458e-01 -7.98936894e-02 -1.18914016e-02 1.22506641e+02] [ 7.98928142e-02 9.96803309e-01 -5.49372260e-04 2.50439887e+00] [ 1.18972798e-02 -4.02460375e-04 9.99929144e-01 -1.43551627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.57, Y:2.51, Z:-1.46 [[ 9.97406366e-01 -7.09868255e-02 -1.18916283e-02 1.22568484e+02] [ 7.09853765e-02 9.97477208e-01 -5.44420591e-04 2.50522111e+00] [ 1.19002749e-02 -3.01123147e-04 9.99929144e-01 -1.45529881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:122.63, Y:2.51, Z:-1.44 [[ 9.97769385e-01 -6.56874582e-02 -1.18916617e-02 1.22628978e+02] [ 6.56856416e-02 9.97840218e-01 -5.43688957e-04 2.51022070e+00] [ 1.19016919e-02 -2.38635235e-04 9.99929144e-01 -1.43619772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.69, Y:2.51, Z:-1.45 [[ 9.97678579e-01 -6.70525301e-02 -1.18916785e-02 1.22689912e+02] [ 6.70508148e-02 9.97749414e-01 -5.43322824e-04 2.51319600e+00] [ 1.19013464e-02 -2.55285188e-04 9.99929144e-01 -1.45081962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.75, Y:2.51, Z:-1.45 [[ 9.97435626e-01 -7.05744986e-02 -1.18916951e-02 1.22750385e+02] [ 7.05730377e-02 9.97506467e-01 -5.42957509e-04 2.51480667e+00] [ 1.19003618e-02 -2.97667887e-04 9.99929144e-01 -1.44915575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.81, Y:2.52, Z:-1.45 [[ 9.97437022e-01 -7.05547602e-02 -1.18916951e-02 1.22811347e+02] [ 7.05532979e-02 9.97507863e-01 -5.42957509e-04 2.51533665e+00] [ 1.19003676e-02 -2.97432389e-04 9.99929144e-01 -1.44720400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.87, Y:2.52, Z:-1.45 [[ 9.97527746e-01 -6.92602552e-02 -1.18916951e-02 1.22871455e+02] [ 6.92587010e-02 9.97598585e-01 -5.42957509e-04 2.52179996e+00] [ 1.19007436e-02 -2.81988178e-04 9.99929144e-01 -1.44643475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.93, Y:2.52, Z:-1.45 [[ 9.97405045e-01 -7.10053797e-02 -1.18916951e-02 1.22932205e+02] [ 7.10039495e-02 9.97475887e-01 -5.42957509e-04 2.52140077e+00] [ 1.19002321e-02 -3.02808762e-04 9.99929144e-01 -1.44606396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.99, Y:2.52, Z:-1.44 [[ 9.96892102e-01 -7.78763440e-02 -1.18916951e-02 1.22992268e+02] [ 7.78754019e-02 9.96962952e-01 -5.42957509e-04 2.52038922e+00] [ 1.18978630e-02 -3.84800486e-04 9.99929144e-01 -1.44478669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:2.52, Z:-1.44 [[ 9.96081488e-01 -8.76370759e-02 -1.18916787e-02 1.23054158e+02] [ 8.76368235e-02 9.96152344e-01 -5.43317244e-04 2.51895761e+00] [ 1.18935383e-02 -5.00960699e-04 9.99929144e-01 -1.44344005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:123.12, Y:2.52, Z:-1.42 [[ 9.95411091e-01 -9.49491857e-02 -1.18917110e-02 1.23116470e+02] [ 9.49494621e-02 9.95481946e-01 -5.42608757e-04 2.51727438e+00] [ 1.18895039e-02 -5.88992791e-04 9.99929144e-01 -1.41887075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.18, Y:2.51, Z:-1.44 [[ 9.95218483e-01 -9.69471631e-02 -1.18919330e-02 1.23179133e+02] [ 9.69476403e-02 9.95289338e-01 -5.37699731e-04 2.51308351e+00] [ 1.18880426e-02 -6.17766131e-04 9.99929144e-01 -1.44311008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.24, Y:2.51, Z:-1.44 [[ 9.95016780e-01 -9.89958815e-02 -1.18921472e-02 1.23241185e+02] [ 9.89965615e-02 9.95087633e-01 -5.32919821e-04 2.51031586e+00] [ 1.18864855e-02 -6.47017517e-04 9.99929144e-01 -1.44248066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.30, Y:2.50, Z:-1.42 [[ 9.94774156e-01 -1.01404882e-01 -1.18923633e-02 1.23303433e+02] [ 1.01405791e-01 9.94845006e-01 -5.28052656e-04 2.50383797e+00] [ 1.18846054e-02 -6.80661379e-04 9.99929144e-01 -1.42310800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:2.50, Z:-1.44 [[ 9.94910651e-01 -1.00056802e-01 -1.18925746e-02 1.23366295e+02] [ 1.00057673e-01 9.94981502e-01 -5.23249761e-04 2.50299581e+00] [ 1.18852465e-02 -6.69356579e-04 9.99929144e-01 -1.44087045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:2.50, Z:-1.44 [[ 9.95118134e-01 -9.79717399e-02 -1.18927860e-02 1.23427325e+02] [ 9.79725199e-02 9.95188985e-01 -5.18400495e-04 2.49934427e+00] [ 1.18863582e-02 -6.49296481e-04 9.99929144e-01 -1.43961274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:123.49, Y:2.50, Z:-1.41 [[ 9.95419653e-01 -9.48592453e-02 -1.18928008e-02 1.23487314e+02] [ 9.48598078e-02 9.95490506e-01 -5.18060986e-04 2.49761521e+00] [ 1.18883132e-02 -6.12460711e-04 9.99929144e-01 -1.41454531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:2.49, Z:-1.42 [[ 9.96094570e-01 -8.74881064e-02 -1.18928008e-02 1.23547652e+02] [ 8.74881444e-02 9.96165426e-01 -5.18060986e-04 2.49443968e+00] [ 1.18925211e-02 -5.24441338e-04 9.99929144e-01 -1.41892878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:2.49, Z:-1.44 [[ 9.96165807e-01 -8.66732170e-02 -1.18927853e-02 1.23607884e+02] [ 8.66731929e-02 9.96236663e-01 -5.18416394e-04 2.49163485e+00] [ 1.18929616e-02 -5.14356988e-04 9.99929144e-01 -1.43985863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:2.49, Z:-1.42 [[ 9.96131463e-01 -8.70670458e-02 -1.18927541e-02 1.23667143e+02] [ 8.70670411e-02 9.96202319e-01 -5.19131882e-04 2.48502304e+00] [ 1.18927885e-02 -5.18343306e-04 9.99929144e-01 -1.41994248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:2.48, Z:-1.44 [[ 9.96070320e-01 -8.77637846e-02 -1.18927074e-02 1.23727172e+02] [ 8.77638168e-02 9.96141176e-01 -5.20197914e-04 2.48064404e+00] [ 1.18924701e-02 -5.25595695e-04 9.99929144e-01 -1.43829480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:2.48, Z:-1.44 [[ 9.96358107e-01 -8.44339170e-02 -1.18926764e-02 1.23786015e+02] [ 8.44337039e-02 9.96428963e-01 -5.20906383e-04 2.47511940e+00] [ 1.18941894e-02 -4.85133421e-04 9.99929144e-01 -1.43850340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:2.47, Z:-1.44 [[ 9.97059373e-01 -7.57045078e-02 -1.18926143e-02 1.23845199e+02] [ 7.57036572e-02 9.97130224e-01 -5.22321187e-04 2.47389276e+00] [ 1.18980272e-02 -3.79529159e-04 9.99929144e-01 -1.43721044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:2.48, Z:-1.42 [[ 9.97876969e-01 -6.40321934e-02 -1.18925513e-02 1.23904015e+02] [ 6.40304968e-02 9.97947805e-01 -5.23751228e-04 2.47865749e+00] [ 1.19016824e-02 -2.38846681e-04 9.99929144e-01 -1.42377773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:123.96, Y:2.48, Z:-1.44 [[ 9.98029631e-01 -6.16070119e-02 -1.18925005e-02 1.23962791e+02] [ 6.16051295e-02 9.98100462e-01 -5.24902328e-04 2.48388472e+00] [ 1.19022479e-02 -2.08770956e-04 9.99929144e-01 -1.43667761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.02, Y:2.49, Z:-1.44 [[ 9.97997561e-01 -6.21243648e-02 -1.18924745e-02 1.24021803e+02] [ 6.21225121e-02 9.98068393e-01 -5.25491127e-04 2.48899639e+00] [ 1.19021487e-02 -2.14351525e-04 9.99929144e-01 -1.43667919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:124.08, Y:2.49, Z:-1.42 [[ 9.97814472e-01 -6.49988486e-02 -1.18924079e-02 1.24080125e+02] [ 6.49971820e-02 9.97885308e-01 -5.26993612e-04 2.49141613e+00] [ 1.19015131e-02 -2.47131148e-04 9.99929144e-01 -1.41661118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:124.14, Y:2.49, Z:-1.42 [[ 9.97449484e-01 -7.03782570e-02 -1.18923409e-02 1.24138908e+02] [ 7.03769545e-02 9.97520328e-01 -5.28501118e-04 2.48982591e+00] [ 1.19000468e-02 -3.09793566e-04 9.99929144e-01 -1.41687483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:124.20, Y:2.49, Z:-1.42 [[ 9.97632569e-01 -6.77335305e-02 -1.18922739e-02 1.24197908e+02] [ 6.77320222e-02 9.97703409e-01 -5.30004704e-04 2.49060132e+00] [ 1.19008613e-02 -2.76737804e-04 9.99929144e-01 -1.41609752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:124.26, Y:2.49, Z:-1.42 [[ 9.97781595e-01 -6.55016408e-02 -1.18922071e-02 1.24256670e+02] [ 6.54999562e-02 9.97852431e-01 -5.31498841e-04 2.48743762e+00] [ 1.19014818e-02 -2.48619284e-04 9.99929144e-01 -1.41880250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:124.32, Y:2.49, Z:-1.43 [[ 9.97985588e-01 -6.23164770e-02 -1.18921391e-02 1.24316662e+02] [ 6.23145483e-02 9.98056418e-01 -5.33015934e-04 2.48525315e+00] [ 1.19022414e-02 -2.09111057e-04 9.99929144e-01 -1.43090552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters Centerline goodness : 0.954525 with order 2 Centerline is valid? [True, True] Translation: X:124.39, Y:2.53, Z:-1.44 [[ 9.99154701e-01 3.93504999e-02 -1.18921051e-02 1.24389471e+02] [-3.93596203e-02 9.99224967e-01 -5.33773144e-04 2.53244504e+00] [ 1.18618841e-02 1.00139069e-03 9.99929144e-01 -1.43661920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:124.44, Y:2.48, Z:-1.43 [[ 9.98460901e-01 -5.41614646e-02 -1.19316701e-02 1.24436454e+02] [ 5.41691900e-02 9.98531719e-01 3.25010730e-04 2.48279848e+00] [ 1.18965479e-02 -9.70839409e-04 9.99928762e-01 -1.42793285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:124.50, Y:2.49, Z:-1.41 [[ 9.98631567e-01 -5.09282054e-02 -1.18874671e-02 1.24495073e+02] [ 5.09249044e-02 9.98702317e-01 -5.80413090e-04 2.48856174e+00] [ 1.19016003e-02 -2.57492903e-05 9.99929173e-01 -1.41085214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:124.55, Y:2.49, Z:-1.41 [[ 9.98663163e-01 -5.03048363e-02 -1.18873859e-02 1.24554246e+02] [ 5.03014714e-02 9.98733910e-01 -5.82070021e-04 2.49210150e+00] [ 1.19016164e-02 -1.66611144e-05 9.99929173e-01 -1.41023177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:124.61, Y:2.50, Z:-1.42 [[ 9.98788305e-01 -4.77557593e-02 -1.18873268e-02 1.24612778e+02] [ 4.77521995e-02 9.98859043e-01 -5.83274831e-04 2.49690072e+00] [ 1.19016186e-02 1.49220789e-05 9.99929173e-01 -1.42492441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:124.67, Y:2.50, Z:-1.42 [[ 9.98974248e-01 -4.36937727e-02 -1.18872490e-02 1.24670234e+02] [ 4.36899065e-02 9.99044969e-01 -5.84855898e-04 2.50488735e+00] [ 1.19014509e-02 6.49031821e-05 9.99929173e-01 -1.42417001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:124.73, Y:2.51, Z:-1.41 [[ 9.99174170e-01 -3.88545304e-02 -1.18871334e-02 1.24729527e+02] [ 3.88502938e-02 9.99244870e-01 -5.87195650e-04 2.51332111e+00] [ 1.19009723e-02 1.24892100e-04 9.99929173e-01 -1.40969407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:2.52, Z:-1.42 [[ 9.99330298e-01 -3.46071179e-02 -1.18870946e-02 1.24788748e+02] [ 3.46025716e-02 9.99400979e-01 -5.87980589e-04 2.52267315e+00] [ 1.19003223e-02 1.76262775e-04 9.99929173e-01 -1.42412415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:2.54, Z:-1.41 [[ 9.99254477e-01 -3.67313144e-02 -1.18870361e-02 1.24846340e+02] [ 3.67269043e-02 9.99325166e-01 -5.89160363e-04 2.53922960e+00] [ 1.19006550e-02 1.52147092e-04 9.99929173e-01 -1.40620108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:2.55, Z:-1.42 [[ 9.99243676e-01 -3.70239943e-02 -1.18869571e-02 1.24906398e+02] [ 3.70195860e-02 9.99314366e-01 -5.90751654e-04 2.54656275e+00] [ 1.19006789e-02 1.50254626e-04 9.99929173e-01 -1.42463847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.96, Y:2.56, Z:-1.42 [[ 9.99229515e-01 -3.74042599e-02 -1.18869079e-02 1.24964805e+02] [ 3.73998667e-02 9.99300205e-01 -5.91739402e-04 2.55728203e+00] [ 1.19007231e-02 1.46714705e-04 9.99929173e-01 -1.42482323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:125.02, Y:2.57, Z:-1.42 [[ 9.99274603e-01 -3.61797016e-02 -1.18868298e-02 1.25023432e+02] [ 3.61752032e-02 9.99345287e-01 -5.93302991e-04 2.56623611e+00] [ 1.19005129e-02 1.62864126e-04 9.99929173e-01 -1.42294123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:125.08, Y:2.58, Z:-1.40 [[ 9.99401491e-01 -3.24863782e-02 -1.18867514e-02 1.25082583e+02] [ 3.24815999e-02 9.99472157e-01 -5.94870509e-04 2.57717360e+00] [ 1.18998022e-02 2.08413770e-04 9.99929173e-01 -1.40486223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:125.14, Y:2.59, Z:-1.41 [[ 9.99408161e-01 -3.22805360e-02 -1.18867123e-02 1.25141111e+02] [ 3.22757339e-02 9.99478825e-01 -5.95650129e-04 2.58960189e+00] [ 1.18997452e-02 2.11645236e-04 9.99929173e-01 -1.40676754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:125.20, Y:2.61, Z:-1.40 [[ 9.99447435e-01 -3.10408192e-02 -1.18866326e-02 1.25199441e+02] [ 3.10359106e-02 9.99518092e-01 -5.97236072e-04 2.60608189e+00] [ 1.18994431e-02 2.27993592e-04 9.99929173e-01 -1.40288820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.26, Y:2.63, Z:-1.42 [[ 9.99530314e-01 -2.82464474e-02 -1.18865523e-02 1.25257464e+02] [ 2.82413223e-02 9.99600955e-01 -5.98831388e-04 2.62546763e+00] [ 1.18987239e-02 2.62858171e-04 9.99929173e-01 -1.42359550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:125.32, Y:2.65, Z:-1.42 [[ 9.99406123e-01 -3.23436797e-02 -1.18864724e-02 1.25315613e+02] [ 3.23388254e-02 9.99476783e-01 -6.00413279e-04 2.64549082e+00] [ 1.18996727e-02 2.15662152e-04 9.99929173e-01 -1.42157464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.37, Y:2.66, Z:-1.42 [[ 9.99131113e-01 -3.99466187e-02 -1.18863930e-02 1.25374200e+02] [ 3.99422835e-02 9.99201807e-01 -6.01980749e-04 2.66086000e+00] [ 1.19009525e-02 1.26688017e-04 9.99929173e-01 -1.42215264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.43, Y:2.67, Z:-1.42 [[ 9.98847455e-01 -4.65024387e-02 -1.18863138e-02 1.25432061e+02] [ 4.64985490e-02 9.98918175e-01 -6.03540352e-04 2.67199533e+00] [ 1.19015210e-02 5.01484003e-05 9.99929173e-01 -1.42191845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:125.49, Y:2.68, Z:-1.42 [[ 9.98476039e-01 -5.38917123e-02 -1.18862357e-02 1.25491005e+02] [ 5.38883277e-02 9.98546785e-01 -6.05074225e-04 2.68374165e+00] [ 1.19015709e-02 -3.63772497e-05 9.99929173e-01 -1.42138340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.55, Y:2.69, Z:-1.42 [[ 9.98090218e-01 -6.06187749e-02 -1.18861969e-02 1.25551464e+02] [ 6.06158581e-02 9.98160984e-01 -6.05836622e-04 2.69275889e+00] [ 1.19010630e-02 -1.15812416e-04 9.99929173e-01 -1.42141444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.61, Y:2.70, Z:-1.42 [[ 9.97802596e-01 -6.51820290e-02 -1.18861969e-02 1.25612601e+02] [ 6.51794358e-02 9.97873376e-01 -6.05836622e-04 2.69610077e+00] [ 1.19004090e-02 -1.70230250e-04 9.99929173e-01 -1.42115742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:125.68, Y:2.70, Z:-1.42 [[ 9.97508276e-01 -6.95410440e-02 -1.18862344e-02 1.25675720e+02] [ 6.95387688e-02 9.97579066e-01 -6.05099293e-04 2.70346712e+00] [ 1.18995378e-02 -2.22962553e-04 9.99929173e-01 -1.42008516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.74, Y:2.70, Z:-1.42 [[ 9.97373394e-01 -7.14494509e-02 -1.18865281e-02 1.25739472e+02] [ 7.14473806e-02 9.97444190e-01 -5.99272779e-04 2.70181832e+00] [ 1.18989661e-02 -2.51562574e-04 9.99929173e-01 -1.42303999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.80, Y:2.71, Z:-1.42 [[ 9.97453453e-01 -7.03229128e-02 -1.18868188e-02 1.25801468e+02] [ 7.03208319e-02 9.97524250e-01 -5.93451102e-04 2.70723493e+00] [ 1.18991232e-02 -2.43951135e-04 9.99929173e-01 -1.42110604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.86, Y:2.71, Z:-1.42 [[ 9.97634938e-01 -6.76995391e-02 -1.18870681e-02 1.25864545e+02] [ 6.76973320e-02 9.97705731e-01 -5.88415556e-04 2.71009541e+00] [ 1.18996314e-02 -2.17698876e-04 9.99929173e-01 -1.41986373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.93, Y:2.72, Z:-1.42 [[ 9.97857005e-01 -6.43435133e-02 -1.18873526e-02 1.25926602e+02] [ 6.43411372e-02 9.97927792e-01 -5.82609673e-04 2.71578900e+00] [ 1.19002067e-02 -1.83484641e-04 9.99929173e-01 -1.41876617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:125.99, Y:2.72, Z:-1.42 [[ 9.98077725e-01 -6.08238366e-02 -1.18875996e-02 1.25988158e+02] [ 6.08212714e-02 9.98148506e-01 -5.77524941e-04 2.72400299e+00] [ 1.19007171e-02 -1.46604144e-04 9.99929173e-01 -1.41690653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:126.05, Y:2.73, Z:-1.41 [[ 9.97911597e-01 -6.34911300e-02 -1.18878455e-02 1.26049772e+02] [ 6.34888148e-02 9.97982386e-01 -5.72418240e-04 2.73164445e+00] [ 1.19002039e-02 -1.83522423e-04 9.99929173e-01 -1.40874623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:126.11, Y:2.74, Z:-1.41 [[ 9.97953190e-01 -6.28339676e-02 -1.18879172e-02 1.26111972e+02] [ 6.28316235e-02 9.98023978e-01 -5.70925485e-04 2.73986800e+00] [ 1.19002999e-02 -1.77180230e-04 9.99929173e-01 -1.41319494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.17, Y:2.75, Z:-1.41 [[ 9.97461109e-01 -7.02140111e-02 -1.18881628e-02 1.26173806e+02] [ 7.02122522e-02 9.97531914e-01 -5.65764165e-04 2.74853799e+00] [ 1.18985464e-02 -2.70366937e-04 9.99929173e-01 -1.41352444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:2.76, Z:-1.41 [[ 9.97141158e-01 -7.46202211e-02 -1.18884024e-02 1.26235691e+02] [ 7.46188355e-02 9.97211971e-01 -5.60684980e-04 2.75612484e+00] [ 1.18970956e-02 -3.28016673e-04 9.99929173e-01 -1.41397587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:2.76, Z:-1.41 [[ 9.96364936e-01 -8.43538687e-02 -1.18886352e-02 1.26297508e+02] [ 8.43532341e-02 9.96435760e-01 -5.55704428e-04 2.75847083e+00] [ 1.18931371e-02 -4.49160421e-04 9.99929173e-01 -1.41480099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:2.76, Z:-1.41 [[ 9.95961048e-01 -8.89957662e-02 -1.18888628e-02 1.26360599e+02] [ 8.89955202e-02 9.96031874e-01 -5.50791170e-04 2.76150058e+00] [ 1.18907044e-02 -5.09488980e-04 9.99929173e-01 -1.41491419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:2.76, Z:-1.41 [[ 9.95303542e-01 -9.60703332e-02 -1.18891148e-02 1.26422457e+02] [ 9.60706558e-02 9.95374368e-01 -5.45297663e-04 2.76228807e+00] [ 1.18865070e-02 -5.99458359e-04 9.99929173e-01 -1.41400785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.48, Y:2.76, Z:-1.41 [[ 9.94976962e-01 -9.93956141e-02 -1.18893311e-02 1.26484859e+02] [ 9.93962301e-02 9.95047786e-01 -5.40539756e-04 2.75777390e+00] [ 1.18841799e-02 -6.43930085e-04 9.99929173e-01 -1.41278829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:2.75, Z:-1.41 [[ 9.94688345e-01 -1.02243507e-01 -1.18895452e-02 1.26548345e+02] [ 1.02244382e-01 9.94759166e-01 -5.35788701e-04 2.75368295e+00] [ 1.18820150e-02 -6.82696427e-04 9.99929173e-01 -1.40988650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.61, Y:2.74, Z:-1.40 [[ 9.94503385e-01 -1.04027159e-01 -1.18897824e-02 1.26610076e+02] [ 1.04028225e-01 9.94574204e-01 -5.30472937e-04 2.74471461e+00] [ 1.18804544e-02 -7.09315820e-04 9.99929173e-01 -1.39542218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:126.67, Y:2.74, Z:-1.39 [[ 9.95207881e-01 -9.70562052e-02 -1.18898115e-02 1.26672866e+02] [ 9.70567825e-02 9.95278705e-01 -5.29818203e-04 2.74316800e+00] [ 1.18850984e-02 -6.26707601e-04 9.99929173e-01 -1.39325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters Centerline goodness : 0.992891 with order 1 Centerline is valid? [True, True] Translation: X:126.73, Y:2.77, Z:-1.41 [[ 9.99603800e-01 -2.55122299e-02 -1.18898854e-02 1.26734643e+02] [ 2.55077518e-02 9.99674485e-01 -5.28155367e-04 2.76864516e+00] [ 1.18994895e-02 2.24661866e-04 9.99929173e-01 -1.40669490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.80, Y:2.74, Z:-1.41 [[ 9.96307770e-01 -8.50262110e-02 -1.18899624e-02 1.26795700e+02] [ 8.50259731e-02 9.96378596e-01 -5.26415593e-04 2.73926830e+00] [ 1.18916632e-02 -4.86483680e-04 9.99929173e-01 -1.40870912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.86, Y:2.74, Z:-1.39 [[ 9.96036515e-01 -8.81469806e-02 -1.18899315e-02 1.26857070e+02] [ 8.81469563e-02 9.96107342e-01 -5.27113875e-04 2.73672281e+00] [ 1.18901115e-02 -5.23036603e-04 9.99929173e-01 -1.39207129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.92, Y:2.74, Z:-1.39 [[ 9.96097917e-01 -8.74503749e-02 -1.18899622e-02 1.26919302e+02] [ 8.74503093e-02 9.96168744e-01 -5.26420186e-04 2.73805812e+00] [ 1.18904443e-02 -5.15414820e-04 9.99929173e-01 -1.39105645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.98, Y:2.74, Z:-1.38 [[ 9.96121167e-01 -8.71851166e-02 -1.18901775e-02 1.26979980e+02] [ 8.71850907e-02 9.96191994e-01 -5.21511885e-04 2.73752119e+00] [ 1.18903677e-02 -5.17157173e-04 9.99929173e-01 -1.38021032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:127.04, Y:2.74, Z:-1.38 [[ 9.96209000e-01 -8.61757025e-02 -1.18901929e-02 1.27042859e+02] [ 8.61756090e-02 9.96279827e-01 -5.21160327e-04 2.73757417e+00] [ 1.18908707e-02 -5.05460004e-04 9.99929173e-01 -1.37891229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:2.74, Z:-1.40 [[ 9.96868997e-01 -7.81717386e-02 -1.18904365e-02 1.27105436e+02] [ 7.81711432e-02 9.96939821e-01 -5.15542269e-04 2.74401643e+00] [ 1.18943504e-02 -4.15560907e-04 9.99929173e-01 -1.40108134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:2.75, Z:-1.40 [[ 9.97196079e-01 -7.38822898e-02 -1.18906460e-02 1.27168371e+02] [ 7.38814478e-02 9.97266901e-01 -5.10663105e-04 2.74746194e+00] [ 1.18958767e-02 -3.69266896e-04 9.99929173e-01 -1.40040588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:2.75, Z:-1.40 [[ 9.97486244e-01 -6.98555612e-02 -1.18908855e-02 1.27230570e+02] [ 6.98545005e-02 9.97557063e-01 -5.05024042e-04 2.74980978e+00] [ 1.18971156e-02 -3.26877332e-04 9.99929173e-01 -1.40013928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:2.75, Z:-1.38 [[ 9.97557877e-01 -6.88250264e-02 -1.18910944e-02 1.27292722e+02] [ 6.88239516e-02 9.97628695e-01 -5.00057574e-04 2.75439397e+00] [ 1.18973134e-02 -3.19555732e-04 9.99929173e-01 -1.37737788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:2.76, Z:-1.40 [[ 9.97662808e-01 -6.72868416e-02 -1.18913045e-02 1.27354742e+02] [ 6.72857178e-02 9.97733625e-01 -4.95008562e-04 2.75644382e+00] [ 1.18976620e-02 -3.06263329e-04 9.99929173e-01 -1.40016417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.42, Y:2.76, Z:-1.40 [[ 9.97204599e-01 -7.37670885e-02 -1.18913343e-02 1.27416609e+02] [ 7.37664333e-02 9.97275423e-01 -4.94293589e-04 2.75711343e+00] [ 1.18953980e-02 -3.84269475e-04 9.99929173e-01 -1.40046177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:127.48, Y:2.75, Z:-1.37 [[ 9.96535877e-01 -8.23094222e-02 -1.18913789e-02 1.27477407e+02] [ 8.23093867e-02 9.96606704e-01 -4.93218629e-04 2.75434830e+00] [ 1.18916244e-02 -4.87262042e-04 9.99929173e-01 -1.37427228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters Centerline goodness : 0.997910 with order 1 Centerline is valid? [True, True] Translation: X:127.54, Y:2.76, Z:-1.37 [[ 9.96432185e-01 -8.35553444e-02 -1.18914176e-02 1.27540448e+02] [ 8.35554086e-02 9.96503011e-01 -4.92282345e-04 2.75590179e+00] [ 1.18909663e-02 -5.03066285e-04 9.99929173e-01 -1.37435526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:127.60, Y:2.75, Z:-1.37 [[ 9.96674732e-01 -8.06105843e-02 -1.18916484e-02 1.27602352e+02] [ 8.06105064e-02 9.96745559e-01 -4.86642920e-04 2.75408760e+00] [ 1.18921763e-02 -4.73567097e-04 9.99929173e-01 -1.37050580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:127.66, Y:2.76, Z:-1.40 [[ 9.96951759e-01 -7.71088510e-02 -1.18918466e-02 1.27663943e+02] [ 7.71085826e-02 9.97022585e-01 -4.81750495e-04 2.75707949e+00] [ 1.18935869e-02 -4.36681432e-04 9.99929173e-01 -1.39662230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters Centerline goodness : 0.994718 with order 1 Centerline is valid? [True, True] Translation: X:127.73, Y:2.76, Z:-1.37 [[ 9.97068282e-01 -7.55871965e-02 -1.18918755e-02 1.27725676e+02] [ 7.55868285e-02 9.97139108e-01 -4.81035795e-04 2.75577503e+00] [ 1.18942143e-02 -4.19243621e-04 9.99929173e-01 -1.37206987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:127.79, Y:2.76, Z:-1.40 [[ 9.97409624e-01 -7.09409658e-02 -1.18920604e-02 1.27787014e+02] [ 7.09403228e-02 9.97480448e-01 -4.76421350e-04 2.75632421e+00] [ 1.18958955e-02 -3.68439362e-04 9.99929173e-01 -1.39719056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters Centerline goodness : 0.993505 with order 1 Centerline is valid? [True, True] Translation: X:127.85, Y:2.76, Z:-1.37 [[ 9.97674606e-01 -6.71115434e-02 -1.18920888e-02 1.27847649e+02] [ 6.71106369e-02 9.97745427e-01 -4.75711603e-04 2.75984055e+00] [ 1.18972029e-02 -3.23480265e-04 9.99929173e-01 -1.37123750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters Centerline goodness : 0.992883 with order 1 Centerline is valid? [True, True] Translation: X:127.91, Y:2.76, Z:-1.37 [[ 9.97580092e-01 -6.85020969e-02 -1.18921173e-02 1.27907945e+02] [ 6.85012977e-02 9.97650914e-01 -4.74998222e-04 2.76319599e+00] [ 1.18967200e-02 -3.40776694e-04 9.99929173e-01 -1.36869906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters Centerline goodness : 0.992934 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:2.77, Z:-1.37 [[ 9.97769949e-01 -6.56788138e-02 -1.18921173e-02 1.27968469e+02] [ 6.56778142e-02 9.97840768e-01 -4.74998222e-04 2.76569646e+00] [ 1.18976367e-02 -3.07109315e-04 9.99929173e-01 -1.36677795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters Centerline goodness : 0.992678 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:2.78, Z:-1.36 [[ 9.97518540e-01 -6.93926471e-02 -1.18921173e-02 1.28029455e+02] [ 6.93919111e-02 9.97589363e-01 -4.74998222e-04 2.77709513e+00] [ 1.18964111e-02 -3.51397211e-04 9.99929173e-01 -1.36497357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters Centerline goodness : 0.996916 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:2.78, Z:-1.39 [[ 9.97401263e-01 -7.10584111e-02 -1.18921468e-02 1.28091029e+02] [ 7.10578022e-02 9.97472087e-01 -4.74258101e-04 2.78481640e+00] [ 1.18957845e-02 -3.72004184e-04 9.99929173e-01 -1.39329481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters Centerline goodness : 0.992100 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:2.79, Z:-1.36 [[ 9.96698262e-01 -8.03190394e-02 -1.18922504e-02 1.28152728e+02] [ 8.03191195e-02 9.96769089e-01 -4.71645302e-04 2.79112961e+00] [ 1.18917097e-02 -4.85087027e-04 9.99929173e-01 -1.36376771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters Centerline goodness : 0.996617 with order 1 Centerline is valid? [True, True] Translation: X:128.22, Y:2.79, Z:-1.39 [[ 9.95907819e-01 -8.95889815e-02 -1.18924456e-02 1.28215389e+02] [ 8.95897798e-02 9.95978641e-01 -4.66670686e-04 2.79214346e+00] [ 1.18864304e-02 -6.00680597e-04 9.99929173e-01 -1.39284914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters Centerline goodness : 0.993089 with order 1 Centerline is valid? [True, True] Translation: X:128.28, Y:2.79, Z:-1.37 [[ 9.95034253e-01 -9.88200581e-02 -1.18924997e-02 1.28278252e+02] [ 9.88215296e-02 9.95105064e-01 -4.65287804e-04 2.78803282e+00] [ 1.18802664e-02 -7.12257709e-04 9.99929173e-01 -1.36684425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters Centerline goodness : 0.994568 with order 1 Centerline is valid? [True, True] Translation: X:128.34, Y:2.78, Z:-1.37 [[ 9.95009347e-01 -9.90704917e-02 -1.18927117e-02 1.28341164e+02] [ 9.90720463e-02 9.95080157e-01 -4.59804732e-04 2.78465985e+00] [ 1.18797545e-02 -7.20725278e-04 9.99929173e-01 -1.36886984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters Centerline goodness : 0.994325 with order 1 Centerline is valid? [True, True] Translation: X:128.40, Y:2.78, Z:-1.37 [[ 9.95239535e-01 -9.67306877e-02 -1.18929255e-02 1.28402891e+02] [ 9.67321424e-02 9.95310347e-01 -4.54207645e-04 2.78442035e+00] [ 1.18810876e-02 -6.98382754e-04 9.99929174e-01 -1.36767033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters Centerline goodness : 0.994578 with order 1 Centerline is valid? [True, True] Translation: X:128.47, Y:2.78, Z:-1.37 [[ 9.95666242e-01 -9.22349774e-02 -1.18930211e-02 1.28465807e+02] [ 9.22361423e-02 9.95737059e-01 -4.51688996e-04 2.78354466e+00] [ 1.18839834e-02 -6.47234902e-04 9.99929174e-01 -1.36717692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters Centerline goodness : 0.997312 with order 1 Centerline is valid? [True, True] Translation: X:128.53, Y:2.78, Z:-1.39 [[ 9.95936659e-01 -8.92677016e-02 -1.18932243e-02 1.28527905e+02] [ 8.92687200e-02 9.96007478e-01 -4.46274000e-04 2.78348633e+00] [ 1.18855782e-02 -6.17232273e-04 9.99929174e-01 -1.38714514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:128.59, Y:2.79, Z:-1.39 [[ 9.96229655e-01 -8.59361613e-02 -1.18932624e-02 1.28590552e+02] [ 8.59369549e-02 9.96300478e-01 -4.45255344e-04 2.78520650e+00] [ 1.18875266e-02 -5.78494180e-04 9.99929174e-01 -1.38691491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:128.65, Y:2.77, Z:-1.36 [[ 9.95298480e-01 -9.61222265e-02 -1.18934391e-02 1.28652792e+02] [ 9.61238013e-02 9.95369289e-01 -4.40485376e-04 2.77349318e+00] [ 1.18807044e-02 -7.04828151e-04 9.99929174e-01 -1.36308206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters Centerline goodness : 0.993321 with order 1 Centerline is valid? [True, True] Translation: X:128.71, Y:2.78, Z:-1.37 [[ 9.96921154e-01 -7.75032734e-02 -1.18934932e-02 1.28713840e+02] [ 7.75035420e-02 9.96991980e-01 -4.39019745e-04 2.78414801e+00] [ 1.18917428e-02 -4.84119779e-04 9.99929174e-01 -1.36521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters Centerline goodness : 0.993027 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:2.78, Z:-1.37 [[ 9.97054069e-01 -7.57741723e-02 -1.18936625e-02 1.28775039e+02] [ 7.57743733e-02 9.97124895e-01 -4.34383536e-04 2.78274868e+00] [ 1.18923820e-02 -4.68130952e-04 9.99929174e-01 -1.36894257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters Centerline goodness : 0.993031 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:2.78, Z:-1.37 [[ 9.96903661e-01 -7.77279317e-02 -1.18936885e-02 1.28835614e+02] [ 7.77282800e-02 9.96974486e-01 -4.33670060e-04 2.78322405e+00] [ 1.18914123e-02 -4.92148683e-04 9.99929174e-01 -1.36502189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters Centerline goodness : 0.993123 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:2.78, Z:-1.37 [[ 9.97184590e-01 -7.40367107e-02 -1.18936885e-02 1.28896265e+02] [ 7.40367967e-02 9.97255416e-01 -4.33670060e-04 2.78152370e+00] [ 1.18931528e-02 -4.48121500e-04 9.99929174e-01 -1.36720335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters Centerline goodness : 0.995448 with order 1 Centerline is valid? [True, True] Translation: X:128.96, Y:2.80, Z:-1.38 [[ 9.99618730e-01 -2.49185644e-02 -1.18936885e-02 1.28955049e+02] [ 2.49151681e-02 9.99689475e-01 -4.33670060e-04 2.79791034e+00] [ 1.19008017e-02 1.37171465e-04 9.99929174e-01 -1.38465948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters Centerline goodness : 0.993475 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:2.79, Z:-1.36 [[ 9.96342179e-01 -8.46215316e-02 -1.18936634e-02 1.29014578e+02] [ 8.46223615e-02 9.96413000e-01 -4.34358699e-04 2.78558196e+00] [ 1.18877569e-02 -5.73699990e-04 9.99929174e-01 -1.36175368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters Centerline goodness : 0.994471 with order 1 Centerline is valid? [True, True] Translation: X:129.08, Y:2.78, Z:-1.36 [[ 9.96074408e-01 -8.77172471e-02 -1.18936247e-02 1.29076156e+02] [ 8.77182846e-02 9.96145227e-01 -4.35414431e-04 2.78295732e+00] [ 1.18859709e-02 -6.09583187e-04 9.99929174e-01 -1.36081289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters Centerline goodness : 0.994617 with order 1 Centerline is valid? [True, True] Translation: X:129.14, Y:2.78, Z:-1.36 [[ 9.95627109e-01 -9.26563633e-02 -1.18936502e-02 1.29137484e+02] [ 9.26577602e-02 9.95697921e-01 -4.34718383e-04 2.78014369e+00] [ 1.18827622e-02 -6.69221580e-04 9.99929174e-01 -1.36104962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters Centerline goodness : 0.998254 with order 1 Centerline is valid? [True, True] Translation: X:129.20, Y:2.78, Z:-1.38 [[ 9.95085979e-01 -9.82976887e-02 -1.18936754e-02 1.29199034e+02] [ 9.82994952e-02 9.95156782e-01 -4.34028615e-04 2.77546975e+00] [ 1.18787357e-02 -7.37246493e-04 9.99929174e-01 -1.38478237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:129.26, Y:2.77, Z:-1.39 [[ 9.94939875e-01 -9.97656534e-02 -1.18936999e-02 1.29260689e+02] [ 9.97675724e-02 9.95010675e-01 -4.33353617e-04 2.76701771e+00] [ 1.18775922e-02 -7.55444777e-04 9.99929174e-01 -1.38585295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:129.32, Y:2.76, Z:-1.36 [[ 9.95147123e-01 -9.76767268e-02 -1.18937243e-02 1.29321777e+02] [ 9.76785052e-02 9.95217927e-01 -4.32683155e-04 2.75627910e+00] [ 1.18791108e-02 -7.31177817e-04 9.99929174e-01 -1.35724076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters Centerline goodness : 0.911021 with order 1 Centerline is valid? [True, False] Translation: X:129.32, Y:2.76, Z:-1.36 [[ 9.97143995e-01 -7.48818294e-02 -9.82673733e-03 1.29321740e+02] [ 7.47551651e-02 9.97121298e-01 -1.26799907e-02 2.75959658e+00] [ 1.07479500e-02 1.19091773e-02 9.99871318e-01 -1.35746176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters Centerline goodness : 0.899930 with order 1 Centerline is valid? [False, False] Translation: X:129.33, Y:2.76, Z:-1.36 [[ 9.98260539e-01 -5.80496763e-02 -1.03020496e-02 1.29327100e+02] [ 5.78968437e-02 9.98216382e-01 -1.45605472e-02 2.75784750e+00] [ 1.11289097e-02 1.39387635e-02 9.99840916e-01 -1.36143989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters Centerline goodness : 0.909109 with order 1 Centerline is valid? [False, False] Translation: X:129.34, Y:2.75, Z:-1.36 [[ 9.98948669e-01 -4.19373939e-02 -1.85151992e-02 1.29341957e+02] [ 4.16244558e-02 9.98989107e-01 -1.69755169e-02 2.74815511e+00] [ 1.92083913e-02 1.61869849e-02 9.99684460e-01 -1.36227451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters Centerline goodness : 0.935489 with order 1 Centerline is valid? [False, False] Translation: X:129.36, Y:2.75, Z:-1.36 [[ 9.99247191e-01 -2.74495125e-02 -2.74148942e-02 1.29361218e+02] [ 2.67906133e-02 9.99350051e-01 -2.41192467e-02 2.75172674e+00] [ 2.80591375e-02 2.33666277e-02 9.99333120e-01 -1.36478677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters Centerline goodness : 0.949646 with order 1 Centerline is valid? [False, False] Translation: X:129.39, Y:2.75, Z:-1.37 [[ 9.99564457e-01 -6.83019734e-03 -2.87096457e-02 1.29388922e+02] [ 5.94146176e-03 9.99503952e-01 -3.09281152e-02 2.75352140e+00] [ 2.89066495e-02 3.07440674e-02 9.99109207e-01 -1.36712903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters Centerline goodness : 0.833980 with order 1 Centerline is valid? [False, False] Translation: X:129.44, Y:2.76, Z:-1.37 [[ 9.99243268e-01 -1.60636432e-03 -3.88627253e-02 1.29435889e+02] [ 9.10356867e-05 9.99240681e-01 -3.89622129e-02 2.75847484e+00] [ 3.88958036e-02 3.89291911e-02 9.98484669e-01 -1.36913662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters Centerline goodness : 0.992667 with order 1 Centerline is valid? [False, True] Translation: X:129.49, Y:2.76, Z:-1.37 [[ 9.98497314e-01 7.01462543e-03 -5.43498822e-02 1.29494434e+02] [-9.30548752e-03 9.99073749e-01 -4.20125321e-02 2.75769601e+00] [ 5.40048384e-02 4.24551526e-02 9.97637729e-01 -1.36939641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters Centerline goodness : 0.988600 with order 1 Centerline is valid? [True, True] Translation: X:129.55, Y:2.69, Z:-1.40 [[ 9.97199510e-01 -5.22234493e-02 -5.35336258e-02 1.29553760e+02] [ 5.23560154e-02 9.98627904e-01 1.07594474e-03 2.68593778e+00] [ 5.34039829e-02 -3.87573891e-03 9.98565468e-01 -1.39656790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters Centerline goodness : 0.998107 with order 1 Centerline is valid? [True, True] Translation: X:129.61, Y:2.70, Z:-1.38 [[ 9.98326795e-01 -2.18575875e-02 -5.35336929e-02 1.29611842e+02] [ 2.19464513e-02 9.99758572e-01 1.07259350e-03 2.69545194e+00] [ 5.34973241e-02 -2.24567341e-03 9.98565468e-01 -1.37638143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters Centerline goodness : 0.992967 with order 1 Centerline is valid? [True, True] Translation: X:129.67, Y:2.72, Z:-1.38 [[ 9.97269403e-01 5.08707705e-02 -5.35341326e-02 1.29670130e+02] [-5.08875664e-02 9.98703836e-01 1.05018340e-03 2.72336296e+00] [ 5.35181672e-02 1.67690596e-03 9.98565468e-01 -1.37908161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:129.73, Y:2.72, Z:-1.40 [[ 9.98562397e-01 2.68542325e-03 -5.35343568e-02 1.29728766e+02] [-2.63359644e-03 9.99995993e-01 1.03862497e-03 2.71748323e+00] [ 5.35369314e-02 -8.96143944e-04 9.98565468e-01 -1.39884162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters Centerline goodness : 0.994269 with order 1 Centerline is valid? [True, True] Translation: X:129.79, Y:2.72, Z:-1.36 [[ 9.98234745e-01 2.57187280e-02 -5.35344914e-02 1.29786716e+02] [-2.57003585e-02 9.99669159e-01 1.03164100e-03 2.72226147e+00] [ 5.35433125e-02 3.46035727e-04 9.98565468e-01 -1.35531436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters Centerline goodness : 0.998500 with order 1 Centerline is valid? [True, True] Translation: X:129.85, Y:2.73, Z:-1.39 [[ 9.97433164e-01 4.75514138e-02 -5.35345260e-02 1.29847925e+02] [-4.75645266e-02 9.98867636e-01 1.02984181e-03 2.72664782e+00] [ 5.35228759e-02 1.51914601e-03 9.98565468e-01 -1.39176439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters Centerline goodness : 0.933386 with order 1 Centerline is valid? [True, False] Translation: X:129.83, Y:2.73, Z:-1.39 [[ 9.98672795e-01 3.43880847e-02 -3.83419914e-02 1.29829906e+02] [-3.44380383e-02 9.99406628e-01 -6.42954619e-04 2.73331913e+00] [ 3.82971304e-02 1.96252426e-03 9.99264469e-01 -1.39286397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters Centerline goodness : 0.996615 with order 1 Centerline is valid? [False, True] Translation: X:129.85, Y:2.74, Z:-1.39 [[ 9.99058111e-01 2.31791444e-02 -3.66826697e-02 1.29849526e+02] [-2.32980133e-02 9.99724598e-01 -2.81627207e-03 2.74020296e+00] [ 3.66072884e-02 3.66825279e-03 9.99322996e-01 -1.39076356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:129.91, Y:2.74, Z:-1.41 [[ 9.99014079e-01 2.50612115e-02 -3.66443066e-02 1.29910774e+02] [-2.50621204e-02 9.99685801e-01 4.34615199e-04 2.74475231e+00] [ 3.66436850e-02 4.84197323e-04 9.99328277e-01 -1.40521532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:129.97, Y:2.75, Z:-1.40 [[ 9.99073770e-01 2.25565290e-02 -3.66443066e-02 1.29968364e+02] [-2.25557538e-02 9.99745492e-01 4.34615199e-04 2.75428093e+00] [ 3.66447838e-02 3.92327313e-04 9.99328277e-01 -1.40302389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:130.03, Y:2.76, Z:-1.38 [[ 9.99210250e-01 1.53640813e-02 -3.66445312e-02 1.30027591e+02] [-1.53591983e-02 9.99881955e-01 4.14778288e-04 2.75611552e+00] [ 3.66465781e-02 1.48379903e-04 9.99328278e-01 -1.38467831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters Centerline goodness : 0.997911 with order 1 Centerline is valid? [True, True] Translation: X:130.09, Y:2.76, Z:-1.38 [[ 9.99248323e-01 1.26477579e-02 -3.66445450e-02 1.30086472e+02] [-1.26410938e-02 9.99920013e-01 4.13552607e-04 2.76199395e+00] [ 3.66468444e-02 4.99853829e-05 9.99328278e-01 -1.38314104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:130.15, Y:2.76, Z:-1.40 [[ 9.99244865e-01 1.29179052e-02 -3.66446005e-02 1.30147331e+02] [-1.29116050e-02 9.99916558e-01 4.08580532e-04 2.76148362e+00] [ 3.66468208e-02 6.48686076e-05 9.99328278e-01 -1.40259335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:130.20, Y:2.76, Z:-1.40 [[ 9.99269590e-01 1.08378446e-02 -3.66446139e-02 1.30204858e+02] [-1.08301907e-02 9.99941269e-01 4.07370012e-04 2.76170922e+00] [ 3.66468767e-02 -1.02043091e-05 9.99328278e-01 -1.40144059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:130.26, Y:2.76, Z:-1.38 [[ 9.99303054e-01 7.11080224e-03 -3.66448225e-02 1.30264614e+02] [-7.10136619e-03 9.99974710e-01 3.87653413e-04 2.75904042e+00] [ 3.66466523e-02 -1.27154936e-04 9.99328278e-01 -1.37672364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:130.32, Y:2.76, Z:-1.37 [[ 9.99317206e-01 4.72008169e-03 -3.66448277e-02 1.30323406e+02] [-4.70905685e-03 9.99988837e-01 3.87161553e-04 2.75932888e+00] [ 3.66462461e-02 -2.14334624e-04 9.99328278e-01 -1.37126370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:2.76, Z:-1.40 [[ 9.99294834e-01 8.18405178e-03 -3.66450001e-02 1.30384694e+02] [-8.17598100e-03 9.99966508e-01 3.70094072e-04 2.76099448e+00] [ 3.66468016e-02 -7.02242701e-05 9.99328278e-01 -1.39874734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:2.76, Z:-1.40 [[ 9.99293155e-01 8.38656081e-03 -3.66450121e-02 1.30443443e+02] [-8.37866988e-03 9.99964830e-01 3.68901411e-04 2.76328692e+00] [ 3.66468171e-02 -6.16041955e-05 9.99328278e-01 -1.39631427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:2.77, Z:-1.39 [[ 9.99306004e-01 6.68149749e-03 -3.66451720e-02 1.30503084e+02] [-6.67307040e-03 9.99977673e-01 3.52270236e-04 2.76558734e+00] [ 3.66467075e-02 -1.07489950e-04 9.99328278e-01 -1.39181939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:130.56, Y:2.77, Z:-1.37 [[ 9.99302831e-01 7.14020338e-03 -3.66451951e-02 1.30562306e+02] [-7.13217347e-03 9.99974505e-01 3.49846653e-04 2.77020232e+00] [ 3.66467588e-02 -8.82428619e-05 9.99328278e-01 -1.36586436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:130.62, Y:2.77, Z:-1.36 [[ 9.99299745e-01 7.55966845e-03 -3.66452064e-02 1.30620653e+02] [-7.55196402e-03 9.99971423e-01 3.48659428e-04 2.77089250e+00] [ 3.66467949e-02 -7.16719974e-05 9.99328278e-01 -1.36380087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:130.68, Y:2.78, Z:-1.36 [[ 9.99290561e-01 8.68856150e-03 -3.66453774e-02 1.30679047e+02] [-8.68231303e-03 9.99962254e-01 3.29647913e-04 2.77699670e+00] [ 3.66468583e-02 -1.12474099e-05 9.99328278e-01 -1.36094508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:130.74, Y:2.78, Z:-1.36 [[ 9.99268164e-01 1.09654801e-02 -3.66455405e-02 1.30737293e+02] [-1.09614681e-02 9.99939873e-01 3.10398047e-04 2.78164860e+00] [ 3.66467408e-02 9.15180358e-05 9.99328278e-01 -1.36006851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:130.80, Y:2.78, Z:-1.36 [[ 9.99255644e-01 1.20522409e-02 -3.66456151e-02 1.30796179e+02] [-1.20492922e-02 9.99927359e-01 3.01322572e-04 2.78477312e+00] [ 3.66465847e-02 1.40455444e-04 9.99328278e-01 -1.35879687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:130.86, Y:2.79, Z:-1.36 [[ 9.99228176e-01 1.41471463e-02 -3.66457459e-02 1.30855159e+02] [-1.41462237e-02 9.99899897e-01 2.84475766e-04 2.79038406e+00] [ 3.66461020e-02 2.34142717e-04 9.99328279e-01 -1.35889416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:130.91, Y:2.79, Z:-1.36 [[ 9.99189371e-01 1.66637500e-02 -3.66458689e-02 1.30914087e+02] [-1.66651368e-02 9.99861091e-01 2.67635883e-04 2.79383911e+00] [ 3.66452383e-02 3.43289487e-04 9.99328279e-01 -1.35802362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:130.97, Y:2.80, Z:-1.35 [[ 9.99174384e-01 1.75391754e-02 -3.66459839e-02 1.30972648e+02] [-1.75417672e-02 9.99846100e-01 2.50824147e-04 2.80120002e+00] [ 3.66447434e-02 3.92218257e-04 9.99328279e-01 -1.35240190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:131.03, Y:2.81, Z:-1.35 [[ 9.99147661e-01 1.90004096e-02 -3.66460929e-02 1.31031322e+02] [-1.90046101e-02 9.99819369e-01 2.33741812e-04 2.80751873e+00] [ 3.66439147e-02 4.62902124e-04 9.99328279e-01 -1.35213844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters Centerline goodness : 0.930719 with order 1 Centerline is valid? [True, False] Translation: X:131.01, Y:2.82, Z:-1.35 [[ 9.99779445e-01 9.26018947e-03 -1.88496653e-02 1.31010989e+02] [-9.31060939e-03 9.99953304e-01 -2.58884355e-03 2.81735680e+00] [ 1.88248119e-02 2.76377444e-03 9.99818978e-01 -1.35280130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [False, True] Translation: X:131.01, Y:2.85, Z:-1.34 [[ 9.99542076e-01 1.23428197e-02 -2.76277697e-02 1.31007052e+02] [-1.35080048e-02 9.99009696e-01 -4.23929454e-02 2.85498391e+00] [ 2.70771613e-02 4.27467287e-02 9.98718952e-01 -1.34151451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:131.06, Y:2.82, Z:-1.34 [[ 9.99575903e-01 9.23104769e-03 -2.76188750e-02 1.31064678e+02] [-9.23396327e-03 9.99957366e-01 2.19762045e-05 2.81897189e+00] [ 2.76179004e-02 2.33064793e-04 9.99618526e-01 -1.34470790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:131.12, Y:2.82, Z:-1.35 [[ 9.99616734e-01 1.89267568e-03 -2.76188790e-02 1.31123613e+02] [-1.89319334e-03 9.99998208e-01 7.40588030e-06 2.81675442e+00] [ 2.76188435e-02 4.48848358e-05 9.99618526e-01 -1.35141527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:131.18, Y:2.81, Z:-1.34 [[ 9.99613831e-01 -3.06359809e-03 -2.76188766e-02 1.31181897e+02] [ 3.06462215e-03 9.99995304e-01 -5.25042578e-06 2.81465208e+00] [ 2.76187629e-02 -7.93930226e-05 9.99618526e-01 -1.34313936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:131.24, Y:2.82, Z:-1.34 [[ 9.99615904e-01 -2.28971497e-03 -2.76188754e-02 1.31241296e+02] [ 2.29034479e-03 9.99997377e-01 -8.83056734e-06 2.81628030e+00] [ 2.76188232e-02 -5.44295718e-05 9.99618526e-01 -1.33757710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:131.30, Y:2.81, Z:-1.34 [[ 9.99589352e-01 -7.63705825e-03 -2.76188747e-02 1.31300692e+02] [ 7.63967895e-03 9.99970817e-01 -1.06321667e-05 2.81202341e+00] [ 2.76181499e-02 -2.00371535e-04 9.99618526e-01 -1.33965377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters Centerline goodness : 0.979144 with order 2 Centerline is valid? [True, True] Translation: X:131.38, Y:2.85, Z:-1.36 [[ 9.96713512e-01 7.61536196e-02 -2.76188734e-02 1.31382864e+02] [-7.61830474e-02 9.97093849e-01 -1.32886632e-05 2.85159230e+00] [ 2.75375968e-02 2.11733493e-03 9.99618526e-01 -1.35707838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:131.42, Y:2.80, Z:-1.36 [[ 9.99396494e-01 -2.10713878e-02 -2.76160021e-02 1.31417008e+02] [ 2.11650735e-02 9.99771175e-01 3.10450768e-03 2.80049600e+00] [ 2.75442665e-02 -3.68712881e-03 9.99613785e-01 -1.35630400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:131.48, Y:2.80, Z:-1.33 [[ 9.99199709e-01 -2.89478137e-02 -2.76037212e-02 1.31476209e+02] [ 2.89559008e-02 9.99580684e-01 -1.06787879e-04 2.79589826e+00] [ 2.75952378e-02 -6.92588195e-04 9.99618939e-01 -1.32854132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:2.79, Z:-1.33 [[ 9.99028685e-01 -3.43470588e-02 -2.76037177e-02 1.31536182e+02] [ 3.43571804e-02 9.99409612e-01 -1.07666043e-04 2.78991102e+00] [ 2.75911188e-02 -8.40824443e-04 9.99618939e-01 -1.33127966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:131.60, Y:2.78, Z:-1.33 [[ 9.98846743e-01 -3.92838381e-02 -2.76037143e-02 1.31595317e+02] [ 3.92958183e-02 9.99227615e-01 -1.08527848e-04 2.78109882e+00] [ 2.75866570e-02 -9.76307854e-04 9.99618939e-01 -1.32597338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:131.65, Y:2.77, Z:-1.32 [[ 9.98768963e-01 -4.12140161e-02 -2.76036902e-02 1.31654154e+02] [ 4.12265715e-02 9.99149817e-01 -1.14354410e-04 2.77397469e+00] [ 2.75849350e-02 -1.02379187e-03 9.99618939e-01 -1.32370624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.71, Y:2.77, Z:-1.35 [[ 9.98730853e-01 -4.21274352e-02 -2.76036759e-02 1.31713821e+02] [ 4.21402464e-02 9.99111698e-01 -1.17707873e-04 2.76631588e+00] [ 2.75841142e-02 -1.04566722e-03 9.99618939e-01 -1.34694003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:131.77, Y:2.76, Z:-1.35 [[ 9.98764190e-01 -4.13295640e-02 -2.76036223e-02 1.31773024e+02] [ 4.13417547e-02 9.99145056e-01 -1.29163897e-04 2.75801307e+00] [ 2.75853610e-02 -1.01217791e-03 9.99618939e-01 -1.34909570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:131.83, Y:2.75, Z:-1.32 [[ 9.98934052e-01 -3.69973447e-02 -2.76035640e-02 1.31832378e+02] [ 3.70075674e-02 9.99314975e-01 -1.40611325e-04 2.75271572e+00] [ 2.75898571e-02 -8.81079315e-04 9.99618939e-01 -1.32063210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.89, Y:2.75, Z:-1.34 [[ 9.99006740e-01 -3.49796749e-02 -2.76035595e-02 1.31892182e+02] [ 3.49891042e-02 9.99387684e-01 -1.41480877e-04 2.75230457e+00] [ 2.75916064e-02 -8.24483471e-04 9.99618939e-01 -1.34416482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.95, Y:2.75, Z:-1.34 [[ 9.99066589e-01 -3.32264126e-02 -2.76035555e-02 1.31951497e+02] [ 3.32351518e-02 9.99447550e-01 -1.42261485e-04 2.74858600e+00] [ 2.75930328e-02 -7.75279660e-04 9.99618939e-01 -1.34440100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:132.01, Y:2.75, Z:-1.32 [[ 9.99142872e-01 -3.08475133e-02 -2.76034948e-02 1.32010556e+02] [ 3.08550435e-02 9.99523858e-01 -1.53197851e-04 2.74716835e+00] [ 2.75950774e-02 -6.98640492e-04 9.99618939e-01 -1.31865235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:2.74, Z:-1.31 [[ 9.98985794e-01 -3.55728824e-02 -2.76034899e-02 1.32069417e+02] [ 3.55821904e-02 9.99366741e-01 -1.54071605e-04 2.74308190e+00] [ 2.75914906e-02 -8.28277289e-04 9.99618939e-01 -1.31436936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:2.74, Z:-1.34 [[ 9.98902927e-01 -3.78284896e-02 -2.76034131e-02 1.32129158e+02] [ 3.78383067e-02 9.99283861e-01 -1.66784377e-04 2.73759306e+00] [ 2.75899544e-02 -8.77865010e-04 9.99618939e-01 -1.33859701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:2.73, Z:-1.34 [[ 9.98811224e-01 -4.01770061e-02 -2.76034025e-02 1.32188252e+02] [ 4.01876706e-02 9.99192135e-01 -1.68532968e-04 2.72811748e+00] [ 2.75878738e-02 -9.40983825e-04 9.99618939e-01 -1.33796668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:2.72, Z:-1.31 [[ 9.98700877e-01 -4.28324103e-02 -2.76033259e-02 1.32245793e+02] [ 4.28437638e-02 9.99081768e-01 -1.80258721e-04 2.71910338e+00] [ 2.75857005e-02 -1.00260583e-03 9.99618939e-01 -1.31360708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.31, Y:2.71, Z:-1.34 [[ 9.98917731e-01 -3.74355948e-02 -2.76032988e-02 1.32306208e+02] [ 3.74447783e-02 9.99298681e-01 -1.84310742e-04 2.71327848e+00] [ 2.75908399e-02 -8.49488136e-04 9.99618939e-01 -1.33677566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:2.71, Z:-1.31 [[ 9.99060883e-01 -3.33977551e-02 -2.76032874e-02 1.32364927e+02] [ 3.34053520e-02 9.99441868e-01 -1.86000587e-04 2.70847187e+00] [ 2.75940932e-02 -7.36271623e-04 9.99618939e-01 -1.30750543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:132.42, Y:2.71, Z:-1.31 [[ 9.99134583e-01 -3.11150020e-02 -2.76032755e-02 1.32424059e+02] [ 3.11216800e-02 9.99515586e-01 -1.87757726e-04 2.70735398e+00] [ 2.75957461e-02 -6.71465068e-04 9.99618939e-01 -1.30603418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:132.48, Y:2.70, Z:-1.31 [[ 9.99236238e-01 -2.76587323e-02 -2.76031868e-02 1.32483614e+02] [ 2.76637544e-02 9.99617265e-01 -1.99993791e-04 2.70360120e+00] [ 2.75981537e-02 -5.63766739e-04 9.99618939e-01 -1.31321266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:2.71, Z:-1.33 [[ 9.99364416e-01 -2.25572243e-02 -2.76031671e-02 1.32542708e+02] [ 2.25602268e-02 9.99745465e-01 -2.02686299e-04 2.70759623e+00] [ 2.76007131e-02 -4.20176235e-04 9.99618939e-01 -1.32697545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:2.71, Z:-1.31 [[ 9.99462607e-01 -1.76795959e-02 -2.76030708e-02 1.32601407e+02] [ 1.76803974e-02 9.99843666e-01 -2.15046811e-04 2.71293472e+00] [ 2.76025574e-02 -2.73102014e-04 9.99618940e-01 -1.31439564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:2.72, Z:-1.32 [[ 9.99440904e-01 -1.88667707e-02 -2.76029658e-02 1.32659736e+02] [ 1.88676735e-02 9.99821964e-01 -2.27764659e-04 2.71721328e+00] [ 2.76023487e-02 -2.93166431e-04 9.99618940e-01 -1.31502926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:2.72, Z:-1.32 [[ 9.99273772e-01 -2.62680702e-02 -2.76028402e-02 1.32719176e+02] [ 2.62713996e-02 9.99654818e-01 -2.42087249e-04 2.71630092e+00] [ 2.75996714e-02 -4.83253808e-04 9.99618940e-01 -1.31995734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:2.72, Z:-1.30 [[ 9.99073856e-01 -3.30078758e-02 -2.76027317e-02 1.32778033e+02] [ 3.30134495e-02 9.99454875e-01 -2.53889625e-04 2.71661565e+00] [ 2.75960651e-02 -6.57606902e-04 9.99618940e-01 -1.29749017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:2.72, Z:-1.32 [[ 9.99005233e-01 -3.50233385e-02 -2.76027154e-02 1.32837823e+02] [ 3.50296325e-02 9.99386241e-01 -2.55643780e-04 2.71773087e+00] [ 2.75947275e-02 -7.11523503e-04 9.99618940e-01 -1.31960716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:132.90, Y:2.72, Z:-1.30 [[ 9.99036167e-01 -3.41295861e-02 -2.76026917e-02 1.32897122e+02] [ 3.41354692e-02 9.99417182e-01 -2.58181562e-04 2.71624210e+00] [ 2.75954160e-02 -6.84298114e-04 9.99618940e-01 -1.29589473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.96, Y:2.72, Z:-1.32 [[ 9.98960063e-01 -3.62889072e-02 -2.76026718e-02 1.32956237e+02] [ 3.62955555e-02 9.99341065e-01 -2.60291594e-04 2.71843670e+00] [ 2.75939291e-02 -7.41833397e-04 9.99618940e-01 -1.31781630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters Centerline goodness : 0.996415 with order 1 Centerline is valid? [True, True] Translation: X:133.02, Y:2.72, Z:-1.28 [[ 9.98939041e-01 -3.68631556e-02 -2.76025518e-02 1.33015661e+02] [ 3.68696874e-02 9.99320045e-01 -2.72444080e-04 2.71807241e+00] [ 2.75938265e-02 -7.45542429e-04 9.99618940e-01 -1.27999462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.08, Y:2.72, Z:-1.31 [[ 9.98979995e-01 -3.57361036e-02 -2.76025498e-02 1.33077335e+02] [ 3.57421997e-02 9.99361006e-01 -2.72654748e-04 2.72309609e+00] [ 2.75946555e-02 -7.14199208e-04 9.99618940e-01 -1.31424121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.14, Y:2.72, Z:-1.32 [[ 9.99136118e-01 -3.10663267e-02 -2.76025535e-02 1.33136418e+02] [ 3.10706523e-02 9.99517154e-01 -2.72275280e-04 2.72495875e+00] [ 2.75976843e-02 -5.85589276e-04 9.99618940e-01 -1.31528862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:2.73, Z:-1.29 [[ 9.99236551e-01 -2.76481575e-02 -2.76024297e-02 1.33194957e+02] [ 2.76508476e-02 9.99617602e-01 -2.84297891e-04 2.73045237e+00] [ 2.75997349e-02 -4.79149732e-04 9.99618940e-01 -1.28708223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:133.25, Y:2.73, Z:-1.29 [[ 9.99260972e-01 -2.67510751e-02 -2.76023665e-02 1.33254053e+02] [ 2.67532572e-02 9.99642025e-01 -2.90305183e-04 2.73243428e+00] [ 2.76002515e-02 -4.48362571e-04 9.99618940e-01 -1.28535465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:133.31, Y:2.74, Z:-1.29 [[ 9.99322642e-01 -2.43387496e-02 -2.76022304e-02 1.33313244e+02] [ 2.43396692e-02 9.99703701e-01 -3.02710894e-04 2.74058524e+00] [ 2.76014195e-02 -3.69323308e-04 9.99618940e-01 -1.28954039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:133.37, Y:2.75, Z:-1.28 [[ 9.99458934e-01 -1.78873610e-02 -2.76022012e-02 1.33373013e+02] [ 1.78857478e-02 9.99839991e-01 -3.05352848e-04 2.74727918e+00] [ 2.76032466e-02 -1.88498378e-04 9.99618940e-01 -1.28300621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:133.43, Y:2.75, Z:-1.30 [[ 9.99506114e-01 -1.50216121e-02 -2.76021782e-02 1.33434215e+02] [ 1.50188492e-02 9.99887163e-01 -3.07422348e-04 2.75442853e+00] [ 2.76036816e-02 -1.07282435e-04 9.99618940e-01 -1.30072537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:2.76, Z:-1.30 [[ 9.99537961e-01 -1.27273251e-02 -2.76021822e-02 1.33492332e+02] [ 1.27236976e-02 9.99919003e-01 -3.07058470e-04 2.76259682e+00] [ 2.76038546e-02 -4.42852229e-05 9.99618940e-01 -1.29956447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:2.77, Z:-1.30 [[ 9.99534414e-01 -1.30032758e-02 -2.76020101e-02 1.33550708e+02] [ 1.29993459e-02 9.99915453e-01 -3.21819314e-04 2.76998141e+00] [ 2.76038612e-02 -3.71385978e-05 9.99618940e-01 -1.30059494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters Centerline goodness : 0.997715 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:2.78, Z:-1.28 [[ 9.99519963e-01 -1.40705929e-02 -2.76018546e-02 1.33610357e+02] [ 1.40667157e-02 9.99901003e-01 -3.34644005e-04 2.77681306e+00] [ 2.76038308e-02 -5.37840793e-05 9.99618940e-01 -1.27586138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:2.78, Z:-1.28 [[ 9.99527249e-01 -1.35431632e-02 -2.76018438e-02 1.33670083e+02] [ 1.35390603e-02 9.99908286e-01 -3.35537028e-04 2.78294754e+00] [ 2.76038565e-02 -3.83246248e-05 9.99618940e-01 -1.27695233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters Centerline goodness : 0.937475 with order 1 Centerline is valid? [True, False] Translation: X:133.70, Y:2.82, Z:-1.27 [[ 9.99086237e-01 -1.40100006e-02 -4.03783567e-02 1.33698429e+02] [ 1.26704594e-02 9.99367019e-01 -3.32418412e-02 2.81785905e+00] [ 4.08185162e-02 3.26998537e-02 9.98631348e-01 -1.26660647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [False, True] Translation: X:133.74, Y:2.85, Z:-1.26 [[ 9.98331172e-01 -8.77292938e-03 -5.70780784e-02 1.33737992e+02] [ 5.40533262e-03 9.98249910e-01 -5.88888766e-02 2.84772574e+00] [ 5.74948145e-02 5.84820752e-02 9.96631423e-01 -1.25980365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:133.80, Y:2.80, Z:-1.25 [[ 9.98362842e-01 -5.18003828e-03 -5.69631657e-02 1.33795936e+02] [ 5.20025765e-03 9.99986457e-01 2.06728110e-04 2.79728410e+00] [ 5.69613234e-02 -5.02612802e-04 9.98376259e-01 -1.24588135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters Centerline goodness : 0.995082 with order 1 Centerline is valid? [True, True] Translation: X:133.86, Y:2.80, Z:-1.23 [[ 9.98368527e-01 -3.93340944e-03 -5.69632650e-02 1.33855568e+02] [ 3.94974915e-03 9.99992185e-01 1.74262118e-04 2.80488425e+00] [ 5.69621344e-02 -3.98968422e-04 9.98376260e-01 -1.23393523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:133.92, Y:2.81, Z:-1.24 [[ 9.98335767e-01 -8.99351449e-03 -5.69632684e-02 1.33916518e+02] [ 9.01802008e-03 9.99959322e-01 1.73152682e-04 2.81137268e+00] [ 5.69593940e-02 -6.86560414e-04 9.98376260e-01 -1.24238855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters Centerline goodness : 0.997411 with order 1 Centerline is valid? [True, True] Translation: X:133.98, Y:2.82, Z:-1.24 [[ 9.98282582e-01 -1.36774155e-02 -5.69632691e-02 1.33975294e+02] [ 1.37095243e-02 9.99906005e-01 1.72908871e-04 2.81713589e+00] [ 5.69555499e-02 -9.53551239e-04 9.98376260e-01 -1.23565138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:2.82, Z:-1.24 [[ 9.98226124e-01 -1.73142358e-02 -5.69633358e-02 1.34035320e+02] [ 1.73507858e-02 9.99849453e-01 1.47085125e-04 2.82299067e+00] [ 5.69522135e-02 -1.13518285e-03 9.98376260e-01 -1.24338182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters Centerline goodness : 0.970126 with order 1 Centerline is valid? [True, True] Translation: X:134.09, Y:2.86, Z:-1.24 [[ 9.96415253e-01 6.25445485e-02 -5.69633449e-02 1.34094450e+02] [-6.26380973e-02 9.98036296e-01 1.43495437e-04 2.86316721e+00] [ 5.68604606e-02 3.42509449e-03 9.98376260e-01 -1.24196131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters Centerline goodness : 0.997864 with order 1 Centerline is valid? [True, True] Translation: X:134.15, Y:2.83, Z:-1.23 [[ 9.98021976e-01 -2.65953527e-02 -5.69633533e-02 1.34153619e+02] [ 2.66465940e-02 9.99644907e-01 1.40046656e-04 2.83395409e+00] [ 5.69394014e-02 -1.65764899e-03 9.98376260e-01 -1.23409388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:134.21, Y:2.83, Z:-1.24 [[ 9.97843200e-01 -3.26208967e-02 -5.69633618e-02 1.34211830e+02] [ 3.26817345e-02 9.99465800e-01 1.36508621e-04 2.83499308e+00] [ 5.69284790e-02 -1.99787567e-03 9.98376260e-01 -1.23518428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters Centerline goodness : 0.998209 with order 1 Centerline is valid? [True, True] Translation: X:134.27, Y:2.84, Z:-1.23 [[ 9.97695142e-01 -3.68723886e-02 -5.69634147e-02 1.34270178e+02] [ 3.69385621e-02 9.99317533e-01 1.08833729e-04 2.83747071e+00] [ 5.69205261e-02 -2.21272952e-03 9.98376261e-01 -1.23487951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:134.33, Y:2.81, Z:-1.22 [[ 9.94868002e-01 -8.36231109e-02 -5.69634506e-02 1.34329991e+02] [ 8.37639304e-02 9.96485623e-01 8.47267861e-05 2.81300181e+00] [ 5.67561744e-02 -4.85577448e-03 9.98376261e-01 -1.22160933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters Centerline goodness : 0.956947 with order 1 Centerline is valid? [True, True] Translation: X:134.39, Y:2.80, Z:-1.25 [[ 9.90458027e-01 -1.25491281e-01 -5.69634520e-02 1.34391146e+02] [ 1.25700117e-01 9.92068281e-01 8.37482779e-05 2.79886427e+00] [ 5.65011242e-02 -7.24326173e-03 9.98376261e-01 -1.25078582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [True, True] Translation: X:134.45, Y:2.83, Z:-1.20 [[ 9.97340335e-01 -4.54689052e-02 -5.69634564e-02 1.34448623e+02] [ 4.55474528e-02 9.98962173e-01 8.06735931e-05 2.83256535e+00] [ 5.69006700e-02 -2.67499937e-03 9.98376261e-01 -1.20076365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters Centerline goodness : 0.997465 with order 1 Centerline is valid? [True, True] Translation: X:134.51, Y:2.83, Z:-1.21 [[ 9.97102750e-01 -5.04110126e-02 -5.69634572e-02 1.34508392e+02] [ 5.04975654e-02 9.98724181e-01 8.01230804e-05 2.82872679e+00] [ 5.68867430e-02 -2.95640685e-03 9.98376261e-01 -1.21180379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:134.57, Y:2.83, Z:-1.21 [[ 9.97224999e-01 -4.79318810e-02 -5.69634582e-02 1.34566289e+02] [ 4.80143580e-02 9.98846642e-01 7.93453003e-05 2.82546572e+00] [ 5.68939558e-02 -2.81418900e-03 9.98376261e-01 -1.20916581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:134.62, Y:2.83, Z:-1.20 [[ 9.97521217e-01 -4.13108049e-02 -5.69634828e-02 1.34623505e+02] [ 4.13810091e-02 9.99143438e-01 5.29276313e-05 2.82618810e+00] [ 5.69125036e-02 -2.41000284e-03 9.98376261e-01 -1.20361468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:134.68, Y:2.83, Z:-1.21 [[ 9.97926410e-01 -2.99673080e-02 -5.69634951e-02 1.34682628e+02] [ 3.00175351e-02 9.99549372e-01 2.61057095e-05 2.83209428e+00] [ 5.69370434e-02 -1.73595529e-03 9.98376262e-01 -1.21019622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:134.74, Y:2.84, Z:-1.20 [[ 9.98017163e-01 -2.67750369e-02 -5.69634966e-02 1.34740858e+02] [ 2.68187996e-02 9.99640311e-01 3.79269051e-06 2.83860792e+00] [ 5.69429059e-02 -1.53147777e-03 9.98376262e-01 -1.19842248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:2.84, Z:-1.20 [[ 9.98074076e-01 -2.45621733e-02 -5.69634873e-02 1.34799775e+02] [ 2.46009087e-02 9.99697352e-01 -2.12475715e-05 2.84423794e+00] [ 5.69467693e-02 -1.38014690e-03 9.98376262e-01 -1.20146095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:2.85, Z:-1.20 [[ 9.97975817e-01 -2.82742240e-02 -5.69634679e-02 1.34858080e+02] [ 2.83176117e-02 9.99598975e-01 -4.55317560e-05 2.85000118e+00] [ 5.69419115e-02 -1.56762977e-03 9.98376262e-01 -1.20082091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:2.85, Z:-1.21 [[ 9.97990418e-01 -2.77541387e-02 -5.69634324e-02 1.34917381e+02] [ 2.77951046e-02 9.99613639e-01 -7.31598546e-05 2.85001796e+00] [ 5.69434545e-02 -1.51029173e-03 9.98376263e-01 -1.20641701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:2.86, Z:-1.20 [[ 9.97955350e-01 -2.89877255e-02 -5.69634228e-02 1.34975293e+02] [ 2.90303083e-02 9.99578529e-01 -7.99899681e-05 2.85543788e+00] [ 5.69417331e-02 -1.57383931e-03 9.98376263e-01 -1.19849068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:2.85, Z:-1.17 [[ 9.97989903e-01 -2.77727805e-02 -5.69633792e-02 1.35034197e+02] [ 2.78120216e-02 9.99613166e-01 -1.03931278e-04 2.85499414e+00] [ 5.69442302e-02 -1.48054437e-03 9.98376263e-01 -1.16952492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.10, Y:2.86, Z:-1.19 [[ 9.98028235e-01 -2.63593452e-02 -5.69633759e-02 1.35095321e+02] [ 2.63961872e-02 9.99651554e-01 -1.05685731e-04 2.85503459e+00] [ 5.69463131e-02 -1.39813859e-03 9.98376263e-01 -1.18953891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:2.85, Z:-1.17 [[ 9.98103464e-01 -2.33377032e-02 -5.69633729e-02 1.35154308e+02] [ 2.33695374e-02 9.99726889e-01 -1.07317199e-04 2.85422952e+00] [ 5.69503201e-02 -1.22409400e-03 9.98376263e-01 -1.17161866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:135.21, Y:2.85, Z:-1.18 [[ 9.98066784e-01 -2.48570015e-02 -5.69633554e-02 1.35214302e+02] [ 2.48908170e-02 9.99690169e-01 -1.15905406e-04 2.85054603e+00] [ 5.69485874e-02 -1.30218312e-03 9.98376263e-01 -1.17787058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.27, Y:2.85, Z:-1.19 [[ 9.98162824e-01 -2.06434857e-02 -5.69633477e-02 1.35274685e+02] [ 2.06702399e-02 9.99786341e-01 -1.19550357e-04 2.85007691e+00] [ 5.69536449e-02 -1.05811534e-03 9.98376263e-01 -1.18500059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.33, Y:2.85, Z:-1.17 [[ 9.98155554e-01 -2.09920636e-02 -5.69633440e-02 1.35333175e+02] [ 2.10192857e-02 9.99779063e-01 -1.21287230e-04 2.85155987e+00] [ 5.69533048e-02 -1.07626528e-03 9.98376263e-01 -1.16863007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.39, Y:2.85, Z:-1.17 [[ 9.98242333e-01 -1.63531073e-02 -5.69633324e-02 1.35392157e+02] [ 1.63724846e-02 9.99865954e-01 -1.26537643e-04 2.85372145e+00] [ 5.69577659e-02 -8.06316049e-04 9.98376263e-01 -1.17325906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.45, Y:2.86, Z:-1.17 [[ 9.98292900e-01 -1.29024255e-02 -5.69632670e-02 1.35451334e+02] [ 1.29147853e-02 9.99916589e-01 -1.51164942e-04 2.85836858e+00] [ 5.69604661e-02 -5.84761477e-04 9.98376263e-01 -1.17010686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:135.51, Y:2.87, Z:-1.16 [[ 9.98319092e-01 -1.06857048e-02 -5.69631963e-02 1.35510146e+02] [ 1.06931397e-02 9.99942812e-01 -1.74291521e-04 2.86609067e+00] [ 5.69618011e-02 -4.35116863e-04 9.98376264e-01 -1.15831496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.57, Y:2.87, Z:-1.16 [[ 9.98326356e-01 -9.98409745e-03 -5.69631793e-02 1.35568879e+02] [ 9.99008394e-03 9.99950082e-01 -1.79676851e-04 2.87229813e+00] [ 5.69621297e-02 -3.89690806e-04 9.98376264e-01 -1.15949952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.63, Y:2.88, Z:-1.16 [[ 9.98287767e-01 -1.32943953e-02 -5.69630889e-02 1.35628172e+02] [ 1.33043315e-02 9.99911472e-01 -2.04817447e-04 2.88133368e+00] [ 5.69607690e-02 -5.53389067e-04 9.98376264e-01 -1.15932692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:135.69, Y:2.88, Z:-1.14 [[ 9.98182316e-01 -1.96794752e-02 -5.69629960e-02 1.35685897e+02] [ 1.96984722e-02 9.99805940e-01 -2.28035894e-04 2.88309948e+00] [ 5.69564294e-02 -8.94462596e-04 9.98376264e-01 -1.13841369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:2.88, Z:-1.16 [[ 9.98034079e-01 -2.61382230e-02 -5.69628869e-02 1.35745636e+02] [ 2.61663227e-02 9.99657571e-01 -2.52634285e-04 2.88250628e+00] [ 5.69499846e-02 -1.23837165e-03 9.98376265e-01 -1.15544797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:135.80, Y:2.88, Z:-1.15 [[ 9.97882718e-01 -3.13898938e-02 -5.69627655e-02 1.35804193e+02] [ 3.14251144e-02 9.99506071e-01 -2.77564690e-04 2.88000383e+00] [ 5.69433426e-02 -1.51308441e-03 9.98376265e-01 -1.15336253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:135.86, Y:2.88, Z:-1.15 [[ 9.97854430e-01 -3.22768442e-02 -5.69626396e-02 1.35863397e+02] [ 3.23121508e-02 9.99477781e-01 -3.01351295e-04 2.87679031e+00] [ 5.69426193e-02 -1.53988068e-03 9.98376265e-01 -1.15014306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:135.92, Y:2.87, Z:-1.12 [[ 9.97618469e-01 -3.88928921e-02 -5.69625685e-02 1.35920458e+02] [ 3.89382271e-02 9.99241570e-01 -3.14242010e-04 2.87321739e+00] [ 5.69315882e-02 -1.90452780e-03 9.98376265e-01 -1.12438600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters Centerline goodness : 0.997123 with order 1 Centerline is valid? [True, True] Translation: X:135.98, Y:2.87, Z:-1.13 [[ 9.97634821e-01 -3.84713581e-02 -5.69624280e-02 1.35980261e+02] [ 3.85146563e-02 9.99257978e-01 -3.37929658e-04 2.87036037e+00] [ 5.69331613e-02 -1.85675794e-03 9.98376266e-01 -1.12986245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:136.04, Y:2.87, Z:-1.12 [[ 9.97547000e-01 -4.06849721e-02 -5.69624029e-02 1.36039093e+02] [ 4.07316334e-02 9.99170064e-01 -3.42112390e-04 2.86955102e+00] [ 5.69290466e-02 -1.97889852e-03 9.98376266e-01 -1.11628996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters Centerline goodness : 0.994238 with order 1 Centerline is valid? [True, True] Translation: X:136.10, Y:2.87, Z:-1.11 [[ 9.97374167e-01 -4.47220237e-02 -5.69623765e-02 1.36097365e+02] [ 4.47750065e-02 9.98997036e-01 -3.46444442e-04 2.86966313e+00] [ 5.69207390e-02 -2.20495604e-03 9.98376266e-01 -1.11352558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters Centerline goodness : 0.997360 with order 1 Centerline is valid? [True, True] Translation: X:136.16, Y:2.86, Z:-1.13 [[ 9.94736013e-01 -8.51796355e-02 -5.69622216e-02 1.36157898e+02] [ 8.52971087e-02 9.96355492e-01 -3.70276124e-04 2.85590045e+00] [ 5.67861623e-02 -4.49038582e-03 9.98376266e-01 -1.13140942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:2.87, Z:-1.11 [[ 9.96899694e-01 -5.42799000e-02 -5.69622001e-02 1.36216386e+02] [ 5.43468901e-02 9.98522046e-01 -3.73558115e-04 2.86730300e+00] [ 5.68982893e-02 -2.72331846e-03 9.98376266e-01 -1.10936860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters Centerline goodness : 0.997614 with order 1 Centerline is valid? [True, True] Translation: X:136.27, Y:2.85, Z:-1.12 [[ 9.95053698e-01 -8.13845576e-02 -5.69621892e-02 1.36274497e+02] [ 8.14955710e-02 9.96673633e-01 -3.75219859e-04 2.84836016e+00] [ 5.68032491e-02 -4.26880222e-03 9.98376266e-01 -1.11545025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters Centerline goodness : 0.994572 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:2.86, Z:-1.10 [[ 9.96715619e-01 -5.75611791e-02 -5.69621348e-02 1.36332732e+02] [ 5.76329538e-02 9.98337766e-01 -3.83302066e-04 2.85559450e+00] [ 5.68895137e-02 -2.90085293e-03 9.98376266e-01 -1.10032803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters Centerline goodness : 0.998111 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:2.85, Z:-1.12 [[ 9.97593574e-01 -3.95271385e-02 -5.69619698e-02 1.36392312e+02] [ 3.95682473e-02 9.99216788e-01 -4.06430845e-04 2.84600707e+00] [ 5.69334215e-02 -1.84843251e-03 9.98376266e-01 -1.11783482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:136.45, Y:2.84, Z:-1.09 [[ 9.96554761e-01 -6.02822291e-02 -5.69619232e-02 1.36450120e+02] [ 6.03567480e-02 9.98176784e-01 -4.12854094e-04 2.83738001e+00] [ 5.68829571e-02 -3.02660473e-03 9.98376266e-01 -1.09387042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters Centerline goodness : 0.991676 with order 1 Centerline is valid? [True, True] Translation: X:136.51, Y:2.84, Z:-1.09 [[ 9.97745190e-01 -3.54947900e-02 -5.69618875e-02 1.36508750e+02] [ 3.55286938e-02 9.99368569e-01 -4.17720169e-04 2.84297309e+00] [ 5.69407469e-02 -1.60700317e-03 9.98376266e-01 -1.09499156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:136.57, Y:2.84, Z:-1.12 [[ 9.98190767e-01 -1.92498596e-02 -5.69617098e-02 1.36569889e+02] [ 1.92560243e-02 9.99814488e-01 -4.40696359e-04 2.83770174e+00] [ 5.69596261e-02 -6.56957034e-04 9.98376266e-01 -1.11979049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:136.63, Y:2.83, Z:-1.13 [[ 9.94021812e-01 -9.31450611e-02 -5.69616900e-02 1.36628026e+02] [ 9.32713529e-02 9.95640627e-01 -4.43242027e-04 2.82683158e+00] [ 5.67546585e-02 -4.87230165e-03 9.98376266e-01 -1.13188366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters Centerline goodness : 0.996964 with order 1 Centerline is valid? [True, True] Translation: X:136.69, Y:2.83, Z:-1.11 [[ 9.97840662e-01 -3.27014808e-02 -5.69616215e-02 1.36686597e+02] [ 3.27288915e-02 9.99464164e-01 -4.51871612e-04 2.82888428e+00] [ 5.69458763e-02 -1.41339486e-03 9.98376266e-01 -1.10791344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:136.75, Y:2.82, Z:-1.10 [[ 9.94393166e-01 -8.90932495e-02 -5.69616083e-02 1.36746835e+02] [ 8.92123571e-02 9.96012525e-01 -4.53536703e-04 2.81568771e+00] [ 5.67748823e-02 -4.63068554e-03 9.98376266e-01 -1.09630078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters Centerline goodness : 0.951047 with order 1 Centerline is valid? [True, True] Translation: X:136.81, Y:2.80, Z:-1.11 [[ 9.86654192e-01 -1.52541405e-01 -5.69616125e-02 1.36806447e+02] [ 1.52763921e-01 9.88262606e-01 -4.53006632e-04 2.79777716e+00] [ 5.63621339e-02 -8.25471837e-03 9.98376266e-01 -1.11095873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters Centerline goodness : 0.986041 with order 1 Centerline is valid? [True, True] Translation: X:136.86, Y:2.81, Z:-1.11 [[ 9.89955284e-01 -1.29398336e-01 -5.69614542e-02 1.36864386e+02] [ 1.29582049e-01 9.91568591e-01 -4.72101075e-04 2.80742555e+00] [ 5.65422780e-02 -6.91382297e-03 9.98376267e-01 -1.11084820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:136.92, Y:2.80, Z:-1.09 [[ 9.92430911e-01 -1.08794714e-01 -5.69613688e-02 1.36923781e+02] [ 1.08944282e-01 9.94047741e-01 -4.82198861e-04 2.80129989e+00] [ 5.66747806e-02 -5.72706634e-03 9.98376267e-01 -1.09190031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:136.99, Y:2.81, Z:-1.11 [[ 9.97756101e-01 -3.51875909e-02 -5.69613646e-02 1.36985508e+02] [ 3.52172886e-02 9.99379562e-01 -4.82690538e-04 2.80894990e+00] [ 5.69430083e-02 -1.52441739e-03 9.98376267e-01 -1.11329999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters Centerline goodness : 0.942014 with order 1 Centerline is valid? [True, False] Translation: X:137.01, Y:2.82, Z:-1.11 [[ 9.98260294e-01 -1.88249868e-02 -5.58749164e-02 1.37008019e+02] [ 1.81999056e-02 9.99766201e-01 -1.16750505e-02 2.81806432e+00] [ 5.60816355e-02 1.06378211e-02 9.98369514e-01 -1.11222530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters Centerline goodness : 0.955990 with order 1 Centerline is valid? [False, True] Translation: X:137.03, Y:2.82, Z:-1.11 [[ 9.98331177e-01 -9.90290095e-03 -5.68928269e-02 1.37030483e+02] [ 9.24593889e-03 9.99887642e-01 -1.17990132e-02 2.81621976e+00] [ 5.70032790e-02 1.12532952e-02 9.98310568e-01 -1.10947675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters Centerline goodness : 0.936315 with order 1 Centerline is valid? [True, False] Translation: X:137.06, Y:2.82, Z:-1.11 [[ 9.98295402e-01 -6.49899136e-03 -5.80004669e-02 1.37061039e+02] [ 5.43436690e-03 9.99814196e-01 -1.84943396e-02 2.81911536e+00] [ 5.81098848e-02 1.81476184e-02 9.98145233e-01 -1.11308289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [False, True] Translation: X:137.08, Y:2.82, Z:-1.11 [[ 9.98290511e-01 2.95476587e-03 -5.83722977e-02 1.37083811e+02] [-4.07006748e-03 9.99811255e-01 -1.89970520e-02 2.82126617e+00] [ 5.83051484e-02 1.92021560e-02 9.98114115e-01 -1.11156127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters Centerline goodness : 0.995087 with order 1 Centerline is valid? [True, True] Translation: X:137.14, Y:2.81, Z:-1.12 [[ 9.97529475e-01 4.03194027e-02 -5.75264428e-02 1.37142580e+02] [-4.02527035e-02 9.99186842e-01 2.31821144e-03 2.81239584e+00] [ 5.75731336e-02 3.11060114e-06 9.98341291e-01 -1.12368561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:137.20, Y:2.80, Z:-1.11 [[ 9.98332643e-01 4.74473499e-03 -5.75275732e-02 1.37200373e+02] [-4.62064878e-03 9.99986703e-01 2.28981311e-03 2.79842990e+00] [ 5.75376728e-02 -2.02018046e-03 9.98341292e-01 -1.11231093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:137.26, Y:2.80, Z:-1.11 [[ 9.98329569e-01 5.34219444e-03 -5.75285291e-02 1.37258825e+02] [-5.22049518e-03 9.99983807e-01 2.26554065e-03 2.79546641e+00] [ 5.75397005e-02 -1.96142881e-03 9.98341292e-01 -1.11027748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:137.32, Y:2.80, Z:-1.10 [[ 9.98335832e-01 3.99098015e-03 -5.75294648e-02 1.37317289e+02] [-3.86842421e-03 9.99990005e-01 2.24152554e-03 2.79501520e+00] [ 5.75378357e-02 -2.01524689e-03 9.98341292e-01 -1.09890452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:137.38, Y:2.79, Z:-1.10 [[ 9.98341581e-01 2.08339581e-03 -5.75304010e-02 1.37375495e+02] [-1.95907731e-03 9.99995623e-01 2.21723382e-03 2.79448837e+00] [ 5.75347686e-02 -2.10085022e-03 9.98341293e-01 -1.09740769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.43, Y:2.79, Z:-1.10 [[ 9.98342535e-01 -1.52109671e-03 -5.75314647e-02 1.37433079e+02] [ 1.64977804e-03 9.99996243e-01 2.18928197e-03 2.79011903e+00] [ 5.75279184e-02 -2.28056746e-03 9.98341293e-01 -1.09593634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:137.49, Y:2.79, Z:-1.07 [[ 9.98330438e-01 -5.13304069e-03 -5.75324970e-02 1.37491717e+02] [ 5.26612396e-03 9.99983797e-01 2.16180991e-03 2.78505179e+00] [ 5.75204681e-02 -2.46117390e-03 9.98341294e-01 -1.06833981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:137.55, Y:2.78, Z:-1.07 [[ 9.98320956e-01 -6.72874412e-03 -5.75325353e-02 1.37551206e+02] [ 6.86441121e-03 9.99974105e-01 2.16078918e-03 2.77704005e+00] [ 5.75165061e-02 -2.55208810e-03 9.98341294e-01 -1.06585315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:137.61, Y:2.77, Z:-1.09 [[ 9.98343301e-01 -8.09986825e-04 -5.75325736e-02 1.37613374e+02] [ 9.35791990e-04 9.99997230e-01 2.15976924e-03 2.77290503e+00] [ 5.75306649e-02 -2.21002968e-03 9.98341294e-01 -1.09075991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:137.67, Y:2.77, Z:-1.06 [[ 9.98336349e-01 -3.81280889e-03 -5.75325718e-02 1.37670233e+02] [ 3.94359103e-03 9.99989892e-01 2.15981857e-03 2.76833187e+00] [ 5.75237552e-02 -2.38311032e-03 9.98341294e-01 -1.06483161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:137.73, Y:2.77, Z:-1.06 [[ 9.98340337e-01 2.54391438e-03 -5.75334711e-02 1.37729477e+02] [-2.42505795e-03 9.99994779e-01 2.13559050e-03 2.76512931e+00] [ 5.75386035e-02 -1.99252414e-03 9.98341294e-01 -1.05574755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:137.79, Y:2.76, Z:-1.04 [[ 9.98341941e-01 1.80381846e-03 -5.75336026e-02 1.37789454e+02] [-1.68393981e-03 9.99996309e-01 2.13204220e-03 2.76419512e+00] [ 5.75372361e-02 -2.03162402e-03 9.98341294e-01 -1.04433384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:137.85, Y:2.77, Z:-1.04 [[ 9.98342678e-01 1.33223245e-03 -5.75336598e-02 1.37847811e+02] [-1.21166123e-03 9.99996996e-01 2.13049772e-03 2.76666475e+00] [ 5.75363253e-02 -2.05725549e-03 9.98341294e-01 -1.03955249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:137.91, Y:2.77, Z:-1.04 [[ 9.98336948e-01 3.62120856e-03 -5.75345505e-02 1.37908444e+02] [-3.50583129e-03 9.99991637e-01 2.10616679e-03 2.76770607e+00] [ 5.75416962e-02 -1.90095770e-03 9.98341294e-01 -1.04341158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.97, Y:2.77, Z:-1.07 [[ 9.98342869e-01 1.13591796e-03 -5.75345665e-02 1.37969425e+02] [-1.01644693e-03 9.99997266e-01 2.10573083e-03 2.77031534e+00] [ 5.75368011e-02 -2.04376052e-03 9.98341294e-01 -1.06907775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters Centerline goodness : 0.998400 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:2.76, Z:-1.04 [[ 9.98336761e-01 -3.66930460e-03 -5.75347527e-02 1.38027112e+02] [ 3.79644362e-03 9.99990587e-01 2.10062889e-03 2.76456737e+00] [ 5.75265033e-02 -2.31556248e-03 9.98341294e-01 -1.03592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:2.76, Z:-1.03 [[ 9.98317533e-01 -7.20001820e-03 -5.75348776e-02 1.38087355e+02] [ 7.33280836e-03 9.99970915e-01 2.09720377e-03 2.76050079e+00] [ 5.75181043e-02 -2.51556753e-03 9.98341294e-01 -1.02838137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:138.15, Y:2.75, Z:-1.04 [[ 9.98252885e-01 -1.34501593e-02 -5.75349505e-02 1.38147752e+02] [ 1.35931832e-02 9.99905413e-01 2.09520147e-03 2.75115311e+00] [ 5.75013277e-02 -2.87362404e-03 9.98341294e-01 -1.03814333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:138.21, Y:2.74, Z:-1.03 [[ 9.98124411e-01 -2.09136958e-02 -5.75350050e-02 1.38205675e+02] [ 2.10689856e-02 9.99775832e-01 2.09370283e-03 2.73750676e+00] [ 5.74783205e-02 -3.30198010e-03 9.98341294e-01 -1.03249618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:138.26, Y:2.72, Z:-1.03 [[ 9.97912747e-01 -2.93219218e-02 -5.75358503e-02 1.38263443e+02] [ 2.94897703e-02 9.99562938e-01 2.07021049e-03 2.72147966e+00] [ 5.74500011e-02 -3.76260845e-03 9.98341294e-01 -1.02904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:138.32, Y:2.71, Z:-1.03 [[ 9.97867723e-01 -3.08146004e-02 -5.75366713e-02 1.38322451e+02] [ 3.09835926e-02 9.99517797e-01 2.04713692e-03 2.70863826e+00] [ 5.74458452e-02 -3.82546463e-03 9.98341295e-01 -1.03219210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:2.69, Z:-1.03 [[ 9.97915199e-01 -2.92351770e-02 -5.75374644e-02 1.38380813e+02] [ 2.94002631e-02 9.99565668e-01 2.02459658e-03 2.69231360e+00] [ 5.74532847e-02 -3.71199229e-03 9.98341295e-01 -1.03120614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.44, Y:2.68, Z:-1.04 [[ 9.98072844e-01 -2.32367721e-02 -5.75382513e-02 1.38439868e+02] [ 2.33906360e-02 9.99724397e-01 2.00198336e-03 2.68447656e+00] [ 5.74758739e-02 -3.34398152e-03 9.98341295e-01 -1.03815622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:2.67, Z:-1.03 [[ 9.98131017e-01 -2.05849056e-02 -5.75389748e-02 1.38497205e+02] [ 2.07331731e-02 9.99783082e-01 1.98096737e-03 2.67432327e+00] [ 5.74857156e-02 -3.17023050e-03 9.98341295e-01 -1.03436870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:2.66, Z:-1.03 [[ 9.98117904e-01 -2.12087642e-02 -5.75398808e-02 1.38555259e+02] [ 2.13565312e-02 9.99770013e-01 1.95429224e-03 2.66183462e+00] [ 5.74851993e-02 -3.17946633e-03 9.98341296e-01 -1.02756023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.61, Y:2.65, Z:-1.02 [[ 9.98134428e-01 -2.04140935e-02 -5.75406649e-02 1.38612840e+02] [ 2.05592022e-02 9.99786773e-01 1.93092767e-03 2.65349688e+00] [ 5.74889775e-02 -3.11031555e-03 9.98341296e-01 -1.02453483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:138.67, Y:2.64, Z:-1.00 [[ 9.98136540e-01 -2.03080325e-02 -5.75415535e-02 1.38671190e+02] [ 2.04514219e-02 9.99789035e-01 1.90407373e-03 2.63864031e+00] [ 5.74907463e-02 -3.07733215e-03 9.98341296e-01 -9.99838931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:138.73, Y:2.63, Z:-1.00 [[ 9.98107231e-01 -2.17007120e-02 -5.75415862e-02 1.38729759e+02] [ 2.18463503e-02 9.99759529e-01 1.90308591e-03 2.62855336e+00] [ 5.74864508e-02 -3.15655745e-03 9.98341296e-01 -9.95048384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:138.79, Y:2.62, Z:-1.02 [[ 9.98129441e-01 -2.06517611e-02 -5.75423596e-02 1.38791477e+02] [ 2.07943016e-02 9.99782009e-01 1.87940635e-03 2.61909851e+00] [ 5.74910028e-02 -3.07244399e-03 9.98341297e-01 -1.01694737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.85, Y:2.61, Z:-1.01 [[ 9.98251901e-01 -1.34914704e-02 -5.75423596e-02 1.38850507e+02] [ 1.36221531e-02 9.99905448e-01 1.87940635e-03 2.60981148e+00] [ 5.75115629e-02 -2.65997179e-03 9.98341297e-01 -1.01459668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:2.61, Z:-1.01 [[ 9.98326683e-01 -5.71214296e-03 -5.75430680e-02 1.38909391e+02] [ 5.82867340e-03 9.99981288e-01 1.85746291e-03 2.60554457e+00] [ 5.75313811e-02 -2.18975454e-03 9.98341297e-01 -1.01181437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:2.61, Z:-1.01 [[ 9.98342945e-01 2.67420171e-04 -5.75438311e-02 1.38967608e+02] [-1.62181024e-04 9.99998306e-01 1.83351429e-03 2.60573641e+00] [ 5.75442239e-02 -1.82114354e-03 9.98341297e-01 -1.00829769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:2.61, Z:-1.00 [[ 9.98319386e-01 6.85635093e-03 -5.75447129e-02 1.39026123e+02] [-6.76365832e-03 9.99975496e-01 1.80540833e-03 2.60537497e+00] [ 5.75556813e-02 -1.41316136e-03 9.98341298e-01 -1.00413476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.09, Y:2.61, Z:-1.00 [[ 9.98267135e-01 1.22980966e-02 -5.75454899e-02 1.39085720e+02] [-1.22158802e-02 9.99923799e-01 1.78029180e-03 2.61107462e+00] [ 5.75629991e-02 -1.07423798e-03 9.98341298e-01 -1.00335617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:139.15, Y:2.61, Z:-1.00 [[ 9.98234476e-01 1.47105155e-02 -5.75459140e-02 1.39145026e+02] [-1.46330990e-02 9.99891370e-01 1.76647681e-03 2.61136890e+00] [ 5.75656486e-02 -9.21282993e-04 9.98341298e-01 -1.00073945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:2.62, Z:-1.00 [[ 9.98159726e-01 1.91192663e-02 -5.75466333e-02 1.39202823e+02] [-1.90505377e-02 9.99817003e-01 1.74272523e-03 2.61584088e+00] [ 5.75694221e-02 -6.43223831e-04 9.98341298e-01 -9.96328660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:2.62, Z:-0.99 [[ 9.98080859e-01 2.28666375e-02 -5.75475131e-02 1.39261922e+02] [-2.28058354e-02 9.99738445e-01 1.71317298e-03 2.61956122e+00] [ 5.75716358e-02 -3.97466046e-04 9.98341299e-01 -9.94512657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.32, Y:2.62, Z:-0.99 [[ 9.98032365e-01 2.48916344e-02 -5.75482780e-02 1.39320455e+02] [-2.48356999e-02 9.99690123e-01 1.68708314e-03 2.62354530e+00] [ 5.75724393e-02 -2.54511818e-04 9.98341299e-01 -9.89785513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:2.63, Z:-0.98 [[ 9.98033434e-01 2.48469944e-02 -5.75490316e-02 1.39380694e+02] [-2.47924914e-02 9.99691239e-01 1.66097164e-03 2.62836740e+00] [ 5.75725329e-02 -2.30921358e-04 9.98341299e-01 -9.79281716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:2.63, Z:-0.97 [[ 9.98115295e-01 2.13065134e-02 -5.75490316e-02 1.39439146e+02] [-2.12461300e-02 9.99772896e-01 1.66097164e-03 2.63020930e+00] [ 5.75713515e-02 -4.35146993e-04 9.98341299e-01 -9.73071102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:2.63, Z:-0.97 [[ 9.98251015e-01 1.35252739e-02 -5.75497804e-02 1.39497701e+02] [-1.34534903e-02 9.99908162e-01 1.63460992e-03 2.62625088e+00] [ 5.75666037e-02 -8.57505598e-04 9.98341300e-01 -9.66857976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:139.56, Y:2.62, Z:-0.97 [[ 9.98291829e-01 1.00678642e-02 -5.75505186e-02 1.39556425e+02] [-9.99186405e-03 9.99948787e-01 1.60819283e-03 2.62320877e+00] [ 5.75637623e-02 -1.03040880e-03 9.98341300e-01 -9.71004125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:2.62, Z:-0.97 [[ 9.98296654e-01 9.57318444e-03 -5.75512350e-02 1.39615291e+02] [-9.49786503e-03 9.99953643e-01 1.58213409e-03 2.61843824e+00] [ 5.75637132e-02 -1.03282530e-03 9.98341300e-01 -9.74945240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.67, Y:2.62, Z:-0.97 [[ 9.98273398e-01 1.17496465e-02 -5.75514377e-02 1.39673710e+02] [-1.16783668e-02 9.99930566e-01 1.57472637e-03 2.61822250e+00] [ 5.75659441e-02 -8.99900642e-04 9.98341300e-01 -9.68595522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:2.61, Z:-0.96 [[ 9.98245444e-01 1.39206771e-02 -5.75521300e-02 1.39732030e+02] [-1.38544842e-02 9.99902822e-01 1.54900545e-03 2.61323362e+00] [ 5.75681004e-02 -7.48932555e-04 9.98341301e-01 -9.64830710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:2.61, Z:-0.97 [[ 9.98208386e-01 1.63612893e-02 -5.75528210e-02 1.39792237e+02] [-1.63006542e-02 9.99865976e-01 1.52289222e-03 2.61480450e+00] [ 5.75700240e-02 -5.82015153e-04 9.98341301e-01 -9.69004559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:2.61, Z:-0.97 [[ 9.98215929e-01 1.58940541e-02 -5.75529193e-02 1.39851300e+02] [-1.58328577e-02 9.99873498e-01 1.51916960e-03 2.61233507e+00] [ 5.75697845e-02 -6.05232112e-04 9.98341301e-01 -9.65226003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:2.61, Z:-0.94 [[ 9.98187225e-01 1.76024924e-02 -5.75536011e-02 1.39907792e+02] [-1.75456486e-02 9.99844949e-01 1.49288257e-03 2.61069698e+00] [ 5.75709558e-02 -4.80361051e-04 9.98341302e-01 -9.37156751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.97, Y:2.61, Z:-0.96 [[ 9.98169889e-01 1.85571752e-02 -5.75543617e-02 1.39967541e+02] [-1.85036422e-02 9.99827723e-01 1.46296057e-03 2.61125042e+00] [ 5.75715948e-02 -3.95317866e-04 9.98341302e-01 -9.57982327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:2.62, Z:-0.93 [[ 9.98104299e-01 2.17997110e-02 -5.75550327e-02 1.40026038e+02] [-2.17531145e-02 9.99762342e-01 1.43607069e-03 2.61565766e+00] [ 5.75726602e-02 -1.81347112e-04 9.98341302e-01 -9.27888491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:140.09, Y:2.62, Z:-0.93 [[ 9.98091794e-01 2.23647773e-02 -5.75550801e-02 1.40085944e+02] [-2.23192291e-02 9.99749866e-01 1.43416799e-03 2.61602574e+00] [ 5.75727585e-02 -1.46846278e-04 9.98341302e-01 -9.25338134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:140.15, Y:2.63, Z:-0.95 [[ 9.96951349e-01 5.26822112e-02 -5.75551281e-02 1.40146985e+02] [-5.26871771e-02 9.98610039e-01 1.43223855e-03 2.62545064e+00] [ 5.75505822e-02 1.60454508e-03 9.98341302e-01 -9.52630936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:140.21, Y:2.63, Z:-0.93 [[ 9.96268948e-01 6.43085311e-02 -5.75551563e-02 1.40206293e+02] [-6.43329114e-02 9.97927467e-01 1.43110742e-03 2.63122503e+00] [ 5.75279037e-02 2.27692288e-03 9.98341302e-01 -9.30905108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.27, Y:2.63, Z:-0.94 [[ 9.97950584e-01 2.79646508e-02 -5.75552867e-02 1.40266586e+02] [-2.79288869e-02 9.99608896e-01 1.42584074e-03 2.63157232e+00] [ 5.75726497e-02 1.84536497e-04 9.98341302e-01 -9.38697230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.33, Y:2.63, Z:-0.93 [[ 9.97936368e-01 2.84673215e-02 -5.75553347e-02 1.40325478e+02] [-2.84325047e-02 9.99594700e-01 1.42390291e-03 2.63436806e+00] [ 5.75725422e-02 2.15477820e-04 9.98341302e-01 -9.34445848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.38, Y:2.64, Z:-0.93 [[ 9.97997890e-01 2.62206261e-02 -5.75559762e-02 1.40384523e+02] [-2.61835997e-02 9.99656174e-01 1.39748332e-03 2.64219579e+00] [ 5.75728298e-02 1.12337238e-04 9.98341303e-01 -9.31213818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.44, Y:2.65, Z:-0.93 [[ 9.98038450e-01 2.46270061e-02 -5.75566017e-02 1.40442057e+02] [-2.45888460e-02 9.99696708e-01 1.37122785e-03 2.64625889e+00] [ 5.75729145e-02 4.67122963e-05 9.98341303e-01 -9.28836821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.50, Y:2.65, Z:-0.93 [[ 9.98152103e-01 1.94817216e-02 -5.75572980e-02 1.40499875e+02] [-1.94367363e-02 9.99810189e-01 1.34135129e-03 2.65303608e+00] [ 5.75725048e-02 -2.20146584e-04 9.98341303e-01 -9.26444730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:2.65, Z:-0.92 [[ 9.98267413e-01 1.22167909e-02 -5.75579824e-02 1.40558393e+02] [-1.21614712e-02 9.99925187e-01 1.31131213e-03 2.65447111e+00] [ 5.75696963e-02 -6.09050422e-04 9.98341304e-01 -9.22952686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:2.66, Z:-0.92 [[ 9.98315736e-01 7.25978787e-03 -5.75585574e-02 1.40616747e+02] [-7.19772126e-03 9.99973270e-01 1.28556761e-03 2.65570009e+00] [ 5.75663518e-02 -8.69111920e-04 9.98341304e-01 -9.20199113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:140.67, Y:2.66, Z:-0.92 [[ 9.98341589e-01 1.00500030e-03 -5.75591954e-02 1.40674578e+02] [-9.34234445e-04 9.99998774e-01 1.25634093e-03 2.65723737e+00] [ 5.75603874e-02 -1.20048362e-03 9.98341305e-01 -9.17328302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.73, Y:2.66, Z:-0.91 [[ 9.98337837e-01 -2.90375380e-03 -5.75598060e-02 1.40732455e+02] [ 2.97935778e-03 9.99994808e-01 1.22771226e-03 2.65942521e+00] [ 5.75559422e-02 -1.39716286e-03 9.98341305e-01 -9.13156116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:140.79, Y:2.66, Z:-0.91 [[ 9.98301360e-01 -9.01084658e-03 -5.75603965e-02 1.40790786e+02] [ 9.09495305e-03 9.99957921e-01 1.19937660e-03 2.66028422e+00] [ 5.75471670e-02 -1.72084839e-03 9.98341305e-01 -9.11315534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:2.66, Z:-0.91 [[ 9.98159251e-01 -1.91009234e-02 -5.75609664e-02 1.40849021e+02] [ 1.92001571e-02 9.99814974e-01 1.17136927e-03 2.65968620e+00] [ 5.75279419e-02 -2.27439267e-03 9.98341306e-01 -9.06265734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:2.65, Z:-0.90 [[ 9.97854179e-01 -3.12044367e-02 -5.75614517e-02 1.40906331e+02] [ 3.13223414e-02 9.99508677e-01 1.14701769e-03 2.65052694e+00] [ 5.74973784e-02 -2.94751584e-03 9.98341306e-01 -9.03830012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:2.65, Z:-0.90 [[ 9.97627283e-01 -3.77679997e-02 -5.75619816e-02 1.40964164e+02] [ 3.78952192e-02 9.99281091e-01 1.11977955e-03 2.64608258e+00] [ 5.74783079e-02 -3.29844654e-03 9.98341307e-01 -8.99710489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:2.64, Z:-0.90 [[ 9.97591897e-01 -3.86906607e-02 -5.75624842e-02 1.41021547e+02] [ 3.88178880e-02 9.99245704e-01 1.09331717e-03 2.64026636e+00] [ 5.74767639e-02 -3.32513842e-03 9.98341307e-01 -8.96843467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:2.63, Z:-0.89 [[ 9.97618362e-01 -3.80014163e-02 -5.75629740e-02 1.41078904e+02] [ 3.81259811e-02 9.99272371e-01 1.06689129e-03 2.63199709e+00] [ 5.74805462e-02 -3.25899520e-03 9.98341307e-01 -8.93896004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:2.62, Z:-0.89 [[ 9.97679018e-01 -3.63734369e-02 -5.75634513e-02 1.41136157e+02] [ 3.64937835e-02 9.99333338e-01 1.04048632e-03 2.62314702e+00] [ 5.74872299e-02 -3.13877950e-03 9.98341308e-01 -8.90183074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.19, Y:2.61, Z:-0.87 [[ 9.97597479e-01 -3.85443305e-02 -5.75639171e-02 1.41194435e+02] [ 3.86667561e-02 9.99251647e-01 1.01404942e-03 2.61418586e+00] [ 5.74817531e-02 -3.23742309e-03 9.98341308e-01 -8.65177844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:2.61, Z:-0.86 [[ 9.97720145e-01 -3.52264653e-02 -5.75639463e-02 1.41252467e+02] [ 3.53432934e-02 9.99374718e-01 1.01238697e-03 2.60643856e+00] [ 5.74922898e-02 -3.04457832e-03 9.98341308e-01 -8.58699954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:2.60, Z:-0.87 [[ 9.97908919e-01 -2.93961739e-02 -5.75643507e-02 1.41313312e+02] [ 2.95019774e-02 9.99564233e-01 9.88847954e-04 2.60183669e+00] [ 5.75101977e-02 -2.68504237e-03 9.98341308e-01 -8.68074167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.37, Y:2.60, Z:-0.88 [[ 9.98242219e-01 -1.41001891e-02 -5.75643652e-02 1.41372613e+02] [ 1.41805645e-02 9.99898963e-01 9.88001244e-04 2.60166171e+00] [ 5.75446181e-02 -1.80255975e-03 9.98341308e-01 -8.76085764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.43, Y:2.60, Z:-0.87 [[ 9.98321399e-01 -6.38078510e-03 -5.75644814e-02 1.41430224e+02] [ 6.44795448e-03 9.99978730e-01 9.81187486e-04 2.60353073e+00] [ 5.75569962e-02 -1.35071362e-03 9.98341308e-01 -8.72346351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:141.49, Y:2.60, Z:-0.85 [[ 9.98340696e-01 1.46001362e-03 -5.75649476e-02 1.41489277e+02] [-1.40748620e-03 9.99998555e-01 9.53023685e-04 2.60388944e+00] [ 5.75662559e-02 -8.70420459e-04 9.98341309e-01 -8.45062380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:141.55, Y:2.62, Z:-0.86 [[ 9.98285568e-01 1.05924103e-02 -5.75649755e-02 1.41551135e+02] [-1.05551477e-02 9.99943840e-01 9.51338922e-04 2.61751068e+00] [ 5.75718196e-02 -3.42101099e-04 9.98341309e-01 -8.64227472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:2.62, Z:-0.86 [[ 9.98201741e-01 1.67198761e-02 -5.75650061e-02 1.41609774e+02] [-1.66929001e-02 9.99860213e-01 9.49481844e-04 2.62466777e+00] [ 5.75728345e-02 1.31524661e-05 9.98341309e-01 -8.61614993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.67, Y:2.64, Z:-0.86 [[ 9.98136773e-01 2.02287817e-02 -5.75654228e-02 1.41667309e+02] [-2.02091337e-02 9.99795348e-01 9.23512517e-04 2.63666618e+00] [ 5.75723234e-02 2.41555521e-04 9.98341309e-01 -8.57676633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.73, Y:2.65, Z:-0.85 [[ 9.98182335e-01 1.78380071e-02 -5.75658867e-02 1.41726512e+02] [-1.78161097e-02 9.99840881e-01 8.93631499e-04 2.64534040e+00] [ 5.75726674e-02 1.33592977e-04 9.98341309e-01 -8.53458029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:2.65, Z:-0.85 [[ 9.98294368e-01 9.71993904e-03 -5.75662860e-02 1.41785545e+02] [-9.68608348e-03 9.99952713e-01 8.67118949e-04 2.65253036e+00] [ 5.75719922e-02 -3.08048111e-04 9.98341310e-01 -8.50750072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:141.84, Y:2.66, Z:-0.85 [[ 9.98333463e-01 4.04646137e-03 -5.75666730e-02 1.41844408e+02] [-4.00470995e-03 9.99991628e-01 8.40617214e-04 2.65506378e+00] [ 5.75695926e-02 -6.08678467e-04 9.98341310e-01 -8.47618256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.90, Y:2.66, Z:-0.84 [[ 9.98337207e-01 -2.97602719e-03 -5.75670404e-02 1.41903453e+02] [ 3.02794484e-03 9.99995084e-01 8.14657705e-04 2.65786355e+00] [ 5.75643330e-02 -9.87612921e-04 9.98341310e-01 -8.44268055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:141.96, Y:2.66, Z:-0.84 [[ 9.98326942e-01 -5.41408094e-03 -5.75673889e-02 1.41962371e+02] [ 5.46858200e-03 9.99984736e-01 7.89239407e-04 2.66006460e+00] [ 5.75622372e-02 -1.10273095e-03 9.98341311e-01 -8.42504435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:142.02, Y:2.66, Z:-0.84 [[ 9.98311550e-01 -7.74634800e-03 -5.75677205e-02 1.42020700e+02] [ 7.80328213e-03 9.99969262e-01 7.64261427e-04 2.66054530e+00] [ 5.75600308e-02 -1.21218818e-03 9.98341311e-01 -8.40118623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.08, Y:2.66, Z:-0.84 [[ 9.98252734e-01 -1.33191744e-02 -5.75680393e-02 1.42079666e+02] [ 1.33839317e-02 9.99910158e-01 7.39449564e-04 2.65909373e+00] [ 5.75530184e-02 -1.50864425e-03 9.98341311e-01 -8.37329415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:2.65, Z:-0.83 [[ 9.98182072e-01 -1.78448215e-02 -5.75683444e-02 1.42137054e+02] [ 1.79156766e-02 9.99839246e-01 7.14877897e-04 2.65462714e+00] [ 5.75463332e-02 -1.74495414e-03 9.98341312e-01 -8.34566581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:2.65, Z:-0.83 [[ 9.98186478e-01 -1.75955248e-02 -5.75686788e-02 1.42195214e+02] [ 1.76643513e-02 9.99843737e-01 6.86854933e-04 2.65332800e+00] [ 5.75475974e-02 -1.70252267e-03 9.98341312e-01 -8.31002656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:142.25, Y:2.65, Z:-0.83 [[ 9.98200882e-01 -1.67573704e-02 -5.75689970e-02 1.42253423e+02] [ 1.68232036e-02 9.99858263e-01 6.59060678e-04 2.65226201e+00] [ 5.75497932e-02 -1.62636991e-03 9.98341312e-01 -8.27007065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:2.65, Z:-0.82 [[ 9.98268007e-01 -1.21145320e-02 -5.75693010e-02 1.42312342e+02] [ 1.21710581e-02 9.99925731e-01 6.31337185e-04 2.64823051e+00] [ 5.75573771e-02 -1.33092302e-03 9.98341313e-01 -8.24360460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:2.65, Z:-0.82 [[ 9.98305940e-01 -8.42587843e-03 -5.75695608e-02 1.42370559e+02] [ 8.47485800e-03 9.99963904e-01 6.06688726e-04 2.64780221e+00] [ 5.75623709e-02 -1.09355481e-03 9.98341313e-01 -8.22758254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:2.64, Z:-0.82 [[ 9.98282499e-01 -1.08519888e-02 -5.75698454e-02 1.42428868e+02] [ 1.09033645e-02 9.99940389e-01 5.78360565e-04 2.64385115e+00] [ 5.75601373e-02 -1.20507224e-03 9.98341314e-01 -8.16433524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:142.49, Y:2.64, Z:-0.81 [[ 9.98246731e-01 -1.37531518e-02 -5.75700856e-02 1.42487922e+02] [ 1.38079052e-02 9.99904513e-01 5.53371792e-04 2.63987684e+00] [ 5.75569779e-02 -1.34732387e-03 9.98341314e-01 -8.13749473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:142.55, Y:2.63, Z:-0.81 [[ 9.98149412e-01 -1.95808435e-02 -5.75703153e-02 1.42546656e+02] [ 1.96438326e-02 9.99806902e-01 5.28353568e-04 2.62950220e+00] [ 5.75488529e-02 -1.65827744e-03 9.98341314e-01 -8.11351532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:142.60, Y:2.62, Z:-0.81 [[ 9.98098828e-01 -2.20082489e-02 -5.75705301e-02 1.42604328e+02] [ 2.20738544e-02 9.99756216e-01 5.03809727e-04 2.61947407e+00] [ 5.75454073e-02 -1.77365540e-03 9.98341315e-01 -8.06326653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:142.66, Y:2.61, Z:-0.80 [[ 9.98043546e-01 -2.43862151e-02 -5.75707624e-02 1.42662289e+02] [ 2.44541490e-02 9.99700839e-01 4.75691045e-04 2.60877762e+00] [ 5.75419392e-02 -1.88260438e-03 9.98341315e-01 -8.01817142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:142.72, Y:2.60, Z:-0.80 [[ 9.98109246e-01 -2.15294112e-02 -5.75709789e-02 1.42720722e+02] [ 2.15909980e-02 9.99766787e-01 4.47872419e-04 2.59765683e+00] [ 5.75479101e-02 -1.69004049e-03 9.98341315e-01 -7.98940212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:142.78, Y:2.59, Z:-0.80 [[ 9.98150181e-01 -1.95391454e-02 -5.75711597e-02 1.42778612e+02] [ 1.95960095e-02 9.99807890e-01 4.23280637e-04 2.59284762e+00] [ 5.75518292e-02 -1.55066264e-03 9.98341316e-01 -7.95077654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:142.84, Y:2.58, Z:-0.79 [[ 9.98158168e-01 -1.91261997e-02 -5.75713554e-02 1.42836166e+02] [ 1.91807329e-02 9.99815955e-01 3.94738643e-04 2.57987298e+00] [ 5.75532098e-02 -1.49827239e-03 9.98341316e-01 -7.91253535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:2.57, Z:-0.79 [[ 9.98187142e-01 -1.75484503e-02 -5.75715347e-02 1.42893862e+02] [ 1.75987402e-02 9.99845063e-01 3.66583626e-04 2.57359957e+00] [ 5.75561818e-02 -1.37910555e-03 9.98341316e-01 -7.88984802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:142.95, Y:2.57, Z:-0.79 [[ 9.98282857e-01 -1.08090549e-02 -5.75717024e-02 1.42951994e+02] [ 1.08465043e-02 9.99941118e-01 3.38029122e-04 2.56703117e+00] [ 5.75646587e-02 -9.61900397e-04 9.98341317e-01 -7.85594017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:2.57, Z:-0.78 [[ 9.98340920e-01 9.42651795e-04 -5.75718575e-02 1.43010917e+02] [-9.26389487e-04 9.99999523e-01 3.09158200e-04 2.56518503e+00] [ 5.75721214e-02 -2.55311318e-04 9.98341317e-01 -7.82231782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:2.56, Z:-0.78 [[ 9.98318191e-01 6.80117909e-03 -5.75719841e-02 1.43068203e+02] [-6.79613342e-03 9.99976866e-01 2.83438760e-04 2.56361187e+00] [ 5.75725799e-02 1.08304815e-04 9.98341318e-01 -7.78013570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters Centerline goodness : 0.997611 with order 1 Centerline is valid? [True, True] Translation: X:143.13, Y:2.57, Z:-0.75 [[ 9.98172249e-01 1.83742558e-02 -5.75721158e-02 1.43126864e+02] [-1.83901636e-02 9.99830854e-01 2.53540986e-04 2.56842913e+00] [ 5.75670364e-02 8.05683051e-04 9.98341318e-01 -7.49812431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:143.19, Y:2.57, Z:-0.77 [[ 9.98142901e-01 1.99047782e-02 -5.75721158e-02 1.43188013e+02] [-1.99232292e-02 9.99801481e-01 2.53540986e-04 2.57337131e+00] [ 5.75657333e-02 8.93952323e-04 9.98341318e-01 -7.70814578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:2.58, Z:-0.77 [[ 9.98076596e-01 2.29904009e-02 -5.75721325e-02 1.43246195e+02] [-2.30142020e-02 9.99735107e-01 2.49677829e-04 2.57743128e+00] [ 5.75626223e-02 1.07577909e-03 9.98341318e-01 -7.67080342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:2.59, Z:-0.73 [[ 9.98077237e-01 2.29624156e-02 -5.75721903e-02 1.43304525e+02] [-2.29869836e-02 9.99735737e-01 2.35570894e-04 2.58519298e+00] [ 5.75623853e-02 1.08829305e-03 9.98341318e-01 -7.34115380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:143.37, Y:2.59, Z:-0.76 [[ 9.98153132e-01 1.93846940e-02 -5.75722020e-02 1.43366141e+02] [-1.94034847e-02 9.99811708e-01 2.32664975e-04 2.58910083e+00] [ 5.75658717e-02 8.84866065e-04 9.98341318e-01 -7.59554959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:143.43, Y:2.59, Z:-0.76 [[ 9.98201816e-01 1.66906039e-02 -5.75722047e-02 1.43425084e+02] [-1.67049564e-02 9.99860436e-01 2.31998301e-04 2.58996474e+00] [ 5.75680419e-02 7.30160045e-04 9.98341318e-01 -7.55711667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:2.59, Z:-0.75 [[ 9.98308710e-01 8.07152812e-03 -5.75722993e-02 1.43483603e+02] [-8.07308682e-03 9.99967391e-01 2.05515936e-04 2.59231091e+00] [ 5.75720807e-02 2.59617822e-04 9.98341318e-01 -7.49900831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:2.59, Z:-0.73 [[ 9.98340142e-01 -1.54330149e-03 -5.75723829e-02 1.43540466e+02] [ 1.55616146e-03 9.99998773e-01 1.78537933e-04 2.59411590e+00] [ 5.75720368e-02 -2.67833509e-04 9.98341319e-01 -7.27465404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:2.59, Z:-0.72 [[ 9.98291647e-01 -9.95986052e-03 -5.75724612e-02 1.43598877e+02] [ 9.98495135e-03 9.99950138e-01 1.48154721e-04 2.59386333e+00] [ 5.75681149e-02 -7.22759845e-04 9.98341319e-01 -7.19391693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:2.59, Z:-0.74 [[ 9.98227458e-01 -1.50782035e-02 -5.75724791e-02 1.43660156e+02] [ 1.51113741e-02 9.99885807e-01 1.40811095e-04 2.59431234e+00] [ 5.75637815e-02 -1.01056077e-03 9.98341319e-01 -7.41570302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:143.72, Y:2.59, Z:-0.72 [[ 9.98139222e-01 -2.00873847e-02 -5.75724877e-02 1.43718494e+02] [ 2.01286680e-02 9.99797388e-01 1.37188913e-04 2.59488819e+00] [ 5.75580671e-02 -1.29579113e-03 9.98341319e-01 -7.18422753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:143.78, Y:2.59, Z:-0.72 [[ 9.98086110e-01 -2.25726730e-02 -5.75724960e-02 1.43777347e+02] [ 2.26178804e-02 9.99744174e-01 1.33638152e-04 2.59318794e+00] [ 5.75547509e-02 -1.43555021e-03 9.98341319e-01 -7.21848066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:143.84, Y:2.59, Z:-0.71 [[ 9.97993873e-01 -2.63369084e-02 -5.75725426e-02 1.43835748e+02] [ 2.63869509e-02 9.99651798e-01 1.09036312e-04 2.58978932e+00] [ 5.75496240e-02 -1.62798143e-03 9.98341320e-01 -7.10070097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:143.89, Y:2.59, Z:-0.71 [[ 9.97960804e-01 -2.75614573e-02 -5.75725552e-02 1.43894277e+02] [ 2.76131228e-02 9.99618680e-01 1.01900688e-04 2.58715447e+00] [ 5.75477931e-02 -1.69145093e-03 9.98341320e-01 -7.10869332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:143.95, Y:2.57, Z:-0.72 [[ 9.96601799e-01 -5.89088599e-02 -5.75725695e-02 1.43953497e+02] [ 5.90120925e-02 9.98257264e-01 9.31031851e-05 2.57425172e+00] [ 5.74667510e-02 -3.49026459e-03 9.98341320e-01 -7.16025751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:144.01, Y:2.58, Z:-0.71 [[ 9.98023342e-01 -2.51953861e-02 -5.75725763e-02 1.44013849e+02] [ 2.52423570e-02 9.99681357e-01 8.86480724e-05 2.58136180e+00] [ 5.75519977e-02 -1.54174037e-03 9.98341320e-01 -7.13885975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:2.58, Z:-0.70 [[ 9.97949780e-01 -2.79577198e-02 -5.75725779e-02 1.44071937e+02] [ 2.80092191e-02 9.99607661e-01 8.75951545e-05 2.57884868e+00] [ 5.75475410e-02 -1.69997851e-03 9.98341320e-01 -6.98684155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:2.57, Z:-0.69 [[ 9.97811839e-01 -3.25104322e-02 -5.75726050e-02 1.44129886e+02] [ 3.25680652e-02 9.99469518e-01 6.27909543e-05 2.57288962e+00] [ 5.75400224e-02 -1.93768191e-03 9.98341320e-01 -6.90109955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:144.19, Y:2.57, Z:-0.70 [[ 9.97789706e-01 -3.31827522e-02 -5.75726213e-02 1.44188819e+02] [ 3.32400875e-02 9.99447395e-01 3.82462216e-05 2.57048779e+00] [ 5.75395373e-02 -1.95188066e-03 9.98341320e-01 -6.96875846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:2.57, Z:-0.70 [[ 9.97856189e-01 -3.11194231e-02 -5.75726258e-02 1.44246698e+02] [ 3.11728247e-02 9.99514009e-01 2.94706920e-05 2.56739040e+00] [ 5.75437289e-02 -1.82410888e-03 9.98341320e-01 -6.98002713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:2.56, Z:-0.70 [[ 9.97773813e-01 -3.36572482e-02 -5.75726264e-02 1.44305816e+02] [ 3.37132365e-02 9.99431547e-01 1.19535996e-06 2.56380875e+00] [ 5.75398589e-02 -1.94215227e-03 9.98341321e-01 -6.96157952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:2.56, Z:-0.69 [[ 9.97767301e-01 -3.38497779e-02 -5.75726164e-02 1.44363622e+02] [ 3.39046680e-02 9.99425071e-01 -2.34065116e-05 2.55995361e+00] [ 5.75403086e-02 -1.92862620e-03 9.98341321e-01 -6.94472300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.42, Y:2.56, Z:-0.69 [[ 9.97830948e-01 -3.19185801e-02 -5.75725915e-02 1.44422368e+02] [ 3.19686500e-02 9.99488871e-01 -5.13665011e-05 2.55896808e+00] [ 5.75448040e-02 -1.78926294e-03 9.98341321e-01 -6.89492134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.48, Y:2.56, Z:-0.68 [[ 9.98033618e-01 -2.47850254e-02 -5.75725591e-02 1.44480496e+02] [ 2.48218243e-02 9.99691888e-01 -7.59683482e-05 2.55924859e+00] [ 5.75567032e-02 -1.35323698e-03 9.98341322e-01 -6.82138749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.54, Y:2.57, Z:-0.68 [[ 9.98200019e-01 -1.67966279e-02 -5.75725155e-02 1.44539040e+02] [ 1.68187203e-02 9.99858550e-01 -1.00830867e-04 2.56516061e+00] [ 5.75660655e-02 -8.67646664e-04 9.98341322e-01 -6.82923681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.60, Y:2.57, Z:-0.68 [[ 9.98234795e-01 -1.45844707e-02 -5.75724599e-02 1.44597635e+02] [ 1.46014241e-02 9.99893386e-01 -1.26210544e-04 2.56669258e+00] [ 5.75681626e-02 -7.14652145e-04 9.98341322e-01 -6.81239132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.66, Y:2.58, Z:-0.68 [[ 9.98253090e-01 -1.32735780e-02 -5.75723915e-02 1.44656093e+02] [ 1.32868592e-02 9.99911714e-01 -1.52119337e-04 2.57615845e+00] [ 5.75693278e-02 -6.13102664e-04 9.98341323e-01 -6.75976347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:144.71, Y:2.58, Z:-0.65 [[ 9.98195592e-01 -1.70581787e-02 -5.75723715e-02 1.44713371e+02] [ 1.70773310e-02 9.99854159e-01 -1.59353518e-04 2.58245361e+00] [ 5.75666933e-02 -8.24116467e-04 9.98341323e-01 -6.54205954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:144.77, Y:2.58, Z:-0.67 [[ 9.96913038e-01 -5.33837584e-02 -5.75722876e-02 1.44773309e+02] [ 5.34617731e-02 9.98569880e-01 -1.85411162e-04 2.57744192e+00] [ 5.74998502e-02 -2.89307777e-03 9.98341323e-01 -6.66886830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:2.59, Z:-0.67 [[ 9.97937840e-01 -2.83813581e-02 -5.75722757e-02 1.44834117e+02] [ 2.84176154e-02 9.99596120e-01 -1.89010088e-04 2.58520455e+00] [ 5.75543878e-02 -1.44744647e-03 9.98341323e-01 -6.68478785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:144.89, Y:2.58, Z:-0.64 [[ 9.97820948e-01 -3.22302552e-02 -5.75722704e-02 1.44892013e+02] [ 3.22728148e-02 9.99479079e-01 -1.90632109e-04 2.58306895e+00] [ 5.75484239e-02 -1.66780251e-03 9.98341323e-01 -6.39997710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:144.95, Y:2.58, Z:-0.64 [[ 9.97687646e-01 -3.61219497e-02 -5.75722585e-02 1.44950469e+02] [ 3.61707739e-02 9.99345605e-01 -1.94144712e-04 2.57891541e+00] [ 5.75415964e-02 -1.88873736e-03 9.98341323e-01 -6.39723039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:145.01, Y:2.57, Z:-0.66 [[ 9.97446148e-01 -4.22685309e-02 -5.75721632e-02 1.45010703e+02] [ 4.23261267e-02 9.99103824e-01 -2.19183808e-04 2.57383401e+00] [ 5.75298330e-02 -2.21818263e-03 9.98341323e-01 -6.57603322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:145.07, Y:2.57, Z:-0.66 [[ 9.97020483e-01 -5.13381343e-02 -5.75721467e-02 1.45068488e+02] [ 5.14105581e-02 9.98677578e-01 -2.23443568e-04 2.56921646e+00] [ 5.75074832e-02 -2.73703838e-03 9.98341323e-01 -6.55501707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:145.13, Y:2.57, Z:-0.65 [[ 9.97184044e-01 -4.80565911e-02 -5.75721033e-02 1.45126835e+02] [ 4.81229465e-02 9.98841392e-01 -2.34104881e-04 2.56548835e+00] [ 5.75166502e-02 -2.53709360e-03 9.98341323e-01 -6.48939594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters Centerline goodness : 0.996860 with order 1 Centerline is valid? [True, True] Translation: X:145.19, Y:2.56, Z:-0.63 [[ 9.97081355e-01 -5.01421931e-02 -5.75719670e-02 1.45185565e+02] [ 5.02103005e-02 9.98738633e-01 -2.63858081e-04 2.55958519e+00] [ 5.75125780e-02 -2.62761779e-03 9.98341324e-01 -6.28793860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters Centerline goodness : 0.996559 with order 1 Centerline is valid? [True, True] Translation: X:145.24, Y:2.55, Z:-0.63 [[ 9.96958177e-01 -5.25344182e-02 -5.75719456e-02 1.45243772e+02] [ 5.26062371e-02 9.98615297e-01 -2.68454039e-04 2.55453612e+00] [ 5.75063286e-02 -2.76100597e-03 9.98341324e-01 -6.25365207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters Centerline goodness : 0.989220 with order 1 Centerline is valid? [True, True] Translation: X:145.30, Y:2.55, Z:-0.65 [[ 9.91154360e-01 -1.19576414e-01 -5.75718301e-02 1.45304929e+02] [ 1.19758395e-01 9.92803023e-01 -2.91284069e-04 2.54870877e+00] [ 5.71923176e-02 -6.60600252e-03 9.98341324e-01 -6.51821586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:145.36, Y:2.54, Z:-0.64 [[ 9.93853154e-01 -9.45589410e-02 -5.75718168e-02 1.45364379e+02] [ 9.46991645e-02 9.95505892e-01 -2.93886326e-04 2.53819353e+00] [ 5.73408724e-02 -5.15992310e-03 9.98341324e-01 -6.38964033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:145.42, Y:2.55, Z:-0.64 [[ 9.96987541e-01 -5.19743279e-02 -5.75718084e-02 1.45424992e+02] [ 5.20436562e-02 9.98644767e-01 -2.95522726e-04 2.54811190e+00] [ 5.75091448e-02 -2.70161493e-03 9.98341324e-01 -6.36665632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:145.48, Y:2.55, Z:-0.63 [[ 9.96846115e-01 -5.46196714e-02 -5.75718217e-02 1.45484115e+02] [ 5.46935481e-02 9.98503145e-01 -2.92899736e-04 2.54564445e+00] [ 5.75016431e-02 -2.85683124e-03 9.98341324e-01 -6.34016872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters Centerline goodness : 0.998253 with order 1 Centerline is valid? [True, True] Translation: X:145.54, Y:2.55, Z:-0.63 [[ 9.96809624e-01 -5.52818134e-02 -5.75716552e-02 1.45542375e+02] [ 5.53550784e-02 9.98466680e-01 -3.22621479e-04 2.54535808e+00] [ 5.75012146e-02 -2.86529129e-03 9.98341325e-01 -6.26316245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:2.55, Z:-0.60 [[ 9.97103953e-01 -4.96913912e-02 -5.75714622e-02 1.45601341e+02] [ 4.97535537e-02 9.98761462e-01 -3.54021062e-04 2.54575646e+00] [ 5.75177495e-02 -2.51138903e-03 9.98341325e-01 -6.04568895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:145.66, Y:2.56, Z:-0.64 [[ 9.98267028e-01 -1.21848056e-02 -5.75714462e-02 1.45662882e+02] [ 1.21844854e-02 9.99925703e-01 -3.56605105e-04 2.55885506e+00] [ 5.75715139e-02 -3.45491329e-04 9.98341325e-01 -6.37261498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:145.72, Y:2.54, Z:-0.62 [[ 9.96865634e-01 -5.42626769e-02 -5.75714364e-02 1.45721466e+02] [ 5.43321994e-02 9.98522851e-01 -3.58171383e-04 2.54147651e+00] [ 5.75058302e-02 -2.77093402e-03 9.98341325e-01 -6.22867300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters Centerline goodness : 0.995305 with order 1 Centerline is valid? [True, True] Translation: X:145.78, Y:2.54, Z:-0.59 [[ 9.97254270e-01 -4.65775561e-02 -5.75712780e-02 1.45779554e+02] [ 4.66329270e-02 9.98912020e-01 -3.82050009e-04 2.54297802e+00] [ 5.75264365e-02 -2.30371620e-03 9.98341325e-01 -5.91923278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:145.84, Y:2.53, Z:-0.62 [[ 9.94449477e-01 -8.80669460e-02 -5.75712595e-02 1.45840329e+02] [ 8.81911456e-02 9.96103496e-01 -3.84811938e-04 2.52884717e+00] [ 5.73808220e-02 -4.69459930e-03 9.98341325e-01 -6.17327411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters Centerline goodness : 0.987905 with order 1 Centerline is valid? [True, True] Translation: X:145.90, Y:2.53, Z:-0.64 [[ 9.93474259e-01 -9.84603916e-02 -5.75712356e-02 1.45901778e+02] [ 9.86016759e-02 9.95126906e-01 -3.88351728e-04 2.53495693e+00] [ 5.73289228e-02 -5.29080287e-03 9.98341325e-01 -6.36379049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters Centerline goodness : 0.994316 with order 1 Centerline is valid? [True, True] Translation: X:145.96, Y:2.53, Z:-0.64 [[ 9.94113377e-01 -9.17831500e-02 -5.75712298e-02 1.45960520e+02] [ 9.19132777e-02 9.95766940e-01 -3.89213268e-04 2.53217556e+00] [ 5.73632505e-02 -4.90463832e-03 9.98341325e-01 -6.36545993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters Centerline goodness : 0.993220 with order 1 Centerline is valid? [True, True] Translation: X:146.02, Y:2.54, Z:-0.59 [[ 9.97866687e-01 -3.07838304e-02 -5.75710974e-02 1.46017857e+02] [ 3.08114591e-02 9.99525131e-01 -4.07903960e-04 2.54322393e+00] [ 5.75563155e-02 -1.36681574e-03 9.98341326e-01 -5.85202785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters Centerline goodness : 0.986980 with order 1 Centerline is valid? [True, True] Translation: X:146.08, Y:2.56, Z:-0.61 [[ 9.97383070e-01 4.37330689e-02 -5.75710905e-02 1.46077570e+02] [-4.38292767e-02 9.99038952e-01 -4.08873764e-04 2.55772252e+00] [ 5.74978806e-02 2.93110303e-03 9.98341326e-01 -6.11900190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:146.14, Y:2.53, Z:-0.60 [[ 9.95431106e-01 -7.61740813e-02 -5.75710274e-02 1.46135655e+02] [ 7.62766163e-02 9.97086608e-01 -4.17568185e-04 2.53088706e+00] [ 5.74351083e-02 -3.97566281e-03 9.98341326e-01 -6.04973794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters Centerline goodness : 0.991781 with order 1 Centerline is valid? [True, True] Translation: X:146.19, Y:2.55, Z:-0.57 [[ 9.98062335e-01 -2.36041934e-02 -5.75709702e-02 1.46192836e+02] [ 2.36188861e-02 9.99720945e-01 -4.25317714e-04 2.54614339e+00] [ 5.75649440e-02 -9.35268596e-04 9.98341326e-01 -5.71031517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters Centerline goodness : 0.994230 with order 1 Centerline is valid? [True, True] Translation: X:146.25, Y:2.55, Z:-0.57 [[ 9.98135925e-01 -2.02554380e-02 -5.75707650e-02 1.46253684e+02] [ 2.02630569e-02 9.99794581e-01 -4.51482369e-04 2.54807666e+00] [ 5.75680839e-02 -7.15918914e-04 9.98341326e-01 -5.74613607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters Centerline goodness : 0.997162 with order 1 Centerline is valid? [True, True] Translation: X:146.31, Y:2.55, Z:-0.59 [[ 9.98101254e-01 -2.18973439e-02 -5.75707650e-02 1.46313221e+02] [ 2.19076912e-02 9.99759896e-01 -4.51482369e-04 2.54980580e+00] [ 5.75668283e-02 -8.10617423e-04 9.98341326e-01 -5.88051749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters Centerline goodness : 0.997810 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:2.57, Z:-0.59 [[ 9.98249806e-01 1.35261393e-02 -5.75705499e-02 1.46373157e+02] [-1.35761375e-02 9.99907726e-01 -4.77421879e-04 2.56778221e+00] [ 5.75587800e-02 1.25817200e-03 9.98341326e-01 -5.88271773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:146.43, Y:2.55, Z:-0.61 [[ 9.98264212e-01 -1.24176296e-02 -5.75705187e-02 1.46433080e+02] [ 1.24105130e-02 9.99922871e-01 -4.81164101e-04 2.55316392e+00] [ 5.75720532e-02 -2.34150765e-04 9.98341326e-01 -6.07099465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters Centerline goodness : 0.990643 with order 1 Centerline is valid? [True, True] Translation: X:146.49, Y:2.56, Z:-0.61 [[ 9.98096712e-01 2.21041619e-02 -5.75704732e-02 1.46492153e+02] [-2.21689313e-02 9.99754121e-01 -4.86541442e-04 2.55528158e+00] [ 5.75455632e-02 1.76189128e-03 9.98341326e-01 -6.07830998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:146.55, Y:2.56, Z:-0.60 [[ 9.98191626e-01 -1.72956219e-02 -5.75703022e-02 1.46550408e+02] [ 1.72951783e-02 9.99850299e-01 -5.06000707e-04 2.55926371e+00] [ 5.75704355e-02 -4.90602971e-04 9.98341327e-01 -5.98102280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:146.61, Y:2.55, Z:-0.58 [[ 9.96796343e-01 -5.55223604e-02 -5.75701181e-02 1.46609871e+02] [ 5.55842981e-02 9.98453859e-01 -5.26139727e-04 2.54966260e+00] [ 5.75103192e-02 -2.67554045e-03 9.98341327e-01 -5.82402751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:146.67, Y:2.56, Z:-0.59 [[ 9.98312032e-01 -7.66611058e-03 -5.75701053e-02 1.46670530e+02] [ 7.64842468e-03 9.99970611e-01 -5.27546366e-04 2.55511715e+00] [ 5.75724576e-02 8.63352715e-05 9.98341327e-01 -5.92294974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters Centerline goodness : 0.980964 with order 1 Centerline is valid? [True, True] Translation: X:146.73, Y:2.53, Z:-0.57 [[ 9.92489162e-01 -1.07939560e-01 -5.75700926e-02 1.46727880e+02] [ 1.08088542e-01 9.94141130e-01 -5.28921159e-04 2.52671003e+00] [ 5.72898885e-02 -5.69771885e-03 9.98341327e-01 -5.69467236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters Centerline goodness : 0.989994 with order 1 Centerline is valid? [True, True] Translation: X:146.79, Y:2.55, Z:-0.59 [[ 9.94116981e-01 -9.17449032e-02 -5.75699656e-02 1.46786166e+02] [ 9.18661582e-02 9.95771216e-01 -5.42400548e-04 2.55304201e+00] [ 5.73762772e-02 -4.74952197e-03 9.98341327e-01 -5.85477011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:146.84, Y:2.57, Z:-0.56 [[ 9.98341461e-01 1.89655178e-04 -5.75698813e-02 1.46844391e+02] [-2.21755683e-04 9.99999823e-01 -5.51203972e-04 2.56657289e+00] [ 5.75697666e-02 5.63056228e-04 9.98341327e-01 -5.63338203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters Centerline goodness : 0.972926 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:2.54, Z:-0.55 [[ 9.92090478e-01 -1.11544582e-01 -5.75698651e-02 1.46904258e+02] [ 1.11698188e-01 9.93742023e-01 -5.52891880e-04 2.53902935e+00] [ 5.72712664e-02 -5.88193087e-03 9.98341327e-01 -5.51467412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters Centerline goodness : 0.995523 with order 1 Centerline is valid? [True, True] Translation: X:146.96, Y:2.56, Z:-0.56 [[ 9.95429409e-01 -7.61971361e-02 -5.75698490e-02 1.46964163e+02] [ 7.62918223e-02 9.97085378e-01 -5.54571410e-04 2.56026053e+00] [ 5.74443113e-02 -3.84007200e-03 9.98341327e-01 -5.59316681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters Centerline goodness : 0.995716 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:2.57, Z:-0.52 [[ 9.97828280e-01 -3.20068341e-02 -5.75698323e-02 1.47022265e+02] [ 3.20279388e-02 9.99486819e-01 -5.56294433e-04 2.56852822e+00] [ 5.75580938e-02 -1.28875675e-03 9.98341327e-01 -5.19854903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters Centerline goodness : 0.997214 with order 1 Centerline is valid? [True, True] Translation: X:147.08, Y:2.57, Z:-0.52 [[ 9.97826283e-01 -3.20690870e-02 -5.75698146e-02 1.47080666e+02] [ 3.20901895e-02 9.99484821e-01 -5.58125185e-04 2.56925207e+00] [ 5.75580544e-02 -1.29051428e-03 9.98341327e-01 -5.18448516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:147.14, Y:2.57, Z:-0.54 [[ 9.97683085e-01 -3.62519954e-02 -5.75695581e-02 1.47140278e+02] [ 3.62785915e-02 9.99341545e-01 -5.83432752e-04 2.56617237e+00] [ 5.75528017e-02 -1.50646149e-03 9.98341327e-01 -5.37429593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters Centerline goodness : 0.992033 with order 1 Centerline is valid? [True, True] Translation: X:147.20, Y:2.58, Z:-0.54 [[ 9.97840049e-01 3.16388046e-02 -5.75692925e-02 1.47199394e+02] [-3.17264333e-02 9.99496405e-01 -6.08559670e-04 2.58332417e+00] [ 5.75210468e-02 2.43371353e-03 9.98341328e-01 -5.37584310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters Centerline goodness : 0.997359 with order 1 Centerline is valid? [True, True] Translation: X:147.26, Y:2.58, Z:-0.53 [[ 9.98222615e-01 1.54074924e-02 -5.75692556e-02 1.47258190e+02] [-1.54683735e-02 9.99880170e-01 -6.12031697e-04 2.57523056e+00] [ 5.75529272e-02 1.50144663e-03 9.98341328e-01 -5.33549627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:147.32, Y:2.55, Z:-0.50 [[ 9.96406659e-01 -6.21255181e-02 -5.75690081e-02 1.47315539e+02] [ 6.21921934e-02 9.98063990e-01 -6.34488532e-04 2.54603762e+00] [ 5.74969719e-02 -2.94813429e-03 9.98341328e-01 -5.00638709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:147.37, Y:2.54, Z:-0.50 [[ 9.96071886e-01 -6.72802938e-02 -5.75687424e-02 1.47374173e+02] [ 6.73542037e-02 9.97728910e-01 -6.57744203e-04 2.53786292e+00] [ 5.74822519e-02 -3.22233630e-03 9.98341328e-01 -4.95565902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:147.43, Y:2.52, Z:-0.50 [[ 9.95335698e-01 -7.74126633e-02 -5.75684622e-02 1.47432788e+02] [ 7.75020677e-02 9.96991958e-01 -6.81416544e-04 2.52183988e+00] [ 5.74480442e-02 -3.78343665e-03 9.98341328e-01 -4.97268002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:147.49, Y:2.51, Z:-0.50 [[ 9.94436704e-01 -8.82129501e-02 -5.75683646e-02 1.47490699e+02] [ 8.83198598e-02 9.96091927e-01 -6.89566099e-04 2.50612497e+00] [ 5.74042119e-02 -4.39870005e-03 9.98341328e-01 -4.98556906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:147.55, Y:2.50, Z:-0.49 [[ 9.95733835e-01 -7.21112280e-02 -5.75682279e-02 1.47550177e+02] [ 7.21906950e-02 9.97390602e-01 -7.00794464e-04 2.50326914e+00] [ 5.74685446e-02 -3.45808563e-03 9.98341328e-01 -4.89386694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:147.61, Y:2.50, Z:-0.49 [[ 9.95962575e-01 -6.88799869e-02 -5.75681851e-02 1.47607991e+02] [ 6.89538761e-02 9.97619600e-01 -7.04293651e-04 2.49879397e+00] [ 5.74796616e-02 -3.26809939e-03 9.98341328e-01 -4.85630636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:2.49, Z:-0.49 [[ 9.96248849e-01 -6.46076435e-02 -5.75680790e-02 1.47666857e+02] [ 6.46739312e-02 9.97906195e-01 -7.12863088e-04 2.49315491e+00] [ 5.74935991e-02 -3.01296495e-03 9.98341328e-01 -4.85129454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:147.73, Y:2.49, Z:-0.48 [[ 9.96200409e-01 -6.53505695e-02 -5.75677720e-02 1.47725830e+02] [ 6.54167110e-02 9.97857761e-01 -7.36848657e-04 2.48747714e+00] [ 5.74926016e-02 -3.03184537e-03 9.98341329e-01 -4.81011007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:2.48, Z:-0.48 [[ 9.96225279e-01 -6.49706321e-02 -5.75674482e-02 1.47784912e+02] [ 6.50347303e-02 9.97882711e-01 -7.61334314e-04 2.48287288e+00] [ 5.74950256e-02 -2.98542298e-03 9.98341329e-01 -4.76073379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:147.85, Y:2.48, Z:-0.48 [[ 9.96077848e-01 -6.71933752e-02 -5.75670947e-02 1.47846074e+02] [ 6.72596818e-02 9.97735193e-01 -7.87187818e-04 2.48211094e+00] [ 5.74896102e-02 -3.08784412e-03 9.98341329e-01 -4.84358677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:2.48, Z:-0.47 [[ 9.96549062e-01 -5.97996295e-02 -5.75670947e-02 1.47905322e+02] [ 5.98536351e-02 9.98206854e-01 -7.87187818e-04 2.47949133e+00] [ 5.75109420e-02 -2.66112860e-03 9.98341329e-01 -4.70294112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:147.97, Y:2.47, Z:-0.48 [[ 9.96568746e-01 -5.94707194e-02 -5.75670695e-02 1.47966948e+02] [ 5.95240718e-02 9.98226559e-01 -7.89027407e-04 2.47404331e+00] [ 5.75119017e-02 -2.64030632e-03 9.98341329e-01 -4.84301585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.02, Y:2.47, Z:-0.47 [[ 9.96876494e-01 -5.40674483e-02 -5.75670695e-02 1.48024659e+02] [ 5.41118129e-02 9.98534571e-01 -7.89027407e-04 2.47179228e+00] [ 5.75253697e-02 -2.32849562e-03 9.98341329e-01 -4.68547123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:148.08, Y:2.47, Z:-0.46 [[ 9.97012931e-01 -5.14903874e-02 -5.75669671e-02 1.48082331e+02] [ 5.15300388e-02 9.98671127e-01 -7.96431521e-04 2.46502926e+00] [ 5.75314765e-02 -2.17237552e-03 9.98341329e-01 -4.62688453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.14, Y:2.46, Z:-0.48 [[ 9.97095481e-01 -4.98664206e-02 -5.75668433e-02 1.48142758e+02] [ 4.99028613e-02 9.98753751e-01 -8.05275743e-04 2.45941405e+00] [ 5.75352570e-02 -2.06981339e-03 9.98341329e-01 -4.80632685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters Centerline goodness : 0.993820 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:2.45, Z:-0.49 [[ 9.92406691e-01 -1.08697096e-01 -5.75664875e-02 1.48203004e+02] [ 1.08830040e-01 9.94060025e-01 -8.29961423e-04 2.45194644e+00] [ 5.73147584e-02 -5.44130385e-03 9.98341330e-01 -4.89508920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:2.46, Z:-0.46 [[ 9.97437013e-01 -4.24912838e-02 -5.75664495e-02 1.48261538e+02] [ 4.25138853e-02 9.99095529e-01 -8.32584243e-04 2.45721195e+00] [ 5.75497599e-02 -1.61692309e-03 9.98341330e-01 -4.58052578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:148.32, Y:2.46, Z:-0.45 [[ 9.97799290e-01 -3.29041785e-02 -5.75664204e-02 1.48320677e+02] [ 3.29107253e-02 9.99457947e-01 -8.34590997e-04 2.45873687e+00] [ 5.75626779e-02 -1.06179834e-03 9.98341330e-01 -4.46855124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:2.46, Z:-0.46 [[ 9.97915036e-01 -2.91837871e-02 -5.75663665e-02 1.48381744e+02] [ 2.91839362e-02 9.99573707e-01 -8.38292249e-04 2.45980264e+00] [ 5.75662909e-02 -8.43468728e-04 9.98341330e-01 -4.56170262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters Centerline goodness : 0.981017 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:2.44, Z:-0.46 [[ 9.94216037e-01 -9.06674486e-02 -5.75663586e-02 1.48441742e+02] [ 9.07698528e-02 9.95871543e-01 -8.38833572e-04 2.43939009e+00] [ 5.74047533e-02 -4.39130811e-03 9.98341330e-01 -4.60427199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters Centerline goodness : 0.996365 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:2.47, Z:-0.46 [[ 9.98232094e-01 -1.47933781e-02 -5.75659827e-02 1.48501475e+02] [ 1.47681376e-02 9.99890572e-01 -8.63885838e-04 2.47487602e+00] [ 5.75724632e-02 1.22162170e-05 9.98341330e-01 -4.59397271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters Centerline goodness : 0.995366 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:2.49, Z:-0.43 [[ 9.98256264e-01 -1.30611139e-02 -5.75659534e-02 1.48559216e+02] [ 1.30328832e-02 9.99914694e-01 -8.65831167e-04 2.48513127e+00] [ 5.75723514e-02 1.14071038e-04 9.98341330e-01 -4.34622786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters Centerline goodness : 0.995763 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:2.48, Z:-0.45 [[ 9.97754496e-01 -3.42370509e-02 -5.75655321e-02 1.48618622e+02] [ 3.42424451e-02 9.99413157e-01 -8.92991046e-04 2.48483955e+00] [ 5.75623236e-02 -1.08019874e-03 9.98341330e-01 -4.54431792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters Centerline goodness : 0.993575 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:2.51, Z:-0.44 [[ 9.97587322e-01 3.88041483e-02 -5.75653876e-02 1.48677042e+02] [-3.89205701e-02 9.99241900e-01 -9.02215913e-04 2.50971619e+00] [ 5.74867375e-02 3.14051686e-03 9.98341330e-01 -4.40279404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters Centerline goodness : 0.997762 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:2.50, Z:-0.47 [[ 9.98267235e-01 -1.21967077e-02 -5.75653310e-02 1.48738614e+02] [ 1.21647357e-02 9.99925597e-01 -9.05808482e-04 2.50193787e+00] [ 5.75720959e-02 2.03971892e-04 9.98341330e-01 -4.69415987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters Centerline goodness : 0.968422 with order 1 Centerline is valid? [True, True] Translation: X:148.80, Y:2.48, Z:-0.47 [[ 9.93761550e-01 -9.55207702e-02 -5.75653091e-02 1.48797939e+02] [ 9.56273217e-02 9.95416793e-01 -9.07201752e-04 2.47893894e+00] [ 5.73881320e-02 -4.60327411e-03 9.98341330e-01 -4.65791672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters Centerline goodness : 0.996318 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:2.51, Z:-0.44 [[ 9.98217025e-01 -1.57801175e-02 -5.75652582e-02 1.48856457e+02] [ 1.57538330e-02 9.99875486e-01 -9.10416693e-04 2.50819086e+00] [ 5.75724570e-02 1.91997900e-06 9.98341331e-01 -4.39395175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters Centerline goodness : 0.905680 with order 1 Centerline is valid? [True, False] Translation: X:148.88, Y:2.54, Z:-0.43 [[ 9.97435365e-01 -5.82485499e-03 -7.13355671e-02 1.48877386e+02] [ 3.31337035e-03 9.99372169e-01 -3.52744823e-02 2.54389580e+00] [ 7.14962492e-02 3.49476550e-02 9.96828444e-01 -4.34245562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters Centerline goodness : 0.996016 with order 1 Centerline is valid? [False, True] Translation: X:148.87, Y:2.56, Z:-0.43 [[ 9.97772321e-01 -1.57186324e-03 -6.66927662e-02 1.48873579e+02] [-1.98358429e-03 9.98581313e-01 -5.32111496e-02 2.56496113e+00] [ 6.66817907e-02 5.32249030e-02 9.96353676e-01 -4.33106003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters Centerline goodness : 0.996218 with order 1 Centerline is valid? [True, True] Translation: X:148.93, Y:2.52, Z:-0.43 [[ 9.97775461e-01 1.25214926e-03 -6.66525451e-02 1.48932265e+02] [-1.24365864e-03 9.99999212e-01 1.68878812e-04 2.51524263e+00] [ 6.66527041e-02 -8.56101214e-05 9.97776232e-01 -4.31839540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters Centerline goodness : 0.992876 with order 1 Centerline is valid? [True, True] Translation: X:148.99, Y:2.51, Z:-0.44 [[ 9.95892548e-01 -6.12818367e-02 -6.66526093e-02 1.48991769e+02] [ 6.14276088e-02 9.98111532e-01 1.37878695e-04 2.51272910e+00] [ 6.65182885e-02 -4.23162277e-03 9.97776233e-01 -4.35206407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:149.05, Y:2.52, Z:-0.43 [[ 9.95534806e-01 -6.68421854e-02 -6.66526178e-02 1.49051332e+02] [ 6.70000633e-02 9.97752962e-01 1.33627960e-04 2.51593366e+00] [ 6.64939148e-02 -4.59876090e-03 9.97776233e-01 -4.29682475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters Centerline goodness : 0.995470 with order 1 Centerline is valid? [True, True] Translation: X:149.11, Y:2.52, Z:-0.40 [[ 9.97698091e-01 -1.24878661e-02 -6.66526207e-02 1.49109637e+02] [ 1.25245255e-02 9.99921556e-01 1.32156937e-04 2.52083419e+00] [ 6.66457419e-02 -9.66645169e-04 9.97776233e-01 -3.96825496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters Centerline goodness : 0.997115 with order 1 Centerline is valid? [True, True] Translation: X:149.17, Y:2.52, Z:-0.42 [[ 9.97703570e-01 -1.20421445e-02 -6.66526248e-02 1.49169858e+02] [ 1.20776687e-02 9.99927054e-01 1.30033813e-04 2.52079940e+00] [ 6.66461969e-02 -9.34743517e-04 9.97776233e-01 -4.17340254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:149.23, Y:2.52, Z:-0.39 [[ 9.97702460e-01 -1.21335820e-02 -6.66526701e-02 1.49227026e+02] [ 1.21672955e-02 9.99925971e-01 9.98738269e-05 2.51825888e+00] [ 6.66465240e-02 -9.10627092e-04 9.97776233e-01 -3.88277765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:2.52, Z:-0.39 [[ 9.97722343e-01 -1.03703433e-02 -6.66527016e-02 1.49285695e+02] [ 1.03981176e-02 9.99945936e-01 6.97879521e-05 2.51675927e+00] [ 6.66483743e-02 -7.62691625e-04 9.97776234e-01 -3.87443336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:149.34, Y:2.51, Z:-0.38 [[ 9.97729683e-01 -9.63817785e-03 -6.66527196e-02 1.49344232e+02] [ 9.66227122e-03 9.99953318e-01 3.91113709e-05 2.51132451e+00] [ 6.66492312e-02 -6.83039230e-04 9.97776234e-01 -3.77255998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.41, Y:2.52, Z:-0.40 [[ 9.97766976e-01 -4.29848294e-03 -6.66527234e-02 1.49405198e+02] [ 4.30860229e-03 9.99990718e-01 8.07221595e-06 2.51582887e+00] [ 6.66520700e-02 -2.95234267e-04 9.97776235e-01 -3.98753718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:2.52, Z:-0.37 [[ 9.97774998e-01 -1.57082502e-03 -6.66527236e-02 1.49462750e+02] [ 1.57442126e-03 9.99998761e-01 1.42665741e-06 2.51663147e+00] [ 6.66526387e-02 -1.06362948e-04 9.97776235e-01 -3.65401573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:149.52, Y:2.52, Z:-0.37 [[ 9.97775511e-01 1.20155515e-03 -6.66527234e-02 1.49522198e+02] [-1.20443294e-03 9.99999275e-01 -2.99181656e-06 2.52068075e+00] [ 6.66526714e-02 8.32638965e-05 9.97776235e-01 -3.68511997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.58, Y:2.52, Z:-0.38 [[ 9.97774097e-01 2.06548045e-03 -6.66527229e-02 1.49581997e+02] [-2.07057736e-03 9.99997856e-01 -7.38807465e-06 2.52430870e+00] [ 6.66525647e-02 1.45381249e-04 9.97776235e-01 -3.76420747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.64, Y:2.53, Z:-0.37 [[ 9.97773296e-01 2.42163713e-03 -6.66527204e-02 1.49639929e+02] [-2.42817909e-03 9.99997052e-01 -1.71375611e-05 2.52739538e+00] [ 6.66524824e-02 1.78944143e-04 9.97776235e-01 -3.73789156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:149.70, Y:2.53, Z:-0.37 [[ 9.97775979e-01 7.17726264e-04 -6.66526914e-02 1.49697988e+02] [-7.22893255e-04 9.99999737e-01 -5.34029304e-05 2.52793235e+00] [ 6.66526355e-02 1.01466942e-04 9.97776235e-01 -3.70494214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:149.76, Y:2.53, Z:-0.35 [[ 9.97773329e-01 -2.41039217e-03 -6.66526421e-02 1.49757168e+02] [ 2.40975765e-03 9.99997092e-01 -8.99176384e-05 2.52913080e+00] [ 6.66526651e-02 -7.08992929e-05 9.97776236e-01 -3.52573608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:149.82, Y:2.53, Z:-0.35 [[ 9.97775184e-01 1.45219918e-03 -6.66526390e-02 1.49815390e+02] [-1.46159325e-03 9.99998928e-01 -9.21771336e-05 2.53154029e+00] [ 6.66524337e-02 1.89391104e-04 9.97776236e-01 -3.48774153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:149.87, Y:2.54, Z:-0.35 [[ 9.97757824e-01 6.06244277e-03 -6.66526216e-02 1.49873802e+02] [-6.08286103e-03 9.99981494e-01 -1.03395864e-04 2.53520358e+00] [ 6.66507613e-02 5.08602666e-04 9.97776236e-01 -3.45595597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.93, Y:2.54, Z:-0.36 [[ 9.97689793e-01 1.31344094e-02 -6.66525586e-02 1.49934490e+02] [-1.31726750e-02 9.99913227e-01 -1.34633277e-04 2.54367682e+00] [ 6.66450066e-02 1.01231474e-03 9.97776237e-01 -3.58286366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.99, Y:2.55, Z:-0.36 [[ 9.97707257e-01 1.17331705e-02 -6.66525540e-02 1.49993307e+02] [-1.17684605e-02 9.99930740e-01 -1.36837302e-04 2.55102180e+00] [ 6.66463321e-02 9.20921519e-04 9.97776237e-01 -3.55658729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters Centerline goodness : 0.998206 with order 1 Centerline is valid? [True, True] Translation: X:150.05, Y:2.56, Z:-0.33 [[ 9.97748851e-01 7.39445356e-03 -6.66524744e-02 1.50050373e+02] [-7.42218138e-03 9.99972441e-01 -1.68383370e-04 2.55930582e+00] [ 6.66493924e-02 6.62711068e-04 9.97776237e-01 -3.31561029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters Centerline goodness : 0.963797 with order 1 Centerline is valid? [True, True] Translation: X:150.11, Y:2.60, Z:-0.35 [[ 9.93405541e-01 9.32892376e-02 -6.66524507e-02 1.50110139e+02] [-9.35089410e-02 9.95618424e-01 -1.77283552e-04 2.60266218e+00] [ 6.63438693e-02 6.40871454e-03 9.97776237e-01 -3.49004733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters Centerline goodness : 0.993231 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:2.60, Z:-0.35 [[ 9.95547671e-01 6.66504945e-02 -6.66524355e-02 1.50169654e+02] [-6.68112220e-02 9.97765617e-01 -1.82809897e-04 2.60007421e+00] [ 6.64913241e-02 4.63512664e-03 9.97776237e-01 -3.49992665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters Centerline goodness : 0.998058 with order 1 Centerline is valid? [True, True] Translation: X:150.23, Y:2.59, Z:-0.32 [[ 9.97775078e-01 1.53203215e-03 -6.66524247e-02 1.50227952e+02] [-1.54791633e-03 9.99998785e-01 -1.86670628e-04 2.58918320e+00] [ 6.66520577e-02 2.89427677e-04 9.97776237e-01 -3.23439421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:2.60, Z:-0.34 [[ 9.97774532e-01 1.85519692e-03 -6.66523875e-02 1.50288366e+02] [-1.87263332e-03 9.99998227e-01 -1.99125720e-04 2.59523826e+00] [ 6.66518999e-02 3.23498054e-04 9.97776237e-01 -3.43871178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters Centerline goodness : 0.997710 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:2.60, Z:-0.32 [[ 9.97768998e-01 -3.80792256e-03 -6.66522814e-02 1.50344889e+02] [ 3.80105143e-03 9.99992750e-01 -2.29904734e-04 2.60064441e+00] [ 6.66526736e-02 -2.39569342e-05 9.97776238e-01 -3.18699778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters Centerline goodness : 0.997959 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:2.60, Z:-0.32 [[ 9.97682134e-01 -1.37053866e-02 -6.66522454e-02 1.50403706e+02] [ 1.37199073e-02 9.99905849e-01 -2.39899421e-04 2.59971959e+00] [ 6.66492579e-02 -6.75119264e-04 9.97776238e-01 -3.18964024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:150.46, Y:2.60, Z:-0.31 [[ 9.97612937e-01 -1.80533476e-02 -6.66521211e-02 1.50462115e+02] [ 1.80755130e-02 9.99836588e-01 -2.70537028e-04 2.60014316e+00] [ 6.66461134e-02 -9.34880045e-04 9.97776238e-01 -3.10214277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:150.52, Y:2.60, Z:-0.31 [[ 9.97638372e-01 -1.65889165e-02 -6.66519846e-02 1.50521080e+02] [ 1.66057973e-02 9.99862069e-01 -3.00783545e-04 2.59759594e+00] [ 6.66477809e-02 -8.06736138e-04 9.97776239e-01 -3.08234878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters Centerline goodness : 0.997014 with order 1 Centerline is valid? [True, True] Translation: X:150.58, Y:2.60, Z:-0.30 [[ 9.97687608e-01 -1.33029697e-02 -6.66518366e-02 1.50579688e+02] [ 1.33105321e-02 9.99911356e-01 -3.30636784e-04 2.59796012e+00] [ 6.66503267e-02 -5.57299185e-04 9.97776239e-01 -3.01522544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:2.60, Z:-0.30 [[ 9.97723763e-01 -1.02394509e-02 -6.66516724e-02 1.50637888e+02] [ 1.02381600e-02 9.99947524e-01 -3.60951248e-04 2.60026378e+00] [ 6.66518707e-02 -3.22260849e-04 9.97776240e-01 -2.97927646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters Centerline goodness : 0.996155 with order 1 Centerline is valid? [True, True] Translation: X:150.70, Y:2.60, Z:-0.29 [[ 9.97732388e-01 -9.36272516e-03 -6.66514907e-02 1.50696185e+02] [ 9.35741462e-03 9.99956142e-01 -3.91872540e-04 2.60382513e+00] [ 6.66522364e-02 -2.32701708e-04 9.97776240e-01 -2.92300058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:2.61, Z:-0.30 [[ 9.97731701e-01 -9.43630399e-03 -6.66513988e-02 1.50757615e+02] [ 9.43015243e-03 9.99955452e-01 -4.06917251e-04 2.60628532e+00] [ 6.66522694e-02 -2.22538609e-04 9.97776240e-01 -3.03330397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters Centerline goodness : 0.996763 with order 1 Centerline is valid? [True, True] Translation: X:150.82, Y:2.61, Z:-0.28 [[ 9.97764600e-01 -4.83671361e-03 -6.66513988e-02 1.50816769e+02] [ 4.82031074e-03 9.99988299e-01 -4.06917251e-04 2.60925615e+00] [ 6.66525871e-02 8.47271754e-05 9.97776240e-01 -2.84849521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:2.61, Z:-0.30 [[ 9.97771274e-01 -3.17441362e-03 -6.66513948e-02 1.50877832e+02] [ 3.15426220e-03 9.99994942e-01 -4.07573643e-04 2.61145340e+00] [ 6.66523515e-02 1.96429298e-04 9.97776240e-01 -2.97827004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters Centerline goodness : 0.992193 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:2.61, Z:-0.30 [[ 9.95469304e-01 -6.78119271e-02 -6.66513879e-02 1.50937648e+02] [ 6.79358109e-02 9.97689610e-01 -4.08704096e-04 2.60601155e+00] [ 6.65251122e-02 -4.12116370e-03 9.97776240e-01 -3.04936130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:2.61, Z:-0.27 [[ 9.97760413e-01 5.63502878e-03 -6.66513738e-02 1.50992863e+02] [-5.67504024e-03 9.99983812e-01 -4.10988166e-04 2.61469166e+00] [ 6.66479789e-02 7.88316950e-04 9.97776240e-01 -2.69461389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters Centerline goodness : 0.996965 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:2.62, Z:-0.27 [[ 9.97756743e-01 6.25377997e-03 -6.66511195e-02 1.51053533e+02] [-6.29769342e-03 9.99980069e-01 -4.48765828e-04 2.61549137e+00] [ 6.66469845e-02 8.67507447e-04 9.97776241e-01 -2.70442647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:2.62, Z:-0.28 [[ 9.97728115e-01 9.81015508e-03 -6.66511041e-02 1.51114534e+02] [-9.86214479e-03 9.99951266e-01 -4.51037405e-04 2.61701594e+00] [ 6.66434312e-02 1.10733554e-03 9.97776241e-01 -2.78482984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:2.62, Z:-0.27 [[ 9.97753537e-01 6.74612733e-03 -6.66510952e-02 1.51173471e+02] [-6.79137744e-03 9.99976836e-01 -4.52352564e-04 2.61964168e+00] [ 6.66464996e-02 9.03989114e-04 9.97776241e-01 -2.71728564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:2.62, Z:-0.27 [[ 9.97774333e-01 2.00713751e-03 -6.66509718e-02 1.51232672e+02] [-2.04299685e-03 9.99997803e-01 -4.69861493e-04 2.62153378e+00] [ 6.66498822e-02 6.04983464e-04 9.97776241e-01 -2.73336434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:151.29, Y:2.62, Z:-0.27 [[ 9.97760986e-01 -5.54010580e-03 -6.66507413e-02 1.51291799e+02] [ 5.51901586e-03 9.99984645e-01 -5.00549877e-04 2.62351823e+00] [ 6.66524910e-02 1.31582641e-04 9.97776242e-01 -2.74230255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:2.63, Z:-0.28 [[ 9.97680897e-01 -1.38035058e-02 -6.66505102e-02 1.51352482e+02] [ 1.37988903e-02 9.99904651e-01 -5.29634022e-04 2.62722698e+00] [ 6.66514659e-02 -3.91297333e-04 9.97776242e-01 -2.78581991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:2.63, Z:-0.28 [[ 9.97707692e-01 -1.17078379e-02 -6.66504938e-02 1.51411551e+02] [ 1.16984139e-02 9.99931430e-01 -5.31693267e-04 2.63010242e+00] [ 6.66521485e-02 -2.49230598e-04 9.97776242e-01 -2.75690899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:2.63, Z:-0.27 [[ 9.97413456e-01 -2.69096300e-02 -6.66503571e-02 1.51471523e+02] [ 2.69329824e-02 9.99637091e-01 -5.48312958e-04 2.62602058e+00] [ 6.66409240e-02 -1.24819817e-03 9.97776242e-01 -2.71695639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:2.62, Z:-0.27 [[ 9.97070083e-01 -3.75364080e-02 -6.66503394e-02 1.51530686e+02] [ 3.75833109e-02 9.99293346e-01 -5.50452447e-04 2.62345294e+00] [ 6.66239027e-02 -1.95610076e-03 9.97776242e-01 -2.70812871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:2.62, Z:-0.27 [[ 9.97270511e-01 -3.17689852e-02 -6.66502731e-02 1.51589272e+02] [ 3.18025001e-02 9.99494017e-01 -5.58363991e-04 2.62297450e+00] [ 6.66342879e-02 -1.56280538e-03 9.97776242e-01 -2.69784787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:2.62, Z:-0.27 [[ 9.97164631e-01 -3.49352260e-02 -6.66500481e-02 1.51649020e+02] [ 3.49740853e-02 9.99388049e-01 -5.84042220e-04 2.61506128e+00] [ 6.66296652e-02 -1.74863823e-03 9.97776242e-01 -2.67112332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:2.61, Z:-0.24 [[ 9.96899240e-01 -4.18291980e-02 -6.66500126e-02 1.51707520e+02] [ 4.18831608e-02 9.99122342e-01 -5.88073459e-04 2.61192900e+00] [ 6.66161153e-02 -2.20526321e-03 9.97776242e-01 -2.40428099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.77, Y:2.61, Z:-0.26 [[ 9.96887453e-01 -4.21091868e-02 -6.66499978e-02 1.51769622e+02] [ 4.21636625e-02 9.99110543e-01 -5.89744399e-04 2.60698168e+00] [ 6.66155492e-02 -2.22229922e-03 9.97776242e-01 -2.60871009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.83, Y:2.60, Z:-0.25 [[ 9.97321673e-01 -3.01207627e-02 -6.66499791e-02 1.51829420e+02] [ 3.01483657e-02 9.99545259e-01 -5.91854459e-04 2.60304411e+00] [ 6.66374977e-02 -1.41911866e-03 9.97776242e-01 -2.46355995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.89, Y:2.60, Z:-0.24 [[ 9.97320202e-01 -3.01694240e-02 -6.66499863e-02 1.51888243e+02] [ 3.01971903e-02 9.99543786e-01 -5.91033269e-04 2.59751919e+00] [ 6.66374108e-02 -1.42319290e-03 9.97776242e-01 -2.43165326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.95, Y:2.59, Z:-0.24 [[ 9.97336278e-01 -2.96338232e-02 -6.66497210e-02 1.51946075e+02] [ 2.96584888e-02 9.99559898e-01 -6.19574558e-04 2.59351978e+00] [ 6.66387488e-02 -1.35880582e-03 9.97776243e-01 -2.39799327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.01, Y:2.59, Z:-0.24 [[ 9.97361694e-01 -2.87664680e-02 -6.66493995e-02 1.52005259e+02] [ 2.87870049e-02 9.99585355e-01 -6.52431308e-04 2.59082227e+00] [ 6.66405318e-02 -1.26792659e-03 9.97776243e-01 -2.37100496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:2.59, Z:-0.23 [[ 9.97407916e-01 -2.71172449e-02 -6.66491066e-02 1.52063482e+02] [ 2.71321900e-02 9.99631622e-01 -6.81094952e-04 2.59065317e+00] [ 6.66430239e-02 -1.12900673e-03 9.97776244e-01 -2.32167844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:2.59, Z:-0.23 [[ 9.97384407e-01 -2.79692974e-02 -6.66487981e-02 1.52121617e+02] [ 2.79842077e-02 9.99608113e-01 -7.10052123e-04 2.59171367e+00] [ 6.66425390e-02 -1.15691890e-03 9.97776244e-01 -2.26834214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:2.59, Z:-0.22 [[ 9.97265296e-01 -3.19360270e-02 -6.66484747e-02 1.52180718e+02] [ 3.19578335e-02 9.99488945e-01 -7.39216131e-04 2.58968046e+00] [ 6.66380212e-02 -1.39274626e-03 9.97776245e-01 -2.24563164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:2.59, Z:-0.19 [[ 9.97197699e-01 -3.39815029e-02 -6.66483820e-02 1.52239150e+02] [ 3.40073186e-02 9.99421304e-01 -7.47476734e-04 2.58947483e+00] [ 6.66352133e-02 -1.52115068e-03 9.97776245e-01 -1.94715767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:2.59, Z:-0.22 [[ 9.97264055e-01 -3.19750086e-02 -6.66483587e-02 1.52300303e+02] [ 3.19962114e-02 9.99487709e-01 -7.49553374e-04 2.59185589e+00] [ 6.66381823e-02 -1.38499234e-03 9.97776245e-01 -2.15365868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.36, Y:2.59, Z:-0.20 [[ 9.97397246e-01 -2.75088387e-02 -6.66483110e-02 1.52359444e+02] [ 2.75198022e-02 9.99620974e-01 -7.53766035e-04 2.59396564e+00] [ 6.66437848e-02 -1.08234417e-03 9.97776245e-01 -1.98558364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:2.60, Z:-0.20 [[ 9.97526323e-01 -2.23436773e-02 -6.66482954e-02 1.52418202e+02] [ 2.23430334e-02 9.99750078e-01 -7.55145389e-04 2.59931083e+00] [ 6.66485112e-02 -7.35847689e-04 9.97776245e-01 -2.00423227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:2.60, Z:-0.20 [[ 9.97541610e-01 -2.16515126e-02 -6.66479459e-02 1.52475764e+02] [ 2.16473428e-02 9.99765361e-01 -7.84827597e-04 2.60247484e+00] [ 6.66493004e-02 -6.59852744e-04 9.97776245e-01 -1.97500604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.53, Y:2.61, Z:-0.20 [[ 9.97523044e-01 -2.24918593e-02 -6.66475287e-02 1.52534314e+02] [ 2.24872943e-02 9.99746794e-01 -8.18785421e-04 2.60621125e+00] [ 6.66490692e-02 -6.81965266e-04 9.97776246e-01 -1.95131425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:152.59, Y:2.61, Z:-0.20 [[ 9.97536367e-01 -2.18941538e-02 -6.66471474e-02 1.52594147e+02] [ 2.18862555e-02 9.99760107e-01 -8.48733747e-04 2.60921819e+00] [ 6.66497415e-02 -6.12013721e-04 9.97776246e-01 -1.96170058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:152.65, Y:2.62, Z:-0.17 [[ 9.97481046e-01 -2.42843118e-02 -6.66470936e-02 1.52653181e+02] [ 2.42814614e-02 9.99704798e-01 -8.52933091e-04 2.61592019e+00] [ 6.66481322e-02 -7.67504238e-04 9.97776246e-01 -1.71683269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.71, Y:2.62, Z:-0.19 [[ 9.97539384e-01 -2.17564377e-02 -6.66470936e-02 1.52714655e+02] [ 2.17479519e-02 9.99763121e-01 -8.52933091e-04 2.61882501e+00] [ 6.66498632e-02 -5.98603436e-04 9.97776246e-01 -1.87190999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:2.62, Z:-0.17 [[ 9.97430402e-01 -2.62824443e-02 -6.66470310e-02 1.52774164e+02] [ 2.62837235e-02 9.99654155e-01 -8.57798834e-04 2.62367240e+00] [ 6.66465265e-02 -8.96137500e-04 9.97776246e-01 -1.68914123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:152.83, Y:2.62, Z:-0.16 [[ 9.97375187e-01 -2.83003417e-02 -6.66470310e-02 1.52831939e+02] [ 2.83061199e-02 9.99598933e-01 -8.57798834e-04 2.62285909e+00] [ 6.66445771e-02 -1.03097158e-03 9.97776246e-01 -1.62758197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.89, Y:2.62, Z:-0.17 [[ 9.97330975e-01 -2.98187494e-02 -6.66465891e-02 1.52891254e+02] [ 2.98257045e-02 9.99554718e-01 -8.90858745e-04 2.62410341e+00] [ 6.66434769e-02 -1.09930045e-03 9.97776247e-01 -1.66778660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.95, Y:2.63, Z:-0.17 [[ 9.97393809e-01 -2.76382856e-02 -6.66461866e-02 1.52950597e+02] [ 2.76384308e-02 9.99617562e-01 -9.20021752e-04 2.62587825e+00] [ 6.66461264e-02 -9.24372016e-04 9.97776247e-01 -1.68894296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:2.63, Z:-0.17 [[ 9.97444077e-01 -2.57607189e-02 -6.66460707e-02 1.53008928e+02] [ 2.57561222e-02 9.99667825e-01 -9.28341020e-04 2.62527605e+00] [ 6.66478473e-02 -7.90576089e-04 9.97776247e-01 -1.67156699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:153.07, Y:2.62, Z:-0.14 [[ 9.97311747e-01 -3.04571417e-02 -6.66456499e-02 1.53066594e+02] [ 3.04610592e-02 9.99535496e-01 -9.57631828e-04 2.62428942e+00] [ 6.66438594e-02 -1.07503962e-03 9.97776248e-01 -1.44117728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:153.13, Y:2.63, Z:-0.14 [[ 9.97276249e-01 -3.15983102e-02 -6.66455578e-02 1.53125897e+02] [ 3.16043471e-02 9.99499993e-01 -9.63997531e-04 2.62571589e+00] [ 6.66426952e-02 -1.14491750e-03 9.97776248e-01 -1.37900367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.19, Y:2.63, Z:-0.16 [[ 9.97289222e-01 -3.11863107e-02 -6.66454969e-02 1.53186144e+02] [ 3.11911490e-02 9.99512969e-01 -9.68185968e-04 2.62618573e+00] [ 6.66432327e-02 -1.11318820e-03 9.97776248e-01 -1.58569196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:153.25, Y:2.63, Z:-0.13 [[ 9.97209129e-01 -3.36510135e-02 -6.66450439e-02 1.53245011e+02] [ 3.36593274e-02 9.99432866e-01 -9.98429336e-04 2.62706043e+00] [ 6.66408453e-02 -1.24758450e-03 9.97776248e-01 -1.32988145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:153.30, Y:2.63, Z:-0.13 [[ 9.97203429e-01 -3.38195037e-02 -6.66450439e-02 1.53303890e+02] [ 3.38281933e-02 9.99427164e-01 -9.98429336e-04 2.62891290e+00] [ 6.66406336e-02 -1.25884427e-03 9.97776248e-01 -1.31313856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:153.36, Y:2.63, Z:-0.12 [[ 9.97219037e-01 -3.33570090e-02 -6.66445896e-02 1.53361861e+02] [ 3.33626994e-02 9.99442782e-01 -1.02788396e-03 2.63217482e+00] [ 6.66417412e-02 -1.19841796e-03 9.97776249e-01 -1.24199865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:153.42, Y:2.63, Z:-0.12 [[ 9.97257786e-01 -3.21788465e-02 -6.66440538e-02 1.53420256e+02] [ 3.21796620e-02 9.99481537e-01 -1.06152827e-03 2.63325884e+00] [ 6.66436600e-02 -1.08596579e-03 9.97776249e-01 -1.16597846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:153.48, Y:2.64, Z:-0.12 [[ 9.97270911e-01 -3.17705019e-02 -6.66435742e-02 1.53479337e+02] [ 3.17684492e-02 9.99494660e-01 -1.09082976e-03 2.63685066e+00] [ 6.66445527e-02 -1.02931021e-03 9.97776250e-01 -1.18865806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:153.54, Y:2.64, Z:-0.13 [[ 9.97281650e-01 -3.14326652e-02 -6.66430716e-02 1.53538893e+02] [ 3.14278625e-02 9.99505394e-01 -1.12071522e-03 2.63793387e+00] [ 6.66453367e-02 -9.76780564e-04 9.97776250e-01 -1.26878503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:153.60, Y:2.64, Z:-0.12 [[ 9.97157885e-01 -3.51414555e-02 -6.66425509e-02 1.53597608e+02] [ 3.51429085e-02 9.99381635e-01 -1.15087063e-03 2.64160458e+00] [ 6.66417847e-02 -1.19441334e-03 9.97776250e-01 -1.19154546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:153.66, Y:2.64, Z:-0.11 [[ 9.97000026e-01 -3.93673702e-02 -6.66420172e-02 1.53655831e+02] [ 3.93762358e-02 9.99223757e-01 -1.18098840e-03 2.64047740e+00] [ 6.66367792e-02 -1.44666632e-03 9.97776251e-01 -1.13640793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:153.72, Y:2.64, Z:-0.12 [[ 9.97094528e-01 -3.68973858e-02 -6.66414692e-02 1.53715337e+02] [ 3.68987278e-02 9.99318276e-01 -1.21114332e-03 2.64420125e+00] [ 6.66407261e-02 -1.25136106e-03 9.97776251e-01 -1.21256083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:153.77, Y:2.64, Z:-0.12 [[ 9.96945587e-01 -4.07237017e-02 -6.66414048e-02 1.53774154e+02] [ 4.07333418e-02 9.99169315e-01 -1.21467760e-03 2.64273657e+00] [ 6.66355129e-02 -1.50355965e-03 9.97776251e-01 -1.18489433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:153.83, Y:2.64, Z:-0.09 [[ 9.96478434e-01 -5.08893465e-02 -6.66408671e-02 1.53831518e+02] [ 5.09197405e-02 9.98701974e-01 -1.24349498e-03 2.64016962e+00] [ 6.66176462e-02 -2.15421973e-03 9.97776252e-01 -9.07414449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:153.89, Y:2.65, Z:-0.11 [[ 9.96737371e-01 -4.55370514e-02 -6.66407493e-02 1.53892679e+02] [ 4.55550837e-02 9.98961046e-01 -1.24977813e-03 2.64820296e+00] [ 6.66284238e-02 -1.79012434e-03 9.97776252e-01 -1.08751917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters Centerline goodness : 0.997712 with order 1 Centerline is valid? [True, True] Translation: X:153.95, Y:2.65, Z:-0.08 [[ 9.96459368e-01 -5.12615284e-02 -6.66407108e-02 1.53949653e+02] [ 5.12921964e-02 9.98682904e-01 -1.25182410e-03 2.64885054e+00] [ 6.66171091e-02 -2.17075657e-03 9.97776252e-01 -8.36127845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:2.65, Z:-0.08 [[ 9.96613526e-01 -4.81722787e-02 -6.66401613e-02 1.54008295e+02] [ 4.81941426e-02 9.98837166e-01 -1.28042800e-03 2.65253189e+00] [ 6.66243510e-02 -1.93557358e-03 9.97776252e-01 -7.91160492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters Centerline goodness : 0.997713 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:2.66, Z:-0.07 [[ 9.96725982e-01 -4.57873344e-02 -6.66395974e-02 1.54066480e+02] [ 4.58019595e-02 9.98949682e-01 -1.30913201e-03 2.65619583e+00] [ 6.66295463e-02 -1.74737825e-03 9.97776253e-01 -7.46827561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters Centerline goodness : 0.967772 with order 2 Centerline is valid? [True, True] Translation: X:154.15, Y:2.71, Z:-0.08 [[ 9.96796780e-01 4.42201283e-02 -6.66390246e-02 1.54152932e+02] [-4.44078539e-02 9.99012589e-01 -1.33766872e-03 2.71009279e+00] [ 6.65140726e-02 4.29267994e-03 9.97776253e-01 -8.49519699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters Centerline goodness : 0.981395 with order 1 Centerline is valid? [True, True] Translation: X:154.18, Y:2.63, Z:-0.09 [[ 9.91224879e-01 -1.14074002e-01 -6.67859327e-02 1.54181100e+02] [ 1.14843004e-01 9.93353203e-01 7.77809225e-03 2.63410452e+00] [ 6.54547420e-02 -1.53797357e-02 9.97737010e-01 -9.27542451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:154.24, Y:2.68, Z:-0.08 [[ 9.96926344e-01 -4.12843009e-02 -6.65843158e-02 1.54238334e+02] [ 4.12779427e-02 9.99146618e-01 -1.47183582e-03 2.67864657e+00] [ 6.65882577e-02 -1.28115167e-03 9.97779716e-01 -8.11869925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters Centerline goodness : 0.998556 with order 1 Centerline is valid? [True, True] Translation: X:154.30, Y:2.69, Z:-0.06 [[ 9.96571252e-01 -4.91157208e-02 -6.65836718e-02 1.54295978e+02] [ 4.91248990e-02 9.98791516e-01 -1.50041536e-03 2.68559022e+00] [ 6.65769005e-02 -1.77564533e-03 9.97779717e-01 -6.27399498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:2.69, Z:-0.06 [[ 9.96595046e-01 -4.86314490e-02 -6.65830079e-02 1.54353892e+02] [ 4.86376183e-02 9.98815320e-01 -1.52932123e-03 2.69020180e+00] [ 6.65785014e-02 -1.71432496e-03 9.97779717e-01 -5.64159614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:154.41, Y:2.69, Z:-0.05 [[ 9.96359137e-01 -5.32466402e-02 -6.65827756e-02 1.54411780e+02] [ 5.32624219e-02 9.98579363e-01 -1.53936800e-03 2.69280654e+00] [ 6.65701519e-02 -2.01259652e-03 9.97779717e-01 -5.38136078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:2.69, Z:-0.05 [[ 9.96030535e-01 -5.90762972e-02 -6.65820162e-02 1.54470546e+02] [ 5.91029229e-02 9.98250657e-01 -1.57154537e-03 2.69423160e+00] [ 6.65583825e-02 -2.36988459e-03 9.97779718e-01 -4.65772640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:2.69, Z:-0.05 [[ 9.95800110e-01 -6.28415910e-02 -6.65813433e-02 1.54529965e+02] [ 6.28747401e-02 9.98020144e-01 -1.59955638e-03 2.69415427e+00] [ 6.65500405e-02 -2.59344623e-03 9.97779718e-01 -5.41195119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:154.59, Y:2.70, Z:-0.04 [[ 9.95493488e-01 -6.75257644e-02 -6.65806718e-02 1.54588063e+02] [ 6.75675234e-02 9.97713377e-01 -1.62703236e-03 2.69682526e+00] [ 6.65382936e-02 -2.87899098e-03 9.97779719e-01 -3.77474499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:2.70, Z:-0.06 [[ 9.95738006e-01 -6.38194403e-02 -6.65800453e-02 1.54648937e+02] [ 6.38512494e-02 9.97958059e-01 -1.65228174e-03 2.69501080e+00] [ 6.65495405e-02 -2.60597935e-03 9.97779719e-01 -5.93041762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:154.71, Y:2.70, Z:-0.05 [[ 9.95794697e-01 -6.29293673e-02 -6.65794033e-02 1.54708314e+02] [ 6.29574910e-02 9.98014799e-01 -1.67775999e-03 2.69618776e+00] [ 6.65528101e-02 -2.52096768e-03 9.97779719e-01 -4.73406557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters Centerline goodness : 0.893982 with order 1 Centerline is valid? [True, False] Translation: X:154.73, Y:2.70, Z:-0.05 [[ 9.96019644e-01 -4.86781930e-02 -7.46679412e-02 1.54729096e+02] [ 4.79737477e-02 9.98785801e-01 -1.12001594e-02 2.70394871e+00] [ 7.51224829e-02 7.57347779e-03 9.97145554e-01 -4.62107904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters Centerline goodness : 0.997308 with order 1 Centerline is valid? [False, True] Translation: X:154.77, Y:2.72, Z:-0.05 [[ 9.96313733e-01 -2.68578082e-02 -8.14714852e-02 1.54768916e+02] [ 2.52500275e-02 9.99466811e-01 -2.07009696e-02 2.71787092e+00] [ 8.19840282e-02 1.85675031e-02 9.96460670e-01 -4.50416823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:2.71, Z:-0.04 [[ 9.96133203e-01 3.64053063e-02 -7.99580882e-02 1.54827552e+02] [-3.61351856e-02 9.99335272e-01 4.82313336e-03 2.71349094e+00] [ 8.00805254e-02 -1.91518293e-03 9.96786558e-01 -3.92877951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:2.71, Z:-0.01 [[ 9.96226865e-01 3.37406029e-02 -7.99600264e-02 1.54883924e+02] [-3.34645124e-02 9.99428424e-01 4.79078451e-03 2.71143204e+00] [ 8.00759671e-02 -2.09688493e-03 9.96786558e-01 -1.38397390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:2.71, Z:-0.01 [[ 9.96194219e-01 3.46884929e-02 -7.99611507e-02 1.54942273e+02] [-3.44169601e-02 9.99396168e-01 4.77194492e-03 2.70884784e+00] [ 8.00783992e-02 -2.00176420e-03 9.96786558e-01 -1.10286630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters Centerline goodness : 0.993692 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:2.73, Z:-0.04 [[ 9.91273589e-01 1.04797707e-01 -7.99631998e-02 1.55004876e+02] [-1.04755254e-01 9.94486749e-01 4.73735919e-03 2.73482744e+00] [ 8.00188070e-02 3.68054625e-03 9.96786559e-01 -3.78796869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:155.06, Y:2.71, Z:-0.02 [[ 9.95969360e-01 4.06275458e-02 -7.99652244e-02 1.55062100e+02] [-4.03806477e-02 9.99173301e-01 4.70293457e-03 2.70868202e+00] [ 8.00901859e-02 -1.45493117e-03 9.96786560e-01 -1.91424467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:155.12, Y:2.71, Z:0.01 [[ 9.96271593e-01 3.23798120e-02 -7.99653694e-02 1.55119394e+02] [-3.21065925e-02 9.99473398e-01 4.70046773e-03 2.70860601e+00] [ 8.00754597e-02 -2.11552694e-03 9.96786560e-01 6.98545413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:155.18, Y:2.71, Z:-0.01 [[ 9.96104948e-01 3.71502997e-02 -7.99674186e-02 1.55179368e+02] [-3.68952343e-02 9.99308249e-01 4.66534336e-03 2.70616359e+00] [ 8.00854200e-02 -1.69675496e-03 9.96786560e-01 -1.12007867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:155.24, Y:2.70, Z:0.00 [[ 9.96787543e-01 4.41509599e-03 -7.99693811e-02 1.55236172e+02] [-4.05767246e-03 9.99981042e-01 4.63145925e-03 2.69744707e+00] [ 7.99883134e-02 -4.29209133e-03 9.96786561e-01 4.15405908e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:155.29, Y:2.71, Z:0.02 [[ 9.96465916e-01 2.56996871e-02 -7.99700178e-02 1.55293255e+02] [-2.54114231e-02 9.99666400e-01 4.62044002e-03 2.70768522e+00] [ 8.00620836e-02 -2.57195904e-03 9.96786561e-01 1.90726260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:155.35, Y:2.71, Z:0.03 [[ 9.96456733e-01 2.60465236e-02 -7.99722311e-02 1.55351505e+02] [-2.57624709e-02 9.99657592e-01 4.58180942e-03 2.71070126e+00] [ 8.00641882e-02 -2.50529257e-03 9.96786562e-01 2.76392451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:155.41, Y:2.71, Z:0.03 [[ 9.96558510e-01 2.18007007e-02 -7.99741552e-02 1.55410766e+02] [-2.15057244e-02 9.99758381e-01 4.54797547e-03 2.71258966e+00] [ 8.00539809e-02 -2.81242152e-03 9.96786562e-01 2.54434193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters Centerline goodness : 0.997361 with order 1 Centerline is valid? [True, True] Translation: X:155.47, Y:2.71, Z:0.03 [[ 9.96608948e-01 1.93502873e-02 -7.99760650e-02 1.55469563e+02] [-1.90501555e-02 9.99808339e-01 4.51414072e-03 2.71318199e+00] [ 8.00480866e-02 -2.97527657e-03 9.96786563e-01 3.26871773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters Centerline goodness : 0.996277 with order 1 Centerline is valid? [True, True] Translation: X:155.53, Y:2.69, Z:0.03 [[ 9.96759001e-01 -8.66145327e-03 -7.99779569e-02 1.55528408e+02] [ 9.04866931e-03 9.99949023e-01 4.48037003e-03 2.69314878e+00] [ 7.99350733e-02 -5.18954324e-03 9.96786563e-01 2.50755494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:2.70, Z:0.02 [[ 9.96781129e-01 5.53278855e-03 -7.99798043e-02 1.55590266e+02] [-5.19369523e-03 9.99976624e-01 4.44714537e-03 2.70122283e+00] [ 8.00025398e-02 -4.01743985e-03 9.96786564e-01 1.87194288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters Centerline goodness : 0.996718 with order 1 Centerline is valid? [True, True] Translation: X:155.65, Y:2.71, Z:0.02 [[ 9.95009133e-01 5.96660621e-02 -7.99799112e-02 1.55650848e+02] [-5.95011913e-02 9.98218337e-01 4.44522300e-03 2.71009374e+00] [ 8.01026429e-02 3.35862511e-04 9.96786564e-01 1.59295101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters Centerline goodness : 0.986231 with order 1 Centerline is valid? [True, True] Translation: X:155.71, Y:2.72, Z:0.03 [[ 9.94079805e-01 7.35427406e-02 -7.99800331e-02 1.55709959e+02] [-7.34228376e-02 9.97291004e-01 4.44302770e-03 2.71776640e+00] [ 8.00901200e-02 1.45563687e-03 9.96786564e-01 3.00401949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:155.77, Y:2.68, Z:0.02 [[ 9.96789990e-01 3.58817800e-03 -7.99802502e-02 1.55769086e+02] [-3.24349383e-03 9.99984887e-01 4.43911568e-03 2.68086541e+00] [ 7.99949698e-02 -4.16545062e-03 9.96786564e-01 1.82777566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters Centerline goodness : 0.996918 with order 1 Centerline is valid? [True, True] Translation: X:155.83, Y:2.68, Z:0.04 [[ 9.96777343e-01 6.17032515e-03 -7.99803467e-02 1.55825796e+02] [-5.83405758e-03 9.99973136e-01 4.43737744e-03 2.67750177e+00] [ 8.00055782e-02 -3.95646735e-03 9.96786564e-01 4.12895378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters Centerline goodness : 0.997268 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:2.67, Z:0.04 [[ 9.96775969e-01 6.36665515e-03 -7.99820835e-02 1.55883853e+02] [-6.03354086e-03 9.99972092e-01 4.40584829e-03 2.67202122e+00] [ 8.00079019e-02 -3.90906853e-03 9.96786564e-01 4.49577864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters Centerline goodness : 0.964715 with order 1 Centerline is valid? [True, True] Translation: X:155.94, Y:2.64, Z:0.03 [[ 9.92993177e-01 -8.69892987e-02 -7.99838289e-02 1.55942425e+02] [ 8.76176833e-02 9.96144573e-01 4.37393204e-03 2.63964402e+00] [ 7.92949718e-02 -1.13512825e-02 9.96786565e-01 3.37903744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters Centerline goodness : 0.994186 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:2.66, Z:0.08 [[ 9.96796074e-01 3.69388416e-04 -7.99840685e-02 1.55999345e+02] [-1.99546791e-05 9.99990453e-01 4.36954697e-03 2.66333038e+00] [ 7.99849189e-02 -4.35395121e-03 9.96786565e-01 7.53692212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:2.66, Z:0.06 [[ 9.95632665e-01 4.81442128e-02 -7.99858246e-02 1.56058489e+02] [-4.79508851e-02 9.98840278e-01 4.33716110e-03 2.66231986e+00] [ 8.01018725e-02 -4.82828179e-04 9.96786565e-01 5.89623544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:156.12, Y:2.64, Z:0.05 [[ 9.96241748e-01 3.32347413e-02 -7.99864461e-02 1.56115676e+02] [-3.29943413e-02 9.99446178e-01 4.32566957e-03 2.63961016e+00] [ 8.00859103e-02 -1.67031252e-03 9.96786565e-01 4.96531277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters Centerline goodness : 0.997564 with order 1 Centerline is valid? [True, True] Translation: X:156.17, Y:2.62, Z:0.05 [[ 9.96648428e-01 -1.71451149e-02 -7.99872185e-02 1.56172974e+02] [ 1.75459748e-02 9.99836762e-01 4.31133879e-03 2.62029999e+00] [ 7.99002432e-02 -5.70034274e-03 9.96786566e-01 4.76884425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters Centerline goodness : 0.994826 with order 1 Centerline is valid? [True, True] Translation: X:156.23, Y:2.61, Z:0.08 [[ 9.96794284e-01 -1.76724736e-03 -7.99877066e-02 1.56229697e+02] [ 2.11814541e-03 9.99988502e-01 4.30226365e-03 2.61487474e+00] [ 7.99791838e-02 -4.45789740e-03 9.96786566e-01 8.46259068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters Centerline goodness : 0.988462 with order 1 Centerline is valid? [True, True] Translation: X:156.29, Y:2.58, Z:0.06 [[ 9.94566175e-01 -6.66337149e-02 -7.99879456e-02 1.56287459e+02] [ 6.71913927e-02 9.97730848e-01 4.29781676e-03 2.58026657e+00] [ 7.95200613e-02 -9.64896464e-03 9.96786566e-01 6.41160134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters Centerline goodness : 0.980909 with order 1 Centerline is valid? [True, True] Translation: X:156.35, Y:2.58, Z:0.06 [[ 9.94358363e-01 -6.96654880e-02 -7.99885343e-02 1.56346034e+02] [ 7.02319410e-02 9.97521477e-01 4.28683152e-03 2.57595627e+00] [ 7.94916367e-02 -9.88039679e-03 9.96786566e-01 5.83776107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters Centerline goodness : 0.996864 with order 1 Centerline is valid? [True, True] Translation: X:156.40, Y:2.57, Z:0.08 [[ 9.96773754e-01 -6.62021914e-03 -7.99891027e-02 1.56403031e+02] [ 6.98458054e-03 9.99966464e-01 4.27620034e-03 2.57349945e+00] [ 7.99581108e-02 -4.82109459e-03 9.96786566e-01 7.84875362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters Centerline goodness : 0.996317 with order 1 Centerline is valid? [True, True] Translation: X:156.46, Y:2.57, Z:0.09 [[ 9.96791867e-01 2.73104254e-03 -7.99907141e-02 1.56461771e+02] [-2.39907877e-03 9.99988109e-01 4.24584105e-03 2.56732395e+00] [ 8.00013585e-02 -4.04031580e-03 9.96786566e-01 8.54411585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters Centerline goodness : 0.996374 with order 1 Centerline is valid? [True, True] Translation: X:156.52, Y:2.57, Z:0.10 [[ 9.96438604e-01 2.66752322e-02 -7.99908743e-02 1.56520624e+02] [-2.64203866e-02 9.99641917e-01 4.24282226e-03 2.56511374e+00] [ 8.00754091e-02 -2.11432206e-03 9.96786566e-01 1.03492722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters Centerline goodness : 0.997913 with order 1 Centerline is valid? [True, True] Translation: X:156.58, Y:2.56, Z:0.11 [[ 9.96422887e-01 2.72556242e-02 -7.99910089e-02 1.56579378e+02] [-2.70028483e-02 9.99626363e-01 4.24028171e-03 2.56248884e+00] [ 8.00766929e-02 -2.06512867e-03 9.96786566e-01 1.06774762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters Centerline goodness : 0.995580 with order 1 Centerline is valid? [True, True] Translation: X:156.64, Y:2.56, Z:0.13 [[ 9.96573981e-01 2.10107566e-02 -7.99928036e-02 1.56635874e+02] [-2.07406470e-02 9.99776042e-01 4.20615169e-03 2.55577756e+00] [ 8.00632630e-02 -2.53263883e-03 9.96786567e-01 1.33358026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:156.70, Y:2.55, Z:0.12 [[ 9.96654874e-01 1.67310517e-02 -7.99945898e-02 1.56695296e+02] [-1.64499397e-02 9.99855987e-01 4.17190198e-03 2.55042830e+00] [ 8.00528699e-02 -2.84204026e-03 9.96786567e-01 1.16906808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:156.75, Y:2.54, Z:0.14 [[ 9.96655986e-01 1.66549765e-02 -7.99966086e-02 1.56752428e+02] [-1.63767526e-02 9.99857351e-01 4.13282685e-03 2.54444356e+00] [ 8.00540293e-02 -2.80892195e-03 9.96786568e-01 1.38367794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.81, Y:2.54, Z:0.12 [[ 9.96671383e-01 1.56976280e-02 -7.99983675e-02 1.56812767e+02] [-1.54190812e-02 9.99872719e-01 4.09849557e-03 2.53809962e+00] [ 8.00525219e-02 -2.85135192e-03 9.96786569e-01 1.23976989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:156.87, Y:2.53, Z:0.14 [[ 9.96583983e-01 2.05057830e-02 -7.99992338e-02 1.56870679e+02] [-2.02440457e-02 9.99786737e-01 4.08151691e-03 2.53107316e+00] [ 8.00658676e-02 -2.44806624e-03 9.96786569e-01 1.43810888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:156.93, Y:2.53, Z:0.14 [[ 9.96596370e-01 1.98939786e-02 -7.99994104e-02 1.56929377e+02] [-1.96305529e-02 9.99798985e-01 4.07805299e-03 2.52505669e+00] [ 8.00644580e-02 -2.49374015e-03 9.96786569e-01 1.40622920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.99, Y:2.52, Z:0.14 [[ 9.96679082e-01 1.51928914e-02 -7.99999027e-02 1.56989575e+02] [-1.49151383e-02 9.99880486e-01 4.06837219e-03 2.51906786e+00] [ 8.00521519e-02 -2.86165185e-03 9.96786569e-01 1.37205482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:157.05, Y:2.51, Z:0.14 [[ 9.96722018e-01 1.20505257e-02 -8.00000253e-02 1.57047638e+02] [-1.17628739e-02 9.99922548e-01 4.06596052e-03 2.50676625e+00] [ 8.00428261e-02 -3.11160217e-03 9.96786569e-01 1.41994531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:157.11, Y:2.50, Z:0.16 [[ 9.96701715e-01 1.36169341e-02 -8.00016962e-02 1.57106301e+02] [-1.33369694e-02 9.99902926e-01 4.03281405e-03 2.49757172e+00] [ 8.00488447e-02 -2.95253250e-03 9.96786569e-01 1.55562370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:2.49, Z:0.16 [[ 9.96784274e-01 4.56058386e-03 -8.00019561e-02 1.57164801e+02] [-4.25195873e-03 9.99982849e-01 4.02765207e-03 2.48795675e+00] [ 8.00189524e-02 -3.67453523e-03 9.96786569e-01 1.59191541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.22, Y:2.48, Z:0.17 [[ 9.96754888e-01 8.89422600e-03 -8.00036580e-02 1.57222194e+02] [-8.60224203e-03 9.99955025e-01 3.99355729e-03 2.47603814e+00] [ 8.00355795e-02 -3.29238692e-03 9.96786570e-01 1.70907223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.28, Y:2.47, Z:0.16 [[ 9.96599815e-01 1.96967551e-02 -8.00052941e-02 1.57282437e+02] [-1.94421228e-02 9.99803140e-01 3.96050844e-03 2.46913009e+00] [ 8.00675534e-02 -2.39156923e-03 9.96786571e-01 1.60750836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:2.46, Z:0.17 [[ 9.96508427e-01 2.38765216e-02 -8.00054135e-02 1.57340421e+02] [-2.36355205e-02 9.99712807e-01 3.95809490e-03 2.46159168e+00] [ 8.00769420e-02 -2.05330533e-03 9.96786571e-01 1.66416888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:2.46, Z:0.17 [[ 9.96444961e-01 2.63874786e-02 -8.00071346e-02 1.57399259e+02] [-2.61573696e-02 9.99650140e-01 3.92299469e-03 2.45512158e+00] [ 8.00826612e-02 -1.81627209e-03 9.96786571e-01 1.69942074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:157.46, Y:2.45, Z:0.19 [[ 9.96535015e-01 2.27276983e-02 -8.00088410e-02 1.57457603e+02] [-2.24886366e-02 9.99739539e-01 3.88787987e-03 2.44907197e+00] [ 8.00763644e-02 -2.07511867e-03 9.96786572e-01 1.88868965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:157.52, Y:2.45, Z:0.20 [[ 9.96506854e-01 2.39302081e-02 -8.00089639e-02 1.57515540e+02] [-2.36952166e-02 9.99711679e-01 3.88534838e-03 2.44601793e+00] [ 8.00788729e-02 -1.97594656e-03 9.96786572e-01 1.95235832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:157.58, Y:2.44, Z:0.20 [[ 9.96386244e-01 2.85081774e-02 -8.00108586e-02 1.57575295e+02] [-2.82910761e-02 9.99592329e-01 3.84593326e-03 2.44005272e+00] [ 8.00878810e-02 -1.56844171e-03 9.96786573e-01 2.04763215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.64, Y:2.44, Z:0.19 [[ 9.96467845e-01 2.54970385e-02 -8.00108391e-02 1.57636693e+02] [-2.52702170e-02 9.99673258e-01 3.84633887e-03 2.43526564e+00] [ 8.00827664e-02 -1.81086174e-03 9.96786573e-01 1.94492290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:157.69, Y:2.43, Z:0.22 [[ 9.96233754e-01 3.34151530e-02 -8.00108391e-02 1.57694267e+02] [-3.32138121e-02 9.99440868e-01 3.84633887e-03 2.43456484e+00] [ 8.00946285e-02 -1.17438764e-03 9.96786573e-01 2.21736554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.76, Y:2.43, Z:0.19 [[ 9.96099819e-01 3.71937306e-02 -8.00111012e-02 1.57757007e+02] [-3.70049946e-02 9.99307699e-01 3.84087779e-03 2.43126920e+00] [ 8.00985661e-02 -8.65087307e-04 9.96786573e-01 1.94136980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:157.82, Y:2.43, Z:0.21 [[ 9.95861700e-01 4.31006879e-02 -8.00112830e-02 1.57815721e+02] [-4.29312849e-02 9.99070659e-01 3.83708707e-03 2.43196375e+00] [ 8.01023064e-02 -3.86220861e-04 9.96786573e-01 2.10964495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:157.87, Y:2.43, Z:0.21 [[ 9.95882426e-01 4.26188633e-02 -8.00114089e-02 1.57874190e+02] [-4.24481187e-02 9.99091314e-01 3.83446107e-03 2.43237954e+00] [ 8.01021240e-02 -4.22338607e-04 9.96786573e-01 2.13020825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:157.93, Y:2.43, Z:0.24 [[ 9.95934668e-01 4.13766266e-02 -8.00131924e-02 1.57932317e+02] [-4.12048990e-02 9.99143503e-01 3.79687726e-03 2.43127523e+00] [ 8.01017633e-02 -4.84506186e-04 9.96786573e-01 2.35649850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:157.99, Y:2.43, Z:0.24 [[ 9.96128755e-01 3.64056581e-02 -8.00133194e-02 1.57992027e+02] [-3.62181332e-02 9.99336705e-01 3.79419890e-03 2.42909732e+00] [ 8.00983773e-02 -8.81577561e-04 9.96786573e-01 2.41039420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:158.05, Y:2.43, Z:0.22 [[ 9.96273909e-01 3.21889321e-02 -8.00135732e-02 1.58052528e+02] [-3.19882606e-02 9.99481063e-01 3.78884048e-03 2.42912492e+00] [ 8.00940099e-02 -1.21522788e-03 9.96786573e-01 2.20988728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.11, Y:2.43, Z:0.22 [[ 9.96390091e-01 2.83609205e-02 -8.00152820e-02 1.58110143e+02] [-2.81508533e-02 9.99596643e-01 3.75240365e-03 2.42615856e+00] [ 8.00894289e-02 -1.48635935e-03 9.96786574e-01 2.24262972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.17, Y:2.42, Z:0.23 [[ 9.96507072e-01 2.38937006e-02 -8.00171660e-02 1.58168933e+02] [-2.36725196e-02 9.99712876e-01 3.71179051e-03 2.42139245e+00] [ 8.00828795e-02 -1.80461757e-03 9.96786575e-01 2.29558309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:158.23, Y:2.42, Z:0.27 [[ 9.96655020e-01 1.66060848e-02 -8.00187996e-02 1.58225770e+02] [-1.63643196e-02 9.99859337e-01 3.67623285e-03 2.41665579e+00] [ 8.00685918e-02 -2.35448272e-03 9.96786575e-01 2.67259775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters Centerline goodness : 0.997065 with order 1 Centerline is valid? [True, True] Translation: X:158.28, Y:2.42, Z:0.27 [[ 9.96635161e-01 1.77571631e-02 -8.00189959e-02 1.58284190e+02] [-1.75194420e-02 9.99839780e-01 3.67195571e-03 2.41590004e+00] [ 8.00713788e-02 -2.25771201e-03 9.96786575e-01 2.71654450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:158.35, Y:2.41, Z:0.24 [[ 9.96598849e-01 1.96832703e-02 -8.00206400e-02 1.58345688e+02] [-1.94546464e-02 9.99804130e-01 3.63577051e-03 2.41411317e+00] [ 8.00765302e-02 -2.06663145e-03 9.96786576e-01 2.42716284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:158.40, Y:2.41, Z:0.25 [[ 9.96591679e-01 2.00423352e-02 -8.00208063e-02 1.58402905e+02] [-1.98151601e-02 9.99797063e-01 3.63210754e-03 2.41169662e+00] [ 8.00773630e-02 -2.03410306e-03 9.96786576e-01 2.48076946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters Centerline goodness : 0.996419 with order 1 Centerline is valid? [True, True] Translation: X:158.46, Y:2.41, Z:0.28 [[ 9.96605869e-01 1.93164975e-02 -8.00225901e-02 1.58460529e+02] [-1.90901763e-02 9.99811312e-01 3.59237308e-03 2.40798582e+00] [ 8.00768829e-02 -2.05253475e-03 9.96786577e-01 2.83642995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters Centerline goodness : 0.997017 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:2.41, Z:0.29 [[ 9.96551540e-01 2.19407223e-02 -8.00227033e-02 1.58519029e+02] [-2.17230450e-02 9.99757582e-01 3.58985071e-03 2.40652580e+00] [ 8.00820682e-02 -1.83913447e-03 9.96786577e-01 2.88706723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters Centerline goodness : 0.990042 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:2.40, Z:0.30 [[ 9.96494600e-01 2.43848886e-02 -8.00243057e-02 1.58578397e+02] [-2.41779719e-02 9.99701354e-01 3.55376728e-03 2.40313623e+00] [ 8.00870650e-02 -1.60648449e-03 9.96786578e-01 3.00269874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters Centerline goodness : 0.993823 with order 1 Centerline is valid? [True, True] Translation: X:158.64, Y:2.40, Z:0.30 [[ 9.96376422e-01 2.88118166e-02 -8.00244010e-02 1.58639290e+02] [-2.86193210e-02 9.99584074e-01 3.55162121e-03 2.40359481e+00] [ 8.00934454e-02 -1.24850761e-03 9.96786578e-01 2.98608829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:158.70, Y:2.40, Z:0.27 [[ 9.96301083e-01 3.13089156e-02 -8.00244010e-02 1.58701826e+02] [-3.11244599e-02 9.99509207e-01 3.55162121e-03 2.40131314e+00] [ 8.00963229e-02 -1.04776780e-03 9.96786578e-01 2.74974931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters Centerline goodness : 0.995173 with order 1 Centerline is valid? [True, True] Translation: X:158.76, Y:2.40, Z:0.31 [[ 9.96161984e-01 3.54597904e-02 -8.00244010e-02 1.58758636e+02] [-3.52887031e-02 9.99370849e-01 3.55162121e-03 2.40362324e+00] [ 8.00999933e-02 -7.14032704e-04 9.96786578e-01 3.08109726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters Centerline goodness : 0.991634 with order 1 Centerline is valid? [True, True] Translation: X:158.82, Y:2.41, Z:0.32 [[ 9.96019931e-01 3.92445742e-02 -8.00259927e-02 1.58818147e+02] [-3.90885916e-02 9.99229565e-01 3.51538867e-03 2.40618860e+00] [ 8.01022978e-02 -3.73293837e-04 9.96786578e-01 3.15944045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters Centerline goodness : 0.994378 with order 1 Centerline is valid? [True, True] Translation: X:158.88, Y:2.41, Z:0.32 [[ 9.95931312e-01 4.14323985e-02 -8.00261098e-02 1.58878148e+02] [-4.12836813e-02 9.99141291e-01 3.51271878e-03 2.40701586e+00] [ 8.01029310e-02 -1.94654212e-04 9.96786578e-01 3.17666754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters Centerline goodness : 0.994678 with order 1 Centerline is valid? [True, True] Translation: X:158.94, Y:2.41, Z:0.32 [[ 9.95885118e-01 4.25280588e-02 -8.00262252e-02 1.58937473e+02] [-4.23830846e-02 9.99095267e-01 3.51008775e-03 2.41205167e+00] [ 8.01031001e-02 -1.03885877e-04 9.96786578e-01 3.21623010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters Centerline goodness : 0.977676 with order 1 Centerline is valid? [True, True] Translation: X:159.00, Y:2.45, Z:0.28 [[ 9.90439018e-01 1.12365907e-01 -8.00278341e-02 1.59002611e+02] [-1.12449726e-01 9.93651346e-01 3.47301762e-03 2.44677085e+00] [ 7.99100138e-02 5.55929586e-03 9.96786579e-01 2.79375201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.06, Y:2.42, Z:0.30 [[ 9.95894047e-01 4.23149719e-02 -8.00280596e-02 1.59059012e+02] [-4.21727080e-02 9.99104317e-01 3.46781243e-03 2.42208583e+00] [ 8.01031203e-02 -7.85737651e-05 9.96786579e-01 3.01321398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters Centerline goodness : 0.994421 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:2.43, Z:0.34 [[ 9.96001204e-01 3.97119271e-02 -8.00285215e-02 1.59115793e+02] [-3.95621323e-02 9.99211132e-01 3.45712002e-03 2.42802327e+00] [ 8.01026785e-02 -2.77196743e-04 9.96786579e-01 3.35746749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters Centerline goodness : 0.996422 with order 1 Centerline is valid? [True, True] Translation: X:159.18, Y:2.43, Z:0.33 [[ 9.95981196e-01 4.02077079e-02 -8.00299786e-02 1.59176888e+02] [-4.00622482e-02 9.99191323e-01 3.42305437e-03 2.43376229e+00] [ 8.01028934e-02 -2.03116920e-04 9.96786580e-01 3.32323789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:159.24, Y:2.44, Z:0.34 [[ 9.96038887e-01 3.87519381e-02 -8.00301370e-02 1.59235072e+02] [-3.86020846e-02 9.99248811e-01 3.41934677e-03 2.43797270e+00] [ 8.01025256e-02 -3.16472230e-04 9.96786580e-01 3.41691781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:159.29, Y:2.44, Z:0.35 [[ 9.96081793e-01 3.76296529e-02 -8.00316915e-02 1.59293408e+02] [-3.74791376e-02 9.99291685e-01 3.38256818e-03 2.44093323e+00] [ 8.01022888e-02 -3.69795794e-04 9.96786580e-01 3.46457599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:159.35, Y:2.45, Z:0.35 [[ 9.96134437e-01 3.62058877e-02 -8.00332216e-02 1.59352789e+02] [-3.60537247e-02 9.99344252e-01 3.34597185e-03 2.44675238e+00] [ 8.01018838e-02 -4.47542044e-04 9.96786581e-01 3.48681126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:159.41, Y:2.45, Z:0.35 [[ 9.96283779e-01 3.18287687e-02 -8.00347449e-02 1.59412987e+02] [-3.16654633e-02 9.99493046e-01 3.30913096e-03 2.45031174e+00] [ 8.00994965e-02 -7.62496220e-04 9.96786582e-01 3.46442753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters Centerline goodness : 0.926489 with order 3 Centerline is valid? [True, False] Translation: X:159.40, Y:2.46, Z:0.34 [[ 9.97589618e-01 1.68761034e-02 -6.73063912e-02 1.59399221e+02] [-1.68096904e-02 9.99857501e-01 1.55298680e-03 2.45664324e+00] [ 6.73230085e-02 -4.17843909e-04 9.97731145e-01 3.44679132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [False, True] Translation: X:159.39, Y:2.46, Z:0.34 [[ 9.98536788e-01 2.21342589e-03 -5.40313147e-02 1.59385444e+02] [-2.24989041e-03 9.99997280e-01 -6.14059952e-04 2.46374433e+00] [ 5.40298086e-02 7.34725989e-04 9.98539053e-01 3.42637099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters Centerline goodness : 0.991411 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:2.44, Z:0.35 [[ 9.97048313e-01 -5.45770832e-02 -5.40000241e-02 1.59443194e+02] [ 5.47124252e-02 9.98501622e-01 1.03009494e-03 2.43744689e+00] [ 5.38628921e-02 -3.98152670e-03 9.98540403e-01 3.54214166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters Centerline goodness : 0.994534 with order 1 Centerline is valid? [True, True] Translation: X:159.50, Y:2.46, Z:0.37 [[ 9.98496847e-01 -9.38067605e-03 -5.40004656e-02 1.59501647e+02] [ 9.44880206e-03 9.99954853e-01 1.00640842e-03 2.45877036e+00] [ 5.39885868e-02 -1.51513534e-03 9.98540403e-01 3.71908050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:159.56, Y:2.46, Z:0.35 [[ 9.98437186e-01 -1.43917586e-02 -5.40005882e-02 1.59561443e+02] [ 1.44668435e-02 9.99894850e-01 9.99789071e-04 2.45888907e+00] [ 5.39805213e-02 -1.77944465e-03 9.98540403e-01 3.51583279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters Centerline goodness : 0.997912 with order 1 Centerline is valid? [True, True] Translation: X:159.62, Y:2.45, Z:0.34 [[ 9.97550556e-01 -4.44609916e-02 -5.40010053e-02 1.59619970e+02] [ 4.45787078e-02 9.99005398e-01 9.76726897e-04 2.44718094e+00] [ 5.39038695e-02 -3.38162950e-03 9.98540404e-01 3.42937826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:159.68, Y:2.45, Z:0.36 [[ 9.98422502e-01 -1.53747852e-02 -5.40011354e-02 1.59679507e+02] [ 1.54496679e-02 9.99880177e-01 9.69482097e-04 2.45418621e+00] [ 5.39797592e-02 -1.80225235e-03 9.98540404e-01 3.58477019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters Centerline goodness : 0.992641 with order 1 Centerline is valid? [True, True] Translation: X:159.74, Y:2.45, Z:0.39 [[ 9.98438126e-01 -1.43242023e-02 -5.40011637e-02 1.59736977e+02] [ 1.43974656e-02 9.99895883e-01 9.67900613e-04 2.45064362e+00] [ 5.39816769e-02 -1.74386877e-03 9.98540404e-01 3.87199881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters Centerline goodness : 0.919819 with order 1 Centerline is valid? [True, False] Translation: X:159.77, Y:2.47, Z:0.39 [[ 9.97874847e-01 -1.17755069e-03 -6.51490872e-02 1.59774084e+02] [ 1.19280483e-04 9.99868029e-01 -1.62453281e-02 2.46633746e+00] [ 6.51596191e-02 1.62030332e-02 9.97743297e-01 3.90776322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters Centerline goodness : 0.991793 with order 1 Centerline is valid? [False, True] Translation: X:159.80, Y:2.47, Z:0.39 [[ 9.97761158e-01 1.60752991e-03 -6.68587164e-02 1.59803609e+02] [-3.16722359e-03 9.99725159e-01 -2.32287526e-02 2.46630824e+00] [ 6.68030000e-02 2.33885036e-02 9.97492024e-01 3.89914532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters Centerline goodness : 0.989944 with order 1 Centerline is valid? [True, True] Translation: X:159.86, Y:2.45, Z:0.41 [[ 9.95711373e-01 6.64025279e-02 -6.44171185e-02 1.59860398e+02] [-6.61835564e-02 9.97792143e-01 5.52959739e-03 2.45205526e+00] [ 6.46420740e-02 -1.24252901e-03 9.97907740e-01 4.08466706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters Centerline goodness : 0.985242 with order 1 Centerline is valid? [True, True] Translation: X:159.92, Y:2.45, Z:0.42 [[ 9.95133113e-01 7.45668207e-02 -6.44195437e-02 1.59919390e+02] [-7.43667606e-02 9.97215785e-01 5.50119825e-03 2.44542613e+00] [ 6.46503927e-02 -6.83751748e-04 9.97907741e-01 4.22689364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:159.98, Y:2.45, Z:0.37 [[ 9.94139421e-01 8.68154292e-02 -6.44196682e-02 1.59983145e+02] [-8.66411252e-02 9.96224407e-01 5.49974049e-03 2.44740877e+00] [ 6.46539081e-02 1.13883713e-04 9.97907741e-01 3.72689227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters Centerline goodness : 0.990712 with order 1 Centerline is valid? [True, True] Translation: X:160.04, Y:2.46, Z:0.41 [[ 9.90511907e-01 1.21392941e-01 -6.44198337e-02 1.60041795e+02] [-1.21291498e-01 9.92601706e-01 5.49780067e-03 2.45665986e+00] [ 6.46106311e-02 2.36794113e-03 9.97907741e-01 4.09049628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters Centerline goodness : 0.820753 with order 3 Centerline is valid? [True, False] Translation: X:160.02, Y:2.47, Z:0.41 [[ 9.93202879e-01 1.06141657e-01 -4.77701761e-02 1.60019846e+02] [-1.06390194e-01 9.94320837e-01 -2.68339240e-03 2.46708095e+00] [ 4.72140617e-02 7.74743136e-03 9.98854749e-01 4.09631272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters Centerline goodness : 0.994537 with order 1 Centerline is valid? [False, True] Translation: X:160.01, Y:2.47, Z:0.41 [[ 9.94950551e-01 9.44908477e-02 -3.38360838e-02 1.60005343e+02] [-9.46523511e-02 9.95505245e-01 -3.19996959e-03 2.46973676e+00] [ 3.33816311e-02 6.38647640e-03 9.99422273e-01 4.07173173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:2.45, Z:0.40 [[ 9.97720086e-01 5.87289185e-02 -3.32497250e-02 1.60062305e+02] [-5.86582137e-02 9.98273315e-01 3.09879535e-03 2.45237414e+00] [ 3.33743021e-02 -1.14136089e-03 9.99442271e-01 3.96693965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters Centerline goodness : 0.995774 with order 1 Centerline is valid? [True, True] Translation: X:160.12, Y:2.46, Z:0.40 [[ 9.95584484e-01 8.77835998e-02 -3.32501760e-02 1.60121475e+02] [-8.77292114e-02 9.96139555e-01 3.09394830e-03 2.45540001e+00] [ 3.33934134e-02 -1.63275206e-04 9.99442271e-01 4.03302123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters Centerline goodness : 0.987475 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:2.47, Z:0.43 [[ 9.94824566e-01 9.60125822e-02 -3.32515663e-02 1.60180640e+02] [-9.59632872e-02 9.95380112e-01 3.07893334e-03 2.46597158e+00] [ 3.33935642e-02 1.27931083e-04 9.99442271e-01 4.34233700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters Centerline goodness : 0.994193 with order 1 Centerline is valid? [True, True] Translation: X:160.24, Y:2.47, Z:0.41 [[ 9.95354857e-01 9.03490378e-02 -3.32529682e-02 1.60240625e+02] [-9.02970900e-02 9.95910161e-01 3.06371799e-03 2.46676885e+00] [ 3.33937729e-02 -4.68403261e-05 9.99442271e-01 4.13009107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters Centerline goodness : 0.993746 with order 1 Centerline is valid? [True, True] Translation: X:160.30, Y:2.47, Z:0.41 [[ 9.95789179e-01 8.54286752e-02 -3.32543471e-02 1.60299355e+02] [-8.53744858e-02 9.96344269e-01 3.04867728e-03 2.46675006e+00] [ 3.33932226e-02 -1.96767062e-04 9.99442271e-01 4.13449568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters Centerline goodness : 0.994093 with order 1 Centerline is valid? [True, True] Translation: X:160.36, Y:2.46, Z:0.42 [[ 9.96054381e-01 8.22783682e-02 -3.32556917e-02 1.60357616e+02] [-8.22229153e-02 9.96609345e-01 3.03393883e-03 2.46423202e+00] [ 3.33925606e-02 -2.87588144e-04 9.99442272e-01 4.16001589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters Centerline goodness : 0.986974 with order 1 Centerline is valid? [True, True] Translation: X:160.42, Y:2.46, Z:0.44 [[ 9.96543583e-01 7.61239599e-02 -3.32570159e-02 1.60416098e+02] [-7.60655666e-02 9.97098246e-01 3.01935249e-03 2.46289161e+00] [ 3.33903573e-02 -4.79202586e-04 9.99442272e-01 4.41871719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters Centerline goodness : 0.981562 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:2.46, Z:0.45 [[ 9.96621611e-01 7.50949115e-02 -3.32583497e-02 1.60475792e+02] [-7.50364380e-02 9.97176266e-01 3.00458898e-03 2.45945497e+00] [ 3.33900663e-02 -4.98850214e-04 9.99442272e-01 4.53190720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters Centerline goodness : 0.994733 with order 1 Centerline is valid? [True, True] Translation: X:160.54, Y:2.46, Z:0.42 [[ 9.96717815e-01 7.38069908e-02 -3.32584754e-02 1.60537789e+02] [-7.37478471e-02 9.97272398e-01 3.00319687e-03 2.46077580e+00] [ 3.33894164e-02 -5.40598857e-04 9.99442272e-01 4.22183467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters Centerline goodness : 0.988184 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:2.46, Z:0.45 [[ 9.97371259e-01 6.43773381e-02 -3.32585385e-02 1.60595465e+02] [-6.43129754e-02 9.97925261e-01 3.00249810e-03 2.45915449e+00] [ 3.33828285e-02 -8.55649747e-04 9.99442272e-01 4.51289166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters Centerline goodness : 0.991469 with order 1 Centerline is valid? [True, True] Translation: X:160.66, Y:2.46, Z:0.45 [[ 9.97580988e-01 6.10406024e-02 -3.32598295e-02 1.60655300e+02] [-6.09748655e-02 9.98134829e-01 2.98812840e-03 2.45743932e+00] [ 3.33801914e-02 -9.52886459e-04 9.99442272e-01 4.51909549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters Centerline goodness : 0.975593 with order 1 Centerline is valid? [True, True] Translation: X:160.71, Y:2.42, Z:0.44 [[ 9.99442662e-01 -2.85248112e-03 -3.32600122e-02 1.60711213e+02] [ 2.95341952e-03 9.99991180e-01 2.98609372e-03 2.41703734e+00] [ 3.32512010e-02 -3.08266023e-03 9.99442272e-01 4.42687741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters Centerline goodness : 0.995480 with order 1 Centerline is valid? [True, True] Translation: X:160.77, Y:2.45, Z:0.46 [[ 9.97830939e-01 5.68081972e-02 -3.32602847e-02 1.60774186e+02] [-5.67402803e-02 9.98384516e-01 2.98305542e-03 2.45117499e+00] [ 3.33760152e-02 -1.08938712e-03 9.99442272e-01 4.57333193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters Centerline goodness : 0.997818 with order 1 Centerline is valid? [True, True] Translation: X:160.83, Y:2.45, Z:0.46 [[ 9.98112019e-01 5.16347191e-02 -3.32603727e-02 1.60833481e+02] [-5.15639661e-02 9.98665242e-01 2.98207346e-03 2.44947850e+00] [ 3.33699567e-02 -1.26140663e-03 9.99442272e-01 4.55078120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:160.89, Y:2.44, Z:0.46 [[ 9.98224768e-01 4.94069048e-02 -3.32606438e-02 1.60891406e+02] [-4.93350180e-02 9.98777844e-01 2.97904650e-03 2.44364461e+00] [ 3.33671796e-02 -1.33284354e-03 9.99442272e-01 4.59099738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters Centerline goodness : 0.997062 with order 1 Centerline is valid? [True, True] Translation: X:160.95, Y:2.44, Z:0.46 [[ 9.98304134e-01 4.77755626e-02 -3.32618747e-02 1.60949729e+02] [-4.77032313e-02 9.98857151e-01 2.96523976e-03 2.43884701e+00] [ 3.33655274e-02 -1.37351221e-03 9.99442272e-01 4.62793304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters Centerline goodness : 0.997667 with order 1 Centerline is valid? [True, True] Translation: X:161.01, Y:2.43, Z:0.46 [[ 9.98492659e-01 4.36574966e-02 -3.32630866e-02 1.61007527e+02] [-4.35833389e-02 9.99045435e-01 2.95158200e-03 2.43025025e+00] [ 3.33601935e-02 -1.49741658e-03 9.99442272e-01 4.62526112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.07, Y:2.42, Z:0.43 [[ 9.98539697e-01 4.25677342e-02 -3.32635195e-02 1.61067911e+02] [-4.24931357e-02 9.99092413e-01 2.94669484e-03 2.42221551e+00] [ 3.33587641e-02 -1.52892052e-03 9.99442272e-01 4.33441696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters Centerline goodness : 0.998108 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:2.41, Z:0.47 [[ 9.98741846e-01 3.75267941e-02 -3.32635796e-02 1.61125525e+02] [-3.74494291e-02 9.99294182e-01 2.94601667e-03 2.41178313e+00] [ 3.33506561e-02 -1.69660806e-03 9.99442272e-01 4.68076268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:2.41, Z:0.46 [[ 9.98655865e-01 3.97489727e-02 -3.32638462e-02 1.61184864e+02] [-3.96729371e-02 9.99208385e-01 2.94300310e-03 2.40561609e+00] [ 3.33544954e-02 -1.61937283e-03 9.99442272e-01 4.62064635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:2.40, Z:0.47 [[ 9.98671178e-01 3.93621911e-02 -3.32640245e-02 1.61242039e+02] [-3.92860085e-02 9.99223679e-01 2.94098666e-03 2.39804542e+00] [ 3.33539646e-02 -1.63026787e-03 9.99442272e-01 4.65003217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters Centerline goodness : 0.919149 with order 1 Centerline is valid? [True, False] Translation: X:161.22, Y:2.39, Z:0.46 [[ 9.99483906e-01 2.74692129e-02 -1.66542691e-02 1.61223859e+02] [-2.74484261e-02 9.99622132e-01 1.47548033e-03 2.39386977e+00] [ 1.66885063e-02 -1.01758537e-03 9.99860219e-01 4.63499096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [False, True] Translation: X:161.25, Y:2.39, Z:0.47 [[ 9.99689446e-01 1.51750426e-02 -1.97668697e-02 1.61252522e+02] [-1.51113674e-02 9.99880149e-01 3.36670745e-03 2.38927411e+00] [ 1.98155905e-02 -3.06695748e-03 9.99798948e-01 4.65764137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:161.31, Y:2.39, Z:0.46 [[ 9.99467152e-01 2.58714389e-02 -1.99017958e-02 1.61313061e+02] [-2.58507330e-02 9.99664973e-01 1.29700655e-03 2.38740221e+00] [ 1.99286835e-02 -7.81839431e-04 9.99801098e-01 4.60871693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.37, Y:2.39, Z:0.44 [[ 9.99371599e-01 2.93313109e-02 -1.99017958e-02 1.61372767e+02] [-2.93112899e-02 9.99569490e-01 1.29700655e-03 2.38791135e+00] [ 1.99312708e-02 -7.12844201e-04 9.99801098e-01 4.43871659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.43, Y:2.38, Z:0.44 [[ 9.99289464e-01 3.20075037e-02 -1.99019163e-02 1.61430287e+02] [-3.19880496e-02 9.99487412e-01 1.29515473e-03 2.38386068e+00] [ 1.99331695e-02 -6.57610992e-04 9.99801098e-01 4.42863006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters Centerline goodness : 0.997910 with order 1 Centerline is valid? [True, True] Translation: X:161.49, Y:2.38, Z:0.47 [[ 9.99176825e-01 3.53493801e-02 -1.99021085e-02 1.61488138e+02] [-3.53306471e-02 9.99374842e-01 1.29219441e-03 2.38149407e+00] [ 1.99353448e-02 -5.87976333e-04 9.99801098e-01 4.66343958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.55, Y:2.38, Z:0.44 [[ 9.99158309e-01 3.58686463e-02 -1.99026088e-02 1.61547482e+02] [-3.58501705e-02 9.99356351e-01 1.28444240e-03 2.38247039e+00] [ 1.99358697e-02 -5.69849379e-04 9.99801098e-01 4.42288729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters Centerline goodness : 0.997269 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:2.38, Z:0.47 [[ 9.99091870e-01 3.76737931e-02 -1.99027696e-02 1.61606029e+02] [-3.76557248e-02 9.99289949e-01 1.28194564e-03 2.38252436e+00] [ 1.99369334e-02 -5.31328252e-04 9.99801098e-01 4.70693581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:2.38, Z:0.47 [[ 9.99206296e-01 3.45055958e-02 -1.99033232e-02 1.61665100e+02] [-3.44870718e-02 9.99404333e-01 1.27329182e-03 2.38007234e+00] [ 1.99354031e-02 -5.85873867e-04 9.99801098e-01 4.70031182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:2.38, Z:0.47 [[ 9.99195011e-01 3.48305216e-02 -1.99038783e-02 1.61723066e+02] [-3.48122359e-02 9.99393070e-01 1.26455485e-03 2.37906037e+00] [ 1.99358431e-02 -5.70638395e-04 9.99801098e-01 4.74483956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:2.38, Z:0.47 [[ 9.99271321e-01 3.25677090e-02 -1.99040667e-02 1.61781323e+02] [-3.25490339e-02 9.99469344e-01 1.26158281e-03 2.37670411e+00] [ 1.99345913e-02 -6.12805384e-04 9.99801098e-01 4.71449368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:161.84, Y:2.38, Z:0.47 [[ 9.99250778e-01 3.31918696e-02 -1.99043568e-02 1.61840452e+02] [-3.31734097e-02 9.99448821e-01 1.25698785e-03 2.37644479e+00] [ 1.99351078e-02 -5.95750704e-04 9.99801098e-01 4.66296134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:161.90, Y:2.38, Z:0.47 [[ 9.99241207e-01 3.34784441e-02 -1.99048885e-02 1.61898650e+02] [-3.34602097e-02 9.99439271e-01 1.24851100e-03 2.37572724e+00] [ 1.99355255e-02 -5.81541899e-04 9.99801099e-01 4.66592713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:161.96, Y:2.37, Z:0.46 [[ 9.99255684e-01 3.30431439e-02 -1.99054825e-02 1.61957023e+02] [-3.30250131e-02 9.99453758e-01 1.23896853e-03 2.37229190e+00] [ 1.99355487e-02 -5.80667523e-04 9.99801099e-01 4.60031596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:162.02, Y:2.37, Z:0.46 [[ 9.99307843e-01 3.14258795e-02 -1.99060002e-02 1.62015678e+02] [-3.14075948e-02 9.99505902e-01 1.23059492e-03 2.36850021e+00] [ 1.99348372e-02 -6.04543571e-04 9.99801099e-01 4.59978306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:2.36, Z:0.46 [[ 9.99332865e-01 3.06195485e-02 -1.99065110e-02 1.62074316e+02] [-3.06012695e-02 9.99530924e-01 1.22227523e-03 2.36366500e+00] [ 1.99345988e-02 -6.12295298e-04 9.99801099e-01 4.60513131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:162.13, Y:2.36, Z:0.46 [[ 9.99301961e-01 3.16117145e-02 -1.99070216e-02 1.62134021e+02] [-3.15937989e-02 9.99500054e-01 1.21390120e-03 2.35994287e+00] [ 1.99354427e-02 -5.84115409e-04 9.99801099e-01 4.59126267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:162.19, Y:2.35, Z:0.48 [[ 9.99394004e-01 2.85540291e-02 -1.99070934e-02 1.62193468e+02] [-2.85355309e-02 9.99592043e-01 1.21272299e-03 2.35382183e+00] [ 1.99336003e-02 -6.43928601e-04 9.99801099e-01 4.82311527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:162.25, Y:2.34, Z:0.46 [[ 9.99486887e-01 -2.50932027e-02 -1.99071391e-02 1.62252455e+02] [ 2.51222820e-02 9.99683651e-01 1.21197177e-03 2.33674230e+00] [ 1.98704293e-02 -1.71146265e-03 9.99801099e-01 4.56150505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:162.31, Y:2.34, Z:0.48 [[ 9.99495383e-01 2.47524592e-02 -1.99071840e-02 1.62312822e+02] [-2.47332375e-02 9.99693353e-01 1.21123424e-03 2.34214748e+00] [ 1.99310606e-02 -7.18253920e-04 9.99801099e-01 4.80820961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:162.37, Y:2.34, Z:0.48 [[ 9.99534682e-01 2.31111205e-02 -1.99071820e-02 1.62370715e+02] [-2.30915731e-02 9.99732620e-01 1.21126725e-03 2.33865035e+00] [ 1.99298530e-02 -7.51015481e-04 9.99801099e-01 4.81725314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:162.43, Y:2.33, Z:0.48 [[ 9.99474080e-01 2.55977362e-02 -1.99077509e-02 1.62428287e+02] [-2.55788688e-02 9.99672085e-01 1.20184336e-03 2.33409218e+00] [ 1.99319873e-02 -6.91993535e-04 9.99801099e-01 4.82996482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:2.33, Z:0.46 [[ 9.99495172e-01 2.47600501e-02 -1.99083117e-02 1.62488970e+02] [-2.47412030e-02 9.99693178e-01 1.19248145e-03 2.33132635e+00] [ 1.99317293e-02 -6.99323869e-04 9.99801099e-01 4.59929228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:2.32, Z:0.49 [[ 9.99520835e-01 2.37014416e-02 -1.99083353e-02 1.62548402e+02] [-2.36823925e-02 9.99718822e-01 1.19208815e-03 2.32410709e+00] [ 1.99309917e-02 -7.20039931e-04 9.99801099e-01 4.93354928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters Centerline goodness : 0.994586 with order 1 Centerline is valid? [True, True] Translation: X:162.61, Y:2.32, Z:0.50 [[ 9.99478347e-01 2.54301337e-02 -1.99083377e-02 1.62607135e+02] [-2.54114279e-02 9.99676367e-01 1.19204683e-03 2.32036000e+00] [ 1.99322086e-02 -6.85525703e-04 9.99801099e-01 4.97503446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.67, Y:2.32, Z:0.46 [[ 9.99509245e-01 2.41851636e-02 -1.99084788e-02 1.62667826e+02] [-2.41662581e-02 9.99707245e-01 1.18968678e-03 2.31547269e+00] [ 1.99314232e-02 -7.07989501e-04 9.99801099e-01 4.64184373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.73, Y:2.31, Z:0.47 [[ 9.99554210e-01 2.22493146e-02 -1.99085139e-02 1.62726622e+02] [-2.22300374e-02 9.99752175e-01 1.18909800e-03 2.30940920e+00] [ 1.99300367e-02 -7.46000898e-04 9.99801099e-01 4.66082128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters Centerline goodness : 0.997118 with order 1 Centerline is valid? [True, True] Translation: X:162.79, Y:2.30, Z:0.50 [[ 9.99556283e-01 2.21555783e-02 -1.99089930e-02 1.62785548e+02] [-2.21364431e-02 9.99754261e-01 1.18102273e-03 2.30388304e+00] [ 1.99302668e-02 -7.39784404e-04 9.99801099e-01 4.96386978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters Centerline goodness : 0.996175 with order 1 Centerline is valid? [True, True] Translation: X:162.84, Y:2.30, Z:0.50 [[ 9.99468550e-01 2.58117725e-02 -1.99090283e-02 1.62844083e+02] [-2.57933735e-02 9.99666599e-01 1.18042633e-03 2.29894861e+00] [ 1.99328595e-02 -6.66277986e-04 9.99801099e-01 5.01556316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.90, Y:2.29, Z:0.47 [[ 9.99403882e-01 2.82044765e-02 -1.99095189e-02 1.62903571e+02] [-2.81867176e-02 9.99601988e-01 1.17209266e-03 2.29092157e+00] [ 1.99346530e-02 -6.10209966e-04 9.99801099e-01 4.69592008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [True, True] Translation: X:162.96, Y:2.29, Z:0.50 [[ 9.99286266e-01 3.21021930e-02 -1.99099685e-02 1.62962966e+02] [-3.20853600e-02 9.99484454e-01 1.16440544e-03 2.28751021e+00] [ 1.99370840e-02 -5.24755859e-04 9.99801099e-01 4.96366479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:163.02, Y:2.28, Z:0.47 [[ 9.99390695e-01 2.86675724e-02 -1.99100169e-02 1.63023318e+02] [-2.86500748e-02 9.99588825e-01 1.16357822e-03 2.28167583e+00] [ 1.99351873e-02 -5.92445777e-04 9.99801099e-01 4.73599152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters Centerline goodness : 0.995923 with order 1 Centerline is valid? [True, True] Translation: X:163.08, Y:2.28, Z:0.50 [[ 9.99402032e-01 2.82695766e-02 -1.99100515e-02 1.63081426e+02] [-2.82520119e-02 9.99600156e-01 1.16298527e-03 2.27619959e+00] [ 1.99349677e-02 -5.99790833e-04 9.99801099e-01 5.03466358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters Centerline goodness : 0.996121 with order 1 Centerline is valid? [True, True] Translation: X:163.14, Y:2.27, Z:0.50 [[ 9.99512000e-01 2.40693075e-02 -1.99105441e-02 1.63139362e+02] [-2.40510793e-02 9.99710064e-01 1.15448954e-03 2.26601696e+00] [ 1.99325591e-02 -6.75056076e-04 9.99801099e-01 5.02081706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:2.26, Z:0.50 [[ 9.99381193e-01 2.89962285e-02 -1.99110260e-02 1.63198705e+02] [-2.89791436e-02 9.99579359e-01 1.14611700e-03 2.25952525e+00] [ 1.99358837e-02 -5.68403294e-04 9.99801099e-01 4.99497526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:163.26, Y:2.25, Z:0.50 [[ 9.99416908e-01 2.77379189e-02 -1.99110937e-02 1.63257152e+02] [-2.77206080e-02 9.99615054e-01 1.14494039e-03 2.25044861e+00] [ 1.99351873e-02 -5.92325165e-04 9.99801099e-01 5.00410348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters Centerline goodness : 0.998310 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:2.24, Z:0.50 [[ 9.99452440e-01 2.64262896e-02 -1.99115796e-02 1.63314511e+02] [-2.64088880e-02 9.99650579e-01 1.13642768e-03 2.24180563e+00] [ 1.99346536e-02 -6.09962743e-04 9.99801099e-01 5.01882043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:163.37, Y:2.23, Z:0.48 [[ 9.99348218e-01 3.01105546e-02 -1.99121283e-02 1.63373876e+02] [-3.00940766e-02 9.99546436e-01 1.12673073e-03 2.23041482e+00] [ 1.99370233e-02 -5.26759233e-04 9.99801099e-01 4.81147536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:163.43, Y:2.23, Z:0.49 [[ 9.99179178e-01 3.52771006e-02 -1.99121967e-02 1.63432639e+02] [-3.52616718e-02 9.99377480e-01 1.12552043e-03 2.22502014e+00] [ 1.99395060e-02 -4.22459239e-04 9.99801099e-01 4.85172626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:163.49, Y:2.22, Z:0.48 [[ 9.98940934e-01 4.14788691e-02 -1.99126657e-02 1.63490834e+02] [-4.14648382e-02 9.99139339e-01 1.11716004e-03 2.21899335e+00] [ 1.99418662e-02 -2.90301434e-04 9.99801099e-01 4.84855000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:163.55, Y:2.21, Z:0.48 [[ 9.98912065e-01 4.21681627e-02 -1.99131399e-02 1.63549185e+02] [-4.21544385e-02 9.99110492e-01 1.10864338e-03 2.21497624e+00] [ 1.99421764e-02 -2.68010014e-04 9.99801099e-01 4.84778500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters Centerline goodness : 0.996118 with order 1 Centerline is valid? [True, True] Translation: X:163.61, Y:2.21, Z:0.51 [[ 9.99017169e-01 3.95998094e-02 -1.99136153e-02 1.63607707e+02] [-3.95857466e-02 9.99215572e-01 1.10003605e-03 2.21180032e+00] [ 1.99415558e-02 -3.10659565e-04 9.99801099e-01 5.12024349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:2.21, Z:0.49 [[ 9.98972504e-01 4.07109362e-02 -1.99137191e-02 1.63668235e+02] [-4.06971316e-02 9.99170925e-01 1.09815468e-03 2.21008678e+00] [ 1.99419160e-02 -2.86595083e-04 9.99801099e-01 4.85412935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters Centerline goodness : 0.924348 with order 3 Centerline is valid? [True, False] Translation: X:163.65, Y:2.21, Z:0.48 [[ 9.99527704e-01 3.03980111e-02 -4.50887658e-03 1.63652821e+02] [-3.03864431e-02 9.99534812e-01 2.61230562e-03 2.20797608e+00] [ 4.58618800e-03 -2.47406312e-03 9.99986423e-01 4.84359947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters Centerline goodness : 0.998111 with order 1 Centerline is valid? [False, True] Translation: X:163.64, Y:2.21, Z:0.48 [[ 9.99863813e-01 1.43923642e-02 8.07559729e-03 1.63642238e+02] [-1.43994524e-02 9.99895986e-01 8.20275782e-04 2.20549651e+00] [-8.06295160e-03 -9.36448250e-04 9.99967055e-01 4.80962284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:2.20, Z:0.46 [[ 9.99891109e-01 1.23753846e-02 8.03862228e-03 1.63702785e+02] [-1.23735966e-02 9.99923407e-01 -2.72122939e-04 2.20298162e+00] [-8.04137420e-03 1.72626638e-04 9.99967653e-01 4.59099425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:2.20, Z:0.48 [[ 9.99929781e-01 8.70709820e-03 8.03861111e-03 1.63763720e+02] [-8.70518908e-03 9.99962072e-01 -2.72452470e-04 2.19616446e+00] [-8.04067849e-03 2.02455709e-04 9.99967653e-01 4.82214288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:2.19, Z:0.46 [[ 9.99956433e-01 4.74468859e-03 8.03860583e-03 1.63823903e+02] [-4.74265029e-03 9.99988716e-01 -2.72608141e-04 2.18897909e+00] [-8.03980857e-03 2.34471968e-04 9.99967653e-01 4.55832118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:2.18, Z:0.48 [[ 9.99962056e-01 3.35670698e-03 8.03859757e-03 1.63884632e+02] [-3.35462191e-03 9.99994336e-01 -2.72851475e-04 2.18136011e+00] [-8.03946792e-03 2.45874667e-04 9.99967653e-01 4.77762531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:163.95, Y:2.17, Z:0.48 [[ 9.99961271e-01 3.58282003e-03 8.03858938e-03 1.63946835e+02] [-3.58074032e-03 9.99993552e-01 -2.73092512e-04 2.17254520e+00] [-8.03951599e-03 2.44297835e-04 9.99967653e-01 4.76017889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.01, Y:2.16, Z:0.45 [[ 9.99959725e-01 -3.99127554e-03 8.03855649e-03 1.64006687e+02] [ 3.99360743e-03 9.99991988e-01 -2.74057207e-04 2.16043678e+00] [-8.03739825e-03 3.06149008e-04 9.99967653e-01 4.53322428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:164.07, Y:2.14, Z:0.47 [[ 9.99903468e-01 -1.13329926e-02 8.03855566e-03 1.64066769e+02] [ 1.13355615e-02 9.99935713e-01 -2.74081703e-04 2.14122973e+00] [-8.03493272e-03 3.65176787e-04 9.99967653e-01 4.74222427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:164.13, Y:2.14, Z:0.45 [[ 9.99965863e-01 -1.91159673e-03 8.03855345e-03 1.64125782e+02] [ 1.91386224e-03 9.99998131e-01 -2.74146620e-04 2.13501743e+00] [-8.03801436e-03 2.89521945e-04 9.99967653e-01 4.54172771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.19, Y:2.13, Z:0.46 [[ 9.99958116e-01 4.37582310e-03 8.03856198e-03 1.64187693e+02] [-4.37376254e-03 9.99990398e-01 -2.73896107e-04 2.12646344e+00] [-8.03968331e-03 2.38725874e-04 9.99967653e-01 4.56292670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters Centerline goodness : 0.998255 with order 1 Centerline is valid? [True, True] Translation: X:164.25, Y:2.12, Z:0.47 [[ 9.99946012e-01 6.58450419e-03 8.03852927e-03 1.64249171e+02] [-6.58250726e-03 9.99978297e-01 -2.74852698e-04 2.12005089e+00] [-8.04016458e-03 2.21924182e-04 9.99967653e-01 4.74572326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters Centerline goodness : 0.997310 with order 1 Centerline is valid? [True, True] Translation: X:164.31, Y:2.11, Z:0.48 [[ 9.99957803e-01 4.44676931e-03 8.03851202e-03 1.64311356e+02] [-4.44469931e-03 9.99990084e-01 -2.75356468e-04 2.11215448e+00] [-8.03965676e-03 2.39616080e-04 9.99967653e-01 4.77427010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:164.37, Y:2.11, Z:0.45 [[ 9.99940473e-01 7.37785616e-03 8.03847657e-03 1.64371837e+02] [-7.37587251e-03 9.99972760e-01 -2.76387307e-04 2.10740296e+00] [-8.04029675e-03 2.17080076e-04 9.99967653e-01 4.52947615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters Centerline goodness : 0.997261 with order 1 Centerline is valid? [True, True] Translation: X:164.43, Y:2.10, Z:0.47 [[ 9.99916679e-01 1.01003735e-02 8.03845925e-03 1.64432858e+02] [-1.00984737e-02 9.99948971e-01 -2.76890125e-04 2.10302413e+00] [-8.04084575e-03 1.95690884e-04 9.99967653e-01 4.72050039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters Centerline goodness : 0.973958 with order 2 Centerline is valid? [True, True] Translation: X:164.53, Y:2.14, Z:0.46 [[ 9.95396494e-01 9.55049926e-02 8.03845054e-03 1.64528925e+02] [-9.55058570e-02 9.95428829e-01 -2.77142918e-04 2.13577279e+00] [-8.02817394e-03 -4.91852019e-04 9.99967653e-01 4.56834067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:2.08, Z:0.48 [[ 9.99938054e-01 -7.74464793e-03 7.99429238e-03 1.64548957e+02] [ 7.75760329e-03 9.99968644e-01 -1.59084141e-03 2.08179956e+00] [-7.98172121e-03 1.65275941e-03 9.99966780e-01 4.78235731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:2.09, Z:0.45 [[ 9.99938817e-01 7.60653961e-03 8.03131712e-03 1.64610158e+02] [-7.60504770e-03 9.99971058e-01 -2.16285402e-04 2.09177202e+00] [-8.03272986e-03 1.55193620e-04 9.99967725e-01 4.51608711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters Centerline goodness : 0.997564 with order 1 Centerline is valid? [True, True] Translation: X:164.67, Y:2.09, Z:0.48 [[ 9.99957302e-01 4.57071532e-03 8.03131046e-03 1.64672719e+02] [-4.56912355e-03 9.99989538e-01 -2.16532295e-04 2.08972089e+00] [-8.03221615e-03 1.79826999e-04 9.99967725e-01 4.75153464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters Centerline goodness : 0.997613 with order 1 Centerline is valid? [True, True] Translation: X:164.73, Y:2.09, Z:0.47 [[ 9.99941068e-01 7.30471971e-03 8.03128336e-03 1.64734693e+02] [-7.30320806e-03 9.99973308e-01 -2.17532806e-04 2.09132587e+00] [-8.03265801e-03 1.58865853e-04 9.99967725e-01 4.71018585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters Centerline goodness : 0.996564 with order 1 Centerline is valid? [True, True] Translation: X:164.80, Y:2.09, Z:0.48 [[ 9.99959033e-01 4.17511515e-03 8.03125506e-03 1.64796913e+02] [-4.17349425e-03 9.99991267e-01 -2.18572908e-04 2.08951962e+00] [-8.03209749e-03 1.85045557e-04 9.99967725e-01 4.75493341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters Centerline goodness : 0.992587 with order 1 Centerline is valid? [True, True] Translation: X:164.86, Y:2.09, Z:0.48 [[ 9.99956322e-01 4.78044288e-03 8.03122687e-03 1.64857699e+02] [-4.77883322e-03 9.99988557e-01 -2.19603800e-04 2.09123903e+00] [-8.03218477e-03 1.81214314e-04 9.99967725e-01 4.80941584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:2.09, Z:0.45 [[ 9.99935870e-01 7.98465958e-03 8.03121991e-03 1.64919049e+02] [-7.98315118e-03 9.99968110e-01 -2.19858085e-04 2.09258523e+00] [-8.03271928e-03 1.55729542e-04 9.99967725e-01 4.50045534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters Centerline goodness : 0.990370 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:2.10, Z:0.48 [[ 9.99921051e-01 9.66388448e-03 8.03120633e-03 1.64980570e+02] [-9.66242625e-03 9.99953293e-01 -2.20353102e-04 2.09553821e+00] [-8.03296068e-03 1.42734766e-04 9.99967725e-01 4.82595279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:2.10, Z:0.45 [[ 9.99888226e-01 1.26109403e-02 8.03119219e-03 1.65039679e+02] [-1.26095730e-02 9.99920472e-01 -2.20867234e-04 2.10171758e+00] [-8.03333882e-03 1.19572643e-04 9.99967725e-01 4.49126870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters Centerline goodness : 0.993045 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:2.10, Z:0.48 [[ 9.99861579e-01 1.45713010e-02 8.03119744e-03 1.65102515e+02] [-1.45699985e-02 9.99893828e-01 -2.20676168e-04 2.10462121e+00] [-8.03356028e-03 1.03631088e-04 9.99967725e-01 4.75382622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters Centerline goodness : 0.992843 with order 1 Centerline is valid? [True, True] Translation: X:165.17, Y:2.11, Z:0.48 [[ 9.99816741e-01 1.73777100e-02 8.03116889e-03 1.65165103e+02] [-1.73764897e-02 9.99848993e-01 -2.21710362e-04 2.11002834e+00] [-8.03380894e-03 8.21162084e-05 9.99967725e-01 4.76149827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters Centerline goodness : 0.990295 with order 1 Centerline is valid? [True, True] Translation: X:165.23, Y:2.11, Z:0.48 [[ 9.99786215e-01 1.90532429e-02 8.03114011e-03 1.65226888e+02] [-1.90520683e-02 9.99818468e-01 -2.22748097e-04 2.11415463e+00] [-8.03392627e-03 6.96906473e-05 9.99967725e-01 4.76726929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters Centerline goodness : 0.992201 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:2.12, Z:0.47 [[ 9.99784104e-01 1.91636661e-02 8.03112553e-03 1.65289349e+02] [-1.91624908e-02 9.99816358e-01 -2.23272512e-04 2.11561366e+00] [-8.03392939e-03 6.93279394e-05 9.99967725e-01 4.74480600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters Centerline goodness : 0.992993 with order 1 Centerline is valid? [True, True] Translation: X:165.35, Y:2.12, Z:0.47 [[ 9.99810150e-01 1.77529261e-02 8.03109638e-03 1.65350902e+02] [-1.77516969e-02 9.99842401e-01 -2.24316180e-04 2.11997164e+00] [-8.03381295e-03 8.17080042e-05 9.99967725e-01 4.72364263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:165.41, Y:2.12, Z:0.47 [[ 9.99875549e-01 1.35789973e-02 8.03108203e-03 1.65413327e+02] [-1.35776294e-02 9.99907794e-01 -2.24828540e-04 2.11998703e+00] [-8.03339447e-03 1.15757504e-04 9.99967725e-01 4.72400155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters Centerline goodness : 0.993721 with order 1 Centerline is valid? [True, True] Translation: X:165.48, Y:2.12, Z:0.47 [[ 9.99906273e-01 1.10881420e-02 8.03105271e-03 1.65475025e+02] [-1.10866854e-02 9.99938515e-01 -2.25871194e-04 2.11912831e+00] [-8.03306341e-03 1.36812269e-04 9.99967725e-01 4.71492556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters Centerline goodness : 0.993448 with order 1 Centerline is valid? [True, True] Translation: X:165.54, Y:2.12, Z:0.47 [[ 9.99932562e-01 8.38892501e-03 8.03103050e-03 1.65537193e+02] [-8.38737505e-03 9.99964800e-01 -2.26657933e-04 2.11917007e+00] [-8.03264922e-03 1.59283383e-04 9.99967725e-01 4.69964073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters Centerline goodness : 0.995974 with order 1 Centerline is valid? [True, True] Translation: X:165.60, Y:2.12, Z:0.47 [[ 9.99955125e-01 5.02510044e-03 8.03100201e-03 1.65599435e+02] [-5.02343397e-03 9.99987357e-01 -2.27663193e-04 2.11511368e+00] [-8.03204450e-03 1.87309768e-04 9.99967725e-01 4.66095522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters Centerline goodness : 0.997165 with order 1 Centerline is valid? [True, True] Translation: X:165.66, Y:2.12, Z:0.46 [[ 9.99954027e-01 5.23895466e-03 8.03097297e-03 1.65662058e+02] [-5.23728690e-03 9.99986259e-01 -2.28683078e-04 2.11534899e+00] [-8.03206067e-03 1.86612056e-04 9.99967725e-01 4.64209979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:2.11, Z:0.44 [[ 9.99947254e-01 6.40263223e-03 8.03094462e-03 1.65722590e+02] [-6.40099402e-03 9.99979487e-01 -2.29674116e-04 2.11191555e+00] [-8.03225040e-03 1.78255973e-04 9.99967725e-01 4.39070188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:2.11, Z:0.44 [[ 9.99939012e-01 7.58125399e-03 8.03093761e-03 1.65785057e+02] [-7.57965181e-03 9.99971248e-01 -2.29919094e-04 2.10838431e+00] [-8.03244978e-03 1.69033361e-04 9.99967725e-01 4.40315400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters Centerline goodness : 0.996023 with order 1 Centerline is valid? [True, True] Translation: X:165.85, Y:2.10, Z:0.47 [[ 9.99920037e-01 9.76848923e-03 8.03090918e-03 1.65847201e+02] [-9.76694963e-03 9.99952276e-01 -2.30907797e-04 2.10376864e+00] [-8.03278153e-03 1.52451848e-04 9.99967725e-01 4.66697080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters Centerline goodness : 0.989168 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:2.12, Z:0.45 [[ 9.98711733e-01 5.01036937e-02 8.03087977e-03 1.65908253e+02] [-5.01034479e-02 9.98744007e-01 -2.31926162e-04 2.11569773e+00] [-8.03241340e-03 -1.70747387e-04 9.99967725e-01 4.49750662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters Centerline goodness : 0.861695 with order 1 Centerline is valid? [True, False] Translation: X:165.94, Y:2.10, Z:0.45 [[ 9.99253324e-01 3.82740671e-02 5.28117530e-03 1.65935869e+02] [-3.82911491e-02 9.99261590e-01 3.17217721e-03 2.10413528e+00] [-5.15586350e-03 -3.37203089e-03 9.99981023e-01 4.51520663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters Centerline goodness : 0.996010 with order 1 Centerline is valid? [False, True] Translation: X:165.96, Y:2.10, Z:0.45 [[ 9.99603097e-01 2.73249086e-02 6.85548854e-03 1.65956885e+02] [-2.73595263e-02 9.99613115e-01 5.00769290e-03 2.09756249e+00] [-6.71600150e-03 -5.19326825e-03 9.99963962e-01 4.52502213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:166.02, Y:2.10, Z:0.45 [[ 9.99434945e-01 3.29422031e-02 6.67840024e-03 1.66018870e+02] [-3.29414278e-02 9.99457258e-01 -2.26085026e-04 2.10173476e+00] [-6.68222333e-03 5.96123617e-06 9.99977674e-01 4.50715733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters Centerline goodness : 0.995778 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:2.10, Z:0.45 [[ 9.99275960e-01 3.74560347e-02 6.67835594e-03 1.66080310e+02] [-3.74553515e-02 9.99298276e-01 -2.27386107e-04 2.10281730e+00] [-6.68218656e-03 -2.29186987e-05 9.99977674e-01 4.49542346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters Centerline goodness : 0.996676 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:2.10, Z:0.45 [[ 9.99221015e-01 3.88942626e-02 6.67834123e-03 1.66141231e+02] [-3.88936086e-02 9.99243331e-01 -2.27817338e-04 2.10258985e+00] [-6.68214873e-03 -3.21049187e-05 9.99977674e-01 4.49593181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters Centerline goodness : 0.995122 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:2.10, Z:0.45 [[ 9.99248687e-01 3.81767194e-02 6.67832638e-03 1.66202151e+02] [-3.81760465e-02 9.99271003e-01 -2.28251782e-04 2.10410105e+00] [-6.68217181e-03 -2.68718045e-05 9.99977674e-01 4.51224981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:2.10, Z:0.45 [[ 9.99465786e-01 3.19928616e-02 6.67831901e-03 1.66262810e+02] [-3.19920492e-02 9.99488097e-01 -2.28467198e-04 2.10228996e+00] [-6.68220968e-03 1.46920372e-05 9.99977674e-01 4.49598222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters Centerline goodness : 0.996121 with order 1 Centerline is valid? [True, True] Translation: X:166.32, Y:2.10, Z:0.45 [[ 9.99666596e-01 2.49418748e-02 6.67831142e-03 1.66323479e+02] [-2.49409035e-02 9.99688901e-01 -2.28688978e-04 2.09680206e+00] [-6.68193773e-03 6.20496114e-05 9.99977674e-01 4.51608628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:166.38, Y:2.09, Z:0.43 [[ 9.99804962e-01 1.85859576e-02 6.67829673e-03 1.66384661e+02] [-1.85848417e-02 9.99827261e-01 -2.29116935e-04 2.08921571e+00] [-6.68140149e-03 1.04957161e-04 9.99977674e-01 4.26941299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:166.45, Y:2.08, Z:0.45 [[ 9.99935409e-01 9.19660489e-03 6.67827463e-03 1.66446065e+02] [-9.19527537e-03 9.99957696e-01 -2.29759305e-04 2.07821296e+00] [-6.68010512e-03 1.68335890e-04 9.99977674e-01 4.45631075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:166.51, Y:2.07, Z:0.45 [[ 9.99972138e-01 3.33539635e-03 6.67817889e-03 1.66506122e+02] [-3.33391788e-03 9.99994415e-01 -2.32509193e-04 2.07251760e+00] [-6.67891711e-03 2.10238215e-04 9.99977674e-01 4.47798170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:2.07, Z:0.45 [[ 9.99946046e-01 7.95654567e-03 6.67817160e-03 1.66567983e+02] [-7.95516876e-03 9.99968330e-01 -2.32718457e-04 2.06634190e+00] [-6.67981174e-03 1.79579918e-04 9.99977674e-01 4.50649749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:2.05, Z:0.45 [[ 9.99974778e-01 2.41791106e-03 6.67814244e-03 1.66629981e+02] [-2.41640519e-03 9.99997053e-01 -2.33552374e-04 2.05337534e+00] [-6.67868747e-03 2.17409385e-04 9.99977674e-01 4.52310911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.69, Y:2.04, Z:0.43 [[ 9.99977691e-01 1.44323122e-04 6.67804096e-03 1.66691684e+02] [-1.42747487e-04 9.99999962e-01 -2.36418718e-04 2.04241112e+00] [-6.67807483e-03 2.35460170e-04 9.99977674e-01 4.25000450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.75, Y:2.03, Z:0.42 [[ 9.99976133e-01 1.77167204e-03 6.67794017e-03 1.66753773e+02] [-1.77011389e-03 9.99998405e-01 -2.39232298e-04 2.02991379e+00] [-6.67835336e-03 2.27405873e-04 9.99977674e-01 4.22081851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.82, Y:2.02, Z:0.42 [[ 9.99968143e-01 4.37237477e-03 6.67791149e-03 1.66815995e+02] [-4.37086922e-03 9.99990419e-01 -2.40030039e-04 2.02090604e+00] [-6.67889701e-03 2.10834114e-04 9.99977674e-01 4.21103267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:166.88, Y:2.01, Z:0.45 [[ 9.99955629e-01 6.64426269e-03 6.67788265e-03 1.66877667e+02] [-6.64280242e-03 9.99977907e-01 -2.40829752e-04 2.01194709e+00] [-6.67933526e-03 1.96459211e-04 9.99977674e-01 4.46032030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:166.94, Y:2.00, Z:0.45 [[ 9.99941843e-01 8.46860894e-03 6.67785302e-03 1.66939287e+02] [-8.46718385e-03 9.99964124e-01 -2.41648607e-04 2.00493283e+00] [-6.67965987e-03 1.85091944e-04 9.99977674e-01 4.47143377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:167.00, Y:2.00, Z:0.44 [[ 9.99916713e-01 1.10441936e-02 6.67782271e-03 1.67001706e+02] [-1.10428204e-02 9.99938997e-01 -2.42483259e-04 1.99796293e+00] [-6.68009338e-03 1.68721067e-04 9.99977674e-01 4.44033119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:1.99, Z:0.42 [[ 9.99859011e-01 1.54066698e-02 6.67777894e-03 1.67062524e+02] [-1.54053858e-02 9.99881300e-01 -2.43682754e-04 1.99320808e+00] [-6.68074063e-03 1.40774636e-04 9.99977674e-01 4.19062644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.13, Y:1.99, Z:0.42 [[ 9.99805197e-01 1.85735350e-02 6.67775588e-03 1.67125239e+02] [-1.85723174e-02 9.99827490e-01 -2.44313191e-04 1.98794360e+00] [-6.68114166e-03 1.20244196e-04 9.99977674e-01 4.19891309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:167.19, Y:1.99, Z:0.45 [[ 9.99800675e-01 1.88153753e-02 6.67770946e-03 1.67187680e+02] [-1.88141546e-02 9.99822968e-01 -2.45575438e-04 1.98524961e+00] [-6.68114788e-03 1.19891031e-04 9.99977674e-01 4.46917302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:1.98, Z:0.45 [[ 9.99834369e-01 1.69305682e-02 6.67767829e-03 1.67249371e+02] [-1.69292998e-02 9.99856659e-01 -2.46419957e-04 1.98083672e+00] [-6.68089314e-03 1.33330724e-04 9.99977674e-01 4.45602713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.31, Y:1.98, Z:0.42 [[ 9.99844108e-01 1.63452869e-02 6.67764637e-03 1.67309767e+02] [-1.63439998e-02 9.99866397e-01 -2.47281966e-04 1.98034147e+00] [-6.68079611e-03 1.38103966e-04 9.99977674e-01 4.19363333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:167.37, Y:1.98, Z:0.44 [[ 9.99878512e-01 1.40843721e-02 6.67764637e-03 1.67371703e+02] [-1.40830345e-02 9.99900799e-01 -2.47281966e-04 1.97637896e+00] [-6.68046675e-03 1.53210399e-04 9.99977674e-01 4.43580795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:1.97, Z:0.44 [[ 9.99912316e-01 1.14354492e-02 6.67762214e-03 1.67433142e+02] [-1.14340483e-02 9.99934598e-01 -2.47934487e-04 1.97037790e+00] [-6.68002066e-03 1.71560493e-04 9.99977674e-01 4.40451215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:167.50, Y:1.96, Z:0.44 [[ 9.99963743e-01 5.28423416e-03 6.67759682e-03 1.67495198e+02] [-5.28269166e-03 9.99986016e-01 -2.48614597e-04 1.95937041e+00] [-6.67881718e-03 2.13329898e-04 9.99977674e-01 4.37662767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:167.56, Y:1.95, Z:0.43 [[ 9.99875156e-01 1.43207182e-02 6.67756391e-03 1.67557145e+02] [-1.43193711e-02 9.99897441e-01 -2.49495478e-04 1.95132019e+00] [-6.68045202e-03 1.53845814e-04 9.99977674e-01 4.32803780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:167.62, Y:1.94, Z:0.44 [[ 9.99902215e-01 1.22869856e-02 6.67753201e-03 1.67619358e+02] [-1.22855875e-02 9.99924498e-01 -2.50346342e-04 1.94220820e+00] [-6.68010385e-03 1.68284458e-04 9.99977674e-01 4.41000287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:1.93, Z:0.44 [[ 9.99731033e-01 2.22097534e-02 6.67749980e-03 1.67681410e+02] [-2.22085709e-02 9.99753328e-01 -2.51202643e-04 1.93297993e+00] [-6.68143179e-03 1.02837351e-04 9.99977674e-01 4.38913051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.74, Y:1.93, Z:0.41 [[ 9.99729488e-01 2.22792033e-02 6.67746705e-03 1.67742959e+02] [-2.22780165e-02 9.99751782e-01 -2.52070213e-04 1.92992347e+00] [-6.68142551e-03 1.03241304e-04 9.99977674e-01 4.14758869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.81, Y:1.93, Z:0.41 [[ 9.99656270e-01 2.53526055e-02 6.67743387e-03 1.67805346e+02] [-2.53514814e-02 9.99678568e-01 -2.52945989e-04 1.92511112e+00] [-6.68170037e-03 8.35762033e-05 9.99977674e-01 4.12157253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:1.92, Z:0.41 [[ 9.99571743e-01 2.84911049e-02 6.67740064e-03 1.67867267e+02] [-2.84900449e-02 9.99594044e-01 -2.53820240e-04 1.92315881e+00] [-6.68192153e-03 6.34720956e-05 9.99977674e-01 4.14352420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:167.93, Y:1.92, Z:0.44 [[ 9.99527797e-01 2.99932485e-02 6.67736724e-03 1.67929618e+02] [-2.99922163e-02 9.99550100e-01 -2.54696008e-04 1.91715705e+00] [-6.68200225e-03 5.43066976e-05 9.99977674e-01 4.38231427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.99, Y:1.91, Z:0.41 [[ 9.99627998e-01 2.64438661e-02 6.67733306e-03 1.67991857e+02] [-2.64427487e-02 9.99650297e-01 -2.55588791e-04 1.91351245e+00] [-6.68175673e-03 7.89266714e-05 9.99977674e-01 4.10595695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:168.05, Y:1.91, Z:0.41 [[ 9.99673865e-01 2.46490823e-02 6.67729920e-03 1.68054527e+02] [-2.46479190e-02 9.99696161e-01 -2.56470315e-04 1.90587607e+00] [-6.68159214e-03 9.18051411e-05 9.99977674e-01 4.08889101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters Centerline goodness : 0.994020 with order 1 Centerline is valid? [True, True] Translation: X:168.12, Y:1.90, Z:0.44 [[ 9.99637758e-01 2.60723473e-02 6.67724892e-03 1.68116959e+02] [-2.60712070e-02 9.99660055e-01 -2.57772934e-04 1.89949340e+00] [-6.68169976e-03 8.35956193e-05 9.99977674e-01 4.42489766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:168.18, Y:1.89, Z:0.41 [[ 9.99666708e-01 2.49376951e-02 6.67721489e-03 1.68178384e+02] [-2.49365237e-02 9.99689003e-01 -2.58651369e-04 1.88962897e+00] [-6.68158846e-03 9.20586356e-05 9.99977674e-01 4.09696150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:168.24, Y:1.88, Z:0.42 [[ 9.99568549e-01 2.86029850e-02 6.67718136e-03 1.68239447e+02] [-2.86018896e-02 9.99590849e-01 -2.59513967e-04 1.88464589e+00] [-6.68187226e-03 6.84219959e-05 9.99977674e-01 4.18249885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:168.30, Y:1.88, Z:0.42 [[ 9.99445486e-01 3.26210932e-02 6.67717047e-03 1.68301700e+02] [-3.26200855e-02 9.99467790e-01 -2.59793942e-04 1.88026953e+00] [-6.68209157e-03 4.18400103e-05 9.99977674e-01 4.16800953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters Centerline goodness : 0.997563 with order 1 Centerline is valid? [True, True] Translation: X:168.36, Y:1.88, Z:0.43 [[ 9.99363214e-01 3.50511285e-02 6.67713532e-03 1.68363330e+02] [-3.50501690e-02 9.99385520e-01 -2.60694297e-04 1.88013314e+00] [-6.68216998e-03 2.64935694e-05 9.99977674e-01 4.31583888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:168.42, Y:1.87, Z:0.40 [[ 9.99866699e-01 -1.48996806e-02 6.67711751e-03 1.68423282e+02] [ 1.49017558e-02 9.99888929e-01 -2.61149596e-04 1.87458035e+00] [-6.67248483e-03 3.60615559e-04 9.99977674e-01 3.97075486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters Centerline goodness : 0.997066 with order 1 Centerline is valid? [True, True] Translation: X:168.49, Y:1.89, Z:0.43 [[ 9.98826790e-01 4.79631024e-02 6.67710893e-03 1.68485745e+02] [-4.79624267e-02 9.98849106e-01 -2.61368897e-04 1.88810857e+00] [-6.68196035e-03 -5.91880909e-05 9.99977674e-01 4.30741933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters Centerline goodness : 0.996865 with order 1 Centerline is valid? [True, True] Translation: X:168.55, Y:1.89, Z:0.43 [[ 9.98588198e-01 5.26975113e-02 6.67708174e-03 1.68548490e+02] [-5.26969368e-02 9.98610517e-01 -2.62061619e-04 1.89302555e+00] [-6.68161404e-03 -9.01701142e-05 9.99977674e-01 4.28562943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:168.61, Y:1.90, Z:0.41 [[ 9.98448351e-01 5.52838867e-02 6.67704578e-03 1.68610359e+02] [-5.52833639e-02 9.98470671e-01 -2.62974635e-04 1.90021350e+00] [-6.68137264e-03 -1.06562961e-04 9.99977674e-01 4.10737192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters Centerline goodness : 0.996153 with order 1 Centerline is valid? [True, True] Translation: X:168.67, Y:1.90, Z:0.43 [[ 9.98568680e-01 5.30660718e-02 6.67701906e-03 1.68671709e+02] [-5.30654950e-02 9.98590999e-01 -2.63651178e-04 1.90348149e+00] [-6.68160207e-03 -9.10455133e-05 9.99977674e-01 4.30113131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:168.73, Y:1.91, Z:0.43 [[ 9.98621532e-01 5.20620227e-02 6.67701016e-03 1.68733374e+02] [-5.20614219e-02 9.98643850e-01 -2.63876591e-04 1.90578872e+00] [-6.68169308e-03 -8.41017971e-05 9.99977674e-01 4.26963880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:168.80, Y:1.91, Z:0.43 [[ 9.99049764e-01 4.30695590e-02 6.67699264e-03 1.68795592e+02] [-4.30687543e-02 9.99072076e-01 -2.64319067e-04 1.90591265e+00] [-6.68218100e-03 -2.35018537e-05 9.99977674e-01 4.27036991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:168.86, Y:1.90, Z:0.41 [[ 9.99211891e-01 3.91281801e-02 6.67695634e-03 1.68857990e+02] [-3.91272813e-02 9.99234200e-01 -2.65232799e-04 1.90382915e+00] [-6.68222120e-03 3.77261791e-06 9.99977674e-01 4.12691164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:168.92, Y:1.91, Z:0.41 [[ 9.99370285e-01 3.48490022e-02 6.67692026e-03 1.68920727e+02] [-3.48480018e-02 9.99392588e-01 -2.66137984e-04 1.90542643e+00] [-6.68213927e-03 3.32930638e-05 9.99977674e-01 4.08329018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:168.98, Y:1.90, Z:0.41 [[ 9.99345843e-01 3.55430062e-02 6.67687206e-03 1.68982969e+02] [-3.55420133e-02 9.99368147e-01 -2.67341891e-04 1.90348323e+00] [-6.68215539e-03 2.98575316e-05 9.99977674e-01 4.06010805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:169.05, Y:1.90, Z:0.41 [[ 9.99387779e-01 3.43436548e-02 6.67683588e-03 1.69045425e+02] [-3.43426291e-02 9.99410082e-01 -2.68242401e-04 1.90384238e+00] [-6.68210952e-03 3.87780793e-05 9.99977674e-01 4.05254471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:169.11, Y:1.90, Z:0.41 [[ 9.99475117e-01 3.17003309e-02 6.67679986e-03 1.69107391e+02] [-3.16992402e-02 9.99497417e-01 -2.69136001e-04 1.90208779e+00] [-6.68197591e-03 5.73452534e-05 9.99977674e-01 4.07051923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.17, Y:1.90, Z:0.40 [[ 9.99564259e-01 2.87526261e-02 6.67676398e-03 1.69168783e+02] [-2.87514638e-02 9.99586555e-01 -2.70023294e-04 1.90070330e+00] [-6.68176738e-03 7.79388963e-05 9.99977674e-01 4.00979916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:169.23, Y:1.90, Z:0.40 [[ 9.99583415e-01 2.80787578e-02 6.67674588e-03 1.69230726e+02] [-2.80775775e-02 9.99605711e-01 -2.70469965e-04 1.89685478e+00] [-6.68170777e-03 8.28904413e-05 9.99977674e-01 4.01790733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:169.29, Y:1.90, Z:0.43 [[ 9.99466456e-01 3.19722419e-02 6.67671036e-03 1.69292400e+02] [-3.19711426e-02 9.99488756e-01 -2.71343942e-04 1.89638481e+00] [-6.68197241e-03 5.77371084e-05 9.99977674e-01 4.30430956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:1.90, Z:0.43 [[ 9.99325084e-01 3.61219785e-02 6.67669253e-03 1.69354192e+02] [-3.61209688e-02 9.99347388e-01 -2.71782096e-04 1.89653706e+00] [-6.68215255e-03 3.04300634e-05 9.99977674e-01 4.28671757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:169.42, Y:1.89, Z:0.43 [[ 9.99299854e-01 3.68133533e-02 6.67666525e-03 1.69416517e+02] [-3.68123547e-02 9.99322158e-01 -2.72450504e-04 1.89458025e+00] [-6.68216935e-03 2.64759801e-05 9.99977674e-01 4.26977802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:169.48, Y:1.89, Z:0.42 [[ 9.99461011e-01 3.21420339e-02 6.67662876e-03 1.69478276e+02] [-3.21409250e-02 9.99483310e-01 -2.73341803e-04 1.89293054e+00] [-6.68196477e-03 5.86014507e-05 9.99977674e-01 4.21638207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:1.89, Z:0.43 [[ 9.99416740e-01 3.34903524e-02 6.67659223e-03 1.69540429e+02] [-3.34892677e-02 9.99439040e-01 -2.74231331e-04 1.89023517e+00] [-6.68203103e-03 5.04771985e-05 9.99977674e-01 4.26427279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:1.89, Z:0.41 [[ 9.99407348e-01 3.37694612e-02 6.67655634e-03 1.69601024e+02] [-3.37683769e-02 9.99429648e-01 -2.75102249e-04 1.88522038e+00] [-6.68203841e-03 4.94827375e-05 9.99977674e-01 4.11681244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:1.88, Z:0.41 [[ 9.99352192e-01 3.53640979e-02 6.67652993e-03 1.69663596e+02] [-3.53630449e-02 9.99374494e-01 -2.75741780e-04 1.88187473e+00] [-6.68210508e-03 3.94607249e-05 9.99977674e-01 4.05909152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:169.73, Y:1.88, Z:0.40 [[ 9.99335250e-01 3.58396687e-02 6.67648413e-03 1.69725246e+02] [-3.58386189e-02 9.99357552e-01 -2.76846301e-04 1.87873097e+00] [-6.68211691e-03 3.73862967e-05 9.99977674e-01 4.03188582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.79, Y:1.87, Z:0.40 [[ 9.99348183e-01 3.54772405e-02 6.67644722e-03 1.69787100e+02] [-3.54761767e-02 9.99370484e-01 -2.77733552e-04 1.87404415e+00] [-6.68209751e-03 4.06976988e-05 9.99977674e-01 4.02747901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.85, Y:1.87, Z:0.40 [[ 9.99341693e-01 3.56595970e-02 6.67641006e-03 1.69849110e+02] [-3.56585313e-02 9.99363994e-01 -2.78623938e-04 1.87137964e+00] [-6.68209944e-03 4.03695403e-05 9.99977674e-01 4.02197451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.91, Y:1.87, Z:0.40 [[ 9.99218576e-01 3.89572105e-02 6.67637265e-03 1.69910603e+02] [-3.89562124e-02 9.99240880e-01 -2.79517481e-04 1.86948668e+00] [-6.68219370e-03 1.92128676e-05 9.99977674e-01 4.00829982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:1.87, Z:0.40 [[ 9.99252182e-01 3.80854737e-02 6.67635411e-03 1.69973074e+02] [-3.80844532e-02 9.99274485e-01 -2.79959711e-04 1.86882441e+00] [-6.68217271e-03 2.54850566e-05 9.99977674e-01 3.99883583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:1.87, Z:0.41 [[ 9.99283662e-01 3.72503758e-02 6.67631662e-03 1.70035104e+02] [-3.72493307e-02 9.99305963e-01 -2.80850969e-04 1.86551043e+00] [-6.68214481e-03 3.19614586e-05 9.99977674e-01 4.06254199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:170.10, Y:1.87, Z:0.40 [[ 9.99284857e-01 3.72182991e-02 6.67627892e-03 1.70097254e+02] [-3.72172474e-02 9.99307159e-01 -2.81744307e-04 1.86800758e+00] [-6.68213936e-03 3.30700955e-05 9.99977674e-01 4.04584669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:1.87, Z:0.40 [[ 9.99217953e-01 3.89731972e-02 6.67624103e-03 1.70159840e+02] [-3.89721787e-02 9.99240256e-01 -2.82639230e-04 1.86671449e+00] [-6.68218415e-03 2.22305343e-05 9.99977674e-01 4.02543436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:170.22, Y:1.87, Z:0.43 [[ 9.99193387e-01 3.95980232e-02 6.67620318e-03 1.70220691e+02] [-3.95970126e-02 9.99215691e-01 -2.83530472e-04 1.86826161e+00] [-6.68219422e-03 1.89440709e-05 9.99977674e-01 4.27822026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.28, Y:1.87, Z:0.42 [[ 9.99263943e-01 3.77756687e-02 6.67620318e-03 1.70281994e+02] [-3.77746174e-02 9.99286244e-01 -2.83530472e-04 1.86820304e+00] [-6.68214855e-03 3.11307560e-05 9.99977674e-01 4.21153095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:1.87, Z:0.41 [[ 9.99345411e-01 3.55552862e-02 6.67618503e-03 1.70344508e+02] [-3.55541826e-02 9.99367710e-01 -2.83957108e-04 1.86665118e+00] [-6.68205992e-03 4.64049311e-05 9.99977674e-01 4.13512833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:170.41, Y:1.86, Z:0.42 [[ 9.99467279e-01 3.19466433e-02 6.67614739e-03 1.70406630e+02] [-3.19454533e-02 9.99489573e-01 -2.84839345e-04 1.86377241e+00] [-6.68183937e-03 7.14150505e-05 9.99977674e-01 4.21778408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.47, Y:1.86, Z:0.41 [[ 9.99386731e-01 3.43742975e-02 6.67610945e-03 1.70468132e+02] [-3.43731557e-02 9.99409028e-01 -2.85725865e-04 1.86203450e+00] [-6.68198568e-03 5.60716880e-05 9.99977674e-01 4.11830750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:1.86, Z:0.41 [[ 9.99273297e-01 3.75274338e-02 6.67605743e-03 1.70530277e+02] [-3.75263543e-02 9.99295597e-01 -2.86936134e-04 1.85803183e+00] [-6.68212278e-03 3.61995197e-05 9.99977674e-01 4.05221448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.59, Y:1.86, Z:0.40 [[ 9.99221062e-01 3.88934562e-02 6.67601941e-03 1.70592586e+02] [-3.88924013e-02 9.99243363e-01 -2.87818167e-04 1.85578491e+00] [-6.68216233e-03 2.79475489e-05 9.99977674e-01 4.03554030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:1.86, Z:0.42 [[ 9.99093234e-01 4.20492641e-02 6.67598104e-03 1.70654227e+02] [-4.20482737e-02 9.99115539e-01 -2.88705356e-04 1.85973511e+00] [-6.68221624e-03 7.73008992e-06 9.99977674e-01 4.21683953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:170.72, Y:1.86, Z:0.42 [[ 9.98995539e-01 4.43096378e-02 6.67596185e-03 1.70715791e+02] [-4.43086949e-02 9.99017846e-01 -2.89148342e-04 1.86156345e+00] [-6.68221709e-03 -6.94525234e-06 9.99977674e-01 4.23181421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:170.78, Y:1.87, Z:0.42 [[ 9.98841555e-01 4.76547944e-02 6.67594226e-03 1.70777871e+02] [-4.76539232e-02 9.98863864e-01 -2.89600033e-04 1.86889656e+00] [-6.68215831e-03 -2.88702930e-05 9.99977674e-01 4.20765330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:170.84, Y:1.87, Z:0.42 [[ 9.98928142e-01 4.58039132e-02 6.67591287e-03 1.70839273e+02] [-4.58029961e-02 9.98950450e-01 -2.90275932e-04 1.87026588e+00] [-6.68220194e-03 -1.58120134e-05 9.99977674e-01 4.21130261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:170.90, Y:1.87, Z:0.40 [[ 9.99187548e-01 3.97451453e-02 6.67589318e-03 1.70900442e+02] [-3.97440900e-02 9.99209849e-01 -2.90728200e-04 1.86984950e+00] [-6.68217325e-03 2.51646988e-05 9.99977674e-01 3.95091280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:170.96, Y:1.87, Z:0.42 [[ 9.99496713e-01 3.10121441e-02 6.67587335e-03 1.70962512e+02] [-3.10108909e-02 9.99519004e-01 -2.91182820e-04 1.86756745e+00] [-6.68169248e-03 8.40114919e-05 9.99977674e-01 4.19773900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:171.02, Y:1.86, Z:0.42 [[ 9.99630122e-01 2.63638398e-02 6.67583539e-03 1.71022837e+02] [-2.63624771e-02 9.99652407e-01 -2.92050358e-04 1.86238025e+00] [-6.68121449e-03 1.15950778e-04 9.99977674e-01 4.22957105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:171.08, Y:1.86, Z:0.42 [[ 9.99726619e-01 2.24080620e-02 6.67583539e-03 1.71083309e+02] [-2.24066112e-02 9.99748898e-01 -2.92050358e-04 1.85527329e+00] [-6.68070336e-03 1.42387670e-04 9.99977674e-01 4.18280333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:171.14, Y:1.84, Z:0.41 [[ 9.99869074e-01 1.47400517e-02 6.67582597e-03 1.71143355e+02] [-1.47384286e-02 9.99891341e-01 -2.92265669e-04 1.84304651e+00] [-6.67940859e-03 1.93836220e-04 9.99977674e-01 4.05026521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.20, Y:1.84, Z:0.39 [[ 9.99842491e-01 1.64447003e-02 6.67576188e-03 1.71203548e+02] [-1.64431054e-02 9.99864760e-01 -2.93722157e-04 1.83741541e+00] [-6.67968923e-03 1.83905637e-04 9.99977674e-01 3.94457062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:1.83, Z:0.39 [[ 9.99777121e-01 2.00285441e-02 6.67576188e-03 1.71265457e+02] [-2.00270291e-02 9.99799396e-01 -2.93722157e-04 1.82788390e+00] [-6.68030553e-03 1.59961015e-04 9.99977674e-01 3.91681203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:1.82, Z:0.39 [[ 9.99538188e-01 2.96453192e-02 6.67572545e-03 1.71327332e+02] [-2.96440130e-02 9.99560476e-01 -2.94547896e-04 1.82363330e+00] [-6.68152328e-03 9.65165779e-05 9.99977674e-01 3.93368870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:1.82, Z:0.39 [[ 9.99472796e-01 3.17736654e-02 6.67568808e-03 1.71388290e+02] [-3.17724011e-02 9.99495086e-01 -2.95392360e-04 1.81933071e+00] [-6.68170314e-03 8.31339886e-05 9.99977674e-01 3.94516371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:1.82, Z:0.42 [[ 9.99467741e-01 3.19322767e-02 6.67566041e-03 1.71449323e+02] [-3.19310117e-02 9.99490031e-01 -2.96016499e-04 1.81697567e+00] [-6.68170851e-03 8.26983510e-05 9.99977674e-01 4.18784743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:1.81, Z:0.39 [[ 9.99516632e-01 3.03634434e-02 6.67565742e-03 1.71509628e+02] [-3.03621430e-02 9.99538920e-01 -2.96083948e-04 1.81464463e+00] [-6.68156953e-03 9.32535653e-05 9.99977674e-01 3.87666369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.57, Y:1.82, Z:0.39 [[ 9.99520551e-01 3.02341597e-02 6.67564770e-03 1.71572212e+02] [-3.02328549e-02 9.99542839e-01 -2.96302821e-04 1.81523742e+00] [-6.68155432e-03 9.43368706e-05 9.99977674e-01 3.89304142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:171.63, Y:1.81, Z:0.41 [[ 9.99611104e-01 2.70754114e-02 6.67560977e-03 1.71634329e+02] [-2.70740305e-02 9.99633387e-01 -2.97154881e-04 1.80975366e+00] [-6.68120800e-03 1.16303656e-04 9.99977674e-01 4.13774348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.70, Y:1.81, Z:0.39 [[ 9.99600376e-01 2.74686354e-02 6.67557229e-03 1.71696589e+02] [-2.74672577e-02 9.99622659e-01 -2.97994653e-04 1.80665740e+00] [-6.68123883e-03 1.14515902e-04 9.99977674e-01 3.88979978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:171.76, Y:1.80, Z:0.41 [[ 9.99796085e-01 1.90584730e-02 6.67553374e-03 1.71758334e+02] [-1.90569021e-02 9.99818356e-01 -2.98855562e-04 1.79764296e+00] [-6.68001691e-03 1.71579628e-04 9.99977674e-01 4.13518435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.82, Y:1.79, Z:0.39 [[ 9.99778989e-01 1.99351533e-02 6.67549595e-03 1.71820403e+02] [-1.99335963e-02 9.99801261e-01 -2.99697347e-04 1.79136108e+00] [-6.68014379e-03 1.66564469e-04 9.99977674e-01 3.87097530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:1.78, Z:0.39 [[ 9.99750824e-01 2.13008780e-02 6.67545869e-03 1.71881857e+02] [-2.12993460e-02 9.99773098e-01 -3.00525008e-04 1.78269420e+00] [-6.68034546e-03 1.58267220e-04 9.99977674e-01 3.88106413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.94, Y:1.77, Z:0.39 [[ 9.99692407e-01 2.38857823e-02 6.67542121e-03 1.71943492e+02] [-2.38843023e-02 9.99714684e-01 -3.01355395e-04 1.77380563e+00] [-6.68071471e-03 1.41824923e-04 9.99977674e-01 3.86727543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:172.01, Y:1.77, Z:0.42 [[ 9.99457264e-01 3.22585981e-02 6.67538320e-03 1.72005431e+02] [-3.22572991e-02 9.99479552e-01 -3.02194975e-04 1.76627432e+00] [-6.68165740e-03 8.67011307e-05 9.99977674e-01 4.15276389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:1.76, Z:0.41 [[ 9.99259951e-01 3.78812522e-02 6.67535416e-03 1.72065815e+02] [-3.78800744e-02 9.99282247e-01 -3.02835096e-04 1.76378095e+00] [-6.68203467e-03 4.97480710e-05 9.99977674e-01 4.07804707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:1.76, Z:0.40 [[ 9.98894465e-01 4.65326563e-02 6.67535083e-03 1.72127658e+02] [-4.65316711e-02 9.98916769e-01 -3.02908454e-04 1.76156485e+00] [-6.68221502e-03 -8.04165104e-06 9.99977674e-01 3.99447410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters Centerline goodness : 0.981271 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:1.74, Z:0.39 [[ 9.99835505e-01 -1.68642401e-02 6.67531028e-03 1.72189725e+02] [ 1.68666428e-02 9.99857702e-01 -3.03799386e-04 1.73612154e+00] [-6.66923705e-03 4.16339487e-04 9.99977674e-01 3.91261297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:172.25, Y:1.78, Z:0.41 [[ 9.98055482e-01 6.19733559e-02 6.67514305e-03 1.72252540e+02] [-6.19726854e-02 9.98077798e-01 -3.07430439e-04 1.77587751e+00] [-6.68136458e-03 -1.06843906e-04 9.99977674e-01 4.10059343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters Centerline goodness : 0.996354 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:1.79, Z:0.41 [[ 9.97831139e-01 6.54863361e-02 6.67513281e-03 1.72315785e+02] [-6.54857428e-02 9.97853458e-01 -3.07652703e-04 1.78767545e+00] [-6.68095140e-03 -1.30140582e-04 9.99977674e-01 4.10499726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:172.38, Y:1.80, Z:0.38 [[ 9.97983912e-01 6.31153989e-02 6.67509158e-03 1.72376897e+02] [-6.31147466e-02 9.98006229e-01 -3.08544491e-04 1.79724798e+00] [-6.68125689e-03 -1.13374275e-04 9.99977674e-01 3.84774892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:172.44, Y:1.80, Z:0.38 [[ 9.98440912e-01 5.54183118e-02 6.67508125e-03 1.72437770e+02] [-5.54174859e-02 9.98463223e-01 -3.08767864e-04 1.80489172e+00] [-6.68193453e-03 -6.16297537e-05 9.99977674e-01 3.82093016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters Centerline goodness : 0.937792 with order 1 Centerline is valid? [True, False] Translation: X:172.44, Y:1.81, Z:0.38 [[ 9.99205435e-01 3.87567704e-02 9.29581703e-03 1.72439835e+02] [-3.87731442e-02 9.99246778e-01 1.58764066e-03 1.81067253e+00] [-9.22728339e-03 -1.94680723e-03 9.99955533e-01 3.80090441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters Centerline goodness : 0.965095 with order 1 Centerline is valid? [False, True] Translation: X:172.44, Y:1.82, Z:0.38 [[ 9.99695085e-01 2.17332140e-02 1.17220003e-02 1.72441273e+02] [-2.17754103e-02 9.99756816e-01 3.48419798e-03 1.81612178e+00] [-1.16434269e-02 -3.73838696e-03 9.99925225e-01 3.79535456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters Centerline goodness : 0.997212 with order 1 Centerline is valid? [True, True] Translation: X:172.51, Y:1.84, Z:0.41 [[ 9.94778542e-01 1.01441894e-01 1.11890361e-02 1.72507311e+02] [-1.01434162e-01 9.94841459e-01 -1.25785234e-03 1.84314930e+00] [-1.12589160e-02 1.16334016e-04 9.99936610e-01 4.05150956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:172.57, Y:1.84, Z:0.41 [[ 9.95993879e-01 8.87186682e-02 1.11888715e-02 1.72567381e+02] [-8.87101162e-02 9.96056690e-01 -1.25931479e-03 1.83755262e+00] [-1.12564751e-02 2.61703727e-04 9.99936610e-01 4.05894651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:172.63, Y:1.83, Z:0.38 [[ 9.96608050e-01 8.15303876e-02 1.11888715e-02 1.72628213e+02] [-8.15213826e-02 9.96670797e-01 -1.25931479e-03 1.82718175e+00] [-1.12542939e-02 3.42910978e-04 9.99936610e-01 3.81741350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters Centerline goodness : 0.996962 with order 1 Centerline is valid? [True, True] Translation: X:172.69, Y:1.81, Z:0.40 [[ 9.97086063e-01 7.54598931e-02 1.11887558e-02 1.72688460e+02] [-7.54504946e-02 9.97148752e-01 -1.26034258e-03 1.81133308e+00] [-1.12519592e-02 4.12472868e-04 9.99936610e-01 4.03103328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters Centerline goodness : 0.997014 with order 1 Centerline is valid? [True, True] Translation: X:172.75, Y:1.79, Z:0.40 [[ 9.97100986e-01 7.52624633e-02 1.11886445e-02 1.72748834e+02] [-7.52530413e-02 9.97163672e-01 -1.26132941e-03 1.79335694e+00] [-1.12518406e-02 4.15693270e-04 9.99936610e-01 4.04654783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters Centerline goodness : 0.975234 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:1.76, Z:0.36 [[ 9.99931778e-01 -3.35509464e-03 1.11884971e-02 1.72804108e+02] [ 3.36942978e-03 9.99993526e-01 -1.26263533e-03 1.75565325e+00] [-1.11841884e-02 1.30024805e-03 9.99936610e-01 3.61358716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:1.75, Z:0.39 [[ 9.98552842e-01 5.26026553e-02 1.11884971e-02 1.72865146e+02] [-5.25917978e-02 9.98615296e-01 -1.26263533e-03 1.74953755e+00] [-1.12394223e-02 6.72384921e-04 9.99936610e-01 3.88457658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:1.73, Z:0.36 [[ 9.99453469e-01 3.11059788e-02 1.11884297e-02 1.72923280e+02] [-3.10937735e-02 9.99515673e-01 -1.26323286e-03 1.73085047e+00] [-1.12223049e-02 9.14651965e-04 9.99936610e-01 3.61894955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:1.72, Z:0.38 [[ 9.98598285e-01 5.17328138e-02 1.11883977e-02 1.72983677e+02] [-5.17218921e-02 9.98660728e-01 -1.26351551e-03 1.71770914e+00] [-1.12387787e-02 6.83059318e-04 9.99936610e-01 3.80470108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters Centerline goodness : 0.997907 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:1.71, Z:0.38 [[ 9.98759132e-01 4.85285163e-02 1.11883664e-02 1.73045340e+02] [-4.85173912e-02 9.98821538e-01 -1.26379335e-03 1.71180058e+00] [-1.12365113e-02 7.19394805e-04 9.99936610e-01 3.76966526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters Centerline goodness : 0.996714 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:1.71, Z:0.40 [[ 9.94203910e-01 1.06927122e-01 1.11882176e-02 1.73106513e+02] [-1.06919655e-01 9.94266859e-01 -1.26510870e-03 1.71432914e+00] [-1.12593484e-02 6.15356484e-05 9.99936610e-01 3.95068285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters Centerline goodness : 0.995720 with order 1 Centerline is valid? [True, True] Translation: X:173.17, Y:1.71, Z:0.40 [[ 9.93813298e-01 1.10498653e-01 1.11882056e-02 1.73166866e+02] [-1.10491412e-01 9.93876274e-01 -1.26521477e-03 1.70726953e+00] [-1.12594967e-02 2.11866229e-05 9.99936610e-01 3.98732030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters Centerline goodness : 0.995724 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:1.71, Z:0.40 [[ 9.93312660e-01 1.14912074e-01 1.11881234e-02 1.73229495e+02] [-1.14905104e-01 9.93375666e-01 -1.26594118e-03 1.70911360e+00] [-1.12594815e-02 -2.80970865e-05 9.99936610e-01 3.98393984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:1.71, Z:0.37 [[ 9.92799098e-01 1.19267683e-01 1.11879525e-02 1.73291462e+02] [-1.19260973e-01 9.92862132e-01 -1.26745017e-03 1.70651838e+00] [-1.12592602e-02 -7.59627143e-05 9.99936610e-01 3.71336079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:1.71, Z:0.37 [[ 9.93044264e-01 1.17208886e-01 1.11877813e-02 1.73353628e+02] [-1.17202028e-01 9.93107282e-01 -1.26895914e-03 1.70749881e+00] [-1.12594004e-02 -5.10980696e-05 9.99936610e-01 3.74153372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:1.70, Z:0.38 [[ 9.93510328e-01 1.13190389e-01 1.11876537e-02 1.73414480e+02] [-1.13183263e-01 9.93573317e-01 -1.27008318e-03 1.70432231e+00] [-1.12595154e-02 -4.41440466e-06 9.99936610e-01 3.79164594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:1.70, Z:0.37 [[ 9.93614554e-01 1.12271795e-01 1.11876118e-02 1.73476146e+02] [-1.12264607e-01 9.93677535e-01 -1.27045249e-03 1.70302316e+00] [-1.12595145e-02 6.36724368e-06 9.99936610e-01 3.73182662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters Centerline goodness : 0.997064 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:1.70, Z:0.40 [[ 9.94069253e-01 1.08171898e-01 1.11875260e-02 1.73536886e+02] [-1.08164442e-01 9.94132203e-01 -1.27120714e-03 1.69955234e+00] [-1.12593888e-02 5.35754239e-05 9.99936610e-01 3.99405249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:1.70, Z:0.39 [[ 9.94463680e-01 1.04483630e-01 1.11875260e-02 1.73597792e+02] [-1.04475941e-01 9.94526602e-01 -1.27120714e-03 1.69577259e+00] [-1.12591126e-02 9.53420270e-05 9.99936610e-01 3.93667134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:1.69, Z:0.37 [[ 9.94831375e-01 1.00922613e-01 1.11875185e-02 1.73659630e+02] [-1.00914697e-01 9.94894270e-01 -1.27127332e-03 1.69349148e+00] [-1.12586983e-02 1.35717544e-04 9.99936610e-01 3.73875524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters Centerline goodness : 0.995671 with order 1 Centerline is valid? [True, True] Translation: X:173.72, Y:1.69, Z:0.40 [[ 9.95049204e-01 9.87518318e-02 1.11873941e-02 1.73721731e+02] [-9.87437664e-02 9.95112079e-01 -1.27236777e-03 1.69015747e+00] [-1.12583596e-02 1.61383111e-04 9.99936610e-01 4.00607140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:173.78, Y:1.69, Z:0.38 [[ 9.95461369e-01 9.45066554e-02 1.11872713e-02 1.73781918e+02] [-9.44983098e-02 9.95524208e-01 -1.27344586e-03 1.68944594e+00] [-1.12575485e-02 2.10487929e-04 9.99936610e-01 3.79328009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters Centerline goodness : 0.994628 with order 1 Centerline is valid? [True, True] Translation: X:173.84, Y:1.69, Z:0.40 [[ 9.95923611e-01 8.95042256e-02 1.11872633e-02 1.73842796e+02] [-8.94955636e-02 9.95986407e-01 -1.27351616e-03 1.68560712e+00] [-1.12563473e-02 2.67114373e-04 9.99936610e-01 3.99856631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:1.69, Z:0.37 [[ 9.96460646e-01 8.33128193e-02 1.11872421e-02 1.73903962e+02] [-8.33037651e-02 9.96523387e-01 -1.27370269e-03 1.68687200e+00] [-1.12544641e-02 3.37255216e-04 9.99936610e-01 3.70400827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters Centerline goodness : 0.991488 with order 1 Centerline is valid? [True, True] Translation: X:173.96, Y:1.68, Z:0.40 [[ 9.96786378e-01 7.93206405e-02 1.11872028e-02 1.73964976e+02] [-7.93113312e-02 9.96849081e-01 -1.27404794e-03 1.68338336e+00] [-1.12530111e-02 3.82681687e-04 9.99936610e-01 4.02210215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters Centerline goodness : 0.997562 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:1.68, Z:0.39 [[ 9.97333197e-01 7.21203262e-02 1.11871687e-02 1.74025245e+02] [-7.21105610e-02 9.97395831e-01 -1.27434687e-03 1.67629292e+00] [-1.12499418e-02 4.64235426e-04 9.99936610e-01 3.87253331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:1.67, Z:0.39 [[ 9.97797451e-01 6.53842059e-02 1.11871597e-02 1.74087046e+02] [-6.53740171e-02 9.97860017e-01 -1.27442633e-03 1.66778887e+00] [-1.12465467e-02 5.40269776e-04 9.99936610e-01 3.85271527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:174.15, Y:1.65, Z:0.38 [[ 9.98243554e-01 5.81778163e-02 1.11870061e-02 1.74147374e+02] [-5.81671609e-02 9.98306042e-01 -1.27577294e-03 1.65296296e+00] [-1.12422775e-02 6.22815725e-04 9.99936610e-01 3.77899495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:174.21, Y:1.64, Z:0.38 [[ 9.98567147e-01 5.23307445e-02 1.11868949e-02 1.74208673e+02] [-5.23197125e-02 9.98629570e-01 -1.27674715e-03 1.63795475e+00] [-1.12383772e-02 6.89622631e-04 9.99936610e-01 3.81580587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:1.62, Z:0.40 [[ 9.98656187e-01 5.06031213e-02 1.11867466e-02 1.74267723e+02] [-5.05919669e-02 9.98718589e-01 -1.27804507e-03 1.61751139e+00] [-1.12370849e-02 7.10368104e-04 9.99936610e-01 3.95946471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters Centerline goodness : 0.993373 with order 1 Centerline is valid? [True, True] Translation: X:174.33, Y:1.60, Z:0.40 [[ 9.98610892e-01 5.14892504e-02 1.11867345e-02 1.74327954e+02] [-5.14781502e-02 9.98673303e-01 -1.27815129e-03 1.59940957e+00] [-1.12377041e-02 7.00503406e-04 9.99936610e-01 3.98049940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters Centerline goodness : 0.994427 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:1.58, Z:0.40 [[ 9.98537945e-01 5.28850776e-02 1.11866254e-02 1.74389399e+02] [-5.28740539e-02 9.98600370e-01 -1.27910544e-03 1.57804934e+00] [-1.12386138e-02 6.85753078e-04 9.99936610e-01 3.98079393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters Centerline goodness : 0.994928 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:1.56, Z:0.40 [[ 9.98308115e-01 5.70593647e-02 1.11864024e-02 1.74449354e+02] [-5.70485803e-02 9.98370582e-01 -1.28105247e-03 1.55958857e+00] [-1.12412711e-02 6.40716702e-04 9.99936610e-01 3.97607523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:1.55, Z:0.37 [[ 9.97418472e-01 7.09313595e-02 1.11862905e-02 1.74509236e+02] [-7.09214337e-02 9.97481081e-01 -1.28202898e-03 1.54835814e+00] [-1.12490492e-02 4.85371630e-04 9.99936610e-01 3.66383312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters Centerline goodness : 0.996960 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:1.54, Z:0.39 [[ 9.96710370e-01 8.02702111e-02 1.11862541e-02 1.74569621e+02] [-8.02608685e-02 9.96773068e-01 -1.28234691e-03 1.53645334e+00] [-1.12530910e-02 3.80309996e-04 9.99936610e-01 3.93034349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:174.63, Y:1.53, Z:0.36 [[ 9.95443756e-01 9.46921184e-02 1.11861761e-02 1.74630246e+02] [-9.46836769e-02 9.95506582e-01 -1.28302652e-03 1.53126331e+00] [-1.12574045e-02 2.18032454e-04 9.99936610e-01 3.63482686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:174.69, Y:1.53, Z:0.39 [[ 9.94781951e-01 1.01408783e-01 1.11860964e-02 1.74691518e+02] [-1.01400758e-01 9.94844831e-01 -1.28372155e-03 1.52870472e+00] [-1.12586108e-02 1.42744383e-04 9.99936610e-01 3.90756347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:1.52, Z:0.39 [[ 9.94345430e-01 1.05603209e-01 1.11860550e-02 1.74753542e+02] [-1.05595445e-01 9.94408343e-01 -1.28408211e-03 1.52256697e+00] [-1.12591096e-02 9.56247259e-05 9.99936610e-01 3.86330166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters Centerline goodness : 0.997162 with order 1 Centerline is valid? [True, True] Translation: X:174.82, Y:1.52, Z:0.39 [[ 9.94696683e-01 1.02241794e-01 1.11858868e-02 1.74815019e+02] [-1.02233802e-01 9.94759568e-01 -1.28554528e-03 1.51680921e+00] [-1.12587044e-02 1.35151892e-04 9.99936610e-01 3.85528020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters Centerline goodness : 0.997463 with order 1 Centerline is valid? [True, True] Translation: X:174.88, Y:1.51, Z:0.38 [[ 9.95244485e-01 9.67641184e-02 1.11857584e-02 1.74875355e+02] [-9.67557669e-02 9.95307322e-01 -1.28666143e-03 1.50800128e+00] [-1.12577699e-02 1.98256060e-04 9.99936610e-01 3.82181451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters Centerline goodness : 0.963470 with order 3 Centerline is valid? [True, True] Translation: X:174.94, Y:1.47, Z:0.35 [[ 9.99914293e-01 6.80338607e-03 1.11857166e-02 1.74935794e+02] [-6.78940923e-03 9.99976123e-01 -1.28702490e-03 1.46614233e+00] [-1.11942057e-02 1.21097018e-03 9.99936610e-01 3.53544363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters Centerline goodness : 0.909276 with order 3 Centerline is valid? [True, False] Translation: X:174.94, Y:1.46, Z:0.35 [[ 9.99917498e-01 6.65309182e-03 1.09878912e-02 1.74936227e+02] [-6.64965508e-03 9.99977830e-01 -3.49279720e-04 1.46186247e+00] [-1.09899714e-02 2.76185217e-04 9.99939570e-01 3.53622104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [False, True] Translation: X:174.94, Y:1.46, Z:0.35 [[ 9.99918890e-01 6.51625154e-03 1.09430907e-02 1.74936270e+02] [-6.52729935e-03 9.99978222e-01 9.74156944e-04 1.45585246e+00] [-1.09365045e-02 -1.04550676e-03 9.99939648e-01 3.53737426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters Centerline goodness : 0.938213 with order 3 Centerline is valid? [True, False] Translation: X:174.94, Y:1.45, Z:0.35 [[ 9.99939409e-01 4.36816955e-03 1.01043756e-02 1.74940966e+02] [-4.36295974e-03 9.99990338e-01 -5.37584810e-04 1.45257235e+00] [-1.01066262e-02 4.93467253e-04 9.99948805e-01 3.49604776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters Centerline goodness : 0.984392 with order 1 Centerline is valid? [False, True] Translation: X:175.00, Y:1.47, Z:0.35 [[ 9.99820067e-01 1.46515555e-02 -1.20484578e-02 1.74995815e+02] [-1.49010418e-02 9.99670841e-01 -2.08846466e-02 1.46845784e+00] [ 1.17384994e-02 2.10604233e-02 9.99709291e-01 3.50536530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:175.06, Y:1.42, Z:0.37 [[ 9.99001869e-01 -4.28667580e-02 -1.25581134e-02 1.75056823e+02] [ 4.28662537e-02 9.99080772e-01 -3.09444648e-04 1.42106911e+00] [ 1.25598345e-02 -2.29183493e-04 9.99921096e-01 3.67111054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:1.42, Z:0.37 [[ 9.99053334e-01 -4.16500838e-02 -1.25581086e-02 1.75115278e+02] [ 4.16494810e-02 9.99132236e-01 -3.09639652e-04 1.42172623e+00] [ 1.25601076e-02 -2.13692177e-04 9.99921096e-01 3.67710754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters Centerline goodness : 0.997408 with order 1 Centerline is valid? [True, True] Translation: X:175.17, Y:1.42, Z:0.37 [[ 9.99142348e-01 -3.94571034e-02 -1.25580681e-02 1.75174436e+02] [ 3.94563069e-02 9.99221248e-01 -3.11273860e-04 1.42420646e+00] [ 1.25605704e-02 -1.84488092e-04 9.99921096e-01 3.67318060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:175.24, Y:1.43, Z:0.36 [[ 9.99129716e-01 -3.97757153e-02 -1.25580270e-02 1.75235089e+02] [ 3.97749233e-02 9.99208616e-01 -3.12920339e-04 1.42710080e+00] [ 1.25605354e-02 -1.86846552e-04 9.99921096e-01 3.57725678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:175.29, Y:1.43, Z:0.35 [[ 9.99194504e-01 -3.81135074e-02 -1.25580238e-02 1.75294198e+02] [ 3.81125825e-02 9.99273403e-01 -3.13048262e-04 1.43387343e+00] [ 1.25608306e-02 -1.65822617e-04 9.99921096e-01 3.45797407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters Centerline goodness : 0.851426 with order 1 Centerline is valid? [True, False] Translation: X:175.35, Y:1.46, Z:0.35 [[ 9.99003761e-01 -3.02032455e-02 -3.28519381e-02 1.75345826e+02] [ 2.93399200e-02 9.99219442e-01 -2.64513998e-02 1.46322542e+00] [ 3.36252134e-02 2.54611747e-02 9.99110141e-01 3.49950665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [False, True] Translation: X:175.41, Y:1.49, Z:0.35 [[ 9.98155700e-01 -1.71962594e-02 -5.82192978e-02 1.75414098e+02] [ 1.45081713e-02 9.98822973e-01 -4.62837093e-02 1.48596873e+00] [ 5.89466788e-02 4.53536927e-02 9.97230330e-01 3.52562095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters Centerline goodness : 0.998456 with order 1 Centerline is valid? [True, True] Translation: X:175.47, Y:1.44, Z:0.35 [[ 9.98119913e-01 -1.98112715e-02 -5.80013203e-02 1.75472233e+02] [ 1.98649863e-02 9.99802611e-01 3.49602757e-04 1.44111374e+00] [ 5.79829454e-02 -1.50114090e-03 9.98316445e-01 3.53594576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:175.53, Y:1.44, Z:0.36 [[ 9.98014985e-01 -2.45340293e-02 -5.80014833e-02 1.75531167e+02] [ 2.45939915e-02 9.99697471e-01 3.20079304e-04 1.44136164e+00] [ 5.79760833e-02 -1.74593193e-03 9.98316446e-01 3.56031410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:175.59, Y:1.44, Z:0.36 [[ 9.97873189e-01 -2.97474586e-02 -5.80016114e-02 1.75589857e+02] [ 2.98147469e-02 9.99555398e-01 2.94882890e-04 1.44366477e+00] [ 5.79670517e-02 -2.02355909e-03 9.98316446e-01 3.58784604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters Centerline goodness : 0.993572 with order 1 Centerline is valid? [True, True] Translation: X:175.65, Y:1.44, Z:0.39 [[ 9.97585660e-01 -3.81922914e-02 -5.80017278e-02 1.75647963e+02] [ 3.82723628e-02 9.99267308e-01 2.69854328e-04 1.43678194e+00] [ 5.79489241e-02 -2.48906598e-03 9.98316446e-01 3.91228376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters Centerline goodness : 0.993347 with order 1 Centerline is valid? [True, True] Translation: X:175.71, Y:1.43, Z:0.39 [[ 9.97203142e-01 -4.71348403e-02 -5.80017246e-02 1.75707576e+02] [ 4.72300262e-02 9.98884003e-01 2.70554035e-04 1.42750283e+00] [ 5.79242423e-02 -3.00922031e-03 9.98316446e-01 3.94936286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters Centerline goodness : 0.995123 with order 1 Centerline is valid? [True, True] Translation: X:175.77, Y:1.42, Z:0.40 [[ 9.97131700e-01 -4.86227594e-02 -5.80017329e-02 1.75767959e+02] [ 4.87203491e-02 9.98812423e-01 2.68756643e-04 1.41606476e+00] [ 5.79197837e-02 -3.09385044e-03 9.98316446e-01 3.95665134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters Centerline goodness : 0.937444 with order 1 Centerline is valid? [True, False] Translation: X:175.77, Y:1.42, Z:0.39 [[ 9.97280770e-01 -4.02157170e-02 -6.17556629e-02 1.75773443e+02] [ 3.96844954e-02 9.99164151e-01 -9.80507019e-03 1.41626427e+00] [ 6.20983625e-02 7.32766562e-03 9.98043135e-01 3.94521636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [False, True] Translation: X:175.77, Y:1.40, Z:0.39 [[ 9.97820294e-01 -2.84683808e-02 -5.95332880e-02 1.75773614e+02] [ 2.77312301e-02 9.99528626e-01 -1.31720832e-02 1.39963364e+00] [ 5.98802134e-02 1.14924406e-02 9.98139411e-01 3.92588048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters Centerline goodness : 0.993681 with order 1 Centerline is valid? [True, True] Translation: X:175.83, Y:1.37, Z:0.42 [[ 9.97807069e-01 -2.98105494e-02 -5.90964053e-02 1.75830559e+02] [ 2.99665833e-02 9.99549359e-01 1.75565814e-03 1.37003377e+00] [ 5.90174369e-02 -3.52272545e-03 9.98250736e-01 4.23267831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters Centerline goodness : 0.997606 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:1.34, Z:0.41 [[ 9.96892587e-01 -5.20842834e-02 -5.90965097e-02 1.75889136e+02] [ 5.22789767e-02 9.98630982e-01 1.75213727e-03 1.34027591e+00] [ 5.89243467e-02 -4.83619771e-03 9.98250736e-01 4.07037027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters Centerline goodness : 0.994521 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:1.34, Z:0.43 [[ 9.98170127e-01 -1.28057722e-02 -5.90966089e-02 1.75946883e+02] [ 1.29316924e-02 9.99914853e-01 1.74878400e-03 1.33922323e+00] [ 5.90691825e-02 -2.50980312e-03 9.98250736e-01 4.29169092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:1.33, Z:0.41 [[ 9.98252218e-01 1.14323378e-04 -5.90973419e-02 1.76007991e+02] [-1.24815963e-05 9.99998514e-01 1.72365497e-03 1.33150382e+00] [ 5.90974511e-02 -1.71990477e-03 9.98250737e-01 4.05803227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters Centerline goodness : 0.986577 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:1.33, Z:0.40 [[ 9.96916121e-01 -5.16309234e-02 -5.90973419e-02 1.76067309e+02] [ 5.18231487e-02 9.98654790e-01 1.72365497e-03 1.32536280e+00] [ 5.89288497e-02 -4.78094976e-03 9.98250737e-01 3.98071366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters Centerline goodness : 0.995410 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:1.33, Z:0.44 [[ 9.97930097e-01 2.53576085e-02 -5.90974822e-02 1.76126010e+02] [-2.53002445e-02 9.99678420e-01 1.71883143e-03 1.32968532e+00] [ 5.91220630e-02 -2.20092874e-04 9.98250737e-01 4.35711063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:176.18, Y:1.33, Z:0.44 [[ 9.97747325e-01 3.17452293e-02 -5.90975123e-02 1.76183704e+02] [-3.16991196e-02 9.99495980e-01 1.71779472e-03 1.33338089e+00] [ 5.91222578e-02 1.59414021e-04 9.98250737e-01 4.38370062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:176.24, Y:1.34, Z:0.42 [[ 9.97507472e-01 3.85524847e-02 -5.90977977e-02 1.76243404e+02] [-3.85188927e-02 9.99256412e-01 1.70792052e-03 1.34066396e+00] [ 5.91196979e-02 5.72718245e-04 9.98250737e-01 4.21649088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:1.35, Z:0.44 [[ 9.97552929e-01 3.73573431e-02 -5.90980824e-02 1.76301027e+02] [-3.73222427e-02 9.99301840e-01 1.69801135e-03 1.34733030e+00] [ 5.91202556e-02 5.11816781e-04 9.98250737e-01 4.40629416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters Centerline goodness : 0.998305 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:1.36, Z:0.44 [[ 9.97533261e-01 3.78776414e-02 -5.90988826e-02 1.76360631e+02] [-3.78451309e-02 9.99282221e-01 1.66968868e-03 1.35803335e+00] [ 5.91197066e-02 5.71034953e-04 9.98250737e-01 4.37434333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:176.42, Y:1.37, Z:0.45 [[ 9.97723446e-01 3.24831624e-02 -5.90996593e-02 1.76419701e+02] [-3.24428514e-02 9.99472244e-01 1.64173060e-03 1.36772087e+00] [ 5.91217977e-02 2.79368353e-04 9.98250738e-01 4.50214825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.48, Y:1.37, Z:0.44 [[ 9.97954470e-01 2.43725662e-02 -5.91003762e-02 1.76479486e+02] [-2.43195954e-02 9.99702930e-01 1.61550352e-03 1.37474914e+00] [ 5.91221932e-02 -1.74901721e-04 9.98250738e-01 4.37948155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:1.38, Z:0.44 [[ 9.98104941e-01 1.71342684e-02 -5.91011295e-02 1.76538551e+02] [-1.70702787e-02 9.99853032e-01 1.58746053e-03 1.38377477e+00] [ 5.91196435e-02 -5.75579444e-04 9.98250738e-01 4.37041224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.60, Y:1.39, Z:0.44 [[ 9.98197421e-01 1.04374943e-02 -5.91013393e-02 1.76596360e+02] [-1.03622427e-02 9.99945063e-01 1.57960802e-03 1.38913722e+00] [ 5.91145796e-02 -9.64338228e-04 9.98250738e-01 4.41555832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.66, Y:1.39, Z:0.45 [[ 9.98239513e-01 4.98107343e-03 -5.91021486e-02 1.76655012e+02] [-4.89809774e-03 9.99986805e-01 1.54872547e-03 1.38893252e+00] [ 5.91090831e-02 -1.25651085e-03 9.98250739e-01 4.52151622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.71, Y:1.39, Z:0.46 [[ 9.98251752e-01 5.91874085e-04 -5.91023592e-02 1.76712532e+02] [-5.01694628e-04 9.99998687e-01 1.54064520e-03 1.39173587e+00] [ 5.91031935e-02 -1.50830043e-03 9.98250739e-01 4.58140789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.77, Y:1.39, Z:0.45 [[ 9.98230621e-01 -6.51524775e-03 -5.91031271e-02 1.76773081e+02] [ 6.61608557e-03 9.99976972e-01 1.51060525e-03 1.38711009e+00] [ 5.90919241e-02 -1.89896377e-03 9.98250739e-01 4.51865353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:1.38, Z:0.46 [[ 9.98214920e-01 -8.58932691e-03 -5.91032699e-02 1.76832452e+02] [ 8.69346122e-03 9.99961079e-01 1.50499451e-03 1.38086133e+00] [ 5.90880427e-02 -2.01611996e-03 9.98250739e-01 4.61106063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:1.38, Z:0.46 [[ 9.98209603e-01 -9.18592720e-03 -5.91033626e-02 1.76891283e+02] [ 9.29088949e-03 9.99955712e-01 1.50134836e-03 1.37619738e+00] [ 5.90869537e-02 -2.04778316e-03 9.98250739e-01 4.62131354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.95, Y:1.37, Z:0.47 [[ 9.98221612e-01 -7.76716914e-03 -5.91040062e-02 1.76948796e+02] [ 7.86812490e-03 9.99967957e-01 1.47556952e-03 1.37344995e+00] [ 5.90906513e-02 -1.93798309e-03 9.98250740e-01 4.65412032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.01, Y:1.37, Z:0.47 [[ 9.98251651e-01 5.22802905e-04 -5.91047277e-02 1.77007987e+02] [-4.38098027e-04 9.99998858e-01 1.44608109e-03 1.36800367e+00] [ 5.91054162e-02 -1.41765917e-03 9.98250740e-01 4.67693536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.07, Y:1.37, Z:0.47 [[ 9.98233232e-01 6.08324877e-03 -5.91050621e-02 1.77066222e+02] [-6.00909438e-03 9.99980919e-01 1.43227999e-03 1.36697314e+00] [ 5.91126473e-02 -1.07458159e-03 9.98250740e-01 4.70587270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.13, Y:1.36, Z:0.47 [[ 9.98216223e-01 8.42238615e-03 -5.91052920e-02 1.77125292e+02] [-8.35289272e-03 9.99964102e-01 1.42272850e-03 1.36350990e+00] [ 5.91151530e-02 -9.26490504e-04 9.98250740e-01 4.71596854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:177.18, Y:1.36, Z:0.48 [[ 9.98165483e-01 1.31229147e-02 -5.91054744e-02 1.77182694e+02] [-1.30621038e-02 9.99913686e-01 1.41511290e-03 1.36234289e+00] [ 5.91189431e-02 -6.40475012e-04 9.98250740e-01 4.76328134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:177.24, Y:1.37, Z:0.48 [[ 9.98043064e-01 2.04083320e-02 -5.91061937e-02 1.77241657e+02] [-2.03621018e-02 9.99791712e-01 1.38440178e-03 1.36539130e+00] [ 5.91221360e-02 -1.78166264e-04 9.98250741e-01 4.76575749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:177.30, Y:1.37, Z:0.50 [[ 9.97911819e-01 2.60468607e-02 -5.91063736e-02 1.77300514e+02] [-2.60109683e-02 9.99660710e-01 1.37667983e-03 1.37047385e+00] [ 5.91221775e-02 1.63608940e-04 9.98250741e-01 5.03531920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:1.38, Z:0.51 [[ 9.97899346e-01 2.65203439e-02 -5.91064023e-02 1.77359711e+02] [-2.64853544e-02 9.99648255e-01 1.37544709e-03 1.37589890e+00] [ 5.91220892e-02 1.92896261e-04 9.98250741e-01 5.07792953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:177.42, Y:1.38, Z:0.51 [[ 9.97914193e-01 2.59542136e-02 -5.91070432e-02 1.77417980e+02] [-2.59198973e-02 9.99663115e-01 1.34732861e-03 1.38476892e+00] [ 5.91220998e-02 1.87530149e-04 9.98250741e-01 5.11766743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:177.48, Y:1.38, Z:0.50 [[ 9.98110744e-01 -1.67695047e-02 -5.91077465e-02 1.77476730e+02] [ 1.68767564e-02 9.99856712e-01 1.31573493e-03 1.38331640e+00] [ 5.90772129e-02 -2.31079622e-03 9.98250742e-01 4.99675372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters Centerline goodness : 0.998407 with order 1 Centerline is valid? [True, True] Translation: X:177.54, Y:1.39, Z:0.51 [[ 9.98089218e-01 -1.80045231e-02 -5.91079562e-02 1.77536401e+02] [ 1.81133742e-02 9.99835086e-01 1.30624597e-03 1.38704003e+00] [ 5.90746902e-02 -2.37439454e-03 9.98250742e-01 5.09443359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:1.40, Z:0.53 [[ 9.98190638e-01 1.10316043e-02 -5.91079828e-02 1.77595582e+02] [-1.09736476e-02 9.99938936e-01 1.30504103e-03 1.40179056e+00] [ 5.91187702e-02 -6.54049565e-04 9.98250742e-01 5.25338589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.66, Y:1.41, Z:0.50 [[ 9.98209882e-01 9.12544544e-03 -5.91080249e-02 1.77656975e+02] [-9.06426332e-03 9.99958070e-01 1.30313255e-03 1.40523155e+00] [ 5.91174382e-02 -7.65029089e-04 9.98250742e-01 5.01452330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters Centerline goodness : 0.997755 with order 1 Centerline is valid? [True, True] Translation: X:177.71, Y:1.41, Z:0.53 [[ 9.98227878e-01 6.88004616e-03 -5.91081082e-02 1.77714909e+02] [-6.81515608e-03 9.99975932e-01 1.29934419e-03 1.40811641e+00] [ 5.91156251e-02 -8.94210606e-04 9.98250742e-01 5.30053475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:177.78, Y:1.41, Z:0.53 [[ 9.98202282e-01 9.92101553e-03 -5.91081914e-02 1.77775202e+02] [-9.86167571e-03 9.99950533e-01 1.29554940e-03 1.41047044e+00] [ 5.91181206e-02 -7.10314551e-04 9.98250742e-01 5.26502915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:177.83, Y:1.42, Z:0.53 [[ 9.98132857e-01 1.53951896e-02 -5.91082737e-02 1.77834212e+02] [-1.53456615e-02 9.99881414e-01 1.29178159e-03 1.41698201e+00] [ 5.91211515e-02 -3.82314088e-04 9.98250742e-01 5.30419842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:177.90, Y:1.42, Z:0.51 [[ 9.98060735e-01 1.95170012e-02 -5.91088475e-02 1.77895018e+02] [-1.94762823e-02 9.99809519e-01 1.26497088e-03 1.42158871e+00] [ 5.91222768e-02 -1.11297169e-04 9.98250742e-01 5.14044273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:1.43, Z:0.49 [[ 9.98239409e-01 -4.92101840e-03 -5.91089311e-02 1.77954268e+02] [ 5.00430297e-03 9.99986683e-01 1.26105436e-03 1.42574361e+00] [ 5.91019382e-02 -1.55463316e-03 9.98250742e-01 4.90426667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters Centerline goodness : 0.998304 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:1.43, Z:0.54 [[ 9.98094209e-01 1.77217373e-02 -5.91091279e-02 1.78010696e+02] [-1.76786551e-02 9.99842937e-01 1.25176129e-03 1.43270667e+00] [ 5.91220274e-02 -2.04405807e-04 9.98250742e-01 5.42603926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:1.43, Z:0.54 [[ 9.98162251e-01 1.33497623e-02 -5.91092512e-02 1.78070054e+02] [-1.32993673e-02 9.99910783e-01 1.24591054e-03 1.43367381e+00] [ 5.91206103e-02 -4.57505232e-04 9.98250742e-01 5.42384540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters Centerline goodness : 0.998505 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:1.44, Z:0.55 [[ 9.98195241e-01 1.05967676e-02 -5.91098105e-02 1.78128355e+02] [-1.05431563e-02 9.99943677e-01 1.21878646e-03 1.43634342e+00] [ 5.91193964e-02 -5.93382866e-04 9.98250742e-01 5.48728973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters Centerline goodness : 0.997210 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:1.44, Z:0.56 [[ 9.98168551e-01 1.28668444e-02 -5.91099668e-02 1.78187347e+02] [-1.28176613e-02 9.99917117e-01 1.21115888e-03 1.43595024e+00] [ 5.91206513e-02 -4.51289173e-04 9.98250743e-01 5.55849700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:178.25, Y:1.44, Z:0.53 [[ 9.98021812e-01 2.14106314e-02 -5.91104684e-02 1.78247473e+02] [-2.13778980e-02 9.99770763e-01 1.18616371e-03 1.44241931e+00] [ 5.91223146e-02 7.98403132e-05 9.98250743e-01 5.34088393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters Centerline goodness : 0.997061 with order 1 Centerline is valid? [True, True] Translation: X:178.30, Y:1.44, Z:0.56 [[ 9.97974348e-01 2.35178672e-02 -5.91110015e-02 1.78304232e+02] [-2.34904374e-02 9.99723390e-01 1.15897110e-03 1.44410020e+00] [ 5.91219074e-02 2.31919856e-04 9.98250743e-01 5.61352447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters Centerline goodness : 0.996911 with order 1 Centerline is valid? [True, True] Translation: X:178.36, Y:1.45, Z:0.57 [[ 9.97964914e-01 2.39134572e-02 -5.91115583e-02 1.78363060e+02] [-2.38884458e-02 9.99713992e-01 1.12984603e-03 1.44960406e+00] [ 5.91216704e-02 2.84536555e-04 9.98250744e-01 5.67297723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters Centerline goodness : 0.997462 with order 1 Centerline is valid? [True, True] Translation: X:178.42, Y:1.45, Z:0.57 [[ 9.98046488e-01 2.02230122e-02 -5.91120798e-02 1.78422205e+02] [-2.01931902e-02 9.99795490e-01 1.10187016e-03 1.44984656e+00] [ 5.91222739e-02 9.39438300e-05 9.98250744e-01 5.69598541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters Centerline goodness : 0.995616 with order 1 Centerline is valid? [True, True] Translation: X:178.48, Y:1.45, Z:0.58 [[ 9.98102856e-01 1.72172631e-02 -5.91122253e-02 1.78481987e+02] [-1.71826396e-02 9.99851769e-01 1.09400893e-03 1.45383638e+00] [ 5.91222988e-02 -7.62293749e-05 9.98250744e-01 5.79717810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters Centerline goodness : 0.996018 with order 1 Centerline is valid? [True, True] Translation: X:178.54, Y:1.45, Z:0.58 [[ 9.98153467e-01 1.39784388e-02 -5.91122693e-02 1.78541121e+02] [-1.39382816e-02 9.99902262e-01 1.09162575e-03 1.45452236e+00] [ 5.91217509e-02 -2.65686574e-04 9.98250744e-01 5.83136933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters Centerline goodness : 0.996364 with order 1 Centerline is valid? [True, True] Translation: X:178.60, Y:1.46, Z:0.58 [[ 9.98173462e-01 1.24669475e-02 -5.91127305e-02 1.78600492e+02] [-1.24256568e-02 9.99922230e-01 1.06604879e-03 1.45568320e+00] [ 5.91214237e-02 -3.29587113e-04 9.98250744e-01 5.82790942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters Centerline goodness : 0.994325 with order 1 Centerline is valid? [True, True] Translation: X:178.66, Y:1.45, Z:0.59 [[ 9.98217803e-01 8.17868563e-03 -5.91128342e-02 1.78658741e+02] [-8.13022479e-03 9.99966387e-01 1.06027045e-03 1.45420942e+00] [ 5.91195188e-02 -5.77780210e-04 9.98250744e-01 5.89672091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters Centerline goodness : 0.994668 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:1.45, Z:0.59 [[ 9.98229214e-01 6.63724078e-03 -5.91133060e-02 1.78716837e+02] [-6.58767800e-03 9.99977767e-01 1.03327970e-03 1.45299427e+00] [ 5.91188499e-02 -6.42030554e-04 9.98250745e-01 5.92200980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:1.45, Z:0.59 [[ 9.98244565e-01 3.65292951e-03 -5.91138280e-02 1.78775484e+02] [-3.59996176e-03 9.99993018e-01 1.00250232e-03 1.44721871e+00] [ 5.91170773e-02 -7.87934974e-04 9.98250745e-01 5.90196586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:1.44, Z:0.57 [[ 9.98245858e-01 3.27274815e-03 -5.91142641e-02 1.78836532e+02] [-3.22067822e-03 9.99994337e-01 9.76091496e-04 1.44374697e+00] [ 5.91171238e-02 -7.83991270e-04 9.98250746e-01 5.74926636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters Centerline goodness : 0.993707 with order 1 Centerline is valid? [True, True] Translation: X:178.90, Y:1.44, Z:0.60 [[ 9.98249477e-01 1.86615481e-03 -5.91142953e-02 1.78895261e+02] [-1.81173336e-03 9.99997884e-01 9.74197290e-04 1.43944668e+00] [ 5.91159882e-02 -8.65392595e-04 9.98250746e-01 6.02692956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters Centerline goodness : 0.993472 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:1.43, Z:0.60 [[ 9.98250808e-01 9.04858425e-04 -5.91143386e-02 1.78954529e+02] [-8.48909359e-04 9.99999168e-01 9.71561551e-04 1.43053736e+00] [ 5.91151685e-02 -9.19679388e-04 9.98250746e-01 6.04454433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters Centerline goodness : 0.994818 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:1.42, Z:0.60 [[ 9.98250458e-01 -1.22890935e-03 -5.91144005e-02 1.79012884e+02] [ 1.28837167e-03 9.99998702e-01 9.67782018e-04 1.42280184e+00] [ 5.91131344e-02 -1.04225016e-03 9.98250746e-01 6.04754584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters Centerline goodness : 0.731941 with order 1 Centerline is valid? [True, False] Translation: X:179.07, Y:1.44, Z:0.61 [[ 9.96847836e-01 7.05509430e-03 -7.90228881e-02 1.79065519e+02] [-8.70426666e-03 9.99751047e-01 -2.05445728e-02 1.43895162e+00] [ 7.88582713e-02 2.11676493e-02 9.96661078e-01 6.10906502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters Centerline goodness : 0.992384 with order 1 Centerline is valid? [False, True] Translation: X:179.10, Y:1.45, Z:0.61 [[ 9.96502327e-01 4.72740236e-03 -8.34311963e-02 1.79096754e+02] [-7.64875063e-03 9.99367453e-01 -3.47302433e-02 1.44724928e+00] [ 8.32142383e-02 3.52469126e-02 9.95908151e-01 6.14670074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:179.16, Y:1.41, Z:0.61 [[ 9.96499720e-01 1.16694041e-02 -8.27776179e-02 1.79156053e+02] [-1.15755827e-02 9.99931699e-01 1.61326365e-03 1.41282469e+00] [ 8.27907899e-02 -6.49417614e-04 9.96566738e-01 6.11327095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters Centerline goodness : 0.990966 with order 1 Centerline is valid? [True, True] Translation: X:179.21, Y:1.42, Z:0.62 [[ 9.96410865e-01 1.76984759e-02 -8.27777229e-02 1.79213522e+02] [-1.76258706e-02 9.99843359e-01 1.60785577e-03 1.41578680e+00] [ 8.27932132e-02 -1.43055530e-04 9.96566738e-01 6.21437516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters Centerline goodness : 0.990797 with order 1 Centerline is valid? [True, True] Translation: X:179.27, Y:1.42, Z:0.63 [[ 9.96390213e-01 1.88217318e-02 -8.27785410e-02 1.79272648e+02] [-1.87565915e-02 9.99822855e-01 1.56457723e-03 1.41716304e+00] [ 8.27933253e-02 -6.28616195e-06 9.96566739e-01 6.25566705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters Centerline goodness : 0.984401 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:1.43, Z:0.60 [[ 9.92051930e-01 9.47658800e-02 -8.27792033e-02 1.79334159e+02] [-9.49657269e-02 9.95479369e-01 1.52871376e-03 1.42550710e+00] [ 8.25498590e-02 6.34462378e-03 9.96566740e-01 5.95542601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters Centerline goodness : 0.990732 with order 1 Centerline is valid? [True, True] Translation: X:179.39, Y:1.42, Z:0.64 [[ 9.96378200e-01 1.94438258e-02 -8.27793420e-02 1.79391353e+02] [-1.93844350e-02 9.99810947e-01 1.52116973e-03 1.42470038e+00] [ 8.27932696e-02 8.89704178e-05 9.96566740e-01 6.35979833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters Centerline goodness : 0.992283 with order 1 Centerline is valid? [True, True] Translation: X:179.45, Y:1.43, Z:0.64 [[ 9.96373752e-01 1.96702730e-02 -8.27793877e-02 1.79450053e+02] [-1.96118693e-02 9.99806515e-01 1.51867875e-03 1.42690185e+00] [ 8.27932440e-02 1.10286885e-04 9.96566740e-01 6.39136825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters Centerline goodness : 0.898977 with order 1 Centerline is valid? [True, False] Translation: X:179.44, Y:1.43, Z:0.64 [[ 9.97515024e-01 5.23687515e-03 -7.02591715e-02 1.79436664e+02] [-5.19478353e-03 9.99986201e-01 7.81795043e-04 1.43248446e+00] [ 7.02622962e-02 -4.14871114e-04 9.97528465e-01 6.37698334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters Centerline goodness : 0.988629 with order 1 Centerline is valid? [False, True] Translation: X:179.48, Y:1.46, Z:0.65 [[ 9.95999078e-01 7.24083026e-03 -8.90696796e-02 1.79483051e+02] [-9.77912422e-03 9.99557434e-01 -2.80945547e-02 1.45916786e+00] [ 8.88268325e-02 2.88531740e-02 9.95629092e-01 6.48086853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:179.54, Y:1.42, Z:0.65 [[ 9.96104345e-01 1.90241212e-02 -8.61058481e-02 1.79540223e+02] [-1.84605980e-02 9.99802674e-01 7.33614968e-03 1.41657723e+00] [ 8.62284210e-02 -5.71800513e-03 9.96258984e-01 6.46847376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters Centerline goodness : 0.996169 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:1.41, Z:0.65 [[ 9.96249160e-01 8.56523468e-03 -8.61060274e-02 1.79598777e+02] [-7.96309560e-03 9.99941399e-01 7.33404460e-03 1.41030172e+00] [ 8.61637993e-02 -6.62086524e-03 9.96258984e-01 6.52148315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters Centerline goodness : 0.994723 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:1.41, Z:0.68 [[ 9.94383831e-01 6.15314811e-02 -8.61085002e-02 1.79656478e+02] [-6.11290620e-02 9.98103139e-01 7.30489615e-03 1.41188461e+00] [ 8.63946454e-02 -2.00013877e-03 9.96258985e-01 6.81294895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters Centerline goodness : 0.894687 with order 1 Centerline is valid? [True, False] Translation: X:179.64, Y:1.41, Z:0.68 [[ 9.96269942e-01 4.58227088e-02 -7.31196371e-02 1.79644353e+02] [-4.55745122e-02 9.98948126e-01 5.06009603e-03 1.41257360e+00] [ 7.32745918e-02 -1.70882978e-03 9.97310340e-01 6.78887101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [False, True] Translation: X:179.63, Y:1.41, Z:0.68 [[ 9.97752958e-01 3.07190291e-02 -5.95430552e-02 1.79631710e+02] [-3.05591243e-02 9.99526498e-01 3.59448928e-03 1.40981056e+00] [ 5.96252807e-02 -1.76682868e-03 9.98219267e-01 6.77224645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters Centerline goodness : 0.996863 with order 1 Centerline is valid? [True, True] Translation: X:179.69, Y:1.42, Z:0.69 [[ 9.95994058e-01 6.69383678e-02 -5.92881975e-02 1.79690301e+02] [-6.66947232e-02 9.97754897e-01 6.08107953e-03 1.41633448e+00] [ 5.95621469e-02 -2.10250917e-03 9.98222385e-01 6.90405347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters Centerline goodness : 0.998005 with order 1 Centerline is valid? [True, True] Translation: X:179.75, Y:1.41, Z:0.69 [[ 9.96282293e-01 6.24995650e-02 -5.92907786e-02 1.79748736e+02] [-6.22495780e-02 9.98042242e-01 6.05580900e-03 1.40591570e+00] [ 5.95531870e-02 -2.34246933e-03 9.98222385e-01 6.91726299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:179.81, Y:1.40, Z:0.69 [[ 9.96464419e-01 5.95230160e-02 -5.92931107e-02 1.79806205e+02] [-5.92691339e-02 9.98223810e-01 6.03288782e-03 1.39899737e+00] [ 5.95468906e-02 -2.49730673e-03 9.98222386e-01 6.92150237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:1.39, Z:0.70 [[ 9.96550081e-01 5.80682954e-02 -5.92959526e-02 1.79864253e+02] [-5.78135118e-02 9.98309341e-01 6.00482583e-03 1.38867820e+00] [ 5.95443933e-02 -2.55600241e-03 9.98222386e-01 6.96006809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:179.92, Y:1.38, Z:0.70 [[ 9.96469559e-01 5.94316108e-02 -5.92984066e-02 1.79922769e+02] [-5.91806797e-02 9.98229373e-01 5.98049374e-03 1.37933589e+00] [ 5.95488416e-02 -2.45005995e-03 9.98222386e-01 6.98464407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters Centerline goodness : 0.995820 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:1.37, Z:0.73 [[ 9.96252984e-01 6.29555557e-02 -5.93008443e-02 1.79979787e+02] [-6.27122928e-02 9.98013874e-01 5.95622387e-03 1.37137196e+00] [ 5.95580427e-02 -2.21501389e-03 9.98222387e-01 7.26575663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:180.04, Y:1.37, Z:0.73 [[ 9.96098627e-01 6.53503476e-02 -5.93030930e-02 1.80037970e+02] [-6.51126550e-02 9.97860277e-01 5.93374965e-03 1.36597556e+00] [ 5.95639734e-02 -2.04921805e-03 9.98222387e-01 7.29074672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters Centerline goodness : 0.996160 with order 1 Centerline is valid? [True, True] Translation: X:180.10, Y:1.36, Z:0.73 [[ 9.95763073e-01 7.02762552e-02 -5.93055665e-02 1.80095661e+02] [-7.00487559e-02 9.97526068e-01 5.90892439e-03 1.35919495e+00] [ 5.95741056e-02 -1.72960756e-03 9.98222387e-01 7.32136549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters Centerline goodness : 0.996164 with order 1 Centerline is valid? [True, True] Translation: X:180.15, Y:1.36, Z:0.74 [[ 9.95442475e-01 7.46779276e-02 -5.93083912e-02 1.80153410e+02] [-7.44599212e-02 9.97206669e-01 5.88043569e-03 1.35610133e+00] [ 5.95818620e-02 -1.43753732e-03 9.98222388e-01 7.36212761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters Centerline goodness : 0.955604 with order 3 Centerline is valid? [True, True] Translation: X:180.21, Y:1.37, Z:0.70 [[ 9.84854473e-01 1.62922801e-01 -5.93112832e-02 1.80206977e+02] [-1.62864335e-01 9.86631123e-01 5.85112065e-03 1.36853931e+00] [ 5.94716389e-02 3.89719033e-03 9.98222388e-01 6.98327210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters Centerline goodness : 0.996666 with order 1 Centerline is valid? [True, True] Translation: X:180.26, Y:1.36, Z:0.74 [[ 9.94395131e-01 8.73283823e-02 -5.95993090e-02 1.80258791e+02] [-8.73195310e-02 9.96176537e-01 2.75790155e-03 1.36073285e+00] [ 5.96122763e-02 2.46173983e-03 9.98218571e-01 7.42116109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters Centerline goodness : 0.996856 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:1.35, Z:0.72 [[ 9.97493019e-01 3.86059656e-02 -5.93064603e-02 1.80318745e+02] [-3.83308185e-02 9.99248442e-01 5.77048642e-03 1.34927407e+00] [ 5.94846633e-02 -3.48275475e-03 9.98223144e-01 7.23970206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters Centerline goodness : 0.989883 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:1.37, Z:0.72 [[ 9.84929772e-01 1.62468617e-01 -5.93067687e-02 1.80379486e+02] [-1.62414306e-01 9.86705798e-01 5.76731555e-03 1.36913214e+00] [ 5.94553403e-02 3.95186688e-03 9.98223144e-01 7.22966703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters Centerline goodness : 0.921456 with order 1 Centerline is valid? [True, False] Translation: X:180.36, Y:1.38, Z:0.72 [[ 9.88286364e-01 1.45927134e-01 -4.46691604e-02 1.80361405e+02] [-1.46164312e-01 9.89258155e-01 -2.07277686e-03 1.37713166e+00] [ 4.38868568e-02 8.57753422e-03 9.98999685e-01 7.21784769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters Centerline goodness : 0.976022 with order 1 Centerline is valid? [False, True] Translation: X:180.35, Y:1.39, Z:0.72 [[ 9.90904048e-01 1.30958147e-01 -3.09698466e-02 1.80345527e+02] [-1.31260505e-01 9.91316182e-01 -7.93143852e-03 1.39189846e+00] [ 2.96622236e-02 1.19244122e-02 9.99488850e-01 7.20431711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters Centerline goodness : 0.925335 with order 3 Centerline is valid? [True, False] Translation: X:180.33, Y:1.40, Z:0.72 [[ 9.92954308e-01 1.17112368e-01 -1.80675405e-02 1.80332679e+02] [-1.17332183e-01 9.93024689e-01 -1.16243419e-02 1.40483589e+00] [ 1.65801596e-02 1.36623444e-02 9.99769193e-01 7.19068632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [False, True] Translation: X:180.32, Y:1.41, Z:0.72 [[ 9.94877855e-01 1.00751448e-01 -8.19753115e-03 1.80324939e+02] [-1.00856492e-01 9.94807917e-01 -1.36079460e-02 1.41096534e+00] [ 6.78394862e-03 1.43650183e-02 9.99873804e-01 7.17731626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:180.38, Y:1.41, Z:0.73 [[ 9.82943696e-01 1.83817964e-01 -5.71370672e-03 1.80384666e+02] [-1.83815410e-01 9.82960298e-01 9.73530981e-04 1.40898908e+00] [ 5.79529934e-03 9.33412016e-05 9.99983203e-01 7.33122853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters Centerline goodness : 0.996665 with order 1 Centerline is valid? [True, True] Translation: X:180.44, Y:1.39, Z:0.75 [[ 9.89010642e-01 1.47733885e-01 -5.71403873e-03 1.80443338e+02] [-1.47730736e-01 9.89027141e-01 9.71578373e-04 1.39239670e+00] [ 5.79487443e-03 -1.16762205e-04 9.99983203e-01 7.46050829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.50, Y:1.38, Z:0.72 [[ 9.90215452e-01 1.39429939e-01 -5.71405693e-03 1.80500586e+02] [-1.39426652e-01 9.90231925e-01 9.71471287e-04 1.38138462e+00] [ 5.79369378e-03 -1.65274051e-04 9.99983203e-01 7.19250741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:180.56, Y:1.37, Z:0.72 [[ 9.90651342e-01 1.36298444e-01 -5.71421011e-03 1.80558229e+02] [-1.36295111e-01 9.90667805e-01 9.70569469e-04 1.36898351e+00] [ 5.79317110e-03 -1.82677047e-04 9.99983203e-01 7.20487025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters Centerline goodness : 0.997761 with order 1 Centerline is valid? [True, True] Translation: X:180.62, Y:1.36, Z:0.74 [[ 9.90174773e-01 1.39718508e-01 -5.71461715e-03 1.80615459e+02] [-1.39715245e-01 9.90191251e-01 9.68166924e-04 1.35710208e+00] [ 5.79383474e-03 -1.60235327e-04 9.99983203e-01 7.44775891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:180.67, Y:1.34, Z:0.75 [[ 9.89952595e-01 1.41284107e-01 -5.71502395e-03 1.80672091e+02] [-1.41280884e-01 9.89969080e-01 9.65759597e-04 1.34351027e+00] [ 5.79414349e-03 -1.48632584e-04 9.99983203e-01 7.45389877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters Centerline goodness : 0.996159 with order 1 Centerline is valid? [True, True] Translation: X:180.73, Y:1.33, Z:0.75 [[ 9.89684274e-01 1.43151563e-01 -5.71550530e-03 1.80729621e+02] [-1.43148388e-01 9.89700769e-01 9.62902446e-04 1.32946618e+00] [ 5.79448098e-03 -1.34804037e-04 9.99983203e-01 7.49857945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters Centerline goodness : 0.928674 with order 3 Centerline is valid? [True, False] Translation: X:180.71, Y:1.33, Z:0.75 [[ 9.91538455e-01 1.29434594e-01 9.90847985e-03 1.80712846e+02] [-1.29395722e-01 9.91582954e-01 -4.47129060e-03 1.32910115e+00] [-1.04038194e-02 3.15134168e-03 9.99940913e-01 7.48984169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters Centerline goodness : 0.995421 with order 1 Centerline is valid? [False, True] Translation: X:180.69, Y:1.33, Z:0.75 [[ 9.92571161e-01 1.18656275e-01 2.68919808e-02 1.80693769e+02] [-1.18507607e-01 9.92928032e-01 -7.06191602e-03 1.33016725e+00] [-2.75397422e-02 3.82254990e-03 9.99613401e-01 7.48754932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.75, Y:1.32, Z:0.72 [[ 9.91762193e-01 1.25139792e-01 2.73456630e-02 1.80754131e+02] [-1.25082925e-01 9.92139063e-01 -3.78706416e-03 1.31926830e+00] [-2.76046128e-02 3.35391530e-04 9.99618864e-01 7.21483059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters Centerline goodness : 0.879974 with order 1 Centerline is valid? [True, False] Translation: X:180.74, Y:1.32, Z:0.72 [[ 9.92376777e-01 1.15338189e-01 4.34215871e-02 1.80738564e+02] [-1.15183535e-01 9.93325771e-01 -6.05527312e-03 1.32064319e+00] [-4.38301857e-02 1.00766051e-03 9.99038487e-01 7.21368800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters Centerline goodness : 0.997415 with order 1 Centerline is valid? [False, True] Translation: X:180.72, Y:1.32, Z:0.72 [[ 9.92972260e-01 1.02611931e-01 5.89650954e-02 1.80720969e+02] [-1.02256549e-01 9.94717155e-01 -9.02112285e-03 1.32430265e+00] [-5.95792667e-02 2.92815760e-03 9.98219283e-01 7.22530165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:1.32, Z:0.72 [[ 9.92855704e-01 1.03589974e-01 5.92171337e-02 1.80783509e+02] [-1.03366047e-01 9.94619861e-01 -6.84052640e-03 1.31704789e+00] [-5.96071472e-02 6.70614631e-04 9.98221688e-01 7.18254126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:180.85, Y:1.31, Z:0.71 [[ 9.92766369e-01 1.04444645e-01 5.92136180e-02 1.80846088e+02] [-1.04220430e-01 9.94530489e-01 -6.87082585e-03 1.30669051e+00] [-5.96073694e-02 6.49856112e-04 9.98221688e-01 7.14655201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:180.91, Y:1.30, Z:0.71 [[ 9.92714936e-01 1.04934356e-01 5.92100992e-02 1.80907902e+02] [-1.04709210e-01 9.94478938e-01 -6.90101658e-03 1.29660738e+00] [-5.96073503e-02 6.50899517e-04 9.98221689e-01 7.11171022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:180.97, Y:1.28, Z:0.71 [[ 9.92933900e-01 1.02843548e-01 5.92070469e-02 1.80969304e+02] [-1.02613133e-01 9.94697220e-01 -6.92710540e-03 1.28320014e+00] [-5.96054931e-02 8.02737209e-04 9.98221689e-01 7.07247046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:181.03, Y:1.27, Z:0.68 [[ 9.92989981e-01 1.02302414e-01 5.92039941e-02 1.81028516e+02] [-1.02069488e-01 9.94752971e-01 -6.95309947e-03 1.27163150e+00] [-5.96046679e-02 8.61436741e-04 9.98221690e-01 6.80061499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.09, Y:1.26, Z:0.68 [[ 9.92759356e-01 1.04518350e-01 5.92011436e-02 1.81090091e+02] [-1.04287917e-01 9.94522673e-01 -6.97728563e-03 1.25974349e+00] [-5.96061340e-02 7.52801646e-04 9.98221690e-01 6.76279794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:181.15, Y:1.25, Z:0.70 [[ 9.92593642e-01 1.06082533e-01 5.91976098e-02 1.81152243e+02] [-1.05853099e-01 9.94357089e-01 -7.00714002e-03 1.25272186e+00] [-5.96068982e-02 6.88992180e-04 9.98221690e-01 6.96808042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.21, Y:1.25, Z:0.67 [[ 9.92204019e-01 1.09667137e-01 5.91971565e-02 1.81211448e+02] [-1.09443845e-01 9.93968255e-01 -7.01096739e-03 1.24664101e+00] [-5.96089671e-02 4.77545595e-04 9.98221690e-01 6.68996612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:181.27, Y:1.25, Z:0.68 [[ 9.88411859e-01 1.39777394e-01 5.91969377e-02 1.81273604e+02] [-1.39607724e-01 9.90182056e-01 -7.01281485e-03 1.25229908e+00] [-5.95959784e-02 -1.33280038e-03 9.98221690e-01 6.79570365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:1.25, Z:0.66 [[ 9.91217656e-01 1.18251069e-01 5.91966392e-02 1.81333183e+02] [-1.18042796e-01 9.92983728e-01 -7.01533288e-03 1.24501434e+00] [-5.96108701e-02 -3.40149852e-05 9.98221690e-01 6.62590276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters Centerline goodness : 0.993686 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:1.24, Z:0.69 [[ 9.91503906e-01 1.15826554e-01 5.91964060e-02 1.81396382e+02] [-1.15613845e-01 9.93269448e-01 -7.01730028e-03 1.24396375e+00] [-5.96107712e-02 1.13756530e-04 9.98221690e-01 6.92455817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:181.45, Y:1.23, Z:0.66 [[ 9.95617806e-01 7.23946762e-02 5.91962386e-02 1.81454447e+02] [-7.21049452e-02 9.97372355e-01 -7.01871236e-03 1.23345004e+00] [-5.95488093e-02 2.71961347e-03 9.98221690e-01 6.62052569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters Centerline goodness : 0.997561 with order 1 Centerline is valid? [True, True] Translation: X:181.52, Y:1.24, Z:0.67 [[ 9.92113467e-01 1.10484053e-01 5.91957980e-02 1.81517336e+02] [-1.10261531e-01 9.93877799e-01 -7.02242626e-03 1.24083096e+00] [-5.96092556e-02 4.40024347e-04 9.98221690e-01 6.73541966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:181.58, Y:1.24, Z:0.67 [[ 9.92926563e-01 1.02920910e-01 5.91956609e-02 1.81579119e+02] [-1.02684880e-01 9.94689140e-01 -7.02358217e-03 1.23595087e+00] [-5.96041544e-02 8.95401945e-04 9.98221690e-01 6.71618866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters Centerline goodness : 0.992682 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:1.23, Z:0.67 [[ 9.93619191e-01 9.60059220e-02 5.91926157e-02 1.81639171e+02] [-9.57561054e-02 9.95379866e-01 -7.04915326e-03 1.22667858e+00] [-5.95958983e-02 1.33611962e-03 9.98221691e-01 6.74671947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:1.22, Z:0.64 [[ 9.94261164e-01 8.91121330e-02 5.91926157e-02 1.81696166e+02] [-8.88501108e-02 9.96020064e-01 -7.04915326e-03 1.21850923e+00] [-5.95851979e-02 1.74942887e-03 9.98221691e-01 6.37941099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters Centerline goodness : 0.996967 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:1.20, Z:0.63 [[ 9.97686278e-01 3.34431313e-02 5.91916135e-02 1.81753841e+02] [-3.30827877e-02 9.99427696e-01 -7.05755840e-03 1.20326603e+00] [-5.93937648e-02 5.08300559e-03 9.98221691e-01 6.25022665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:1.20, Z:0.63 [[ 9.94131188e-01 9.05511656e-02 5.91917869e-02 1.81815641e+02] [-9.02912761e-02 9.95890404e-01 -7.05610402e-03 1.20460614e+00] [-5.95874710e-02 1.67019110e-03 9.98221691e-01 6.29721760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters Centerline goodness : 0.995264 with order 1 Centerline is valid? [True, True] Translation: X:181.88, Y:1.20, Z:0.65 [[ 9.94078947e-01 9.11230646e-02 5.91915121e-02 1.81877679e+02] [-9.08640500e-02 9.95838292e-01 -7.05840852e-03 1.19508449e+00] [-5.95883581e-02 1.63823480e-03 9.98221691e-01 6.51702804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:181.94, Y:1.19, Z:0.62 [[ 9.93580304e-01 9.64084802e-02 5.91910772e-02 1.81937486e+02] [-9.61586088e-02 9.95340971e-01 -7.06205310e-03 1.19145521e+00] [-5.95961461e-02 1.32498523e-03 9.98221691e-01 6.22868179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:182.00, Y:1.19, Z:0.62 [[ 9.93105560e-01 1.01182089e-01 5.91906450e-02 1.81999389e+02] [-1.00940465e-01 9.94867377e-01 -7.06567370e-03 1.18652165e+00] [-5.96017614e-02 1.04222858e-03 9.98221691e-01 6.17279553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.06, Y:1.18, Z:0.61 [[ 9.93059102e-01 1.01638817e-01 5.91875877e-02 1.82061085e+02] [-1.01396484e-01 9.94820822e-01 -7.09119252e-03 1.17987069e+00] [-5.96017851e-02 1.04055999e-03 9.98221691e-01 6.13182062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters Centerline goodness : 0.995818 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:1.17, Z:0.64 [[ 9.93279355e-01 9.94651331e-02 5.91845421e-02 1.82122944e+02] [-9.92174358e-02 9.95040329e-01 -7.11652170e-03 1.17026964e+00] [-5.95988519e-02 1.19655558e-03 9.98221691e-01 6.36043780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters Centerline goodness : 0.992988 with order 1 Centerline is valid? [True, True] Translation: X:182.18, Y:1.16, Z:0.64 [[ 9.93262271e-01 9.96358556e-02 5.91840909e-02 1.82183912e+02] [-9.93882376e-02 9.95023256e-01 -7.12027148e-03 1.16456704e+00] [-5.95989812e-02 1.19009453e-03 9.98221691e-01 6.36131149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters Centerline goodness : 0.993235 with order 1 Centerline is valid? [True, True] Translation: X:182.24, Y:1.16, Z:0.63 [[ 9.93251873e-01 9.97397318e-02 5.91836318e-02 1.82244088e+02] [-9.94920708e-02 9.95012852e-01 -7.12408573e-03 1.15614757e+00] [-5.95990287e-02 1.18770941e-03 9.98221691e-01 6.32346794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters Centerline goodness : 0.858372 with order 3 Centerline is valid? [True, False] Translation: X:182.23, Y:1.15, Z:0.63 [[ 9.93464435e-01 8.81537499e-02 7.25074624e-02 1.82231734e+02] [-8.80015962e-02 9.96106252e-01 -5.29663148e-03 1.15174043e+00] [-7.26920545e-02 -1.11875742e-03 9.97353806e-01 6.30528237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters Centerline goodness : 0.994088 with order 1 Centerline is valid? [False, True] Translation: X:182.24, Y:1.14, Z:0.63 [[ 9.95073700e-01 6.99641313e-02 7.02378282e-02 1.82238499e+02] [-7.01386514e-02 9.97537252e-01 1.85105882e-05 1.14444961e+00] [-7.00635551e-02 -4.94480595e-03 9.97530274e-01 6.31319820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:182.30, Y:1.14, Z:0.60 [[ 9.95070038e-01 7.05431632e-02 6.97085494e-02 1.82297359e+02] [-7.02906048e-02 9.97508073e-01 -6.07242675e-03 1.14094516e+00] [-6.99632090e-02 1.14263382e-03 9.97548918e-01 6.00373288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters Centerline goodness : 0.992894 with order 1 Centerline is valid? [True, True] Translation: X:182.36, Y:1.13, Z:0.62 [[ 9.94847192e-01 7.36193540e-02 6.97083583e-02 1.82360478e+02] [-7.33741810e-02 9.97285981e-01 -6.07461938e-03 1.13305650e+00] [-6.99663781e-02 9.28524332e-04 9.97548918e-01 6.24430647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters Centerline goodness : 0.993836 with order 1 Centerline is valid? [True, True] Translation: X:182.42, Y:1.12, Z:0.62 [[ 9.95144066e-01 6.94918289e-02 6.97077703e-02 1.82422507e+02] [-6.92360693e-02 9.97581768e-01 -6.08135950e-03 1.12468492e+00] [-6.99618055e-02 1.22553681e-03 9.97548918e-01 6.19698915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters Centerline goodness : 0.992045 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:1.12, Z:0.62 [[ 9.95454762e-01 6.48905213e-02 6.97067992e-02 1.82484463e+02] [-6.46227173e-02 9.97891170e-01 -6.09247014e-03 1.11655338e+00] [-6.99551430e-02 1.56013563e-03 9.97548918e-01 6.17326216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:182.54, Y:1.11, Z:0.58 [[ 9.95645094e-01 6.19046862e-02 6.97040652e-02 1.82542639e+02] [-6.16273988e-02 9.98080440e-01 -6.12359091e-03 1.10668795e+00] [-6.99493431e-02 1.80124302e-03 9.97548919e-01 5.84697056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters Centerline goodness : 0.993725 with order 1 Centerline is valid? [True, True] Translation: X:182.60, Y:1.10, Z:0.61 [[ 9.95750911e-01 6.01788473e-02 6.97038775e-02 1.82604770e+02] [-5.98971898e-02 9.98185755e-01 -6.12572670e-03 1.09657524e+00] [-6.99460568e-02 1.92463155e-03 9.97548919e-01 6.09305704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters Centerline goodness : 0.991242 with order 1 Centerline is valid? [True, True] Translation: X:182.67, Y:1.08, Z:0.61 [[ 9.96009201e-01 5.57411017e-02 6.97036632e-02 1.82666342e+02] [-5.54484266e-02 9.98442746e-01 -6.12816528e-03 1.08251654e+00] [-6.99367075e-02 2.23875056e-03 9.97548919e-01 6.06227495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters Centerline goodness : 0.988790 with order 1 Centerline is valid? [True, True] Translation: X:182.73, Y:1.07, Z:0.60 [[ 9.95782831e-01 5.96496823e-02 6.97027184e-02 1.82727590e+02] [-5.93658101e-02 9.98217419e-01 -6.13889233e-03 1.06998616e+00] [-6.99446506e-02 1.97504524e-03 9.97548919e-01 6.03305268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:182.79, Y:1.06, Z:0.57 [[ 9.95830910e-01 5.88447353e-02 6.97000400e-02 1.82785958e+02] [-5.85567789e-02 9.98265018e-01 -6.16915355e-03 1.05989075e+00] [-6.99421339e-02 2.06202396e-03 9.97548919e-01 5.69598166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters Centerline goodness : 0.987966 with order 1 Centerline is valid? [True, True] Translation: X:182.85, Y:1.05, Z:0.60 [[ 9.95578473e-01 6.29716717e-02 6.96998820e-02 1.82848706e+02] [-6.26936817e-02 9.98013738e-01 -6.17093805e-03 1.05152022e+00] [-6.99500341e-02 1.77391086e-03 9.97548919e-01 5.97540686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters Centerline goodness : 0.986265 with order 1 Centerline is valid? [True, True] Translation: X:182.91, Y:1.04, Z:0.59 [[ 9.95534222e-01 6.36676960e-02 6.96996162e-02 1.82910375e+02] [-6.33911986e-02 9.97969658e-01 -6.17393935e-03 1.04344781e+00] [-6.99511826e-02 1.72802570e-03 9.97548919e-01 5.93207330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters Centerline goodness : 0.997958 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:1.04, Z:0.56 [[ 9.95462439e-01 6.47832197e-02 6.96969707e-02 1.82968660e+02] [-6.45073718e-02 9.97897947e-01 -6.20366054e-03 1.03698469e+00] [-6.99523572e-02 1.67954265e-03 9.97548920e-01 5.58509283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters Centerline goodness : 0.988041 with order 1 Centerline is valid? [True, True] Translation: X:183.03, Y:1.03, Z:0.58 [[ 9.95428804e-01 6.52981764e-02 6.96968086e-02 1.83030220e+02] [-6.50234611e-02 9.97864440e-01 -6.20548159e-03 1.02722672e+00] [-6.99531736e-02 1.64518739e-03 9.97548920e-01 5.81154014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters Centerline goodness : 0.987869 with order 1 Centerline is valid? [True, True] Translation: X:183.09, Y:1.02, Z:0.58 [[ 9.95004634e-01 7.14712043e-02 6.96968086e-02 1.83092095e+02] [-7.12116016e-02 9.97441928e-01 -6.20548159e-03 1.01982663e+00] [-6.99620324e-02 1.21126157e-03 9.97548920e-01 5.77851501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters Centerline goodness : 0.903304 with order 3 Centerline is valid? [True, False] Translation: X:183.11, Y:1.01, Z:0.58 [[ 9.96536057e-01 6.51474528e-02 5.16884553e-02 1.83112083e+02] [-6.51708195e-02 9.97873358e-01 -1.23501481e-03 1.01497092e+00] [-5.16589905e-02 -2.13784220e-03 9.98662495e-01 5.78343638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters Centerline goodness : 0.997565 with order 1 Centerline is valid? [False, True] Translation: X:183.11, Y:1.01, Z:0.58 [[ 9.97279414e-01 5.21336235e-02 5.21138689e-02 1.83111301e+02] [-5.25414108e-02 9.98597690e-01 6.48486552e-03 1.01030747e+00] [-5.17027096e-02 -9.20535909e-03 9.98620094e-01 5.78919004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters Centerline goodness : 0.989307 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:1.02, Z:0.60 [[ 9.96970189e-01 5.81690450e-02 5.16411105e-02 1.83174482e+02] [-5.81083611e-02 9.98306692e-01 -2.67699864e-03 1.02298477e+00] [-5.17093846e-02 -3.31892454e-04 9.98662120e-01 5.99733103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters Centerline goodness : 0.731534 with order 3 Centerline is valid? [True, False] Translation: X:183.15, Y:1.03, Z:0.60 [[ 9.97115138e-01 5.29906913e-02 5.43450898e-02 1.83152996e+02] [-5.31112106e-02 9.98588303e-01 7.74817404e-04 1.03156979e+00] [-5.42273129e-02 -3.65891567e-03 9.98521913e-01 5.99220441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters Centerline goodness : 0.987278 with order 1 Centerline is valid? [False, True] Translation: X:183.15, Y:1.05, Z:0.60 [[ 9.97040605e-01 5.35737692e-02 5.51351303e-02 1.83151236e+02] [-5.34498488e-02 9.98563603e-01 -3.72079205e-03 1.04884344e+00] [-5.52552712e-02 7.62816372e-04 9.98471969e-01 5.98560474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters Centerline goodness : 0.992095 with order 1 Centerline is valid? [True, True] Translation: X:183.21, Y:1.06, Z:0.58 [[ 9.96788092e-01 5.80256254e-02 5.51953551e-02 1.83211300e+02] [-5.79907303e-02 9.98314620e-01 -2.23498333e-03 1.05706384e+00] [-5.52320163e-02 -9.73014183e-04 9.98473073e-01 5.84060851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters Centerline goodness : 0.926554 with order 3 Centerline is valid? [True, False] Translation: X:183.21, Y:1.07, Z:0.58 [[ 9.96958793e-01 5.47289704e-02 5.54788650e-02 1.83210177e+02] [-5.43101522e-02 9.98483282e-01 -9.03007332e-03 1.06760793e+00] [-5.58889258e-02 5.98954540e-03 9.98419027e-01 5.83720630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters Centerline goodness : 0.987871 with order 1 Centerline is valid? [False, True] Translation: X:183.20, Y:1.07, Z:0.58 [[ 9.97405858e-01 4.97363458e-02 5.20370155e-02 1.83200107e+02] [-4.97455685e-02 9.98761296e-01 -1.11873834e-03 1.07112077e+00] [-5.20281990e-02 -1.47277475e-03 9.98644530e-01 5.83942956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters Centerline goodness : 0.996569 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:1.08, Z:0.55 [[ 9.97722243e-01 4.29557090e-02 5.20108949e-02 1.83259554e+02] [-4.29174622e-02 9.99076904e-01 -1.85249770e-03 1.07847776e+00] [-5.20424591e-02 -3.83897451e-04 9.98644799e-01 5.51197077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters Centerline goodness : 0.989233 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:1.08, Z:0.57 [[ 9.97922030e-01 3.80327847e-02 5.20108571e-02 1.83322113e+02] [-3.79877998e-02 9.99276484e-01 -1.85355780e-03 1.08284175e+00] [-5.20437224e-02 -1.26071866e-04 9.98644799e-01 5.74157500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters Centerline goodness : 0.988806 with order 1 Centerline is valid? [True, True] Translation: X:183.38, Y:1.09, Z:0.57 [[ 9.97903539e-01 3.85149837e-02 5.20107888e-02 1.83384315e+02] [-3.84705536e-02 9.99258012e-01 -1.85547092e-03 1.09087874e+00] [-5.20436609e-02 -1.49302841e-04 9.98644799e-01 5.72565427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters Centerline goodness : 0.990110 with order 1 Centerline is valid? [True, True] Translation: X:183.45, Y:1.09, Z:0.57 [[ 9.97911205e-01 3.83170639e-02 5.20099057e-02 1.83446845e+02] [-3.82710917e-02 9.99265625e-01 -1.87990349e-03 1.09350387e+00] [-5.20437433e-02 -1.14499113e-04 9.98644800e-01 5.67477181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters Centerline goodness : 0.992295 with order 1 Centerline is valid? [True, True] Translation: X:183.51, Y:1.10, Z:0.56 [[ 9.98050566e-01 3.44982327e-02 5.20090304e-02 1.83509242e+02] [-3.44458320e-02 9.99404753e-01 -1.90381551e-03 1.09835066e+00] [-5.20437505e-02 1.08609820e-04 9.98644800e-01 5.64312783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters Centerline goodness : 0.992008 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:1.10, Z:0.56 [[ 9.98163663e-01 3.10546084e-02 5.20087772e-02 1.83571137e+02] [-3.09971768e-02 9.99517646e-01 -1.91070815e-03 1.10011333e+00] [-5.20430268e-02 2.95074181e-04 9.98644800e-01 5.59880444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:183.63, Y:1.10, Z:0.53 [[ 9.98270058e-01 2.74239059e-02 5.20078996e-02 1.83630969e+02] [-2.73603207e-02 9.99623765e-01 -1.93430407e-03 1.10017233e+00] [-5.20413786e-02 5.08005020e-04 9.98644800e-01 5.30884358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters Centerline goodness : 0.994222 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:1.10, Z:0.56 [[ 9.98331600e-01 2.50838888e-02 5.20078379e-02 1.83693713e+02] [-2.50170444e-02 9.99685150e-01 -1.93596169e-03 1.10080610e+00] [-5.20400247e-02 6.31649342e-04 9.98644800e-01 5.58586998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:1.10, Z:0.53 [[ 9.98239265e-01 2.85229983e-02 5.20077809e-02 1.83752830e+02] [-2.84607376e-02 9.99593033e-01 -1.93749209e-03 1.10283980e+00] [-5.20418786e-02 4.53900876e-04 9.98644800e-01 5.26652113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters Centerline goodness : 0.996528 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:1.10, Z:0.55 [[ 9.98226775e-01 2.89568695e-02 5.20077432e-02 1.83814947e+02] [-2.88951445e-02 9.99580568e-01 -1.93850287e-03 1.10412358e+00] [-5.20420625e-02 4.32294216e-04 9.98644800e-01 5.53979613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:1.11, Z:0.52 [[ 9.98362606e-01 2.38181047e-02 5.20077351e-02 1.83874733e+02] [-2.37494005e-02 9.99716063e-01 -1.93872220e-03 1.10529353e+00] [-5.20391448e-02 7.00395222e-04 9.98644800e-01 5.22086641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters Centerline goodness : 0.996776 with order 1 Centerline is valid? [True, True] Translation: X:183.94, Y:1.10, Z:0.55 [[ 9.98483008e-01 1.80800656e-02 5.20076254e-02 1.83936777e+02] [-1.80034311e-02 9.99836040e-01 -1.94166015e-03 1.10346869e+00] [-5.20342035e-02 1.00239897e-03 9.98644800e-01 5.50427074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:1.10, Z:0.52 [[ 9.98497894e-01 1.72383945e-02 5.20076281e-02 1.83995281e+02] [-1.71606233e-02 9.99850861e-01 -1.94158650e-03 1.10238477e+00] [-5.20333416e-02 1.04618671e-03 9.98644800e-01 5.15798883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:184.06, Y:1.10, Z:0.54 [[ 9.98539864e-01 1.46064981e-02 5.20075909e-02 1.84058300e+02] [-1.45251092e-02 9.99892618e-01 -1.94258228e-03 1.09545675e+00] [-5.20303806e-02 1.18432991e-03 9.98644800e-01 5.40489451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters Centerline goodness : 0.990116 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:1.10, Z:0.53 [[ 9.97734082e-01 4.26840777e-02 5.20074085e-02 1.84120669e+02] [-4.26405125e-02 9.99088582e-01 -1.94745352e-03 1.10346580e+00] [-5.20431333e-02 -2.74581806e-04 9.98644800e-01 5.33509245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:184.18, Y:1.08, Z:0.51 [[ 9.98616916e-01 7.71846319e-03 5.20065466e-02 1.84179688e+02] [-7.62630802e-03 9.99968978e-01 -1.97020502e-03 1.07702853e+00] [-5.20201403e-02 1.57086212e-03 9.98644800e-01 5.08872718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:184.24, Y:1.07, Z:0.51 [[ 9.98616684e-01 7.74926063e-03 5.20064227e-02 1.84241758e+02] [-7.65697727e-03 9.99968738e-01 -1.97347001e-03 1.06858095e+00] [-5.20200898e-02 1.57252808e-03 9.98644800e-01 5.05827012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [True, True] Translation: X:184.30, Y:1.06, Z:0.53 [[ 9.98621379e-01 7.12461454e-03 5.20055982e-02 1.84303542e+02] [-7.03036712e-03 9.99973297e-01 -1.99496569e-03 1.06309541e+00] [-5.20184228e-02 1.62659694e-03 9.98644801e-01 5.28954103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:1.06, Z:0.50 [[ 9.98510010e-01 1.65282110e-02 5.20055549e-02 1.84362651e+02] [-1.64466400e-02 9.99862752e-01 -1.99609248e-03 1.05779428e+00] [-5.20314091e-02 1.13780168e-03 9.98644801e-01 4.99752682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters Centerline goodness : 0.995830 with order 1 Centerline is valid? [True, True] Translation: X:184.42, Y:1.06, Z:0.52 [[ 9.98427695e-01 2.09180952e-02 5.20054945e-02 1.84424753e+02] [-2.08423906e-02 9.99780778e-01 -1.99766473e-03 1.05800962e+00] [-5.20358811e-02 9.10604964e-04 9.98644801e-01 5.21387336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters Centerline goodness : 0.994179 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:1.06, Z:0.52 [[ 9.98349630e-01 2.43610012e-02 5.20053705e-02 1.84486204e+02] [-2.42897951e-02 9.99702957e-01 -2.00088818e-03 1.05781038e+00] [-5.20386663e-02 7.34386174e-04 9.98644801e-01 5.24175081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:1.06, Z:0.52 [[ 9.98430267e-01 2.07955219e-02 5.20052763e-02 1.84548461e+02] [-2.07193560e-02 9.99783324e-01 -2.00333375e-03 1.05531415e+00] [-5.20356684e-02 9.22673221e-04 9.98644801e-01 5.21091546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:184.61, Y:1.06, Z:0.49 [[ 9.98460542e-01 1.92879269e-02 5.20050181e-02 1.84607697e+02] [-1.92093702e-02 9.99813463e-01 -2.01001298e-03 1.05753130e+00] [-5.20340862e-02 1.00793500e-03 9.98644801e-01 4.87711833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:1.06, Z:0.48 [[ 9.98486047e-01 1.79194197e-02 5.20048845e-02 1.84670291e+02] [-1.78388292e-02 9.99838848e-01 -2.01346405e-03 1.05602516e+00] [-5.20325839e-02 1.08270951e-03 9.98644801e-01 4.84005390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:184.73, Y:1.05, Z:0.51 [[ 9.98590670e-01 1.05923578e-02 5.20045781e-02 1.84733316e+02] [-1.05014328e-02 9.99942815e-01 -2.02134767e-03 1.05138579e+00] [-5.20230151e-02 1.47237634e-03 9.98644801e-01 5.07235809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:1.05, Z:0.48 [[ 9.98611548e-01 8.39755281e-03 5.20043935e-02 1.84793962e+02] [-8.30340956e-03 9.99963474e-01 -2.02608661e-03 1.04615899e+00] [-5.20195081e-02 1.59145971e-03 9.98644801e-01 4.76372659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:1.04, Z:0.47 [[ 9.98630994e-01 5.63083170e-03 5.20041486e-02 1.84856094e+02] [-5.53261736e-03 9.99982630e-01 -2.03235176e-03 1.04089647e+00] [-5.20146891e-02 1.74185040e-03 9.98644801e-01 4.74128654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:1.03, Z:0.49 [[ 9.98641744e-01 -3.21329092e-03 5.20032939e-02 1.84918847e+02] [ 3.32459642e-03 9.99992364e-01 -2.05399272e-03 1.03492332e+00] [-5.19962967e-02 2.22409284e-03 9.98644801e-01 4.93521270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters Centerline goodness : 0.997010 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:1.02, Z:0.49 [[ 9.98586585e-01 -1.09808298e-02 5.20024380e-02 1.84980301e+02] [ 1.11037512e-02 9.99936198e-01 -2.07543879e-03 1.02199621e+00] [-5.19763300e-02 2.64992747e-03 9.98644801e-01 4.92990658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters Centerline goodness : 0.997210 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:1.01, Z:0.49 [[ 9.98531475e-01 -1.51897775e-02 5.20015784e-02 1.85041591e+02] [ 1.53194933e-02 9.99880451e-01 -2.09675663e-03 1.01157029e+00] [-5.19635124e-02 2.89031533e-03 9.98644801e-01 4.88232885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters Centerline goodness : 0.997363 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:1.00, Z:0.49 [[ 9.98528419e-01 -1.53920752e-02 5.20007721e-02 1.85103934e+02] [ 1.55230928e-02 9.99877269e-01 -2.11656772e-03 1.00110217e+00] [-5.19618116e-02 2.92066582e-03 9.98644802e-01 4.86344988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:185.16, Y:0.98, Z:0.47 [[ 9.97393321e-01 -5.00253619e-02 5.20002582e-02 1.85162174e+02] [ 5.02037459e-02 9.98736727e-01 -2.12911745e-03 9.77466588e-01] [-5.18280579e-02 4.73417528e-03 9.98644802e-01 4.66225555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:185.22, Y:0.99, Z:0.46 [[ 9.98607595e-01 -8.87937650e-03 5.20002630e-02 1.85222937e+02] [ 9.00224000e-03 9.99957213e-01 -2.12900207e-03 9.92123251e-01] [-5.19791338e-02 2.59415649e-03 9.98644802e-01 4.55534136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:0.99, Z:0.48 [[ 9.98598361e-01 -9.86367248e-03 5.20001963e-02 1.85285775e+02] [ 9.98795065e-03 9.99947849e-01 -2.13062795e-03 9.85834510e-01] [-5.19764687e-02 2.64701698e-03 9.98644802e-01 4.77717597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters Centerline goodness : 0.998158 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:0.98, Z:0.47 [[ 9.98617811e-01 -7.64638680e-03 5.19999952e-02 1.85345403e+02] [ 7.76792277e-03 9.99967549e-01 -2.13552639e-03 9.76810848e-01] [-5.19819786e-02 2.53650664e-03 9.98644802e-01 4.73277713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:0.97, Z:0.47 [[ 9.98631069e-01 -5.65883792e-03 5.19996625e-02 1.85407544e+02] [ 5.77810651e-03 9.99981009e-01 -2.14359520e-03 9.71351910e-01] [-5.19865448e-02 2.44112036e-03 9.98644802e-01 4.70628354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:185.47, Y:0.96, Z:0.47 [[ 9.98639727e-01 3.85048170e-03 5.19987532e-02 1.85468490e+02] [-3.74293734e-03 9.99990651e-01 -2.16543238e-03 9.64858846e-01] [-5.20066050e-02 1.96785872e-03 9.98644802e-01 4.67857665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:0.97, Z:0.47 [[ 9.98532981e-01 1.51006685e-02 5.19986174e-02 1.85529688e+02] [-1.50081807e-02 9.99885019e-01 -2.16868856e-03 9.65672243e-01] [-5.20253872e-02 1.38510241e-03 9.98644802e-01 4.65024442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:0.97, Z:0.46 [[ 9.98413207e-01 2.16162629e-02 5.19981265e-02 1.85591431e+02] [-2.15319903e-02 9.99765782e-01 -2.18039458e-03 9.67898918e-01] [-5.20330796e-02 1.05731159e-03 9.98644802e-01 4.58200747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:0.97, Z:0.46 [[ 9.98337304e-01 2.48780084e-02 5.19972324e-02 1.85652572e+02] [-2.47970557e-02 9.99690082e-01 -2.20151177e-03 9.68548815e-01] [-5.20358868e-02 9.08473054e-04 9.98644802e-01 4.61346477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:0.97, Z:0.46 [[ 9.98295340e-01 2.65085818e-02 5.19972033e-02 1.85713080e+02] [-2.64298030e-02 9.99648246e-01 -2.20219873e-03 9.69535332e-01] [-5.20372903e-02 8.24168895e-04 9.98644802e-01 4.55098450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters Centerline goodness : 0.998457 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:0.97, Z:0.45 [[ 9.98350423e-01 2.43461922e-02 5.19970675e-02 1.85775209e+02] [-2.42643163e-02 9.99703146e-01 -2.20540174e-03 9.66567770e-01] [-5.20353251e-02 9.40090463e-04 9.98644802e-01 4.52312721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:0.96, Z:0.45 [[ 9.98339076e-01 2.48092366e-02 5.19960748e-02 1.85836602e+02] [-2.47267823e-02 9.99691762e-01 -2.22856298e-03 9.61446335e-01] [-5.20353366e-02 9.39165884e-04 9.98644803e-01 4.47410726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:0.96, Z:0.45 [[ 9.98319977e-01 2.55680599e-02 5.19951634e-02 1.85897393e+02] [-2.54855369e-02 9.99672660e-01 -2.24962911e-03 9.57958129e-01] [-5.20356619e-02 9.20725028e-04 9.98644803e-01 4.49999836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:0.95, Z:0.44 [[ 9.98228706e-01 2.89129785e-02 5.19950928e-02 1.85957929e+02] [-2.88349036e-02 9.99581653e-01 -2.25125846e-03 9.53530900e-01] [-5.20384314e-02 7.47997337e-04 9.98644803e-01 4.44529608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:186.02, Y:0.95, Z:0.44 [[ 9.97942631e-01 3.75103296e-02 5.19950008e-02 1.86020036e+02] [-3.74438008e-02 9.99296194e-01 -2.25338190e-03 9.54844678e-01] [-5.20429315e-02 3.01855414e-04 9.98644803e-01 4.41189827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:186.08, Y:0.96, Z:0.44 [[ 9.97590521e-01 4.59322932e-02 5.19940015e-02 1.86082258e+02] [-4.58760018e-02 9.98944549e-01 -2.27620973e-03 9.58289199e-01] [-5.20436758e-02 -1.14551653e-04 9.98644803e-01 4.39014328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters Centerline goodness : 0.988077 with order 1 Centerline is valid? [True, True] Translation: X:186.14, Y:0.97, Z:0.40 [[ 9.91713674e-01 1.17476465e-01 5.19929793e-02 1.86141024e+02] [-1.17516382e-01 9.93068282e-01 -2.29932278e-03 9.69719070e-01] [-5.19026950e-02 -3.82975695e-03 9.98644803e-01 4.00644439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:186.20, Y:0.97, Z:0.43 [[ 9.97251229e-01 5.27894090e-02 5.19929212e-02 1.86203578e+02] [-5.27411542e-02 9.98605567e-01 -2.30063591e-03 9.67103954e-01] [-5.20418698e-02 -4.47854683e-04 9.98644803e-01 4.26257515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:0.98, Z:0.42 [[ 9.97152007e-01 5.46317045e-02 5.19928134e-02 1.86266645e+02] [-5.45858250e-02 9.98506426e-01 -2.30307072e-03 9.76617727e-01] [-5.20409790e-02 -5.41559021e-04 9.98644803e-01 4.23684204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:0.98, Z:0.42 [[ 9.97271956e-01 5.23975444e-02 5.19917656e-02 1.86330367e+02] [-5.23474099e-02 9.98626224e-01 -2.32648564e-03 9.84701010e-01] [-5.20422427e-02 -4.01495380e-04 9.98644804e-01 4.16036859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:0.99, Z:0.42 [[ 9.97675532e-01 4.40512929e-02 5.19905460e-02 1.86393179e+02] [-4.39884245e-02 9.99029269e-01 -2.35343038e-03 9.91705000e-01] [-5.20437488e-02 6.09776970e-05 9.98644804e-01 4.15354526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.45, Y:0.99, Z:0.39 [[ 9.98037756e-01 3.48960258e-02 5.19894612e-02 1.86452580e+02] [-3.48195041e-02 9.99390790e-01 -2.37715507e-03 9.93364090e-01] [-5.20407420e-02 5.62243252e-04 9.98644804e-01 3.91102357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.52, Y:0.99, Z:0.39 [[ 9.98330887e-01 2.51502535e-02 5.19894612e-02 1.86515478e+02] [-2.50605254e-02 9.99683109e-01 -2.37715507e-03 9.94663380e-01] [-5.20327723e-02 1.07030411e-03 9.98644804e-01 3.86258159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:186.58, Y:0.99, Z:0.41 [[ 9.98541202e-01 1.45837696e-02 5.19882784e-02 1.86578337e+02] [-1.44784052e-02 9.99892295e-01 -2.40274737e-03 9.86881673e-01] [-5.20177201e-02 1.64653489e-03 9.98644805e-01 4.11777328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters Centerline goodness : 0.997715 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:0.98, Z:0.41 [[ 9.98595798e-01 1.01856794e-02 5.19873374e-02 1.86640038e+02] [-1.00733156e-02 9.99946327e-01 -2.42293870e-03 9.81647531e-01] [-5.20092263e-02 1.89585155e-03 9.98644805e-01 4.08694354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:186.70, Y:0.97, Z:0.40 [[ 9.98627083e-01 6.43226703e-03 5.19863011e-02 1.86701933e+02] [-6.31368269e-03 9.99977079e-01 -2.44497236e-03 9.73754277e-01] [-5.20008363e-02 2.11339060e-03 9.98644805e-01 4.01789993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:0.97, Z:0.40 [[ 9.98594448e-01 1.03277304e-02 5.19852604e-02 1.86764014e+02] [-1.02132730e-02 9.99944800e-01 -2.46690425e-03 9.71031606e-01] [-5.20078683e-02 1.93249724e-03 9.98644805e-01 4.04361371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters Centerline goodness : 0.996574 with order 1 Centerline is valid? [True, True] Translation: X:186.83, Y:0.97, Z:0.40 [[ 9.98573035e-01 1.22254152e-02 5.19849374e-02 1.86826695e+02] [-1.21131712e-02 9.99923573e-01 -2.47369172e-03 9.70849259e-01] [-5.20112062e-02 1.84045940e-03 9.98644805e-01 4.02452667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:186.89, Y:0.96, Z:0.39 [[ 9.98618407e-01 -7.67347415e-03 5.19845609e-02 1.86886601e+02] [ 7.81301453e-03 9.99966399e-01 -2.48157937e-03 9.55054859e-01] [-5.19637718e-02 2.88430696e-03 9.98644805e-01 3.94728605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.95, Y:0.97, Z:0.36 [[ 9.98550740e-01 1.39294772e-02 5.19845120e-02 1.86946619e+02] [-1.38190747e-02 9.99901430e-01 -2.48260225e-03 9.66601014e-01] [-5.20139693e-02 1.76062646e-03 9.98644805e-01 3.64891625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters Centerline goodness : 0.788483 with order 3 Centerline is valid? [True, False] Translation: X:186.97, Y:0.97, Z:0.37 [[ 9.98775337e-01 1.42539223e-02 4.73777591e-02 1.86972883e+02] [-1.37073397e-02 9.99835929e-01 -1.18416480e-02 9.67754528e-01] [-4.75387757e-02 1.11777229e-02 9.98806850e-01 3.65344030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [False, True] Translation: X:187.01, Y:0.97, Z:0.36 [[ 9.99071810e-01 1.77463071e-02 3.92503109e-02 1.87012247e+02] [-1.69308669e-02 9.99635873e-01 -2.10111298e-02 9.73696419e-01] [-3.96088888e-02 2.03270857e-02 9.99008481e-01 3.62472839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters Centerline goodness : 0.981619 with order 1 Centerline is valid? [True, True] Translation: X:187.07, Y:0.97, Z:0.36 [[ 9.97216751e-01 6.27670164e-02 4.02374673e-02 1.87072874e+02] [-6.27340321e-02 9.98028107e-01 -2.08310428e-03 9.69667530e-01] [-4.02888736e-02 -4.46952090e-04 9.99187974e-01 3.61927188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:187.13, Y:0.95, Z:0.36 [[ 9.98298489e-01 4.22027055e-02 4.02375237e-02 1.87132335e+02] [-4.21530515e-02 9.99108996e-01 -2.08201516e-03 9.45952308e-01] [-4.02895386e-02 3.82338185e-04 9.99187974e-01 3.59526043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:187.19, Y:0.93, Z:0.33 [[ 9.98898174e-01 2.41533527e-02 4.02374758e-02 1.87190740e+02] [-2.40890211e-02 9.99707647e-01 -2.08293944e-03 9.30198088e-01] [-4.02760223e-02 1.11136299e-03 9.99187974e-01 3.33293380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:0.93, Z:0.36 [[ 9.98696795e-01 3.13951630e-02 4.02374758e-02 1.87253614e+02] [-3.13367021e-02 9.99506715e-01 -2.08293944e-03 9.27723083e-01] [-4.02830215e-02 8.19315147e-04 9.99187974e-01 3.58314714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.31, Y:0.93, Z:0.33 [[ 9.98454426e-01 3.83370147e-02 4.02372081e-02 1.87314552e+02] [-3.82839776e-02 9.99264718e-01 -2.08809911e-03 9.27369167e-01] [-4.02876739e-02 5.44431426e-04 9.99187974e-01 3.30161327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters Centerline goodness : 0.994141 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:0.92, Z:0.36 [[ 9.98359786e-01 4.07280712e-02 4.02363208e-02 1.87377620e+02] [-4.06762914e-02 9.99170160e-01 -2.10505961e-03 9.23367073e-01] [-4.02886661e-02 4.64942551e-04 9.99187974e-01 3.57908187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters Centerline goodness : 0.995085 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:0.92, Z:0.35 [[ 9.98342115e-01 4.11592220e-02 4.02360546e-02 1.87440088e+02] [-4.11075876e-02 9.99152498e-01 -2.11013427e-03 9.21979967e-01] [-4.02888060e-02 4.52628769e-04 9.99187974e-01 3.54776785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters Centerline goodness : 0.994536 with order 1 Centerline is valid? [True, True] Translation: X:187.50, Y:0.92, Z:0.35 [[ 9.98494732e-01 3.72747616e-02 4.02350830e-02 1.87503094e+02] [-3.72192349e-02 9.99304857e-01 -2.12850015e-03 9.18810481e-01] [-4.02864533e-02 6.27777180e-04 9.99187974e-01 3.51053042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:187.56, Y:0.91, Z:0.32 [[ 9.98522502e-01 3.65245099e-02 4.02339817e-02 1.87563038e+02] [-3.64675439e-02 9.99332527e-01 -2.14911815e-03 9.14262192e-01] [-4.02856221e-02 6.78708333e-04 9.99187974e-01 3.19281636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters Centerline goodness : 0.993792 with order 1 Centerline is valid? [True, True] Translation: X:187.63, Y:0.91, Z:0.35 [[ 9.98614087e-01 3.39288722e-02 4.02335196e-02 1.87626241e+02] [-3.38694538e-02 9.99423936e-01 -2.15773465e-03 9.09352020e-01] [-4.02835521e-02 7.92056878e-04 9.99187974e-01 3.45031726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters Centerline goodness : 0.996027 with order 1 Centerline is valid? [True, True] Translation: X:187.69, Y:0.91, Z:0.34 [[ 9.98668809e-01 3.22792413e-02 4.02325738e-02 1.87688113e+02] [-3.22177808e-02 9.99478506e-01 -2.17522855e-03 9.06354982e-01] [-4.02818075e-02 8.76128660e-04 9.99187975e-01 3.39665900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.75, Y:0.90, Z:0.31 [[ 9.98650471e-01 3.28429259e-02 4.02315767e-02 1.87747979e+02] [-3.27811861e-02 9.99460145e-01 -2.19351686e-03 9.00497059e-01] [-4.02818990e-02 8.71717849e-04 9.99187975e-01 3.11711559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:187.81, Y:0.88, Z:0.33 [[ 9.99073941e-01 1.52562159e-02 4.02306794e-02 1.87810511e+02] [-1.51795742e-02 9.99882342e-01 -2.20985254e-03 8.84906543e-01] [-4.02596599e-02 1.59712150e-03 9.99187975e-01 3.34951493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:187.87, Y:0.88, Z:0.31 [[ 9.99074782e-01 -1.52017932e-02 4.02304133e-02 1.87869375e+02] [ 1.53032323e-02 9.99880446e-01 -2.21468521e-03 8.77280181e-01] [-4.01919365e-02 2.82829151e-03 9.99187975e-01 3.13249805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:0.88, Z:0.33 [[ 9.98892167e-01 2.44121280e-02 4.02304133e-02 1.87931739e+02] [-2.43427040e-02 9.99701219e-01 -2.21468521e-03 8.81460324e-01] [-4.02724585e-02 1.23291467e-03 9.99187975e-01 3.30323917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:0.86, Z:0.30 [[ 9.98886782e-01 -2.46317154e-02 4.02302785e-02 1.87988912e+02] [ 2.47408528e-02 9.99691440e-01 -2.21713224e-03 8.62117330e-01] [-4.01632533e-02 3.20999549e-03 9.99187975e-01 2.97323254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters Centerline goodness : 0.997070 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:0.87, Z:0.33 [[ 9.98648691e-01 3.28988976e-02 4.02300157e-02 1.88051314e+02] [-3.28360607e-02 9.99458281e-01 -2.22188993e-03 8.69362993e-01] [-4.02813201e-02 8.97892236e-04 9.99187975e-01 3.26327328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters Centerline goodness : 0.997518 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:0.87, Z:0.32 [[ 9.98444966e-01 3.85901595e-02 4.02299471e-02 1.88113081e+02] [-3.85318878e-02 9.99254898e-01 -2.22313220e-03 8.67869850e-01] [-4.02857627e-02 6.69539345e-04 9.99187975e-01 3.21933502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:188.18, Y:0.87, Z:0.32 [[ 9.98340045e-01 4.12163372e-02 4.02289391e-02 1.88175455e+02] [-4.11594672e-02 9.99150076e-01 -2.24122508e-03 8.66192081e-01] [-4.02871227e-02 5.81703046e-04 9.99187975e-01 3.19533189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:188.24, Y:0.87, Z:0.31 [[ 9.98111561e-01 4.64222582e-02 4.02279221e-02 1.88237227e+02] [-4.63688837e-02 9.98921830e-01 -2.25933221e-03 8.66740490e-01] [-4.02894329e-02 3.89741751e-04 9.99187975e-01 3.12203189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:0.87, Z:0.32 [[ 9.97979817e-01 4.91733952e-02 4.02276306e-02 1.88299418e+02] [-4.91220457e-02 9.98790217e-01 -2.26451150e-03 8.65934008e-01] [-4.02903176e-02 2.83873267e-04 9.99187975e-01 3.16808455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:188.36, Y:0.86, Z:0.31 [[ 9.97996605e-01 4.88316608e-02 4.02274087e-02 1.88361063e+02] [-4.87798751e-02 9.98806977e-01 -2.26844602e-03 8.63566268e-01] [-4.02901885e-02 3.01613451e-04 9.99187975e-01 3.07622867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters Centerline goodness : 0.979544 with order 1 Centerline is valid? [True, True] Translation: X:188.42, Y:0.90, Z:0.29 [[ 9.91928704e-01 1.20246742e-01 4.02264453e-02 1.88423455e+02] [-1.20252496e-01 9.92740708e-01 -2.28540448e-03 8.95113462e-01] [-4.02092422e-02 -2.57037214e-03 9.99187975e-01 2.94616959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters Centerline goodness : 0.995436 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:0.88, Z:0.29 [[ 9.95414231e-01 8.67890895e-02 4.02263857e-02 1.88484083e+02] [-8.67674645e-02 9.96225968e-01 -2.28645154e-03 8.78433160e-01] [-4.02730091e-02 -1.21437509e-03 9.99187975e-01 2.93625836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:0.87, Z:0.30 [[ 9.97254969e-01 6.21641065e-02 4.02262350e-02 1.88546215e+02] [-6.21223217e-02 9.98065918e-01 -2.28910134e-03 8.70342269e-01] [-4.02907341e-02 -2.16129425e-04 9.99187975e-01 3.02352150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:188.61, Y:0.87, Z:0.28 [[ 9.97223102e-01 6.26739153e-02 4.02251737e-02 1.88608612e+02] [-6.26317990e-02 9.98034034e-01 -2.30760083e-03 8.72692669e-01] [-4.02907188e-02 -2.18182138e-04 9.99187975e-01 2.76846444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters Centerline goodness : 0.960310 with order 1 Centerline is valid? [True, True] Translation: X:188.67, Y:0.91, Z:0.28 [[ 9.89718329e-01 1.37257652e-01 4.02239591e-02 1.88673904e+02] [-1.37275601e-01 9.90530155e-01 -2.32858214e-03 9.11991428e-01] [-4.01626601e-02 -3.21712774e-03 9.99187976e-01 2.80249985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters Centerline goodness : 0.981551 with order 2 Centerline is valid? [True, True] Translation: X:188.76, Y:0.91, Z:0.28 [[ 9.90649389e-01 1.30368398e-01 4.02227501e-02 1.88764309e+02] [-1.30379862e-01 9.91461332e-01 -2.34928196e-03 9.08737766e-01] [-4.01855735e-02 -2.91692189e-03 9.99187976e-01 2.76206851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters Centerline goodness : 0.995737 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:0.88, Z:0.30 [[ 9.97911639e-01 5.08203693e-02 3.98704371e-02 1.88787112e+02] [-5.05171599e-02 9.98686367e-01 -8.57648609e-03 8.77173418e-01] [-4.02539222e-02 6.54443404e-03 9.99168050e-01 2.99571494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters Centerline goodness : 0.964706 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:0.90, Z:0.26 [[ 9.90196099e-01 1.33774525e-01 4.02002628e-02 1.88846366e+02] [-1.33802114e-01 9.91006020e-01 -2.01559996e-03 8.95892995e-01] [-4.01083384e-02 -3.38304093e-03 9.99189610e-01 2.59619881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:0.88, Z:0.28 [[ 9.97616724e-01 5.60787848e-02 4.02000259e-02 1.88908138e+02] [-5.60428837e-02 9.98426319e-01 -2.02031444e-03 8.76820296e-01] [-4.02500606e-02 -2.37425904e-04 9.99189610e-01 2.75460638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:0.87, Z:0.29 [[ 9.98635871e-01 3.33223090e-02 4.01997599e-02 1.88969791e+02] [-3.32677490e-02 9.99444423e-01 -2.02559391e-03 8.65529157e-01] [-4.02449232e-02 6.85475214e-04 9.99189610e-01 2.86746436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters Centerline goodness : 0.940403 with order 1 Centerline is valid? [True, False] Translation: X:188.97, Y:0.86, Z:0.29 [[ 9.98683938e-01 3.27613281e-02 3.94599483e-02 1.88971877e+02] [-3.27270626e-02 9.99463179e-01 -1.51417783e-03 8.63288369e-01] [-3.94883719e-02 2.20776875e-04 9.99220006e-01 2.86650591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters Centerline goodness : 0.997075 with order 1 Centerline is valid? [False, True] Translation: X:188.97, Y:0.86, Z:0.29 [[ 9.98711701e-01 3.25338847e-02 3.89420589e-02 1.88973376e+02] [-3.24924394e-02 9.99470541e-01 -1.69687688e-03 8.63756075e-01] [-3.89766467e-02 4.29368306e-04 9.99240030e-01 2.85874104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:189.04, Y:0.87, Z:0.31 [[ 9.95421181e-01 8.74230336e-02 3.86508053e-02 1.89035472e+02] [-8.73215235e-02 9.96170857e-01 -4.30997891e-03 8.66416685e-01] [-3.88795972e-02 9.15197099e-04 9.99243484e-01 3.05519072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:0.86, Z:0.30 [[ 9.95404553e-01 8.76121949e-02 3.86507356e-02 1.89098113e+02] [-8.75108030e-02 9.96154244e-01 -4.31060345e-03 8.61190699e-01] [-3.88797558e-02 9.08437383e-04 9.99243484e-01 3.01410110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:0.86, Z:0.32 [[ 9.95531017e-01 8.61642633e-02 3.86485867e-02 1.89159873e+02] [-8.60610368e-02 9.96280458e-01 -4.32978559e-03 8.56801107e-01] [-3.88779044e-02 9.84298416e-04 9.99243484e-01 3.17794018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:189.22, Y:0.85, Z:0.29 [[ 9.95488834e-01 8.66503256e-02 3.86484535e-02 1.89220569e+02] [-8.65474190e-02 9.96238318e-01 -4.33097370e-03 8.51866234e-01] [-3.88783506e-02 9.66512051e-04 9.99243484e-01 2.90670150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:0.84, Z:0.29 [[ 9.95658187e-01 8.46830202e-02 3.86466149e-02 1.89282230e+02] [-8.45779988e-02 9.96407378e-01 -4.34731845e-03 8.44501142e-01] [-3.88759163e-02 1.05978985e-03 9.99243484e-01 2.88472623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:189.34, Y:0.83, Z:0.29 [[ 9.95941746e-01 8.12811083e-02 3.86447912e-02 1.89344745e+02] [-8.11729020e-02 9.96690484e-01 -4.36347002e-03 8.31109494e-01] [-3.88715633e-02 1.20885210e-03 9.99243484e-01 2.87705439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:0.82, Z:0.31 [[ 9.95839315e-01 8.25275711e-02 3.86427062e-02 1.89407625e+02] [-8.24195891e-02 9.96588085e-01 -4.38185753e-03 8.20967239e-01] [-3.88724846e-02 1.17871003e-03 9.99243484e-01 3.09346756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:0.81, Z:0.28 [[ 9.95566517e-01 8.57560608e-02 3.86420546e-02 1.89467795e+02] [-8.56502847e-02 9.96315601e-01 -4.38759654e-03 8.08947791e-01] [-3.88759448e-02 1.05844123e-03 9.99243484e-01 2.83455946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:0.80, Z:0.28 [[ 9.95322357e-01 8.85457041e-02 3.86401855e-02 1.89529018e+02] [-8.84413914e-02 9.96071647e-01 -4.40399542e-03 8.00709450e-01] [-3.88783481e-02 9.66003335e-04 9.99243484e-01 2.79857666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:189.59, Y:0.79, Z:0.28 [[ 9.94899599e-01 9.31765455e-02 3.86383167e-02 1.89590228e+02] [-9.30750866e-02 9.95649280e-01 -4.42033043e-03 7.91341880e-01] [-3.88820834e-02 8.01520295e-04 9.99243484e-01 2.78405029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:0.78, Z:0.28 [[ 9.94701843e-01 9.52647118e-02 3.86377775e-02 1.89652490e+02] [-9.51646440e-02 9.95451711e-01 -4.42503869e-03 7.84142243e-01] [-3.88835918e-02 7.24643802e-04 9.99243484e-01 2.76875436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:0.77, Z:0.27 [[ 9.94563181e-01 9.67023637e-02 3.86358853e-02 1.89714293e+02] [-9.66027405e-02 9.95313108e-01 -4.44149908e-03 7.74166490e-01] [-3.88843065e-02 6.85019054e-04 9.99243485e-01 2.72917403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:189.78, Y:0.76, Z:0.29 [[ 9.94245414e-01 9.99174343e-02 3.86337076e-02 1.89776184e+02] [-9.98195035e-02 9.94995564e-01 -4.46036118e-03 7.64941142e-01] [-3.88860355e-02 5.78296135e-04 9.99243485e-01 2.91937550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:189.84, Y:0.75, Z:0.29 [[ 9.94273027e-01 9.96429737e-02 3.86319285e-02 1.89836769e+02] [-9.95442393e-02 9.95023071e-01 -4.47571728e-03 7.54006032e-01] [-3.88856340e-02 6.04499026e-04 9.99243485e-01 2.93288170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:189.90, Y:0.74, Z:0.29 [[ 9.94057460e-01 1.01771124e-01 3.86316441e-02 1.89897035e+02] [-1.01673900e-01 9.94807702e-01 -4.47817066e-03 7.43625055e-01] [-3.88868056e-02 5.23729026e-04 9.99243485e-01 2.87022578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:0.72, Z:0.29 [[ 9.96345771e-01 7.61756046e-02 3.86313579e-02 1.89956370e+02] [-7.60590251e-02 9.97093250e-01 -4.48063888e-03 7.17819436e-01] [-3.88603815e-02 1.52600218e-03 9.99243485e-01 2.85900729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters Centerline goodness : 0.997565 with order 1 Centerline is valid? [True, True] Translation: X:190.02, Y:0.73, Z:0.28 [[ 9.93111984e-01 1.10618085e-01 3.86293588e-02 1.90019487e+02] [-1.10526781e-01 9.93862969e-01 -4.49780784e-03 7.31064611e-01] [-3.88898281e-02 1.97248185e-04 9.99243485e-01 2.83766534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:190.08, Y:0.73, Z:0.28 [[ 9.92878180e-01 1.12697444e-01 3.86290691e-02 1.90081558e+02] [-1.12607616e-01 9.93629343e-01 -4.50029485e-03 7.26228494e-01] [-3.88901483e-02 1.18317179e-04 9.99243485e-01 2.79858142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters Centerline goodness : 0.996426 with order 1 Centerline is valid? [True, True] Translation: X:190.14, Y:0.73, Z:0.28 [[ 9.92583193e-01 1.15266845e-01 3.86284827e-02 1.90144013e+02] [-1.15178766e-01 9.93334563e-01 -4.50532219e-03 7.27569541e-01] [-3.88903213e-02 2.27260990e-05 9.99243485e-01 2.78010001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:190.21, Y:0.73, Z:0.25 [[ 9.91999761e-01 1.20184687e-01 3.86279058e-02 1.90205346e+02] [-1.20100140e-01 9.92751537e-01 -4.51026355e-03 7.28084977e-01] [-3.88899774e-02 -1.65036522e-04 9.99243485e-01 2.51303879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:190.27, Y:0.73, Z:0.25 [[ 9.92034625e-01 1.19896765e-01 3.86273161e-02 1.90267489e+02] [-1.19811804e-01 9.92786354e-01 -4.51530816e-03 7.28524650e-01] [-3.88900431e-02 -1.48666373e-04 9.99243485e-01 2.47866578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters Centerline goodness : 0.996727 with order 1 Centerline is valid? [True, True] Translation: X:190.33, Y:0.73, Z:0.27 [[ 9.92464598e-01 1.16284120e-01 3.86267415e-02 1.90330790e+02] [-1.16196231e-01 9.93215990e-01 -4.52021807e-03 7.25744155e-01] [-3.88903269e-02 -2.12537232e-06 9.99243485e-01 2.74369890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:190.39, Y:0.72, Z:0.24 [[ 9.92579953e-01 1.15295520e-01 3.86261654e-02 1.90391238e+02] [-1.15206692e-01 9.93331234e-01 -4.52513520e-03 7.23766430e-01] [-3.88903044e-02 4.15657496e-05 9.99243485e-01 2.44093460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters Centerline goodness : 0.997269 with order 1 Centerline is valid? [True, True] Translation: X:190.45, Y:0.72, Z:0.26 [[ 9.93036650e-01 1.11293544e-01 3.86258737e-02 1.90453427e+02] [-1.11201591e-01 9.93787556e-01 -4.52762385e-03 7.19416748e-01] [-3.88898080e-02 2.00837803e-04 9.99243485e-01 2.64991526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:190.51, Y:0.71, Z:0.23 [[ 9.97743503e-01 5.49178056e-02 3.86255871e-02 1.90510985e+02] [-5.47834111e-02 9.98487985e-01 -4.53006785e-03 7.10335363e-01] [-3.88159660e-02 2.40380435e-03 9.99243485e-01 2.30522283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:190.57, Y:0.71, Z:0.25 [[ 9.94003745e-01 1.02296667e-01 3.86257242e-02 1.90573015e+02] [-1.02197869e-01 9.94753781e-01 -4.52889858e-03 7.13068469e-01] [-3.88863764e-02 5.54275456e-04 9.99243485e-01 2.51455314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:190.63, Y:0.71, Z:0.23 [[ 9.93801231e-01 1.04245720e-01 3.86256748e-02 1.90633241e+02] [-1.04148376e-01 9.94551457e-01 -4.52932012e-03 7.08312365e-01] [-3.88873834e-02 4.78442614e-04 9.99243485e-01 2.32632740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters Centerline goodness : 0.912265 with order 3 Centerline is valid? [True, False] Translation: X:190.62, Y:0.71, Z:0.23 [[ 9.94619355e-01 9.06641104e-02 5.01234178e-02 1.90624779e+02] [-9.05325354e-02 9.95881474e-01 -4.89383814e-03 7.13101835e-01] [-5.03606787e-02 3.29706037e-04 9.98731042e-01 2.30051940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [False, True] Translation: X:190.61, Y:0.71, Z:0.23 [[ 9.95271777e-01 7.52862413e-02 6.13683333e-02 1.90613389e+02] [-7.51040266e-02 9.97161758e-01 -5.27377535e-03 7.13620687e-01] [-6.15911978e-02 6.39830830e-04 9.98101255e-01 2.29596192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:0.71, Z:0.22 [[ 9.95209650e-01 7.61656607e-02 6.12906564e-02 1.90675734e+02] [-7.59367048e-02 9.97094227e-01 -6.05963906e-03 7.13072507e-01] [-6.15740961e-02 1.37640079e-03 9.98101566e-01 2.24562040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters Centerline goodness : 0.961931 with order 1 Centerline is valid? [True, True] Translation: X:190.74, Y:0.75, Z:0.21 [[ 9.85486157e-01 1.58306064e-01 6.12880515e-02 1.90742390e+02] [-1.58232309e-01 9.87383157e-01 -6.08587163e-03 7.49385294e-01] [-6.14782202e-02 -3.70020765e-03 9.98101566e-01 2.09148647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:0.71, Z:0.21 [[ 9.95159130e-01 7.68274213e-02 6.12850177e-02 1.90800926e+02] [-7.65962326e-02 9.97043434e-01 -6.11627095e-03 7.05905912e-01] [-6.15737218e-02 1.39246140e-03 9.98101567e-01 2.14364561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters Centerline goodness : 0.991029 with order 1 Centerline is valid? [True, True] Translation: X:190.87, Y:0.73, Z:0.20 [[ 9.90035212e-01 1.26786245e-01 6.12823617e-02 1.90865325e+02] [-1.26648490e-01 9.91928640e-01 -6.14276864e-03 7.26121314e-01] [-6.15665482e-02 -1.67976132e-03 9.98101567e-01 2.04192588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters Centerline goodness : 0.972627 with order 1 Centerline is valid? [True, True] Translation: X:190.93, Y:0.73, Z:0.19 [[ 9.86233228e-01 1.53586541e-01 6.12796416e-02 1.90927786e+02] [-1.53498507e-01 9.88129618e-01 -6.16978471e-03 7.28232923e-01] [-6.14998248e-02 -3.32148679e-03 9.98101568e-01 1.89549823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters Centerline goodness : 0.974358 with order 1 Centerline is valid? [True, True] Translation: X:190.99, Y:0.72, Z:0.18 [[ 9.85723555e-01 1.56825540e-01 6.12766152e-02 1.90990804e+02] [-1.56741883e-01 9.87620143e-01 -6.19969777e-03 7.22956334e-01] [-6.14902904e-02 -3.49342391e-03 9.98101568e-01 1.84998507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:0.69, Z:0.20 [[ 9.94967940e-01 7.92724035e-02 6.12754757e-02 1.91050326e+02] [-7.90400174e-02 9.96852095e-01 -6.21093972e-03 6.87168584e-01] [-6.15749425e-02 1.33647123e-03 9.98101568e-01 1.96148854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters Centerline goodness : 0.995638 with order 1 Centerline is valid? [True, True] Translation: X:191.11, Y:0.71, Z:0.18 [[ 9.88859371e-01 1.35656883e-01 6.12727862e-02 1.91114262e+02] [-1.35530254e-01 9.90753575e-01 -6.23736075e-03 7.06965396e-01] [-6.15523728e-02 -2.13644362e-03 9.98101568e-01 1.80357345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters Centerline goodness : 0.998413 with order 1 Centerline is valid? [True, True] Translation: X:191.17, Y:0.69, Z:0.21 [[ 9.94570175e-01 8.41197391e-02 6.12701862e-02 1.91174888e+02] [-8.38933430e-02 9.96455059e-01 -6.26279705e-03 6.85919561e-01] [-6.15798118e-02 1.08863041e-03 9.98101569e-01 2.09712222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:191.24, Y:0.69, Z:0.19 [[ 9.94284486e-01 8.74318352e-02 6.12701862e-02 1.91235828e+02] [-8.72117182e-02 9.96170113e-01 -6.26279705e-03 6.86498450e-01] [-6.15830961e-02 8.83523730e-04 9.98101569e-01 1.85159059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters Centerline goodness : 0.987675 with order 1 Centerline is valid? [True, True] Translation: X:191.30, Y:0.70, Z:0.18 [[ 9.85306328e-01 1.59429419e-01 6.12674463e-02 1.91297135e+02] [-1.59345209e-01 9.87202890e-01 -6.28948728e-03 6.97555295e-01] [-6.14861294e-02 -3.56560241e-03 9.98101569e-01 1.76918932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:191.36, Y:0.68, Z:0.18 [[ 9.94486206e-01 8.51088038e-02 6.12672604e-02 1.91357369e+02] [-8.48825269e-02 9.96371104e-01 -6.29129770e-03 6.83997030e-01] [-6.15803727e-02 1.05608891e-03 9.98101569e-01 1.83143498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:191.42, Y:0.69, Z:0.18 [[ 9.94254705e-01 8.77719307e-02 6.12672047e-02 1.91418400e+02] [-8.75506694e-02 9.96140197e-01 -6.29183989e-03 6.87757531e-01] [-6.15829723e-02 8.91706621e-04 9.98101569e-01 1.77043331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:191.48, Y:0.69, Z:0.19 [[ 9.95121724e-01 7.73251093e-02 6.12664818e-02 1.91481024e+02] [-7.70836255e-02 9.97004734e-01 -6.29887103e-03 6.86461328e-01] [-6.15700333e-02 1.54550086e-03 9.98101569e-01 1.90992727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:191.54, Y:0.69, Z:0.19 [[ 9.94986426e-01 7.90483913e-02 6.12646990e-02 1.91543763e+02] [-7.88091047e-02 9.96869716e-01 -6.31616408e-03 6.86808436e-01] [-6.15722057e-02 1.45628145e-03 9.98101569e-01 1.90934428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:191.60, Y:0.69, Z:0.16 [[ 9.94587685e-01 8.39184500e-02 6.12619833e-02 1.91604510e+02] [-8.36867709e-02 9.96471926e-01 -6.34239563e-03 6.87560335e-01] [-6.15780904e-02 1.18125103e-03 9.98101570e-01 1.62012549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:191.67, Y:0.69, Z:0.16 [[ 9.94222595e-01 8.81404185e-02 6.12592680e-02 1.91668777e+02] [-8.79151324e-02 9.96107610e-01 -6.36851427e-03 6.91939401e-01] [-6.15821466e-02 9.46104122e-04 9.98101570e-01 1.57440306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:0.68, Z:0.17 [[ 9.96622391e-01 5.46944767e-02 6.12562159e-02 1.91729097e+02] [-5.44042078e-02 9.98498498e-01 -6.39773749e-03 6.84098213e-01] [-6.15141605e-02 3.04353254e-03 9.98101570e-01 1.65040883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:191.79, Y:0.69, Z:0.15 [[ 9.94485074e-01 8.51301134e-02 6.12560261e-02 1.91791667e+02] [-8.48972103e-02 9.96369163e-01 -6.39955449e-03 6.93134540e-01] [-6.15784102e-02 1.16379570e-03 9.98101570e-01 1.51419479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:191.85, Y:0.69, Z:0.15 [[ 9.94822690e-01 8.10914546e-02 6.12535011e-02 1.91854363e+02] [-8.08494217e-02 9.96705628e-01 -6.42363207e-03 6.91946147e-01] [-6.15726109e-02 1.43806480e-03 9.98101571e-01 1.47006841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters Centerline goodness : 0.997680 with order 1 Centerline is valid? [True, True] Translation: X:191.92, Y:0.69, Z:0.17 [[ 9.95088484e-01 7.77640535e-02 6.12507964e-02 1.91916701e+02] [-7.75141449e-02 9.96970393e-01 -6.44931964e-03 6.89286060e-01] [-6.15667557e-02 1.66984060e-03 9.98101571e-01 1.74922720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:0.69, Z:0.14 [[ 9.95324501e-01 7.46825182e-02 6.12507964e-02 1.91974441e+02] [-7.44267838e-02 9.97205626e-01 -6.44931964e-03 6.86032864e-01] [-6.15612901e-02 1.86046607e-03 9.98101571e-01 1.42438243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters Centerline goodness : 0.996687 with order 1 Centerline is valid? [True, True] Translation: X:192.04, Y:0.68, Z:0.17 [[ 9.95721480e-01 6.91893351e-02 6.12500571e-02 1.92036880e+02] [-6.89227939e-02 9.97601105e-01 -6.45633310e-03 6.79943086e-01] [-6.15498340e-02 2.20718449e-03 9.98101571e-01 1.69318815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:192.10, Y:0.67, Z:0.13 [[ 9.95955842e-01 6.57297534e-02 6.12499811e-02 1.92095136e+02] [-6.54566396e-02 9.97834523e-01 -6.45705363e-03 6.73549516e-01] [-6.15417662e-02 2.42172234e-03 9.98101571e-01 1.33897367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:0.66, Z:0.13 [[ 9.96073252e-01 6.39259764e-02 6.12498671e-02 1.92156807e+02] [-6.36493945e-02 9.97951425e-01 -6.45813490e-03 6.64132424e-01] [-6.15372348e-02 2.53425848e-03 9.98101571e-01 1.29409638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:192.22, Y:0.65, Z:0.12 [[ 9.96103748e-01 6.34514643e-02 6.12473211e-02 1.92217566e+02] [-6.31725112e-02 9.97981570e-01 -6.48219072e-03 6.51561791e-01] [-6.15350022e-02 2.58778739e-03 9.98101571e-01 1.23885869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters Centerline goodness : 0.996982 with order 1 Centerline is valid? [True, True] Translation: X:192.28, Y:0.64, Z:0.15 [[ 9.96203002e-01 6.18761625e-02 6.12447454e-02 1.92279760e+02] [-6.15927525e-02 9.98080157e-01 -6.50643581e-03 6.41122051e-01] [-6.15297584e-02 2.70949843e-03 9.98101572e-01 1.50960154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters Centerline goodness : 0.996634 with order 1 Centerline is valid? [True, True] Translation: X:192.34, Y:0.63, Z:0.15 [[ 9.95593473e-01 7.10125850e-02 6.12441784e-02 1.92341589e+02] [-7.07460800e-02 9.97473102e-01 -6.51176884e-03 6.30789527e-01] [-6.15518382e-02 2.15028901e-03 9.98101572e-01 1.45449945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:0.62, Z:0.14 [[ 9.95426414e-01 7.33197536e-02 6.12410638e-02 1.92402058e+02] [-7.30558133e-02 9.97306404e-01 -6.54093065e-03 6.23372747e-01] [-6.15556845e-02 2.03699942e-03 9.98101572e-01 1.44229630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:192.46, Y:0.62, Z:0.11 [[ 9.94805452e-01 8.13121749e-02 6.12408587e-02 1.92459770e+02] [-8.10632242e-02 9.96687486e-01 -6.54285007e-03 6.18036047e-01] [-6.15700109e-02 1.54448146e-03 9.98101572e-01 1.08270304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters Centerline goodness : 0.991494 with order 1 Centerline is valid? [True, True] Translation: X:192.52, Y:0.61, Z:0.14 [[ 9.94038513e-01 9.02052740e-02 6.12408623e-02 1.92522388e+02] [-8.99731660e-02 9.95922698e-01 -6.54281646e-03 6.12552837e-01] [-6.15813614e-02 9.93777270e-04 9.98101572e-01 1.39432690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:192.58, Y:0.61, Z:0.10 [[ 9.93912339e-01 9.15852992e-02 6.12404645e-02 1.92580698e+02] [-9.13555782e-02 9.95796817e-01 -6.54653791e-03 6.07313407e-01] [-6.15826262e-02 9.12026766e-04 9.98101572e-01 9.89193732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters Centerline goodness : 0.990742 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:0.60, Z:0.13 [[ 9.94048568e-01 9.00950673e-02 6.12398876e-02 1.92642920e+02] [-8.98621891e-02 9.95932658e-01 -6.55192988e-03 6.00933141e-01] [-6.15811006e-02 1.00978615e-03 9.98101572e-01 1.31544494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:0.60, Z:0.12 [[ 9.93979690e-01 9.08519537e-02 6.12396845e-02 1.92703166e+02] [-9.06203933e-02 9.95863942e-01 -6.55382798e-03 5.96831813e-01] [-6.15818217e-02 9.64807611e-04 9.98101572e-01 1.21445698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters Centerline goodness : 0.992735 with order 1 Centerline is valid? [True, True] Translation: X:192.77, Y:0.59, Z:0.12 [[ 9.94275032e-01 8.75606786e-02 6.12396026e-02 1.92765499e+02] [-8.73228342e-02 9.96158501e-01 -6.55459307e-03 5.91471817e-01] [-6.15782754e-02 1.16945257e-03 9.98101572e-01 1.19259239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:192.83, Y:0.59, Z:0.08 [[ 9.94377542e-01 8.63907723e-02 6.12367435e-02 1.92825964e+02] [-8.61490743e-02 9.96260521e-01 -6.58119635e-03 5.86799137e-01] [-6.15763046e-02 1.26870508e-03 9.98101573e-01 8.32820151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters Centerline goodness : 0.993350 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:0.57, Z:0.11 [[ 9.95406145e-01 7.36003123e-02 6.12339738e-02 1.92889533e+02] [-7.33328501e-02 9.97285637e-01 -6.60686716e-03 5.73906307e-01] [-6.15540300e-02 2.08605435e-03 9.98101573e-01 1.10669421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:192.95, Y:0.56, Z:0.11 [[ 9.96039243e-01 6.44697697e-02 6.12329647e-02 1.92950750e+02] [-6.41845115e-02 9.97916116e-01 -6.61620638e-03 5.62882396e-01] [-6.15319076e-02 2.65979326e-03 9.98101573e-01 1.10367417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:193.01, Y:0.56, Z:0.08 [[ 9.94990962e-01 7.90181034e-02 6.12300936e-02 1.93008709e+02] [-7.87586753e-02 9.96871579e-01 -6.64267115e-03 5.58490580e-01] [-6.15634314e-02 1.78699670e-03 9.98101573e-01 7.66430037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters Centerline goodness : 0.991439 with order 1 Centerline is valid? [True, True] Translation: X:193.07, Y:0.55, Z:0.10 [[ 9.95509757e-01 7.21892470e-02 6.12293816e-02 1.93070302e+02] [-7.19165187e-02 9.97388491e-01 -6.64922778e-03 5.45700662e-01] [-6.15494833e-02 2.21596716e-03 9.98101573e-01 1.03568414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:0.54, Z:0.07 [[ 9.94703209e-01 8.25621795e-02 6.12291865e-02 1.93129416e+02] [-8.23089389e-02 9.96584669e-01 -6.65102369e-03 5.39419648e-01] [-6.15691916e-02 1.57608523e-03 9.98101573e-01 7.13609527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters Centerline goodness : 0.997821 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:0.53, Z:0.07 [[ 9.94647647e-01 8.32291608e-02 6.12287972e-02 1.93191159e+02] [-8.29769614e-02 9.96529247e-01 -6.65460552e-03 5.27358631e-01] [-6.15701444e-02 1.53840817e-03 9.98101573e-01 6.82454878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters Centerline goodness : 0.997136 with order 1 Centerline is valid? [True, True] Translation: X:193.25, Y:0.52, Z:0.07 [[ 9.94565230e-01 8.42102879e-02 6.12260656e-02 1.93253222e+02] [-8.39584043e-02 9.96446872e-01 -6.67964410e-03 5.18291377e-01] [-6.15710163e-02 1.50289900e-03 9.98101574e-01 6.52031836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:0.51, Z:0.06 [[ 9.94411391e-01 8.60098354e-02 6.12233124e-02 1.93315929e+02] [-8.57598100e-02 9.96293281e-01 -6.70478428e-03 5.07463028e-01] [-6.15730522e-02 1.41681422e-03 9.98101574e-01 6.29980305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters Centerline goodness : 0.996736 with order 1 Centerline is valid? [True, True] Translation: X:193.38, Y:0.49, Z:0.06 [[ 9.94425990e-01 8.58431483e-02 6.12201303e-02 1.93377206e+02] [-8.55910273e-02 9.96307600e-01 -6.73371516e-03 4.94675158e-01] [-6.15721244e-02 1.45628752e-03 9.98101574e-01 5.87776401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters Centerline goodness : 0.996932 with order 1 Centerline is valid? [True, True] Translation: X:193.44, Y:0.48, Z:0.05 [[ 9.94670699e-01 8.29616552e-02 6.12173487e-02 1.93439269e+02] [-8.27025343e-02 9.96551357e-01 -6.75890924e-03 4.78656763e-01] [-6.15669622e-02 1.66005911e-03 9.98101575e-01 5.46657053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters Centerline goodness : 0.989298 with order 1 Centerline is valid? [True, True] Translation: X:193.50, Y:0.46, Z:0.08 [[ 9.95058872e-01 7.81707521e-02 6.12141671e-02 1.93500760e+02] [-7.79008143e-02 9.96938008e-01 -6.78760244e-03 4.63367661e-01] [-6.15573218e-02 1.98543056e-03 9.98101575e-01 7.92941645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:193.56, Y:0.45, Z:0.05 [[ 9.94631022e-01 8.34386292e-02 6.12137643e-02 1.93559769e+02] [-8.31784222e-02 9.96511530e-01 -6.79123307e-03 4.50226012e-01] [-6.15668731e-02 1.66310676e-03 9.98101575e-01 4.95116815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters Centerline goodness : 0.998664 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:0.44, Z:0.05 [[ 9.94292385e-01 8.73833452e-02 6.12111450e-02 1.93621090e+02] [-8.71291520e-02 9.96173715e-01 -6.81475992e-03 4.35045939e-01] [-6.15724303e-02 1.44258874e-03 9.98101575e-01 4.54890171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters Centerline goodness : 0.994450 with order 1 Centerline is valid? [True, True] Translation: X:193.68, Y:0.42, Z:0.06 [[ 9.94165395e-01 8.88171631e-02 6.12101226e-02 1.93683455e+02] [-8.85651189e-02 9.96047014e-01 -6.82393153e-03 4.22575594e-01] [-6.15742420e-02 1.36303480e-03 9.98101575e-01 6.29733138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:193.74, Y:0.41, Z:0.04 [[ 9.93958357e-01 9.11054706e-02 6.12092936e-02 1.93742833e+02] [-9.08573013e-02 9.95840491e-01 -6.83135899e-03 4.11923916e-01] [-6.15770672e-02 1.22877512e-03 9.98101575e-01 3.90539325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters Centerline goodness : 0.997969 with order 1 Centerline is valid? [True, True] Translation: X:193.80, Y:0.40, Z:0.03 [[ 9.93742393e-01 9.34319560e-02 6.12088727e-02 1.93804550e+02] [-9.31879611e-02 9.95625072e-01 -6.83512826e-03 4.02180357e-01] [-6.15797077e-02 1.08842667e-03 9.98101575e-01 3.49280109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:193.87, Y:0.39, Z:0.03 [[ 9.93664840e-01 9.42550351e-02 6.12059965e-02 1.93867198e+02] [-9.40110196e-02 9.95547517e-01 -6.86078734e-03 3.94243771e-01] [-6.15801416e-02 1.06328502e-03 9.98101576e-01 3.24819816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters Centerline goodness : 0.997574 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:0.39, Z:0.03 [[ 9.93740596e-01 9.34551371e-02 6.12026519e-02 1.93929259e+02] [-9.32077772e-02 9.95622836e-01 -6.89049483e-03 3.85959055e-01] [-6.15787100e-02 1.14280130e-03 9.98101576e-01 2.89483038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters Centerline goodness : 0.993403 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:0.38, Z:0.05 [[ 9.94235379e-01 8.80375311e-02 6.11997098e-02 1.93992956e+02] [-8.77783145e-02 9.96116022e-01 -6.91652763e-03 3.80046361e-01] [-6.15709255e-02 1.50464909e-03 9.98101577e-01 4.82509593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters Centerline goodness : 0.997474 with order 1 Centerline is valid? [True, True] Translation: X:194.05, Y:0.38, Z:0.02 [[ 9.93792985e-01 9.29002869e-02 6.11967278e-02 1.94053810e+02] [-9.26486555e-02 9.95674658e-01 -6.94281284e-03 3.76270400e-01] [-6.15770203e-02 1.22992414e-03 9.98101577e-01 2.02048693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters Centerline goodness : 0.997427 with order 1 Centerline is valid? [True, True] Translation: X:194.12, Y:0.37, Z:0.02 [[ 9.93781282e-01 9.30273426e-02 6.11937692e-02 1.94115278e+02] [-9.27743527e-02 9.95662772e-01 -6.96879288e-03 3.70367041e-01] [-6.15766461e-02 1.24824360e-03 9.98101577e-01 1.69819243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters Centerline goodness : 0.997670 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:0.37, Z:0.01 [[ 9.93740450e-01 9.34644285e-02 6.11908447e-02 1.94177296e+02] [-9.32106913e-02 9.95621839e-01 -6.99437751e-03 3.65471146e-01] [-6.15766669e-02 1.24695491e-03 9.98101578e-01 1.21790081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters Centerline goodness : 0.995890 with order 1 Centerline is valid? [True, True] Translation: X:194.24, Y:0.36, Z:0.02 [[ 9.93866405e-01 9.21173536e-02 6.11879252e-02 1.94238214e+02] [-9.18595005e-02 9.95747234e-01 -7.01982545e-03 3.58943239e-01] [-6.15743551e-02 1.35607643e-03 9.98101578e-01 1.96845033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters Centerline goodness : 0.997624 with order 1 Centerline is valid? [True, True] Translation: X:194.30, Y:0.35, Z:0.00 [[ 9.94330432e-01 8.69657896e-02 6.11877698e-02 1.94295688e+02] [-8.66981100e-02 9.96209888e-01 -7.02117977e-03 3.47597853e-01] [-6.15664638e-02 1.67650871e-03 9.98101578e-01 1.84761905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters Centerline goodness : 0.993454 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:0.34, Z:0.02 [[ 9.95103886e-01 7.76163113e-02 6.11879479e-02 1.94356928e+02] [-7.73310740e-02 9.96980757e-01 -7.01962722e-03 3.36683393e-01] [-6.15480442e-02 2.25352859e-03 9.98101578e-01 1.95364917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters Centerline goodness : 0.993754 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:0.32, Z:0.02 [[ 9.94891206e-01 8.02965753e-02 6.11878189e-02 1.94418515e+02] [-8.00163257e-02 9.96768828e-01 -7.02075166e-03 3.21312193e-01] [-6.15538529e-02 2.08885963e-03 9.98101578e-01 1.59276161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters Centerline goodness : 0.994353 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:0.31, Z:0.01 [[ 9.95016746e-01 7.87282898e-02 6.11844140e-02 1.94479396e+02] [-7.84432663e-02 9.96893649e-01 -7.05030110e-03 3.09286195e-01] [-6.15494118e-02 2.21566237e-03 9.98101578e-01 1.21878473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters Centerline goodness : 0.994888 with order 1 Centerline is valid? [True, True] Translation: X:194.54, Y:0.30, Z:0.01 [[ 9.94552832e-01 8.43889588e-02 6.11814316e-02 1.94540095e+02] [-8.41130353e-02 9.96431095e-01 -7.07608714e-03 2.97609275e-01] [-6.15602245e-02 1.89138659e-03 9.98101579e-01 6.13298891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters Centerline goodness : 0.996273 with order 1 Centerline is valid? [True, True] Translation: X:194.60, Y:0.29, Z:0.00 [[ 9.93989783e-01 9.07828095e-02 6.11783739e-02 1.94602256e+02] [-9.05173499e-02 9.95869552e-01 -7.10242608e-03 2.85895523e-01] [-6.15704580e-02 1.52203468e-03 9.98101579e-01 1.30758996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:194.66, Y:0.28, Z:-0.02 [[ 9.93431362e-01 9.67045089e-02 6.11748825e-02 1.94661600e+02] [-9.64484124e-02 9.95312430e-01 -7.13237188e-03 2.77714603e-01] [-6.15778535e-02 1.18530162e-03 9.98101580e-01 -2.15459335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters Centerline goodness : 0.997323 with order 1 Centerline is valid? [True, True] Translation: X:194.72, Y:0.27, Z:-0.01 [[ 9.93086248e-01 1.00186640e-01 6.11746782e-02 1.94722833e+02] [-9.99370321e-02 9.94968187e-01 -7.13412400e-03 2.69625486e-01] [-6.15816026e-02 9.71184657e-04 9.98101580e-01 -7.17436494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:194.78, Y:0.26, Z:-0.01 [[ 9.92589291e-01 1.04996111e-01 6.11744699e-02 1.94784631e+02] [-1.04755512e-01 9.94472404e-01 -7.13590996e-03 2.62939107e-01] [-6.15855649e-02 6.74664891e-04 9.98101580e-01 -7.56694296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters Centerline goodness : 0.997125 with order 1 Centerline is valid? [True, True] Translation: X:194.85, Y:0.26, Z:-0.01 [[ 9.92828767e-01 1.02708847e-01 6.11713322e-02 1.94846264e+02] [-1.02462259e-01 9.94711104e-01 -7.16270696e-03 2.55648967e-01] [-6.15834767e-02 8.43588625e-04 9.98101580e-01 -1.13984452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [True, True] Translation: X:194.91, Y:0.25, Z:-0.01 [[ 9.92902409e-01 1.01996420e-01 6.11681041e-02 1.94908439e+02] [-1.01746790e-01 9.94784345e-01 -7.19016864e-03 2.50627463e-01] [-6.15824438e-02 9.15477493e-04 9.98101580e-01 -1.38523813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters Centerline goodness : 0.996678 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:0.25, Z:-0.02 [[ 9.93069336e-01 1.00360088e-01 6.11649069e-02 1.94970800e+02] [-1.00105688e-01 9.94950633e-01 -7.21726424e-03 2.45202007e-01] [-6.15803882e-02 1.04428870e-03 9.98101581e-01 -1.65138448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters Centerline goodness : 0.972815 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:0.27, Z:-0.04 [[ 9.82975237e-01 1.73258987e-01 6.11637676e-02 1.95035226e+02] [-1.73143300e-01 9.84870128e-01 -7.22690692e-03 2.71450982e-01] [-6.14904942e-02 -3.48622600e-03 9.98101581e-01 -4.13783404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters Centerline goodness : 0.997175 with order 1 Centerline is valid? [True, True] Translation: X:195.09, Y:0.23, Z:-0.03 [[ 9.93567774e-01 9.53019840e-02 6.11605253e-02 1.95093883e+02] [-9.50357330e-02 9.95447430e-01 -7.25424257e-03 2.28101916e-01] [-6.15734315e-02 1.39514629e-03 9.98101581e-01 -2.58540359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:0.22, Z:-0.05 [[ 9.93606808e-01 9.48962585e-02 6.11572633e-02 1.95152867e+02] [-9.46275546e-02 9.95486114e-01 -7.28164023e-03 2.22609011e-01] [-6.15722068e-02 1.44792503e-03 9.98101581e-01 -5.09526259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:195.21, Y:0.21, Z:-0.03 [[ 9.93782782e-01 9.30356211e-02 6.11568104e-02 1.95214129e+02] [-9.27631649e-02 9.95661548e-01 -7.28544200e-03 2.13162333e-01] [-6.15692901e-02 1.56704753e-03 9.98101581e-01 -3.47074156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:195.27, Y:0.21, Z:-0.06 [[ 9.93672672e-01 9.42045284e-02 6.11565893e-02 1.95273877e+02] [-9.39341683e-02 9.95551740e-01 -7.28729784e-03 2.05031356e-01] [-6.15710453e-02 1.49649537e-03 9.98101581e-01 -5.87837204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:195.34, Y:0.20, Z:-0.06 [[ 9.93583650e-01 9.51392774e-02 6.11559286e-02 1.95335585e+02] [-9.48703442e-02 9.95462924e-01 -7.29283838e-03 1.98198525e-01] [-6.15722948e-02 1.44416098e-03 9.98101581e-01 -6.27198000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters Centerline goodness : 0.996628 with order 1 Centerline is valid? [True, True] Translation: X:195.40, Y:0.19, Z:-0.05 [[ 9.93440007e-01 9.66296065e-02 6.11528546e-02 1.95397378e+02] [-9.63619123e-02 9.95319457e-01 -7.31852411e-03 1.90392849e-01] [-6.15738121e-02 1.37770864e-03 9.98101582e-01 -4.60654592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:195.46, Y:0.19, Z:-0.07 [[ 9.93151277e-01 9.95534807e-02 6.11526345e-02 1.95456868e+02] [-9.92912068e-02 9.95031491e-01 -7.32036250e-03 1.85318080e-01] [-6.15775647e-02 1.19830849e-03 9.98101582e-01 -7.09955739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:0.18, Z:-0.06 [[ 9.92615348e-01 1.04762367e-01 6.11524101e-02 1.95518133e+02] [-1.04509845e-01 9.94496897e-01 -7.32223711e-03 1.78355650e-01] [-6.15829769e-02 8.77136049e-04 9.98101582e-01 -5.88701188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters Centerline goodness : 0.998067 with order 1 Centerline is valid? [True, True] Translation: X:195.58, Y:0.17, Z:-0.06 [[ 9.92402827e-01 1.06756910e-01 6.11521930e-02 1.95580420e+02] [-1.06508058e-01 9.94284865e-01 -7.32404983e-03 1.74312875e-01] [-6.15845928e-02 7.55206449e-04 9.98101582e-01 -5.54992874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:195.64, Y:0.17, Z:-0.06 [[ 9.91956212e-01 1.10831747e-01 6.11489767e-02 1.95643143e+02] [-1.10588977e-01 9.93839043e-01 -7.35080491e-03 1.70726878e-01] [-6.15869431e-02 5.29273803e-04 9.98101582e-01 -6.30096248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:0.17, Z:-0.06 [[ 9.92045741e-01 1.10029589e-01 6.11452157e-02 1.95705595e+02] [-1.09783377e-01 9.93928125e-01 -7.38195844e-03 1.67651597e-01] [-6.15861834e-02 6.10512140e-04 9.98101583e-01 -5.83550609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters Centerline goodness : 0.996183 with order 1 Centerline is valid? [True, True] Translation: X:195.77, Y:0.16, Z:-0.06 [[ 9.92691011e-01 1.04047612e-01 6.11445057e-02 1.95767251e+02] [-1.03789696e-01 9.94571827e-01 -7.38783404e-03 1.60913682e-01] [-6.15812893e-02 9.87666781e-04 9.98101583e-01 -6.36785121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters Centerline goodness : 0.995974 with order 1 Centerline is valid? [True, True] Translation: X:195.83, Y:0.15, Z:-0.07 [[ 9.93257787e-01 9.84922568e-02 6.11411780e-02 1.95829343e+02] [-9.82221339e-02 9.95136888e-01 -7.41527251e-03 1.51117960e-01] [-6.15741885e-02 1.35986020e-03 9.98101583e-01 -6.94550506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:195.89, Y:0.14, Z:-0.10 [[ 9.93759265e-01 9.32991435e-02 6.11374974e-02 1.95887966e+02] [-9.30173443e-02 9.95636650e-01 -7.44549491e-03 1.39903391e-01] [-6.15653914e-02 1.71218190e-03 9.98101584e-01 -1.00241004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:0.13, Z:-0.10 [[ 9.94060295e-01 9.00355026e-02 6.11370433e-02 1.95949901e+02] [-8.97473114e-02 9.95936709e-01 -7.44922212e-03 1.27311155e-01] [-6.15593202e-02 1.91809068e-03 9.98101584e-01 -1.03878477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:196.01, Y:0.11, Z:-0.11 [[ 9.94656390e-01 8.31947189e-02 6.11335035e-02 1.96011891e+02] [-8.28918496e-02 9.96530490e-01 -7.47815993e-03 1.13803238e-01] [-6.15435436e-02 2.37073038e-03 9.98101584e-01 -1.07693757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:196.07, Y:0.10, Z:-0.11 [[ 9.95170415e-01 7.68047268e-02 6.11300112e-02 1.96072089e+02] [-7.64880838e-02 9.97042238e-01 -7.50659986e-03 9.62507488e-02] [-6.15257455e-02 2.79462869e-03 9.98101584e-01 -1.11392450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters Centerline goodness : 0.997564 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:0.08, Z:-0.09 [[ 9.95728810e-01 6.91926847e-02 6.11269974e-02 1.96132941e+02] [-6.88602403e-02 9.97597890e-01 -7.53106207e-03 7.71916064e-02] [-6.15012580e-02 3.28967574e-03 9.98101585e-01 -9.46202745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters Centerline goodness : 0.997311 with order 1 Centerline is valid? [True, True] Translation: X:196.19, Y:0.06, Z:-0.10 [[ 9.95568278e-01 7.14657412e-02 6.11265258e-02 1.96191932e+02] [-7.11373304e-02 9.97438071e-01 -7.53488802e-03 5.92452681e-02] [-6.15084103e-02 3.15311763e-03 9.98101585e-01 -9.57664676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters Centerline goodness : 0.996569 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:0.04, Z:-0.10 [[ 9.95599333e-01 7.10332142e-02 6.11248833e-02 1.96252595e+02] [-7.07031767e-02 9.97468839e-01 -7.54818838e-03 4.02964471e-02] [-6.15063385e-02 3.19324789e-03 9.98101585e-01 -9.60072784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:0.03, Z:-0.13 [[ 9.95336929e-01 7.46226382e-02 6.11216801e-02 1.96310478e+02] [-7.42977602e-02 9.97207339e-01 -7.57403844e-03 2.72228168e-02] [-6.15161827e-02 2.99751623e-03 9.98101585e-01 -1.25567492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:0.01, Z:-0.13 [[ 9.94941007e-01 7.97282029e-02 6.11212351e-02 1.96372059e+02] [-7.94127052e-02 9.96813022e-01 -7.57762792e-03 8.51624414e-03] [-6.15305937e-02 2.68549014e-03 9.98101585e-01 -1.28284124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters Centerline goodness : 0.995380 with order 1 Centerline is valid? [True, True] Translation: X:196.43, Y:-0.00, Z:-0.11 [[ 9.94893837e-01 8.03173436e-02 6.11177281e-02 1.96434395e+02] [-8.00012265e-02 9.96765748e-01 -7.60580927e-03 -3.77260651e-03] [-6.15309363e-02 2.67747957e-03 9.98101586e-01 -1.05385252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:-0.02, Z:-0.11 [[ 9.94759778e-01 8.19618418e-02 6.11166108e-02 1.96496027e+02] [-8.16482696e-02 9.96632116e-01 -7.61477617e-03 -1.55127898e-02] [-6.15348983e-02 2.58480754e-03 9.98101586e-01 -1.07258677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:-0.03, Z:-0.14 [[ 9.94196842e-01 8.85313183e-02 6.11133719e-02 1.96554806e+02] [-8.82285310e-02 9.96070954e-01 -7.64068239e-03 -3.03296106e-02] [-6.15496944e-02 2.20439928e-03 9.98101586e-01 -1.38781432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters Centerline goodness : 0.995530 with order 1 Centerline is valid? [True, True] Translation: X:196.62, Y:-0.04, Z:-0.12 [[ 9.94047549e-01 9.01943408e-02 6.11101618e-02 1.96618059e+02] [-8.98931177e-02 9.95921912e-01 -7.66627189e-03 -4.08729331e-02] [-6.15524035e-02 2.12725582e-03 9.98101586e-01 -1.15837539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:196.68, Y:-0.05, Z:-0.12 [[ 9.93546768e-01 9.55539960e-02 6.11085438e-02 1.96679453e+02] [-9.52620946e-02 9.95422606e-01 -7.67914684e-03 -5.16772992e-02] [-6.15625991e-02 1.80826364e-03 9.98101586e-01 -1.17749045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters Centerline goodness : 0.996268 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:-0.06, Z:-0.12 [[ 9.93021886e-01 1.00864695e-01 6.11052186e-02 1.96741145e+02] [-1.00581205e-01 9.94899013e-01 -7.70551613e-03 -6.11813913e-02] [-6.15707362e-02 1.50570964e-03 9.98101587e-01 -1.21741581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters Centerline goodness : 0.997714 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:-0.07, Z:-0.13 [[ 9.93106681e-01 1.00028406e-01 6.11018596e-02 1.96802576e+02] [-9.97417040e-02 9.94983320e-01 -7.73206081e-03 -7.38680540e-02] [-6.15687569e-02 1.58435766e-03 9.98101587e-01 -1.28661312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:-0.08, Z:-0.15 [[ 9.93012365e-01 1.00962842e-01 6.10978500e-02 1.96861974e+02] [-1.00675966e-01 9.94888977e-01 -7.76361528e-03 -8.31403314e-02] [-6.15694142e-02 1.55828091e-03 9.98101588e-01 -1.53958426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:196.92, Y:-0.10, Z:-0.14 [[ 9.93540173e-01 9.56313759e-02 6.10947153e-02 1.96924324e+02] [-9.53329199e-02 9.95414978e-01 -7.78820620e-03 -9.54411870e-02] [-6.15593915e-02 1.91355814e-03 9.98101588e-01 -1.35813674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:-0.11, Z:-0.14 [[ 9.93497571e-01 9.60751870e-02 6.10912050e-02 1.96984907e+02] [-9.57758828e-02 9.95372240e-01 -7.81564446e-03 -1.07069045e-01] [-6.15593791e-02 1.91375969e-03 9.98101588e-01 -1.39760268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.04, Y:-0.12, Z:-0.17 [[ 9.93102284e-01 1.00080810e-01 6.10875180e-02 1.97044335e+02] [-9.97873029e-02 9.94977869e-01 -7.84435696e-03 -1.19577968e-01] [-6.15657981e-02 1.69449015e-03 9.98101589e-01 -1.67244431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:197.11, Y:-0.13, Z:-0.15 [[ 9.93541937e-01 9.56197857e-02 6.10841728e-02 1.97106635e+02] [-9.53162641e-02 9.95415927e-01 -7.87032068e-03 -1.32657801e-01] [-6.15567168e-02 1.99717851e-03 9.98101589e-01 -1.48273458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:-0.14, Z:-0.18 [[ 9.93270888e-01 9.83975481e-02 6.10808126e-02 1.97166000e+02] [-9.80976707e-02 9.95145464e-01 -7.89631287e-03 -1.44246835e-01] [-6.15612715e-02 1.85129225e-03 9.98101589e-01 -1.75385951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:197.23, Y:-0.16, Z:-0.16 [[ 9.93383525e-01 9.72559412e-02 6.10774414e-02 1.97228270e+02] [-9.69523131e-02 9.95257497e-01 -7.92230363e-03 -1.56610424e-01] [-6.15582726e-02 1.94828668e-03 9.98101590e-01 -1.55198293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:197.29, Y:-0.17, Z:-0.18 [[ 9.93223029e-01 9.88837252e-02 6.10739255e-02 1.97287045e+02] [-9.85815091e-02 9.95097229e-01 -7.94931576e-03 -1.65935235e-01] [-6.15605520e-02 1.87468373e-03 9.98101590e-01 -1.83248721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:197.35, Y:-0.18, Z:-0.19 [[ 9.93309397e-01 9.80143629e-02 6.10706710e-02 1.97348218e+02] [-9.77089755e-02 9.95183082e-01 -7.97424099e-03 -1.77286039e-01] [-6.15580887e-02 1.95373581e-03 9.98101590e-01 -1.88512644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:-0.19, Z:-0.19 [[ 9.93502533e-01 9.60391079e-02 6.10672386e-02 1.97410433e+02] [-9.57283871e-02 9.95375341e-01 -8.00044013e-03 -1.87815021e-01] [-6.15531786e-02 2.10258927e-03 9.98101591e-01 -1.93010937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:197.47, Y:-0.20, Z:-0.17 [[ 9.93474045e-01 9.63358237e-02 6.10633335e-02 1.97471994e+02] [-9.60238391e-02 9.95346643e-01 -8.03013614e-03 -1.99444285e-01] [-6.15527738e-02 2.11419613e-03 9.98101591e-01 -1.72292407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters Centerline goodness : 0.995726 with order 1 Centerline is valid? [True, True] Translation: X:197.53, Y:-0.21, Z:-0.18 [[ 9.93599936e-01 9.50287655e-02 6.10630918e-02 1.97533163e+02] [-9.47142048e-02 9.95472102e-01 -8.03197345e-03 -2.13471083e-01] [-6.15498729e-02 2.19702612e-03 9.98101591e-01 -1.76220543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters Centerline goodness : 0.995274 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:-0.22, Z:-0.18 [[ 9.93516424e-01 9.59002023e-02 6.10595390e-02 1.97593833e+02] [-9.55856315e-02 9.95388588e-01 -8.05889248e-03 -2.24237618e-01] [-6.15508177e-02 2.17022745e-03 9.98101591e-01 -1.77520701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters Centerline goodness : 0.994077 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:-0.24, Z:-0.18 [[ 9.93192659e-01 9.91974636e-02 6.10590305e-02 1.97653353e+02] [-9.88888724e-02 9.95065818e-01 -8.06274292e-03 -2.36235558e-01] [-6.15575578e-02 1.96979841e-03 9.98101592e-01 -1.78152034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters Centerline goodness : 0.994533 with order 1 Centerline is valid? [True, True] Translation: X:197.71, Y:-0.25, Z:-0.18 [[ 9.93140722e-01 9.97161008e-02 6.10590305e-02 1.97712267e+02] [-9.94084877e-02 9.95014042e-01 -8.06274292e-03 -2.49379437e-01] [-6.15585781e-02 1.93765244e-03 9.98101592e-01 -1.83530298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters Centerline goodness : 0.996120 with order 1 Centerline is valid? [True, True] Translation: X:197.77, Y:-0.26, Z:-0.19 [[ 9.92936351e-01 1.01731159e-01 6.10587710e-02 1.97771971e+02] [-1.01427227e-01 9.94810272e-01 -8.06470798e-03 -2.61386688e-01] [-6.15623247e-02 1.81471987e-03 9.98101592e-01 -1.91953863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:197.83, Y:-0.27, Z:-0.22 [[ 9.92934017e-01 1.01754260e-01 6.10582371e-02 1.97828749e+02] [-1.01450123e-01 9.94807905e-01 -8.06874769e-03 -2.73976028e-01] [-6.15622464e-02 1.81736837e-03 9.98101592e-01 -2.19201963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters Centerline goodness : 0.995217 with order 1 Centerline is valid? [True, True] Translation: X:197.89, Y:-0.29, Z:-0.20 [[ 9.92308104e-01 1.07686987e-01 6.10584949e-02 1.97892632e+02] [-1.07394176e-01 9.94183795e-01 -8.06679664e-03 -2.85185981e-01] [-6.15720552e-02 1.44742095e-03 9.98101592e-01 -1.98254927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters Centerline goodness : 0.942725 with order 3 Centerline is valid? [True, False] Translation: X:197.90, Y:-0.30, Z:-0.20 [[ 9.94399553e-01 8.97255937e-02 5.58466321e-02 1.97903816e+02] [-8.98242440e-02 9.95957353e-01 -7.46269126e-04 -2.99008580e-01] [-5.56878233e-02 -4.27429182e-03 9.98439080e-01 -1.98208278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [False, True] Translation: X:197.92, Y:-0.32, Z:-0.20 [[ 9.96274466e-01 7.13560727e-02 4.84303605e-02 1.97917722e+02] [-7.17612459e-02 9.97399487e-01 6.67735387e-03 -3.15180757e-01] [-4.78279470e-02 -1.01279002e-02 9.98804242e-01 -1.98785574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters Centerline goodness : 0.998059 with order 1 Centerline is valid? [True, True] Translation: X:197.98, Y:-0.31, Z:-0.20 [[ 9.96225072e-01 7.27918974e-02 4.72963669e-02 1.97980415e+02] [-7.26497817e-02 9.97346348e-01 -4.71915857e-03 -3.14204465e-01] [-4.75143753e-02 1.26527336e-03 9.98869753e-01 -1.99277970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters Centerline goodness : 0.997862 with order 1 Centerline is valid? [True, True] Translation: X:198.04, Y:-0.33, Z:-0.20 [[ 9.96074194e-01 7.48294630e-02 4.72943094e-02 1.98042352e+02] [-7.46886669e-02 9.97195637e-01 -4.73968899e-03 -3.26528906e-01] [-4.75163474e-02 1.18873297e-03 9.98869753e-01 -2.01540448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters Centerline goodness : 0.993786 with order 1 Centerline is valid? [True, True] Translation: X:198.10, Y:-0.34, Z:-0.18 [[ 9.95556987e-01 8.14233328e-02 4.72919306e-02 1.98104621e+02] [-8.12888439e-02 9.96679204e-01 -4.76330695e-03 -3.36796523e-01] [-4.75227280e-02 8.97837148e-04 9.98869753e-01 -1.81904626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters Centerline goodness : 0.996866 with order 1 Centerline is valid? [True, True] Translation: X:198.16, Y:-0.34, Z:-0.21 [[ 9.95067513e-01 8.72020228e-02 4.72911288e-02 1.98163956e+02] [-8.70736740e-02 9.96190449e-01 -4.77125358e-03 -3.43993999e-01] [-4.75270338e-02 6.29907103e-04 9.98869753e-01 -2.08100324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters Centerline goodness : 0.996519 with order 1 Centerline is valid? [True, True] Translation: X:198.23, Y:-0.35, Z:-0.21 [[ 9.94345104e-01 9.50871264e-02 4.72890396e-02 1.98226260e+02] [-9.49667025e-02 9.95468916e-01 -4.79187190e-03 -3.48269451e-01] [-4.75304143e-02 2.73890208e-04 9.98869754e-01 -2.11492773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters Centerline goodness : 0.996622 with order 1 Centerline is valid? [True, True] Translation: X:198.29, Y:-0.35, Z:-0.21 [[ 9.93965916e-01 9.89732823e-02 4.72868590e-02 1.98289063e+02] [-9.88562331e-02 9.95090085e-01 -4.81329475e-03 -3.50845148e-01] [-4.75310721e-02 1.09650173e-04 9.98869754e-01 -2.14426298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:198.35, Y:-0.36, Z:-0.22 [[ 9.93673327e-01 1.01870073e-01 4.72843155e-02 1.98351310e+02] [-1.01755118e-01 9.94797712e-01 -4.83815227e-03 -3.55937458e-01] [-4.75311918e-02 -3.87825011e-06 9.98869754e-01 -2.17990704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:-0.36, Z:-0.22 [[ 9.93498137e-01 1.03565717e-01 4.72820751e-02 1.98414188e+02] [-1.03451644e-01 9.94622611e-01 -4.85994975e-03 -3.56595059e-01] [-4.75311451e-02 -6.30573826e-05 9.98869754e-01 -2.20407670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:-0.36, Z:-0.22 [[ 9.93482995e-01 1.03711898e-01 4.72798236e-02 1.98476696e+02] [-1.03596953e-01 9.94607380e-01 -4.88175527e-03 -3.59062559e-01] [-4.75311576e-02 -4.81048011e-05 9.98869755e-01 -2.24872740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters Centerline goodness : 0.993804 with order 1 Centerline is valid? [True, True] Translation: X:198.54, Y:-0.37, Z:-0.22 [[ 9.96496376e-01 6.89915616e-02 4.72772287e-02 1.98537782e+02] [-6.88362776e-02 9.97615903e-01 -4.90675733e-03 -3.69029698e-01] [-4.75030401e-02 1.63517745e-03 9.98869755e-01 -2.15683464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters Centerline goodness : 0.991592 with order 1 Centerline is valid? [True, True] Translation: X:198.60, Y:-0.37, Z:-0.21 [[ 9.94004924e-01 9.85863512e-02 4.72751738e-02 1.98601116e+02] [-9.84634809e-02 9.95128470e-01 -4.92647674e-03 -3.69698271e-01] [-4.75305548e-02 2.42063961e-04 9.98869755e-01 -2.05624437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:-0.38, Z:-0.24 [[ 9.94118355e-01 9.74370303e-02 4.72728366e-02 1.98660947e+02] [-9.73117993e-02 9.95241641e-01 -4.94880276e-03 -3.75835575e-01] [-4.75300921e-02 3.19490872e-04 9.98869755e-01 -2.35348287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters Centerline goodness : 0.992291 with order 1 Centerline is valid? [True, True] Translation: X:198.72, Y:-0.38, Z:-0.21 [[ 9.94433724e-01 9.41641027e-02 4.72725060e-02 1.98724104e+02] [-9.40350248e-02 9.95556574e-01 -4.95195903e-03 -3.84460649e-01] [-4.75287509e-02 4.79123784e-04 9.98869755e-01 -2.12170812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters Centerline goodness : 0.990543 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:-0.39, Z:-0.21 [[ 9.94294947e-01 9.56194775e-02 4.72702169e-02 1.98786037e+02] [-9.54910090e-02 9.95417867e-01 -4.97371448e-03 -3.90643014e-01] [-4.75292024e-02 4.31458467e-04 9.98869756e-01 -2.11495180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters Centerline goodness : 0.996163 with order 1 Centerline is valid? [True, True] Translation: X:198.85, Y:-0.40, Z:-0.24 [[ 9.93790715e-01 1.00726142e-01 4.72679429e-02 1.98846021e+02] [-1.00602421e-01 9.94914167e-01 -4.99523264e-03 -3.97651212e-01] [-4.75306966e-02 2.08946337e-04 9.98869756e-01 -2.44427048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters Centerline goodness : 0.996018 with order 1 Centerline is valid? [True, True] Translation: X:198.91, Y:-0.40, Z:-0.25 [[ 9.93709220e-01 1.01528066e-01 4.72656054e-02 1.98907806e+02] [-1.01404204e-01 9.94832657e-01 -5.01725303e-03 -4.01518368e-01] [-4.75307598e-02 1.92759511e-04 9.98869756e-01 -2.47435987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:-0.41, Z:-0.23 [[ 9.93858902e-01 1.00053304e-01 4.72632882e-02 1.98969986e+02] [-9.99267409e-02 9.94982038e-01 -5.03898724e-03 -4.07019897e-01] [-4.75302902e-02 2.85175972e-04 9.98869756e-01 -2.25171692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters Centerline goodness : 0.993982 with order 1 Centerline is valid? [True, True] Translation: X:199.03, Y:-0.41, Z:-0.23 [[ 9.94066220e-01 9.79722574e-02 4.72629546e-02 1.99031493e+02] [-9.78431945e-02 9.95189071e-01 -5.04211486e-03 -4.14343699e-01] [-4.75295632e-02 3.87837597e-04 9.98869756e-01 -2.34159657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters Centerline goodness : 0.996172 with order 1 Centerline is valid? [True, True] Translation: X:199.09, Y:-0.42, Z:-0.26 [[ 9.94443254e-01 9.40694034e-02 4.72605720e-02 1.99090409e+02] [-9.39348773e-02 9.95565463e-01 -5.06434942e-03 -4.22293332e-01] [-4.75273936e-02 5.96792085e-04 9.98869757e-01 -2.56075009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters Centerline goodness : 0.993570 with order 1 Centerline is valid? [True, True] Translation: X:199.15, Y:-0.43, Z:-0.23 [[ 9.94715221e-01 9.11485976e-02 4.72605720e-02 1.99152982e+02] [-9.10107765e-02 9.95837030e-01 -5.06434942e-03 -4.32892663e-01] [-4.75254360e-02 7.36364100e-04 9.98869757e-01 -2.34637669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:199.21, Y:-0.44, Z:-0.24 [[ 9.94580025e-01 9.26124950e-02 4.72599183e-02 1.99214335e+02] [-9.24760357e-02 9.95702000e-01 -5.07044189e-03 -4.41239937e-01] [-4.75263815e-02 6.72550323e-04 9.98869757e-01 -2.41666558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters Centerline goodness : 0.996568 with order 1 Centerline is valid? [True, True] Translation: X:199.27, Y:-0.45, Z:-0.26 [[ 9.94540253e-01 9.30397973e-02 4.72576087e-02 1.99274541e+02] [-9.29028017e-02 9.95662163e-01 -5.09187778e-03 -4.50188600e-01] [-4.75263601e-02 6.73713170e-04 9.98869757e-01 -2.63938716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters Centerline goodness : 0.924760 with order 1 Centerline is valid? [True, False] Translation: X:199.28, Y:-0.46, Z:-0.26 [[ 9.95904461e-01 7.73781186e-02 4.67646372e-02 1.99275043e+02] [-7.75065944e-02 9.96991399e-01 9.37555383e-04 -4.60848181e-01] [-4.65513948e-02 -4.55828335e-03 9.98905496e-01 -2.63918371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [False, True] Translation: X:199.28, Y:-0.47, Z:-0.26 [[ 9.97150194e-01 6.25230036e-02 4.22180670e-02 1.99276682e+02] [-6.28265302e-02 9.98007022e-01 5.90008413e-03 -4.69253759e-01] [-4.17650364e-02 -8.53568470e-03 9.99090999e-01 -2.64574734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-0.46, Z:-0.29 [[ 9.96627545e-01 7.07314164e-02 4.16005290e-02 1.99339900e+02] [-7.06711123e-02 9.97495396e-01 -2.92027665e-03 -4.62053152e-01] [-4.17028915e-02 -2.95275091e-05 9.99130056e-01 -2.88410219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:199.40, Y:-0.46, Z:-0.27 [[ 9.96330854e-01 7.47954428e-02 4.15989434e-02 1.99402309e+02] [-7.47377428e-02 9.97198882e-01 -2.94269140e-03 -4.61897676e-01] [-4.17025198e-02 -1.77116899e-04 9.99130056e-01 -2.69950931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:199.46, Y:-0.46, Z:-0.27 [[ 9.96057647e-01 7.83499034e-02 4.15987456e-02 1.99464369e+02] [-7.82951843e-02 9.96925869e-01 -2.94548450e-03 -4.61919243e-01] [-4.17016441e-02 -3.23109097e-04 9.99130056e-01 -2.73979754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters Centerline goodness : 0.870892 with order 1 Centerline is valid? [True, False] Translation: X:199.47, Y:-0.46, Z:-0.28 [[ 9.97220220e-01 6.32348220e-02 3.94105229e-02 1.99467662e+02] [-6.33188970e-02 9.97992951e-01 8.87525123e-04 -4.59553488e-01] [-3.92753016e-02 -3.38048884e-03 9.99222709e-01 -2.75439874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [False, True] Translation: X:199.47, Y:-0.46, Z:-0.27 [[ 9.98104757e-01 4.61622495e-02 4.06932453e-02 1.99466776e+02] [-4.63139475e-02 9.98923030e-01 2.79253180e-03 -4.57465515e-01] [-4.05205103e-02 -4.67190411e-03 9.99167784e-01 -2.74931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters Centerline goodness : 0.996124 with order 1 Centerline is valid? [True, True] Translation: X:199.53, Y:-0.45, Z:-0.26 [[ 9.98201395e-01 4.41730875e-02 4.05303962e-02 1.99528708e+02] [-4.41473448e-02 9.99023859e-01 -1.53038611e-03 -4.50476817e-01] [-4.05584346e-02 -2.61675824e-04 9.99177134e-01 -2.57769413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:199.59, Y:-0.45, Z:-0.26 [[ 9.98476122e-01 3.74529659e-02 4.05303400e-02 1.99590431e+02] [-3.74216273e-02 9.99298391e-01 -1.53187163e-03 -4.45632244e-01] [-4.05592767e-02 1.28259709e-05 9.99177134e-01 -2.63061052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:199.65, Y:-0.45, Z:-0.26 [[ 9.98565386e-01 3.49931071e-02 4.05296555e-02 1.99653167e+02] [-3.49590164e-02 9.99387545e-01 -1.54977356e-03 -4.46202548e-01] [-4.05590643e-02 1.30673346e-04 9.99177134e-01 -2.63363729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:-0.45, Z:-0.27 [[ 9.98591881e-01 3.42289858e-02 4.05293941e-02 1.99715052e+02] [-3.41939897e-02 9.99414002e-01 -1.55658045e-03 -4.45395281e-01] [-4.05589241e-02 1.68526919e-04 9.99177134e-01 -2.68413278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters Centerline goodness : 0.995177 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:-0.45, Z:-0.26 [[ 9.98630897e-01 3.30719976e-02 4.05286824e-02 1.99776411e+02] [-3.30353057e-02 9.99452945e-01 -1.57489456e-03 -4.45016519e-01] [-4.05585959e-02 2.33860956e-04 9.99177134e-01 -2.60771758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:199.84, Y:-0.45, Z:-0.29 [[ 9.98631000e-01 3.30689620e-02 4.05286292e-02 1.99835906e+02] [-3.30322121e-02 9.99453045e-01 -1.57626254e-03 -4.45109271e-01] [-4.05585872e-02 2.35354359e-04 9.99177134e-01 -2.91387398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:199.90, Y:-0.44, Z:-0.29 [[ 9.98661759e-01 3.21266989e-02 4.05285776e-02 1.99897715e+02] [-3.20891195e-02 9.99483767e-01 -1.57758908e-03 -4.42111728e-01] [-4.05583381e-02 2.74951520e-04 9.99177134e-01 -2.93774894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.96, Y:-0.44, Z:-0.30 [[ 9.98705135e-01 3.07496595e-02 4.05279049e-02 1.99959605e+02] [-3.07102530e-02 9.99527057e-01 -1.59468523e-03 -4.41807430e-01] [-4.05577735e-02 3.47998116e-04 9.99177134e-01 -2.97328084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.02, Y:-0.44, Z:-0.30 [[ 9.98681878e-01 3.14969089e-02 4.05271758e-02 2.00022145e+02] [-3.14573742e-02 9.99503793e-01 -1.61300228e-03 -4.43027795e-01] [-4.05578706e-02 3.35997611e-04 9.99177135e-01 -3.00003947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:-0.44, Z:-0.30 [[ 9.98696725e-01 3.10235089e-02 4.05264434e-02 2.00084279e+02] [-3.09828462e-02 9.99518585e-01 -1.63119931e-03 -4.40877563e-01] [-4.05575389e-02 3.73448849e-04 9.99177135e-01 -3.03016694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters Centerline goodness : 0.997662 with order 1 Centerline is valid? [True, True] Translation: X:200.15, Y:-0.44, Z:-0.27 [[ 9.98662301e-01 3.21135002e-02 4.05256963e-02 2.00146999e+02] [-3.20729898e-02 9.99484168e-01 -1.64955344e-03 -4.36885282e-01] [-4.05577648e-02 3.47566586e-04 9.99177135e-01 -2.74979080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:-0.43, Z:-0.28 [[ 9.98665180e-01 3.20239664e-02 4.05255882e-02 2.00208851e+02] [-3.19832746e-02 9.99487039e-01 -1.65220638e-03 -4.34694273e-01] [-4.05577103e-02 3.53859966e-04 9.99177135e-01 -2.81316030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:200.27, Y:-0.43, Z:-0.28 [[ 9.98758092e-01 2.89824221e-02 4.05252204e-02 2.00271137e+02] [-2.89388635e-02 9.99579803e-01 -1.66117907e-03 -4.32098465e-01] [-4.05563368e-02 4.86362214e-04 9.99177135e-01 -2.80411850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:-0.44, Z:-0.28 [[ 9.98932190e-01 2.21867141e-02 4.05244322e-02 2.00333047e+02] [-2.21367951e-02 9.99753539e-01 -1.68018988e-03 -4.35481415e-01] [-4.05517224e-02 7.81314704e-04 9.99177135e-01 -2.82883063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:-0.44, Z:-0.29 [[ 9.99018935e-01 1.78606012e-02 4.05236594e-02 2.00395043e+02] [-1.78063783e-02 9.99840011e-01 -1.69862660e-03 -4.37891488e-01] [-4.05475145e-02 9.75380525e-04 9.99177135e-01 -2.87687879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:200.46, Y:-0.44, Z:-0.29 [[ 9.99006645e-01 1.85357419e-02 4.05234412e-02 2.00456399e+02] [-1.84818635e-02 9.99827744e-01 -1.70381571e-03 -4.42813048e-01] [-4.05480423e-02 9.53174508e-04 9.99177135e-01 -2.93049094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:200.52, Y:-0.45, Z:-0.29 [[ 9.99008969e-01 1.84116600e-02 4.05227219e-02 2.00517929e+02] [-1.83569930e-02 9.99830015e-01 -1.72075481e-03 -4.45668358e-01] [-4.05475156e-02 9.75174170e-04 9.99177135e-01 -2.90473527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:-0.45, Z:-0.32 [[ 9.98962221e-01 2.07942194e-02 4.05226069e-02 2.00576568e+02] [-2.07414010e-02 9.99783389e-01 -1.72345957e-03 -4.46424440e-01] [-4.05496672e-02 8.81175364e-04 9.99177135e-01 -3.20415639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters Centerline goodness : 0.996823 with order 1 Centerline is valid? [True, True] Translation: X:200.64, Y:-0.44, Z:-0.29 [[ 9.98790590e-01 2.78437572e-02 4.05226069e-02 2.00639019e+02] [-2.77967354e-02 9.99612110e-01 -1.72345957e-03 -4.44695894e-01] [-4.05548762e-02 5.94979024e-04 9.99177135e-01 -2.94362384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:200.70, Y:-0.44, Z:-0.30 [[ 9.98622768e-01 3.33240790e-02 4.05224945e-02 2.00702065e+02] [-3.32814589e-02 9.99444528e-01 -1.72609714e-03 -4.42966432e-01] [-4.05575060e-02 3.75072169e-04 9.99177135e-01 -2.97839622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:200.76, Y:-0.44, Z:-0.30 [[ 9.98561729e-01 3.51066182e-02 4.05215808e-02 2.00764326e+02] [-3.50646053e-02 9.99383520e-01 -1.74728665e-03 -4.38807842e-01] [-4.05579414e-02 3.23900346e-04 9.99177136e-01 -2.98645669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-0.44, Z:-0.32 [[ 9.98493542e-01 3.69961487e-02 4.05207621e-02 2.00824761e+02] [-3.69549286e-02 9.99315373e-01 -1.76607140e-03 -4.35691377e-01] [-4.05583583e-02 2.65969018e-04 9.99177136e-01 -3.15674955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:200.89, Y:-0.44, Z:-0.32 [[ 9.98503977e-01 3.67134578e-02 4.05207225e-02 2.00887566e+02] [-3.66719682e-02 9.99325795e-01 -1.76697972e-03 -4.35528682e-01] [-4.05582752e-02 2.78361630e-04 9.99177136e-01 -3.21779643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:200.95, Y:-0.43, Z:-0.33 [[ 9.98465103e-01 3.77569373e-02 4.05197808e-02 2.00950175e+02] [-3.77154407e-02 9.99286919e-01 -1.78831828e-03 -4.31503764e-01] [-4.05584083e-02 2.57352005e-04 9.99177136e-01 -3.26344289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:201.01, Y:-0.43, Z:-0.33 [[ 9.98497448e-01 3.68925524e-02 4.05189577e-02 2.01012768e+02] [-3.68495953e-02 9.99319190e-01 -1.80677560e-03 -4.30636807e-01] [-4.05580286e-02 3.10953633e-04 9.99177136e-01 -3.32154556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:201.07, Y:-0.43, Z:-0.31 [[ 9.98606675e-01 3.38082812e-02 4.05180014e-02 2.01074957e+02] [-3.37619262e-02 9.99428232e-01 -1.82797290e-03 -4.29170936e-01] [-4.05566351e-02 4.57460166e-04 9.99177136e-01 -3.12371908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters Centerline goodness : 0.986358 with order 1 Centerline is valid? [True, True] Translation: X:201.14, Y:-0.41, Z:-0.33 [[ 9.95046830e-01 9.07749927e-02 4.05179823e-02 2.01136315e+02] [-9.07756082e-02 9.95869693e-01 -1.82839618e-03 -4.06553711e-01] [-4.05166033e-02 -1.85870467e-03 9.99177136e-01 -3.28007074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters Centerline goodness : 0.991012 with order 1 Centerline is valid? [True, True] Translation: X:201.20, Y:-0.43, Z:-0.31 [[ 9.98744658e-01 2.94519038e-02 4.05178084e-02 2.01197351e+02] [-2.94017923e-02 9.99565995e-01 -1.83224336e-03 -4.31132823e-01] [-4.05541865e-02 6.38647079e-04 9.99177136e-01 -3.14731913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters Centerline goodness : 0.997413 with order 1 Centerline is valid? [True, True] Translation: X:201.26, Y:-0.43, Z:-0.35 [[ 9.98721591e-01 3.02241832e-02 4.05176888e-02 2.01256655e+02] [-3.01745998e-02 9.99542959e-01 -1.83488259e-03 -4.33786460e-01] [-4.05546284e-02 6.09931816e-04 9.99177136e-01 -3.47472402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:-0.43, Z:-0.34 [[ 9.98687842e-01 3.13195326e-02 4.05176600e-02 2.01318941e+02] [-3.12708243e-02 9.99509263e-01 -1.83551969e-03 -4.34631324e-01] [-4.05552641e-02 5.66090575e-04 9.99177136e-01 -3.44719368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters Centerline goodness : 0.987991 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:-0.44, Z:-0.32 [[ 9.98847644e-01 2.57243878e-02 4.05171584e-02 2.01379769e+02] [-2.56706324e-02 9.99668750e-01 -1.84652549e-03 -4.40917071e-01] [-4.05512378e-02 8.04296562e-04 9.99177137e-01 -3.22669918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters Centerline goodness : 0.987138 with order 1 Centerline is valid? [True, True] Translation: X:201.44, Y:-0.44, Z:-0.33 [[ 9.98750647e-01 2.92490176e-02 4.05171574e-02 2.01441075e+02] [-2.91981592e-02 9.99571937e-01 -1.84654765e-03 -4.40847592e-01] [-4.05538232e-02 6.61214250e-04 9.99177137e-01 -3.27011748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters Centerline goodness : 0.995280 with order 1 Centerline is valid? [True, True] Translation: X:201.50, Y:-0.43, Z:-0.35 [[ 9.96414516e-01 7.42730222e-02 4.05170364e-02 2.01500528e+02] [-7.42591563e-02 9.97237263e-01 -1.84919941e-03 -4.34232188e-01] [-4.05424441e-02 -1.16619180e-03 9.99177137e-01 -3.51725042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:201.56, Y:-0.44, Z:-0.36 [[ 9.98062906e-01 4.72102185e-02 4.05170370e-02 2.01560397e+02] [-4.71740349e-02 9.98884974e-01 -1.84918569e-03 -4.42663846e-01] [-4.05591599e-02 -6.57484689e-05 9.99177137e-01 -3.62373261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters Centerline goodness : 0.993046 with order 1 Centerline is valid? [True, True] Translation: X:201.62, Y:-0.44, Z:-0.35 [[ 9.97677091e-01 5.47612678e-02 4.05169899e-02 2.01620330e+02] [-5.47312639e-02 9.98499407e-01 -1.85021769e-03 -4.41576620e-01] [-4.05575106e-02 -3.71626263e-04 9.99177137e-01 -3.50391980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters Centerline goodness : 0.995270 with order 1 Centerline is valid? [True, True] Translation: X:201.68, Y:-0.45, Z:-0.36 [[ 9.98798983e-01 2.75492365e-02 4.05170542e-02 2.01680351e+02] [-2.74968887e-02 9.99620179e-01 -1.84880854e-03 -4.49299488e-01] [-4.05525982e-02 7.32495166e-04 9.99177137e-01 -3.63738417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters Centerline goodness : 0.995389 with order 1 Centerline is valid? [True, True] Translation: X:201.74, Y:-0.45, Z:-0.37 [[ 9.98754497e-01 2.91174309e-02 4.05170214e-02 2.01742222e+02] [-2.90663435e-02 9.99575773e-01 -1.84952515e-03 -4.51451346e-01] [-4.05536865e-02 6.69539896e-04 9.99177137e-01 -3.66179445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:201.80, Y:-0.45, Z:-0.37 [[ 9.95857335e-01 8.14039603e-02 4.05162089e-02 2.01802815e+02] [-8.13952547e-02 9.96680152e-01 -1.86715642e-03 -4.45395453e-01] [-4.05336952e-02 -1.43840573e-03 9.99177137e-01 -3.65088492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters Centerline goodness : 0.994083 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:-0.46, Z:-0.37 [[ 9.98961285e-01 -2.08515648e-02 4.05162160e-02 2.01863542e+02] [ 2.09443537e-02 9.99778900e-01 -1.86700367e-03 -4.59197666e-01] [-4.04683279e-02 2.71365034e-03 9.99177137e-01 -3.72430827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters Centerline goodness : 0.995087 with order 1 Centerline is valid? [True, True] Translation: X:201.92, Y:-0.46, Z:-0.37 [[ 9.99023472e-01 -1.76227887e-02 4.05159100e-02 2.01923868e+02] [ 1.77132018e-02 9.99841353e-01 -1.87361962e-03 -4.60619496e-01] [-4.04764639e-02 2.58945647e-03 9.99177137e-01 -3.74651915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters Centerline goodness : 0.980085 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:-0.46, Z:-0.34 [[ 9.98553009e-01 3.53602686e-02 4.05159100e-02 2.01987959e+02] [-3.53133386e-02 9.99374533e-01 -1.87361962e-03 -4.59199701e-01] [-4.05568204e-02 4.40156463e-04 9.99177137e-01 -3.37051568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters Centerline goodness : 0.995729 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:-0.46, Z:-0.38 [[ 9.98530439e-01 3.59929530e-02 4.05150648e-02 2.02047406e+02] [-3.59458090e-02 9.99351950e-01 -1.89172290e-03 -4.62092082e-01] [-4.05568977e-02 4.32596120e-04 9.99177137e-01 -3.78488421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters Centerline goodness : 0.995880 with order 1 Centerline is valid? [True, True] Translation: X:202.11, Y:-0.47, Z:-0.38 [[ 9.98498472e-01 3.68691584e-02 4.05150051e-02 2.02109903e+02] [-3.68226836e-02 9.99320022e-01 -1.89299994e-03 -4.65538934e-01] [-4.05572491e-02 3.98286339e-04 9.99177137e-01 -3.80969369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:-0.47, Z:-0.38 [[ 9.98423447e-01 3.88488476e-02 4.05140359e-02 2.02172438e+02] [-3.88031691e-02 9.99245041e-01 -1.91352000e-03 -4.67947922e-01] [-4.05577875e-02 3.38430243e-04 9.99177137e-01 -3.81784626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters Centerline goodness : 0.995286 with order 1 Centerline is valid? [True, True] Translation: X:202.24, Y:-0.47, Z:-0.38 [[ 9.98398676e-01 3.94812092e-02 4.05131864e-02 2.02235689e+02] [-3.94353280e-02 9.99220258e-01 -1.93134036e-03 -4.70350565e-01] [-4.05578482e-02 3.30596868e-04 9.99177137e-01 -3.84827900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters Centerline goodness : 0.995282 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:-0.47, Z:-0.39 [[ 9.98452897e-01 3.80864076e-02 4.05122013e-02 2.02297604e+02] [-3.80385491e-02 9.99274366e-01 -1.95178774e-03 -4.73785686e-01] [-4.05571409e-02 4.07742767e-04 9.99177137e-01 -3.85895868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters Centerline goodness : 0.995834 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:-0.48, Z:-0.39 [[ 9.98591466e-01 3.42624627e-02 4.05113304e-02 2.02359165e+02] [-3.42107322e-02 9.99412701e-01 -1.96970033e-03 -4.77116514e-01] [-4.05550249e-02 5.81003670e-04 9.99177138e-01 -3.90143302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters Centerline goodness : 0.986548 with order 1 Centerline is valid? [True, True] Translation: X:202.42, Y:-0.48, Z:-0.37 [[ 9.98586049e-01 3.44210214e-02 4.05104554e-02 2.02421100e+02] [-3.43686979e-02 9.99407245e-01 -1.98753367e-03 -4.80472283e-01] [-4.05548556e-02 5.92431785e-04 9.99177138e-01 -3.65484616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters Centerline goodness : 0.988030 with order 1 Centerline is valid? [True, True] Translation: X:202.48, Y:-0.48, Z:-0.37 [[ 9.98612652e-01 3.36404336e-02 4.05104038e-02 2.02482941e+02] [-3.35874257e-02 9.99433805e-01 -1.98858450e-03 -4.83500707e-01] [-4.05543639e-02 6.25185467e-04 9.99177138e-01 -3.65417510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:202.54, Y:-0.48, Z:-0.40 [[ 9.98549738e-01 3.54590501e-02 4.05102115e-02 2.02542887e+02] [-3.54073791e-02 9.99370976e-01 -1.99249510e-03 -4.84792395e-01] [-4.05553816e-02 5.55245045e-04 9.99177138e-01 -3.97895928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters Centerline goodness : 0.992056 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:-0.49, Z:-0.37 [[ 9.98597839e-01 3.40776385e-02 4.05101212e-02 2.02605011e+02] [-3.40247571e-02 9.99419000e-01 -1.99432962e-03 -4.86428431e-01] [-4.05545469e-02 6.13186213e-04 9.99177138e-01 -3.74740456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters Centerline goodness : 0.917850 with order 1 Centerline is valid? [True, False] Translation: X:202.61, Y:-0.48, Z:-0.37 [[ 9.98608631e-01 3.39764417e-02 4.03286879e-02 2.02605614e+02] [-3.38937348e-02 9.99421706e-01 -2.73297324e-03 -4.83209376e-01] [-4.03982227e-02 1.36228081e-03 9.99182730e-01 -3.74327964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [False, True] Translation: X:202.61, Y:-0.48, Z:-0.37 [[ 9.98629667e-01 3.37276028e-02 4.00154686e-02 2.02606494e+02] [-3.36545217e-02 9.99430403e-01 -2.49872949e-03 -4.84479213e-01] [-4.00769520e-02 1.14860394e-03 9.99195936e-01 -3.74617480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:202.67, Y:-0.49, Z:-0.38 [[ 9.98652850e-01 3.30122316e-02 4.00334512e-02 2.02669483e+02] [-3.29518860e-02 9.99454591e-01 -2.16647693e-03 -4.88013558e-01] [-4.00831368e-02 8.44380645e-04 9.99195991e-01 -3.76651134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:202.73, Y:-0.49, Z:-0.38 [[ 9.98719263e-01 3.09393442e-02 4.00323747e-02 2.02731118e+02] [-3.08765449e-02 9.99520815e-01 -2.18618973e-03 -4.94688118e-01] [-4.00808311e-02 9.47328384e-04 9.99195992e-01 -3.80214471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:202.79, Y:-0.50, Z:-0.38 [[ 9.98790440e-01 2.85506625e-02 4.00314367e-02 2.02793579e+02] [-2.84852637e-02 9.99591784e-01 -2.20323238e-03 -5.00059745e-01] [-4.00779990e-02 1.06026140e-03 9.99195992e-01 -3.82305983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:-0.51, Z:-0.38 [[ 9.98922343e-01 2.34885611e-02 4.00304955e-02 2.02855253e+02] [-2.34184227e-02 9.99723286e-01 -2.22020236e-03 -5.09219975e-01] [-4.00715679e-02 1.28035867e-03 9.99195992e-01 -3.83887787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:-0.51, Z:-0.36 [[ 9.98954902e-01 2.20621394e-02 4.00295515e-02 2.02917170e+02] [-2.19901813e-02 9.99755684e-01 -2.23709384e-03 -5.14781974e-01] [-4.00691267e-02 1.35449877e-03 9.99195992e-01 -3.60838264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters Centerline goodness : 0.996425 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:-0.52, Z:-0.36 [[ 9.98926505e-01 2.33127367e-02 4.00294155e-02 2.02980475e+02] [-2.32416838e-02 9.99727367e-01 -2.23952590e-03 -5.20400626e-01] [-4.00707116e-02 1.30677077e-03 9.99195992e-01 -3.61594349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:-0.53, Z:-0.39 [[ 9.98957375e-01 2.19521448e-02 4.00283165e-02 2.03040988e+02] [-2.18792218e-02 9.99758069e-01 -2.25899959e-03 -5.26601971e-01] [-4.00682223e-02 1.38085589e-03 9.99195992e-01 -3.91668366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:203.10, Y:-0.53, Z:-0.37 [[ 9.98987239e-01 2.05488017e-02 4.00280388e-02 2.03104178e+02] [-2.04745575e-02 9.99787811e-01 -2.26390921e-03 -5.32628731e-01] [-4.00660659e-02 1.44206003e-03 9.99195992e-01 -3.66277182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:-0.54, Z:-0.37 [[ 9.99071612e-01 1.59294673e-02 4.00270775e-02 2.03165698e+02] [-1.58508474e-02 9.99871766e-01 -2.28078037e-03 -5.44050859e-01] [-4.00582762e-02 1.64419983e-03 9.99195992e-01 -3.73314109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:203.23, Y:-0.55, Z:-0.37 [[ 9.99104700e-01 1.37008519e-02 4.00260570e-02 2.03225771e+02] [-1.36197368e-02 9.99904605e-01 -2.29854955e-03 -5.54633783e-01] [-4.00537309e-02 1.75134730e-03 9.99195992e-01 -3.67170424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.28, Y:-0.57, Z:-0.40 [[ 9.99108442e-01 1.34253911e-02 4.00259993e-02 2.03283108e+02] [-1.33440152e-02 9.99908320e-01 -2.29955472e-03 -5.65067018e-01] [-4.00532022e-02 1.76339699e-03 9.99195993e-01 -4.03913043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:203.35, Y:-0.57, Z:-0.41 [[ 9.99077535e-01 1.55569085e-02 4.00257547e-02 2.03345367e+02] [-1.54770694e-02 9.99877569e-01 -2.30380492e-03 -5.71871280e-01] [-4.00566943e-02 1.68219836e-03 9.99195993e-01 -4.08688280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:203.41, Y:-0.58, Z:-0.41 [[ 9.98977810e-01 2.10075174e-02 4.00252348e-02 2.03407979e+02] [-2.09316843e-02 9.99778233e-01 -2.31280223e-03 -5.82880705e-01] [-4.00649447e-02 1.47264253e-03 9.99195993e-01 -4.09566729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters Centerline goodness : 0.996224 with order 1 Centerline is valid? [True, True] Translation: X:203.47, Y:-0.59, Z:-0.38 [[ 9.98908480e-01 2.40814816e-02 4.00241341e-02 2.03469310e+02] [-2.40073558e-02 9.99709063e-01 -2.33169578e-03 -5.88723694e-01] [-4.00686403e-02 1.36827706e-03 9.99195993e-01 -3.79708937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:-0.60, Z:-0.39 [[ 9.98827822e-01 2.72223180e-02 4.00240793e-02 2.03528333e+02] [-2.71506722e-02 9.99628631e-01 -2.33263618e-03 -5.95567175e-01] [-4.00727153e-02 1.24322126e-03 9.99195993e-01 -3.85951720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:203.59, Y:-0.60, Z:-0.39 [[ 9.98740992e-01 3.02407427e-02 4.00241045e-02 2.03589875e+02] [-3.01715347e-02 9.99542015e-01 -2.33220285e-03 -5.99897044e-01] [-4.00763016e-02 1.12167792e-03 9.99195993e-01 -3.85781684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:203.65, Y:-0.60, Z:-0.38 [[ 9.98558222e-01 3.57710297e-02 4.00238732e-02 2.03651284e+02] [-3.57060999e-02 9.99359603e-01 -2.33616675e-03 -6.01671056e-01] [-4.00818091e-02 9.03702100e-04 9.99195993e-01 -3.84650362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters Centerline goodness : 0.997907 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:-0.61, Z:-0.39 [[ 9.98637487e-01 3.34853950e-02 4.00237233e-02 2.03711924e+02] [-3.34185284e-02 9.99438709e-01 -2.33873181e-03 -6.05762144e-01] [-4.00795717e-02 9.98011321e-04 9.99195993e-01 -3.94614111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters Centerline goodness : 0.997165 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:-0.61, Z:-0.39 [[ 9.98720803e-01 3.09009434e-02 4.00236019e-02 2.03772360e+02] [-3.08319204e-02 9.99521842e-01 -2.34080774e-03 -6.10200693e-01] [-4.00767974e-02 1.10380888e-03 9.99195993e-01 -3.92464918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters Centerline goodness : 0.998259 with order 1 Centerline is valid? [True, True] Translation: X:203.83, Y:-0.62, Z:-0.40 [[ 9.98816039e-01 2.76520237e-02 4.00235691e-02 2.03833454e+02] [-2.75803729e-02 9.99616847e-01 -2.34136826e-03 -6.16809071e-01] [-4.00729775e-02 1.23473121e-03 9.99195993e-01 -3.98610244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:-0.63, Z:-0.42 [[ 9.98981572e-01 2.08328967e-02 4.00226091e-02 2.03893112e+02] [-2.07551289e-02 9.99781809e-01 -2.35766418e-03 -6.25985369e-01] [-4.00629935e-02 1.52458866e-03 9.99195993e-01 -4.17817088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:203.96, Y:-0.64, Z:-0.42 [[ 9.99059770e-01 1.66665843e-02 4.00225001e-02 2.03955653e+02] [-1.65854059e-02 9.99859669e-01 -2.35951333e-03 -6.36700267e-01] [-4.00562087e-02 1.69350544e-03 9.99195993e-01 -4.19641472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:204.02, Y:-0.65, Z:-0.43 [[ 9.98943581e-01 2.25835475e-02 4.00213106e-02 2.04015016e+02] [-2.25063078e-02 9.99743869e-01 -2.37951987e-03 -6.45810836e-01] [-4.00647979e-02 1.47627416e-03 9.99195993e-01 -4.31976405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:-0.65, Z:-0.43 [[ 9.98695985e-01 3.16958075e-02 4.00213106e-02 2.04077396e+02] [-3.16258719e-02 9.99496945e-01 -2.37951987e-03 -6.51310194e-01] [-4.00765985e-02 1.11070810e-03 9.99195993e-01 -4.34692225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.14, Y:-0.66, Z:-0.44 [[ 9.98363387e-01 4.08524503e-02 4.00202951e-02 2.04140260e+02] [-4.07891827e-02 9.99164901e-01 -2.39647903e-03 -6.55056487e-01] [-4.00847762e-02 7.60161794e-04 9.99195993e-01 -4.36277052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:204.20, Y:-0.66, Z:-0.44 [[ 9.98030870e-01 4.82996297e-02 4.00190950e-02 2.04202162e+02] [-4.82415467e-02 9.98832776e-01 -2.41635501e-03 -6.56051459e-01] [-4.00890928e-02 4.81013856e-04 9.99195993e-01 -4.38742607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:204.26, Y:-0.66, Z:-0.41 [[ 9.97802309e-01 5.28120476e-02 4.00180033e-02 2.04264527e+02] [-5.27568715e-02 9.98604420e-01 -2.43430158e-03 -6.58263962e-01] [-4.00907154e-02 3.17727081e-04 9.99195994e-01 -4.14741593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:204.33, Y:-0.66, Z:-0.42 [[ 9.97650236e-01 5.56109659e-02 4.00178408e-02 2.04326887e+02] [-5.55579332e-02 9.98452491e-01 -2.43696991e-03 -6.59127751e-01] [-4.00914351e-02 2.07935084e-04 9.99195994e-01 -4.19710866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:-0.66, Z:-0.42 [[ 9.97354614e-01 6.06825531e-02 4.00175145e-02 2.04389325e+02] [-6.06333855e-02 9.98157116e-01 -2.44231624e-03 -6.57145038e-01] [-4.00919728e-02 9.45799315e-06 9.99195994e-01 -4.21081779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:204.45, Y:-0.65, Z:-0.45 [[ 9.97109444e-01 6.45867348e-02 4.00163654e-02 2.04450617e+02] [-6.45399595e-02 9.97912089e-01 -2.46100068e-03 -6.52572825e-01] [-4.00917628e-02 -1.28767581e-04 9.99195994e-01 -4.45995931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters Centerline goodness : 0.993592 with order 1 Centerline is valid? [True, True] Translation: X:204.51, Y:-0.64, Z:-0.45 [[ 9.91421385e-01 1.24428352e-01 4.00152819e-02 2.04510874e+02] [-1.24429222e-01 9.92225391e-01 -2.47849359e-03 -6.39743819e-01] [-4.00125736e-02 -2.52183886e-03 9.99195994e-01 -4.52430285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters Centerline goodness : 0.996568 with order 1 Centerline is valid? [True, True] Translation: X:204.57, Y:-0.64, Z:-0.42 [[ 9.97180031e-01 6.34883243e-02 4.00152368e-02 2.04573215e+02] [-6.34399337e-02 9.97982579e-01 -2.47922136e-03 -6.38350480e-01] [-4.00919109e-02 -6.63339370e-05 9.99195994e-01 -4.20418545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters Centerline goodness : 0.897408 with order 1 Centerline is valid? [True, False] Translation: X:204.58, Y:-0.63, Z:-0.42 [[ 9.98014657e-01 4.73876594e-02 4.14867895e-02 2.04576682e+02] [-4.74191077e-02 9.98875056e-01 -2.26250387e-04 -6.28182712e-01] [-4.14508407e-02 -1.74146534e-03 9.99139027e-01 -4.21853236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [False, True] Translation: X:204.59, Y:-0.62, Z:-0.42 [[ 9.98795184e-01 3.10093914e-02 3.80341646e-02 2.04585057e+02] [-3.11785615e-02 9.99506367e-01 3.86265563e-03 -6.21123514e-01] [-3.78956110e-02 -5.04385238e-03 9.99268974e-01 -4.21136833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:204.65, Y:-0.61, Z:-0.42 [[ 9.98980560e-01 2.46183198e-02 3.78388692e-02 2.04647607e+02] [-2.45827038e-02 9.99696811e-01 -1.40629278e-03 -6.11187008e-01] [-3.78620174e-02 4.74677431e-04 9.99282864e-01 -4.22705289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:-0.61, Z:-0.42 [[ 9.99136938e-01 1.71351184e-02 3.78386834e-02 2.04708804e+02] [-1.70939500e-02 9.99852892e-01 -1.41127419e-03 -6.11733305e-01] [-3.78572994e-02 7.63243607e-04 9.99282864e-01 -4.22594880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:204.77, Y:-0.61, Z:-0.43 [[ 9.99231032e-01 1.02755316e-02 3.78385887e-02 2.04769566e+02] [-1.02293532e-02 9.99946679e-01 -1.41380989e-03 -6.11018667e-01] [-3.78510987e-02 1.02565843e-03 9.99282864e-01 -4.28876454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.83, Y:-0.61, Z:-0.46 [[ 9.99248909e-01 8.35874545e-03 3.78384702e-02 2.04829890e+02] [-8.31107468e-03 9.99964458e-01 -1.41697238e-03 -6.14745087e-01] [-3.78489695e-02 1.10142975e-03 9.99282864e-01 -4.58899951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:-0.62, Z:-0.43 [[ 9.99282490e-01 1.66189578e-03 3.78383822e-02 2.04891470e+02] [-1.60934194e-03 9.99997698e-01 -1.41931896e-03 -6.23606421e-01] [-3.78406539e-02 1.35740569e-03 9.99282864e-01 -4.31420765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:-0.63, Z:-0.43 [[ 9.99271309e-01 5.01108322e-03 3.78383392e-02 2.04952984e+02] [-4.96088338e-03 9.99986686e-01 -1.42046596e-03 -6.32445876e-01] [-3.78449535e-02 1.23171929e-03 9.99282864e-01 -4.34220257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.01, Y:-0.64, Z:-0.47 [[ 9.99203966e-01 1.26387342e-02 3.78377622e-02 2.05013009e+02] [-1.25934211e-02 9.99919669e-01 -1.43567229e-03 -6.40413293e-01] [-3.78528677e-02 9.58022572e-04 9.99282864e-01 -4.65298775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:-0.65, Z:-0.44 [[ 9.99057873e-01 2.12527078e-02 3.78376737e-02 2.05074954e+02] [-2.12134784e-02 9.99773935e-01 -1.43800228e-03 -6.45799321e-01] [-3.78596813e-02 6.33978826e-04 9.99282864e-01 -4.38302343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:-0.65, Z:-0.47 [[ 9.98791130e-01 3.13783981e-02 3.78374776e-02 2.05136076e+02] [-3.13462343e-02 9.99507544e-01 -1.44314134e-03 -6.46827276e-01] [-3.78641278e-02 2.55334328e-04 9.99282864e-01 -4.68859385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters Centerline goodness : 0.996425 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:-0.65, Z:-0.44 [[ 9.98544280e-01 3.84403556e-02 3.78372922e-02 2.05198186e+02] [-3.84130750e-02 9.99260896e-01 -1.44798597e-03 -6.46710333e-01] [-3.78649877e-02 -7.56863899e-06 9.99282864e-01 -4.38613572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:-0.64, Z:-0.47 [[ 9.98414520e-01 4.16748013e-02 3.78372461e-02 2.05257536e+02] [-4.16497966e-02 9.99131220e-01 -1.44919098e-03 -6.44428792e-01] [-3.78647686e-02 -1.29020289e-04 9.99282864e-01 -4.73340344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.32, Y:-0.64, Z:-0.48 [[ 9.98353604e-01 4.31094609e-02 3.78372397e-02 2.05320358e+02] [-4.30854797e-02 9.99070338e-01 -1.44935848e-03 -6.42334177e-01] [-3.78645449e-02 -1.83263364e-04 9.99282864e-01 -4.76226963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.38, Y:-0.64, Z:-0.48 [[ 9.98608397e-01 3.67378693e-02 3.78364758e-02 2.05382181e+02] [-3.67085696e-02 9.99324934e-01 -1.46903355e-03 -6.41606381e-01] [-3.78649028e-02 7.80663315e-05 9.99282864e-01 -4.78893745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:-0.64, Z:-0.48 [[ 9.98859437e-01 2.91252143e-02 3.78357960e-02 2.05445113e+02] [-2.90897984e-02 9.99575697e-01 -1.48633854e-03 -6.43488671e-01] [-3.78630321e-02 3.84007597e-04 9.99282865e-01 -4.82546739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:205.51, Y:-0.65, Z:-0.45 [[ 9.99108036e-01 1.87521805e-02 3.78350215e-02 2.05507293e+02] [-1.87085926e-02 9.99823845e-01 -1.50579899e-03 -6.48933008e-01] [-3.78565937e-02 7.96615862e-04 9.99282865e-01 -4.53286194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:-0.66, Z:-0.49 [[ 9.99227035e-01 1.06698214e-02 3.78349941e-02 2.05566030e+02] [-1.06204188e-02 9.99942467e-01 -1.50648747e-03 -6.58594742e-01] [-3.78488913e-02 1.10349953e-03 9.99282865e-01 -4.86066885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters Centerline goodness : 0.991845 with order 1 Centerline is valid? [True, True] Translation: X:205.63, Y:-0.67, Z:-0.45 [[ 9.99266619e-01 5.89399232e-03 3.78349702e-02 2.05628090e+02] [-5.84114832e-03 9.99981805e-01 -1.50708580e-03 -6.66584216e-01] [-3.78431646e-02 1.28498086e-03 9.99282865e-01 -4.52113794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters Centerline goodness : 0.996420 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:-0.67, Z:-0.46 [[ 9.99274293e-01 4.40507574e-03 3.78349461e-02 2.05688037e+02] [-4.35114331e-03 9.99989397e-01 -1.50769039e-03 -6.71967882e-01] [-3.78411865e-02 1.34197097e-03 9.99282865e-01 -4.60788962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters Centerline goodness : 0.995531 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:-0.68, Z:-0.46 [[ 9.99279436e-01 3.02129532e-03 3.78348989e-02 2.05750643e+02] [-2.96632787e-03 9.99994462e-01 -1.50887534e-03 -6.84034986e-01] [-3.78392481e-02 1.39555739e-03 9.99282865e-01 -4.61762643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:-0.69, Z:-0.50 [[ 9.99281820e-01 2.10309099e-03 3.78341362e-02 2.05810367e+02] [-2.04675251e-03 9.99996738e-01 -1.52776219e-03 -6.93775541e-01] [-3.78372259e-02 1.44922786e-03 9.99282865e-01 -4.96808512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:-0.70, Z:-0.50 [[ 9.99268504e-01 5.57139394e-03 3.78340782e-02 2.05873328e+02] [-5.51748287e-03 9.99983609e-01 -1.52919735e-03 -6.99134061e-01] [-3.78419779e-02 1.31932987e-03 9.99282865e-01 -4.98013295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.94, Y:-0.70, Z:-0.50 [[ 9.99195483e-01 1.33050744e-02 3.78333362e-02 2.05936153e+02] [-1.32560131e-02 9.99910938e-01 -1.54734121e-03 -7.02497961e-01] [-3.78505541e-02 1.04457715e-03 9.99282865e-01 -5.02062831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters Centerline goodness : 0.997404 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:-0.70, Z:-0.47 [[ 9.99101180e-01 1.91188097e-02 3.78325745e-02 2.05998411e+02] [-1.90732156e-02 9.99816864e-01 -1.56574508e-03 -7.02342683e-01] [-3.78555812e-02 8.42748904e-04 9.99282865e-01 -4.73759586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters Centerline goodness : 0.997067 with order 1 Centerline is valid? [True, True] Translation: X:206.06, Y:-0.70, Z:-0.47 [[ 9.99069190e-01 2.07233572e-02 3.78324724e-02 2.06060390e+02] [-2.06788192e-02 9.99784940e-01 -1.56820858e-03 -7.04091390e-01] [-3.78568347e-02 7.84418013e-04 9.99282865e-01 -4.72851933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters Centerline goodness : 0.997563 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:-0.70, Z:-0.48 [[ 9.98935262e-01 2.64018626e-02 3.78323183e-02 2.06122687e+02] [-2.63612534e-02 9.99651246e-01 -1.57191771e-03 -7.01596144e-01] [-3.78606257e-02 5.72936704e-04 9.99282865e-01 -4.80198509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:206.19, Y:-0.70, Z:-0.49 [[ 9.98944721e-01 2.60418271e-02 3.78321087e-02 2.06185072e+02] [-2.60007695e-02 9.99660679e-01 -1.57694600e-03 -7.01535707e-01] [-3.78603380e-02 5.91617941e-04 9.99282865e-01 -4.87219327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters Centerline goodness : 0.997057 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-0.70, Z:-0.49 [[ 9.98523370e-01 3.89854595e-02 3.78313883e-02 2.06246385e+02] [-3.89530360e-02 9.99239771e-01 -1.59404282e-03 -7.00967612e-01] [-3.78647723e-02 1.18041580e-04 9.99282865e-01 -4.92445207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:206.31, Y:-0.71, Z:-0.49 [[ 9.99058373e-01 2.12405409e-02 3.78312828e-02 2.06307417e+02] [-2.11953010e-02 9.99774080e-01 -1.59654412e-03 -7.10885943e-01] [-3.78566474e-02 7.93195344e-04 9.99282865e-01 -4.88600426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:206.37, Y:-0.72, Z:-0.49 [[ 9.99140302e-01 1.69545977e-02 3.78311798e-02 2.06369596e+02] [-1.69061959e-02 9.99855802e-01 -1.59897892e-03 -7.17521657e-01] [-3.78528347e-02 9.58022950e-04 9.99282865e-01 -4.91562811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:206.43, Y:-0.72, Z:-0.52 [[ 9.99169093e-01 1.51651184e-02 3.78304474e-02 2.06430898e+02] [-1.51147865e-02 9.99884459e-01 -1.61612458e-03 -7.20179562e-01] [-3.78505851e-02 1.04298259e-03 9.99282866e-01 -5.20512817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters Centerline goodness : 0.996370 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:-0.73, Z:-0.49 [[ 9.99200151e-01 1.29603123e-02 3.78297393e-02 2.06492311e+02] [-1.29077813e-02 9.99915358e-01 -1.63253321e-03 -7.31322918e-01] [-3.78476954e-02 1.14292943e-03 9.99282866e-01 -4.88582251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:206.55, Y:-0.73, Z:-0.50 [[ 9.99164955e-01 1.54371685e-02 3.78297126e-02 2.06552823e+02] [-1.53863872e-02 9.99880289e-01 -1.63315178e-03 -7.34481440e-01] [-3.78503952e-02 1.04972542e-03 9.99282866e-01 -4.97118332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:206.61, Y:-0.74, Z:-0.50 [[ 9.99199740e-01 1.29921159e-02 3.78296693e-02 2.06613862e+02] [-1.29395464e-02 9.99914945e-01 -1.63415346e-03 -7.44111617e-01] [-3.78476828e-02 1.14334695e-03 9.99282866e-01 -4.97454367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.67, Y:-0.75, Z:-0.53 [[ 9.99170111e-01 1.51000866e-02 3.78295632e-02 2.06672181e+02] [-1.50489333e-02 9.99885419e-01 -1.63660515e-03 -7.49318919e-01] [-3.78499416e-02 1.06595238e-03 9.99282866e-01 -5.29226108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:206.73, Y:-0.76, Z:-0.51 [[ 9.99127431e-01 1.77003060e-02 3.78295632e-02 2.06734559e+02] [-1.76510144e-02 9.99842869e-01 -1.63660515e-03 -7.58805429e-01] [-3.78525875e-02 9.67446935e-04 9.99282866e-01 -5.09134083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:-0.76, Z:-0.51 [[ 9.98981754e-01 2.45852877e-02 3.78288162e-02 2.06797213e+02] [-2.45402808e-02 9.99697474e-01 -1.65369384e-03 -7.62695283e-01] [-3.78580286e-02 7.23680201e-04 9.99282866e-01 -5.07428594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.86, Y:-0.77, Z:-0.54 [[ 9.98802753e-01 3.10171212e-02 3.78285491e-02 2.06857850e+02] [-3.09764932e-02 9.99518735e-01 -1.65978112e-03 -7.66929591e-01] [-3.78618252e-02 4.85998154e-04 9.99282866e-01 -5.38352730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters Centerline goodness : 0.998011 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:-0.76, Z:-0.51 [[ 9.98603297e-01 3.68851060e-02 3.78278133e-02 2.06922232e+02] [-3.68480565e-02 9.99319474e-01 -1.67638529e-03 -7.64615355e-01] [-3.78639041e-02 2.80162478e-04 9.99282866e-01 -5.13666976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters Centerline goodness : 0.997163 with order 1 Centerline is valid? [True, True] Translation: X:206.98, Y:-0.77, Z:-0.52 [[ 9.98434922e-01 4.11925954e-02 3.78269335e-02 2.06984342e+02] [-4.11578923e-02 9.99151216e-01 -1.69600783e-03 -7.66856506e-01] [-3.78646896e-02 1.36476585e-04 9.99282866e-01 -5.16405094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:207.05, Y:-0.76, Z:-0.53 [[ 9.97897893e-01 5.26210781e-02 3.78261453e-02 2.07046129e+02] [-5.25939186e-02 9.98614512e-01 -1.71340958e-03 -7.59586194e-01] [-3.78638991e-02 -2.79617398e-04 9.99282866e-01 -5.26497676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:-0.76, Z:-0.54 [[ 9.98162923e-01 4.73288423e-02 3.78253982e-02 2.07107783e+02] [-4.72972641e-02 9.98879360e-01 -1.72974701e-03 -7.59496930e-01] [-3.78648764e-02 -6.24685179e-05 9.99282866e-01 -5.41296747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:207.17, Y:-0.75, Z:-0.55 [[ 9.97861720e-01 5.33033280e-02 3.78251700e-02 2.07169290e+02] [-5.32758506e-02 9.98578327e-01 -1.73472282e-03 -7.50428561e-01] [-3.78638614e-02 -2.84154605e-04 9.99282866e-01 -5.48375640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters Centerline goodness : 0.996423 with order 1 Centerline is valid? [True, True] Translation: X:207.23, Y:-0.75, Z:-0.53 [[ 9.97732337e-01 5.56726974e-02 3.78250552e-02 2.07232609e+02] [-5.56468271e-02 9.98449004e-01 -1.73722121e-03 -7.45178979e-01] [-3.78631045e-02 -3.71562524e-04 9.99282866e-01 -5.30373212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters Centerline goodness : 0.996618 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:-0.74, Z:-0.53 [[ 9.97635522e-01 5.73819804e-02 3.78242331e-02 2.07295272e+02] [-5.73566662e-02 9.98352209e-01 -1.75494062e-03 -7.37649839e-01] [-3.78626086e-02 -4.18680810e-04 9.99282867e-01 -5.32970964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters Centerline goodness : 0.994935 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:-0.73, Z:-0.53 [[ 9.97699738e-01 5.62549852e-02 3.78233955e-02 2.07357984e+02] [-5.62281839e-02 9.98416370e-01 -1.77281201e-03 -7.31469851e-01] [-3.78632267e-02 -3.58006753e-04 9.99282867e-01 -5.33061912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:207.42, Y:-0.73, Z:-0.56 [[ 9.97556844e-01 5.87349752e-02 3.78225574e-02 2.07418599e+02] [-5.87092843e-02 9.98273517e-01 -1.79051566e-03 -7.27167449e-01] [-3.78624232e-02 -4.34394125e-04 9.99282867e-01 -5.58334974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters Centerline goodness : 0.996221 with order 1 Centerline is valid? [True, True] Translation: X:207.48, Y:-0.72, Z:-0.54 [[ 9.97668270e-01 5.68109727e-02 3.78224377e-02 2.07481300e+02] [-5.67838040e-02 9.98384888e-01 -1.79303907e-03 -7.18324240e-01] [-3.78632146e-02 -3.58843709e-04 9.99282867e-01 -5.38688698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters Centerline goodness : 0.996270 with order 1 Centerline is valid? [True, True] Translation: X:207.54, Y:-0.71, Z:-0.54 [[ 9.97760019e-01 5.51762368e-02 3.78223178e-02 2.07544277e+02] [-5.51477983e-02 9.98476588e-01 -1.79556527e-03 -7.14589888e-01] [-3.78637714e-02 -2.94274318e-04 9.99282867e-01 -5.39310718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters Centerline goodness : 0.994591 with order 1 Centerline is valid? [True, True] Translation: X:207.61, Y:-0.71, Z:-0.54 [[ 9.97901751e-01 5.25508368e-02 3.78220205e-02 2.07606332e+02] [-5.25202765e-02 9.98618232e-01 -1.80180608e-03 -7.11718511e-01] [-3.78644457e-02 -1.88397530e-04 9.99282867e-01 -5.38887647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters Centerline goodness : 0.974527 with order 1 Centerline is valid? [True, True] Translation: X:207.67, Y:-0.74, Z:-0.56 [[ 9.99111670e-01 -1.85855660e-02 3.78212532e-02 2.07666776e+02] [ 1.86676300e-02 9.99824092e-01 -1.81777101e-03 -7.42400831e-01] [-3.77808158e-02 2.52218939e-03 9.99282867e-01 -5.57728023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:-0.71, Z:-0.57 [[ 9.98109029e-01 4.84559776e-02 3.78204226e-02 2.07729967e+02] [-4.84212241e-02 9.98825319e-01 -1.83489110e-03 -7.08007428e-01] [-3.78649071e-02 1.10211689e-07 9.99282867e-01 -5.67627789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters Centerline goodness : 0.882519 with order 3 Centerline is valid? [True, False] Translation: X:207.74, Y:-0.71, Z:-0.57 [[ 9.98899242e-01 3.12692034e-02 3.49648497e-02 2.07736265e+02] [-3.13746865e-02 9.99504636e-01 2.47210475e-03 -7.09377852e-01] [-3.48702287e-02 -3.56639476e-03 9.99385485e-01 -5.67417419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [False, True] Translation: X:207.74, Y:-0.70, Z:-0.57 [[ 9.99001541e-01 2.75525604e-02 3.51678418e-02 2.07735576e+02] [-2.74442333e-02 9.99616999e-01 -3.55940038e-03 -7.01911642e-01] [-3.52524431e-02 2.59069201e-03 9.99375082e-01 -5.67266559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:-0.71, Z:-0.57 [[ 9.99093920e-01 2.38581449e-02 3.52438344e-02 2.07797219e+02] [-2.38349695e-02 9.99715326e-01 -1.07763630e-03 -7.06172503e-01] [-3.52595118e-02 2.36624155e-04 9.99378162e-01 -5.70823073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters Centerline goodness : 0.992709 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:-0.69, Z:-0.56 [[ 9.98152065e-01 4.95011276e-02 3.52433521e-02 2.07860411e+02] [-4.94933650e-02 9.98773854e-01 -1.09318517e-03 -6.92887553e-01] [-3.52542525e-02 -6.53147056e-04 9.99378162e-01 -5.60648218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters Centerline goodness : 0.969689 with order 2 Centerline is valid? [True, True] Translation: X:207.88, Y:-0.75, Z:-0.56 [[ 9.98212638e-01 -4.82645905e-02 3.52428604e-02 2.07881622e+02] [ 4.83336189e-02 9.98830632e-01 -1.10881527e-03 -7.49109210e-01] [-3.51481320e-02 2.81024840e-03 9.99378162e-01 -5.62851107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:207.98, Y:-0.71, Z:-0.58 [[ 9.98852203e-01 3.22554870e-02 3.54098912e-02 2.07979665e+02] [-3.24128297e-02 9.99467042e-01 3.87830016e-03 -7.09893604e-01] [-3.52659228e-02 -5.02158343e-03 9.99365348e-01 -5.76730370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:208.04, Y:-0.70, Z:-0.58 [[ 9.98686921e-01 3.72241200e-02 3.51965716e-02 2.08042421e+02] [-3.71971746e-02 9.99306936e-01 -1.42029463e-03 -7.04089304e-01] [-3.52250474e-02 1.09216650e-04 9.99379399e-01 -5.78585795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:208.10, Y:-0.70, Z:-0.58 [[ 9.98500523e-01 4.19279346e-02 3.51959397e-02 2.08104708e+02] [-4.19033640e-02 9.99120637e-01 -1.43578529e-03 -6.97462846e-01] [-3.52251892e-02 -4.11959046e-05 9.99379400e-01 -5.80645764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:-0.69, Z:-0.58 [[ 9.98317394e-01 4.60833079e-02 3.51952976e-02 2.08166881e+02] [-4.60607695e-02 9.98937585e-01 -1.45135662e-03 -6.91189796e-01] [-3.52247889e-02 -1.72207932e-04 9.99379400e-01 -5.81882962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:208.23, Y:-0.69, Z:-0.58 [[ 9.98263633e-01 4.72340453e-02 3.51946472e-02 2.08229102e+02] [-4.72116718e-02 9.98883830e-01 -1.46695907e-03 -6.85459458e-01] [-3.52246545e-02 -1.97186245e-04 9.99379400e-01 -5.84228291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:208.29, Y:-0.68, Z:-0.59 [[ 9.98398084e-01 4.43017946e-02 3.51939800e-02 2.08291585e+02] [-4.42770413e-02 9.99018190e-01 -1.48279732e-03 -6.77996916e-01] [-3.52251168e-02 -7.78633020e-05 9.99379400e-01 -5.88589243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:208.36, Y:-0.67, Z:-0.59 [[ 9.98675415e-01 3.75345994e-02 3.51933097e-02 2.08355411e+02] [-3.75050894e-02 9.99295313e-01 -1.49853880e-03 -6.72775014e-01] [-3.52247565e-02 1.76625635e-04 9.99379400e-01 -5.91317525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:208.42, Y:-0.67, Z:-0.59 [[ 9.98961118e-01 2.89511737e-02 3.51925430e-02 2.08417840e+02] [-2.89157110e-02 9.99580703e-01 -1.51633266e-03 -6.69376919e-01] [-3.52216865e-02 4.97139967e-04 9.99379400e-01 -5.93760793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:208.48, Y:-0.67, Z:-0.60 [[ 9.99186142e-01 1.97125484e-02 3.51918816e-02 2.08479799e+02] [-1.96708229e-02 9.99805338e-01 -1.53152972e-03 -6.72180111e-01] [-3.52152215e-02 8.38029999e-04 9.99379400e-01 -5.97506124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters Centerline goodness : 0.995736 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:-0.68, Z:-0.57 [[ 9.99356097e-01 6.99772929e-03 3.51912269e-02 2.08541257e+02] [-6.94760490e-03 9.99974669e-01 -1.54642836e-03 -6.76860012e-01] [-3.52011570e-02 1.30093787e-03 9.99379400e-01 -5.68399807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:-0.68, Z:-0.57 [[ 9.99376990e-01 2.68544664e-03 3.51912080e-02 2.08602222e+02] [-2.63263841e-03 9.99995338e-01 -1.54686027e-03 -6.81989302e-01] [-3.51951979e-02 1.45325084e-03 9.99379400e-01 -5.73276422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:-0.69, Z:-0.60 [[ 9.99372398e-01 4.04915903e-03 3.51911125e-02 2.08660807e+02] [-3.99711837e-03 9.99990812e-01 -1.54902904e-03 -6.87040105e-01] [-3.51970614e-02 1.40739382e-03 9.99379400e-01 -6.04062248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters Centerline goodness : 0.997470 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:-0.69, Z:-0.58 [[ 9.99380237e-01 -8.53413732e-04 3.51911125e-02 2.08722510e+02] [ 9.08487459e-04 9.99998388e-01 -1.54902904e-03 -6.94108621e-01] [-3.51897338e-02 1.58003969e-03 9.99379400e-01 -5.76012391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:-0.70, Z:-0.61 [[ 9.99375319e-01 3.24935193e-03 3.51910879e-02 2.08782081e+02] [-3.19679674e-03 9.99993690e-01 -1.54958726e-03 -6.95430527e-01] [-3.51959010e-02 1.43612051e-03 9.99379400e-01 -6.07219281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:-0.70, Z:-0.61 [[ 9.99372899e-01 3.92399854e-03 3.51910634e-02 2.08843784e+02] [-3.87184125e-03 9.99991303e-01 -1.55014357e-03 -7.00332183e-01] [-3.51968401e-02 1.41291726e-03 9.99379400e-01 -6.10881921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:208.91, Y:-0.71, Z:-0.58 [[ 9.99374090e-01 -3.61414910e-03 3.51904315e-02 2.08906418e+02] [ 3.67146876e-03 9.99992037e-01 -1.56435809e-03 -7.07613334e-01] [-3.51844975e-02 1.69257951e-03 9.99379401e-01 -5.82775476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters Centerline goodness : 0.965234 with order 1 Centerline is valid? [True, True] Translation: X:208.97, Y:-0.68, Z:-0.61 [[ 9.95996868e-01 8.21698390e-02 3.51902860e-02 2.08968894e+02] [-8.21656505e-02 9.96617453e-01 -1.56762475e-03 -6.75966246e-01] [-3.52000647e-02 -1.33008340e-03 9.99379401e-01 -6.07370273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:209.03, Y:-0.72, Z:-0.59 [[ 9.99380538e-01 4.47306181e-04 3.51900533e-02 2.09030049e+02] [-3.92200564e-04 9.99998686e-01 -1.57283029e-03 -7.21215049e-01] [-3.51907106e-02 1.55805442e-03 9.99379401e-01 -5.89470341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:209.09, Y:-0.72, Z:-0.59 [[ 9.99334711e-01 9.58173433e-03 3.51898508e-02 2.09091341e+02] [-9.53212200e-03 9.99953324e-01 -1.57734993e-03 -7.24119145e-01] [-3.52033220e-02 1.24086659e-03 9.99379401e-01 -5.94980385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters Centerline goodness : 0.997619 with order 1 Centerline is valid? [True, True] Translation: X:209.15, Y:-0.73, Z:-0.59 [[ 9.99260274e-01 1.55108196e-02 3.51897514e-02 2.09151795e+02] [-1.54648007e-02 9.99879165e-01 -1.57956349e-03 -7.26409622e-01] [-3.52099996e-02 1.03419256e-03 9.99379401e-01 -5.90596773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:209.21, Y:-0.72, Z:-0.62 [[ 9.99219702e-01 1.79351274e-02 3.51897514e-02 2.09211314e+02] [-1.78906101e-02 9.99838703e-01 -1.57956349e-03 -7.22825257e-01] [-3.52124050e-02 9.48764841e-04 9.99379401e-01 -6.21394803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:209.27, Y:-0.72, Z:-0.62 [[ 9.99221803e-01 1.78178497e-02 3.51896599e-02 2.09274498e+02] [-1.77731881e-02 9.99840793e-01 -1.58159885e-03 -7.20751554e-01] [-3.52122382e-02 9.54935615e-04 9.99379401e-01 -6.23858025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:209.34, Y:-0.72, Z:-0.63 [[ 9.99241941e-01 1.66518482e-02 3.51888949e-02 2.09338058e+02] [-1.66058717e-02 9.99860835e-01 -1.59844138e-03 -7.19465663e-01] [-3.52106148e-02 1.01288740e-03 9.99379401e-01 -6.25844021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.40, Y:-0.72, Z:-0.62 [[ 9.99310870e-01 1.18144784e-02 3.51881246e-02 2.09399949e+02] [-1.17649163e-02 9.99929486e-01 -1.61522090e-03 -7.20160903e-01] [-3.52047264e-02 1.20012246e-03 9.99379401e-01 -6.24862230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:209.46, Y:-0.72, Z:-0.60 [[ 9.99299852e-01 1.27140469e-02 3.51874925e-02 2.09461311e+02] [-1.26645613e-02 9.99918474e-01 -1.62887730e-03 -7.22441754e-01] [-3.52053334e-02 1.18210269e-03 9.99379401e-01 -5.95431985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:209.52, Y:-0.72, Z:-0.60 [[ 9.99282594e-01 1.40049205e-02 3.51874975e-02 2.09523485e+02] [-1.39562380e-02 9.99901280e-01 -1.62876772e-03 -7.20549844e-01] [-3.52068346e-02 1.13651414e-03 9.99379401e-01 -6.02639778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:209.59, Y:-0.72, Z:-0.61 [[ 9.99270853e-01 1.48194694e-02 3.51872964e-02 2.09585890e+02] [-1.47711387e-02 9.99889567e-01 -1.63310226e-03 -7.20792786e-01] [-3.52076122e-02 1.11215505e-03 9.99379401e-01 -6.05485632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters Centerline goodness : 0.997473 with order 1 Centerline is valid? [True, True] Translation: X:209.65, Y:-0.72, Z:-0.60 [[ 9.99252803e-01 1.59919111e-02 3.51865791e-02 2.09647191e+02] [-1.59437678e-02 9.99871531e-01 -1.64841208e-03 -7.20589498e-01] [-3.52084200e-02 1.08617374e-03 9.99379401e-01 -6.04058402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:209.71, Y:-0.74, Z:-0.61 [[ 9.99344477e-01 -8.51640574e-03 3.51864745e-02 2.09707559e+02] [ 8.57978521e-03 9.99961831e-01 -1.65064260e-03 -7.36994605e-01] [-3.51710739e-02 1.95145295e-03 9.99379401e-01 -6.09450476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters Centerline goodness : 0.997718 with order 1 Centerline is valid? [True, True] Translation: X:209.77, Y:-0.73, Z:-0.61 [[ 9.99315430e-01 1.14276258e-02 3.51863824e-02 2.09770350e+02] [-1.13765095e-02 9.99933920e-01 -1.65260333e-03 -7.25085853e-01] [-3.52029426e-02 1.25117379e-03 9.99379401e-01 -6.14455175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters Centerline goodness : 0.997666 with order 1 Centerline is valid? [True, True] Translation: X:209.83, Y:-0.75, Z:-0.62 [[ 9.99203192e-01 -1.88401162e-02 3.51856776e-02 2.09830294e+02] [ 1.89104603e-02 9.99819791e-01 -1.66747665e-03 -7.53884857e-01] [-3.51479213e-02 2.33152535e-03 9.99379401e-01 -6.20462986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters Centerline goodness : 0.997324 with order 1 Centerline is valid? [True, True] Translation: X:209.89, Y:-0.74, Z:-0.62 [[ 9.99335919e-01 9.47084822e-03 3.51855779e-02 2.09891727e+02] [-9.41792426e-03 9.99954257e-01 -1.66957593e-03 -7.41532184e-01] [-3.51997807e-02 1.33709208e-03 9.99379401e-01 -6.21106040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters Centerline goodness : 0.996481 with order 1 Centerline is valid? [True, True] Translation: X:209.95, Y:-0.75, Z:-0.62 [[ 9.99247744e-01 1.63071153e-02 3.51855772e-02 2.09951451e+02] [-1.62584221e-02 9.99866429e-01 -1.66959161e-03 -7.48561993e-01] [-3.52081037e-02 1.09627368e-03 9.99379401e-01 -6.24565083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:210.01, Y:-0.76, Z:-0.62 [[ 9.99297361e-01 1.29140096e-02 3.51853909e-02 2.10013630e+02] [-1.28630782e-02 9.99915867e-01 -1.67350823e-03 -7.59663645e-01] [-3.52040424e-02 1.21973992e-03 9.99379401e-01 -6.24328824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters Centerline goodness : 0.995534 with order 1 Centerline is valid? [True, True] Translation: X:210.08, Y:-0.77, Z:-0.63 [[ 9.99275536e-01 1.45058764e-02 3.51849902e-02 2.10075467e+02] [-1.44556354e-02 9.99894097e-01 -1.68189086e-03 -7.69267498e-01] [-3.52056613e-02 1.17205100e-03 9.99379401e-01 -6.28817251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters Centerline goodness : 0.995681 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:-0.80, Z:-0.63 [[ 9.99251866e-01 -1.60542674e-02 3.51847876e-02 2.10135979e+02] [ 1.61235460e-02 9.99868585e-01 -1.68611878e-03 -7.96795559e-01] [-3.51530944e-02 2.25216088e-03 9.99379401e-01 -6.32347135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters Centerline goodness : 0.997567 with order 1 Centerline is valid? [True, True] Translation: X:210.20, Y:-0.78, Z:-0.64 [[ 9.99274015e-01 1.46124396e-02 3.51840932e-02 2.10199167e+02] [-1.45616106e-02 9.99892528e-01 -1.70048627e-03 -7.82184318e-01] [-3.52051602e-02 1.18691468e-03 9.99379401e-01 -6.37061941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters Centerline goodness : 0.939302 with order 3 Centerline is valid? [True, False] Translation: X:210.27, Y:-0.78, Z:-0.64 [[ 9.99698298e-01 1.80131639e-02 1.66984764e-02 2.10270759e+02] [-1.77535819e-02 9.99721227e-01 -1.55652961e-02 -7.79130289e-01] [-1.69742016e-02 1.52641423e-02 9.99739407e-01 -6.36716222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [False, True] Translation: X:210.32, Y:-0.78, Z:-0.64 [[ 9.99808826e-01 1.94321862e-02 2.16847997e-03 2.10322177e+02] [-1.93771406e-02 9.99546913e-01 -2.30325008e-02 -7.83653788e-01] [-2.61506930e-03 2.29860786e-02 9.99732365e-01 -6.37164622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters Centerline goodness : 0.993394 with order 1 Centerline is valid? [True, True] Translation: X:210.38, Y:-0.82, Z:-0.61 [[ 9.99760793e-01 2.16229096e-02 3.28732130e-03 2.10380671e+02] [-2.16224981e-02 9.99766194e-01 -1.60684682e-04 -8.16109218e-01] [-3.29002717e-03 8.95661468e-05 9.99994584e-01 -6.12111385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters Centerline goodness : 0.791530 with order 1 Centerline is valid? [True, False] Translation: X:210.41, Y:-0.82, Z:-0.61 [[ 9.99977248e-01 6.65418601e-03 1.10717677e-03 2.10405306e+02] [-6.65211504e-03 9.99976138e-01 -1.86378439e-03 -8.22297740e-01] [-1.11955231e-03 1.85637692e-03 9.99997650e-01 -6.10363552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters Centerline goodness : 0.994191 with order 1 Centerline is valid? [False, True] Translation: X:210.48, Y:-0.82, Z:-0.61 [[ 9.99709654e-01 1.30426870e-02 -2.02606805e-02 2.10484929e+02] [-1.33217127e-02 9.99817426e-01 -1.36984066e-02 -8.16008633e-01] [ 2.00783174e-02 1.39643363e-02 9.99700885e-01 -6.08342691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:-0.83, Z:-0.61 [[ 9.99719994e-01 1.26764856e-02 -1.99809899e-02 2.10542937e+02] [-1.26710379e-02 9.99919639e-01 3.99230167e-04 -8.31140098e-01] [ 1.99844450e-02 -1.45938500e-04 9.99800280e-01 -6.09349589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters Centerline goodness : 0.886192 with order 1 Centerline is valid? [True, False] Translation: X:210.59, Y:-0.81, Z:-0.60 [[ 9.99047852e-01 1.62996796e-02 -4.04686319e-02 2.10590371e+02] [-1.73638683e-02 9.99508890e-01 -2.60859001e-02 -8.08250531e-01] [ 4.00235655e-02 2.67637544e-02 9.98840235e-01 -6.01728119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters Centerline goodness : 0.995828 with order 1 Centerline is valid? [False, True] Translation: X:210.58, Y:-0.82, Z:-0.60 [[ 9.99511668e-01 7.00191228e-03 -3.04532347e-02 2.10584812e+02] [-7.54102668e-03 9.99816241e-01 -1.76243522e-02 -8.16490044e-01] [ 3.03242345e-02 1.78453943e-02 9.99380800e-01 -6.04346339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:-0.83, Z:-0.60 [[ 9.99506392e-01 8.83946446e-03 -3.01469007e-02 2.10643186e+02] [-8.82788134e-03 9.99960900e-01 5.17300140e-04 -8.33991303e-01] [ 3.01502946e-02 -2.50911534e-04 9.99545345e-01 -6.01353573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters Centerline goodness : 0.994349 with order 1 Centerline is valid? [True, True] Translation: X:210.70, Y:-0.84, Z:-0.60 [[ 9.99509958e-01 8.42637307e-03 -3.01469685e-02 2.10701246e+02] [-8.41472224e-03 9.99964464e-01 5.13316914e-04 -8.36692331e-01] [ 3.01502226e-02 -2.59387001e-04 9.99545345e-01 -5.99559820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters Centerline goodness : 0.995979 with order 1 Centerline is valid? [True, True] Translation: X:210.76, Y:-0.84, Z:-0.60 [[ 9.99469709e-01 1.23062957e-02 -3.01472291e-02 2.10760297e+02] [-1.22968857e-02 9.99924267e-01 4.97523630e-04 -8.36293677e-01] [ 3.01510687e-02 -1.26542768e-04 9.99545345e-01 -6.00803381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:210.82, Y:-0.83, Z:-0.62 [[ 9.99398898e-01 1.71167788e-02 -3.01472772e-02 2.10819265e+02] [-1.71096451e-02 9.99853497e-01 4.94592812e-04 -8.34360638e-01] [ 3.01513264e-02 2.15137030e-05 9.99545345e-01 -6.19338772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:-0.83, Z:-0.62 [[ 9.99363227e-01 1.90860515e-02 -3.01473552e-02 2.10877752e+02] [-1.90799586e-02 9.99817841e-01 4.89790115e-04 -8.33654924e-01] [ 3.01512118e-02 8.57320596e-05 9.99545345e-01 -6.17764152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:210.94, Y:-0.83, Z:-0.60 [[ 9.99277972e-01 2.31226843e-02 -3.01475704e-02 2.10936006e+02] [-2.31188387e-02 9.99732611e-01 4.76167091e-04 -8.29960479e-01] [ 3.01505195e-02 2.21153531e-04 9.99545345e-01 -5.99526258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:210.99, Y:-0.83, Z:-0.60 [[ 9.99287878e-01 2.26902603e-02 -3.01477786e-02 2.10993748e+02] [-2.26866272e-02 9.99742518e-01 4.62599797e-04 -8.27378985e-01] [ 3.01505126e-02 2.21681045e-04 9.99545345e-01 -5.97235112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters Centerline goodness : 0.997271 with order 1 Centerline is valid? [True, True] Translation: X:211.05, Y:-0.83, Z:-0.59 [[ 9.99346263e-01 1.99535299e-02 -3.01480087e-02 2.11052688e+02] [-1.99491198e-02 9.99800897e-01 4.47084738e-04 -8.25307980e-01] [ 3.01509270e-02 1.54633775e-04 9.99545345e-01 -5.88311195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:211.11, Y:-0.83, Z:-0.61 [[ 9.99471896e-01 1.21249889e-02 -3.01481949e-02 2.11112080e+02] [-1.21174078e-02 9.99926487e-01 4.34155535e-04 -8.28330502e-01] [ 3.01512427e-02 -6.86082838e-05 9.99545346e-01 -6.08783015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:211.17, Y:-0.83, Z:-0.58 [[ 9.99507480e-01 8.71048690e-03 -3.01483878e-02 2.11170758e+02] [-8.70177029e-03 9.99962051e-01 4.20316196e-04 -8.32742993e-01] [ 3.01509049e-02 -1.57764837e-04 9.99545346e-01 -5.81542398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters Centerline goodness : 0.996476 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:-0.84, Z:-0.58 [[ 9.99518676e-01 7.31361138e-03 -3.01484143e-02 2.11229416e+02] [-7.30431691e-03 9.99973236e-01 4.18412081e-04 -8.37075450e-01] [ 3.01506675e-02 -1.97997117e-04 9.99545346e-01 -5.78799405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:211.29, Y:-0.84, Z:-0.60 [[ 9.99517367e-01 7.48970437e-03 -3.01485994e-02 2.11289728e+02] [-7.48090620e-03 9.99971936e-01 4.04612909e-04 -8.38375397e-01] [ 3.01507838e-02 -1.78878784e-04 9.99545346e-01 -6.02203545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:211.35, Y:-0.84, Z:-0.60 [[ 9.99518336e-01 7.35910097e-03 -3.01486252e-02 2.11347842e+02] [-7.35030146e-03 9.99972905e-01 4.02687984e-04 -8.44392591e-01] [ 3.01507717e-02 -1.80892540e-04 9.99545346e-01 -6.01117450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:211.41, Y:-0.85, Z:-0.58 [[ 9.99486862e-01 1.08194479e-02 -3.01488236e-02 2.11406068e+02] [-1.08126883e-02 9.99941466e-01 3.87234542e-04 -8.45139336e-01] [ 3.01512486e-02 -6.10460042e-05 9.99545346e-01 -5.76253587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:-0.85, Z:-0.60 [[ 9.99500884e-01 9.43506065e-03 -3.01489902e-02 2.11465217e+02] [-9.42807670e-03 9.99955485e-01 3.73798626e-04 -8.47089373e-01] [ 3.01511750e-02 -8.93650649e-05 9.99545346e-01 -5.96818331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:-0.85, Z:-0.59 [[ 9.99486958e-01 1.08096923e-02 -3.01491530e-02 2.11524077e+02] [-1.08037445e-02 9.99941573e-01 3.60174888e-04 -8.45778977e-01] [ 3.01512848e-02 -3.42663563e-05 9.99545346e-01 -5.93303101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters Centerline goodness : 0.996271 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:-0.85, Z:-0.57 [[ 9.99480700e-01 1.13731758e-02 -3.01493112e-02 2.11582345e+02] [-1.13678997e-02 9.99935323e-01 3.46404085e-04 -8.47672771e-01] [ 3.01513010e-02 -3.48985072e-06 9.99545346e-01 -5.68193818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters Centerline goodness : 0.996026 with order 1 Centerline is valid? [True, True] Translation: X:211.64, Y:-0.84, Z:-0.57 [[ 9.99485364e-01 1.09554884e-02 -3.01493553e-02 2.11641019e+02] [-1.09501393e-02 9.99939987e-01 3.42528092e-04 -8.44911788e-01] [ 3.01512985e-02 -1.22121761e-05 9.99545346e-01 -5.65720618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:211.70, Y:-0.85, Z:-0.58 [[ 9.99503133e-01 9.19213031e-03 -3.01495058e-02 2.11701492e+02] [-9.18639554e-03 9.99957750e-01 3.28722806e-04 -8.45751008e-01] [ 3.01512536e-02 -5.15941891e-05 9.99545346e-01 -5.84268528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:-0.85, Z:-0.58 [[ 9.99506751e-01 8.78983365e-03 -3.01495270e-02 2.11759939e+02] [-8.78397493e-03 9.99961367e-01 3.26765736e-04 -8.45721938e-01] [ 3.01512344e-02 -6.17718698e-05 9.99545346e-01 -5.81894152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters Centerline goodness : 0.933796 with order 3 Centerline is valid? [True, False] Translation: X:211.82, Y:-0.83, Z:-0.57 [[ 9.98362692e-01 1.68211767e-02 -5.46716018e-02 2.11820761e+02] [-1.80080044e-02 9.99611177e-01 -2.12886299e-02 -8.29662130e-01] [ 5.42922445e-02 2.22383003e-02 9.98277421e-01 -5.74717375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters Centerline goodness : 0.985194 with order 1 Centerline is valid? [False, True] Translation: X:211.80, Y:-0.83, Z:-0.58 [[ 9.99176063e-01 7.50069381e-03 -3.98865114e-02 2.11804897e+02] [-8.16707621e-03 9.99829347e-01 -1.65703455e-02 -8.34330873e-01] [ 3.97554155e-02 1.68824488e-02 9.99066810e-01 -5.77506253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:-0.86, Z:-0.59 [[ 9.99025833e-01 -1.83711896e-02 -4.01233615e-02 2.11866573e+02] [ 1.83626459e-02 9.99831223e-01 -5.81488992e-04 -8.63478281e-01] [ 4.01272723e-02 -1.55848556e-04 9.99194565e-01 -5.88031704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:211.93, Y:-0.86, Z:-0.59 [[ 9.99010534e-01 -1.91850973e-02 -4.01233632e-02 2.11925589e+02] [ 1.91772145e-02 9.99815931e-01 -5.81371766e-04 -8.64047952e-01] [ 4.01271314e-02 -1.88657825e-04 9.99194565e-01 -5.90113803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:-0.87, Z:-0.57 [[ 9.98995637e-01 -1.99462692e-02 -4.01230998e-02 2.11983252e+02] [ 1.99382913e-02 9.99801033e-01 -5.99018824e-04 -8.66440402e-01] [ 4.01270648e-02 -2.01568860e-04 9.99194565e-01 -5.71573689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:-0.86, Z:-0.58 [[ 9.99034789e-01 -1.78788379e-02 -4.01227788e-02 2.12042219e+02] [ 1.78683589e-02 9.99840156e-01 -6.19795160e-04 -8.64104004e-01] [ 4.01274467e-02 -9.77312846e-05 9.99194565e-01 -5.84287056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:-0.86, Z:-0.58 [[ 9.99027206e-01 -1.82982942e-02 -4.01224932e-02 2.12100459e+02] [ 1.82874317e-02 9.99832568e-01 -6.37762179e-04 -8.63156233e-01] [ 4.01274454e-02 -9.65955891e-05 9.99194565e-01 -5.82107364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:-0.86, Z:-0.58 [[ 9.98989541e-01 -2.02511924e-02 -4.01221529e-02 2.12158627e+02] [ 2.02410714e-02 9.99794912e-01 -6.58500730e-04 -8.63367522e-01] [ 4.01272597e-02 -1.54280019e-04 9.99194565e-01 -5.82339504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:-0.86, Z:-0.56 [[ 9.98947592e-01 -2.22249741e-02 -4.01218031e-02 2.12216375e+02] [ 2.22156145e-02 9.99752972e-01 -6.79165126e-04 -8.61639524e-01] [ 4.01269863e-02 -2.12880144e-04 9.99194565e-01 -5.62678882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:212.27, Y:-0.86, Z:-0.56 [[ 9.98973270e-01 -2.10397573e-02 -4.01214901e-02 2.12274141e+02] [ 2.10287188e-02 9.99778629e-01 -6.97175671e-04 -8.61183075e-01] [ 4.01272768e-02 -1.47243675e-04 9.99194566e-01 -5.58988676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:212.33, Y:-0.86, Z:-0.58 [[ 9.99029573e-01 -1.81716460e-02 -4.01211217e-02 2.12333945e+02] [ 1.81574683e-02 9.99834882e-01 -7.17770607e-04 -8.59486170e-01] [ 4.01275401e-02 -1.14239321e-05 9.99194566e-01 -5.75986929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:-0.86, Z:-0.57 [[ 9.99075514e-01 -1.54408820e-02 -4.01210291e-02 2.12392465e+02] [ 1.54242967e-02 9.99880777e-01 -7.22909970e-04 -8.60935619e-01] [ 4.01274081e-02 1.03402992e-04 9.99194566e-01 -5.73365671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:-0.86, Z:-0.55 [[ 9.99111803e-01 -1.28815988e-02 -4.01206959e-02 2.12450331e+02] [ 1.28622264e-02 9.99917004e-01 -7.40949713e-04 -8.58303123e-01] [ 4.01269107e-02 2.24250127e-04 9.99194566e-01 -5.45944492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.51, Y:-0.86, Z:-0.57 [[ 9.99154425e-01 -8.98839822e-03 -4.01203534e-02 2.12509368e+02] [ 8.96516154e-03 9.99959524e-01 -7.59055713e-04 -8.55801474e-01] [ 4.01255522e-02 3.98728425e-04 9.99194566e-01 -5.68969624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.57, Y:-0.85, Z:-0.57 [[ 9.99165103e-01 -7.71279633e-03 -4.01199475e-02 2.12567604e+02] [ 7.68769360e-03 9.99970145e-01 -7.79933741e-04 -8.51156460e-01] [ 4.01247652e-02 4.70852713e-04 9.99194566e-01 -5.66695641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:212.63, Y:-0.84, Z:-0.54 [[ 9.99176043e-01 -6.13666076e-03 -4.01195358e-02 2.12625786e+02] [ 6.10945974e-03 9.99981017e-01 -8.00569163e-04 -8.44403151e-01] [ 4.01236870e-02 5.54800840e-04 9.99194567e-01 -5.44684929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:212.68, Y:-0.84, Z:-0.54 [[ 9.99173459e-01 -6.54435474e-03 -4.01194586e-02 2.12684628e+02] [ 6.51732757e-03 9.99978438e-01 -8.04420225e-04 -8.37714713e-01] [ 4.01238579e-02 5.42283685e-04 9.99194567e-01 -5.44609511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:212.74, Y:-0.83, Z:-0.55 [[ 9.99153274e-01 -9.12104905e-03 -4.01190852e-02 2.12743408e+02] [ 9.09536678e-03 9.99958298e-01 -8.22630449e-04 -8.31784228e-01] [ 4.01249154e-02 4.57036112e-04 9.99194567e-01 -5.45915541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters Centerline goodness : 0.934934 with order 3 Centerline is valid? [True, False] Translation: X:212.75, Y:-0.79, Z:-0.53 [[ 9.98633815e-01 -1.20036764e-02 -5.08568047e-02 2.12745322e+02] [ 9.54529570e-03 9.98786812e-01 -4.83093383e-02 -7.89675725e-01] [ 5.13749955e-02 4.77578956e-02 9.97536863e-01 -5.28578463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [False, True] Translation: X:212.74, Y:-0.77, Z:-0.52 [[ 9.98809854e-01 -1.75867933e-02 -4.54926433e-02 2.12741948e+02] [ 1.40926294e-02 9.97006792e-01 -7.60187794e-02 -7.68366670e-01] [ 4.66934009e-02 7.52871950e-02 9.96068052e-01 -5.20368314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-0.84, Z:-0.51 [[ 9.98625617e-01 -2.42666495e-02 -4.64543493e-02 2.12800538e+02] [ 2.42691602e-02 9.99705330e-01 -5.10045617e-04 -8.43626699e-01] [ 4.64530377e-02 -6.18063426e-04 9.98920284e-01 -5.12416463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:212.86, Y:-0.85, Z:-0.53 [[ 9.98558984e-01 -2.68696029e-02 -4.64540720e-02 2.12861752e+02] [ 2.68738060e-02 9.99638691e-01 -5.34166613e-04 -8.48729584e-01] [ 4.64516406e-02 -7.15000850e-04 9.98920284e-01 -5.28331781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:212.92, Y:-0.85, Z:-0.52 [[ 9.98428041e-01 -3.13602919e-02 -4.64540551e-02 2.12920578e+02] [ 3.13692827e-02 9.99507719e-01 -5.35633015e-04 -8.54527320e-01] [ 4.64479842e-02 -9.22439365e-04 9.98920284e-01 -5.20160118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters Centerline goodness : 0.997514 with order 1 Centerline is valid? [True, True] Translation: X:212.98, Y:-0.86, Z:-0.50 [[ 9.98415069e-01 -3.17709473e-02 -4.64538101e-02 2.12979968e+02] [ 3.17794303e-02 9.99494752e-01 -5.56099387e-04 -8.58551098e-01] [ 4.64480072e-02 -9.21057614e-04 9.98920284e-01 -5.00085288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:213.04, Y:-0.86, Z:-0.52 [[ 9.98478936e-01 -2.96961220e-02 -4.64537905e-02 2.13040991e+02] [ 2.97022855e-02 9.99558634e-01 -5.57730354e-04 -8.60723764e-01] [ 4.64498498e-02 -8.22901737e-04 9.98920284e-01 -5.23945780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:-0.87, Z:-0.52 [[ 9.98476403e-01 -2.97811970e-02 -4.64537668e-02 2.13098975e+02] [ 2.97873610e-02 9.99556101e-01 -5.59699492e-04 -8.67512109e-01] [ 4.64498145e-02 -8.24888383e-04 9.98920284e-01 -5.21930072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:-0.87, Z:-0.50 [[ 9.98431531e-01 -3.12498257e-02 -4.64534792e-02 2.13156950e+02] [ 3.12565113e-02 9.99511226e-01 -5.82627702e-04 -8.72233523e-01] [ 4.64489810e-02 -8.70259830e-04 9.98920285e-01 -4.96870880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:213.22, Y:-0.88, Z:-0.52 [[ 9.98622034e-01 -2.44154716e-02 -4.64534055e-02 2.13216842e+02] [ 2.44144967e-02 9.99701749e-01 -5.88446383e-04 -8.76006973e-01] [ 4.64539179e-02 -5.46500992e-04 9.98920285e-01 -5.16191274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:213.27, Y:-0.88, Z:-0.49 [[ 9.98644016e-01 -2.34996949e-02 -4.64531382e-02 2.13274990e+02] [ 2.34967813e-02 9.99723727e-01 -6.08840127e-04 -8.80260572e-01] [ 4.64546120e-02 -4.83484680e-04 9.98920285e-01 -4.88928310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:-0.88, Z:-0.49 [[ 9.98699173e-01 -2.10259879e-02 -4.64528817e-02 2.13334255e+02] [ 2.10195171e-02 9.99778868e-01 -6.27817976e-04 -8.82278758e-01] [ 4.64558100e-02 -3.49415851e-04 9.98920285e-01 -4.86999630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:213.40, Y:-0.88, Z:-0.51 [[ 9.98813155e-01 -1.46432507e-02 -4.64527455e-02 2.13395246e+02] [ 1.46294188e-02 9.99892781e-01 -6.37739753e-04 -8.84356251e-01] [ 4.64571035e-02 -4.25938136e-05 9.98920285e-01 -5.09789316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters Centerline goodness : 0.991906 with order 1 Centerline is valid? [True, True] Translation: X:213.45, Y:-0.89, Z:-0.51 [[ 9.95222928e-01 -8.58689023e-02 -4.64527250e-02 2.13453961e+02] [ 8.59320650e-02 9.96300794e-01 -6.39235204e-04 -8.89514490e-01] [ 4.63357772e-02 -3.35559705e-03 9.98920285e-01 -5.14034352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters Centerline goodness : 0.995774 with order 1 Centerline is valid? [True, True] Translation: X:213.51, Y:-0.89, Z:-0.47 [[ 9.98856099e-01 -1.13422209e-02 -4.64526443e-02 2.13511827e+02] [ 1.13244815e-02 9.99935668e-01 -6.45040946e-04 -8.85645235e-01] [ 4.64569721e-02 1.18250973e-04 9.98920285e-01 -4.73320803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters Centerline goodness : 0.950729 with order 1 Centerline is valid? [True, True] Translation: X:213.57, Y:-0.93, Z:-0.50 [[ 9.94160890e-01 -9.73975362e-02 -4.64526022e-02 2.13574613e+02] [ 9.74727772e-02 9.95237980e-01 -6.48063351e-04 -9.26402204e-01] [ 4.62945137e-02 -3.88358490e-03 9.98920285e-01 -5.02216643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters Centerline goodness : 0.998307 with order 1 Centerline is valid? [True, True] Translation: X:213.63, Y:-0.88, Z:-0.48 [[ 9.98916655e-01 -2.76997363e-03 -4.64525907e-02 2.13633211e+02] [ 2.74279174e-03 9.99996028e-01 -6.48882471e-04 -8.80962865e-01] [ 4.64542036e-02 5.20769725e-04 9.98920285e-01 -4.75026501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:-0.87, Z:-0.48 [[ 9.98501401e-01 2.89329750e-02 -4.64524950e-02 2.13691489e+02] [-2.89947130e-02 9.99579350e-01 -6.55664040e-04 -8.68687430e-01] [ 4.64139845e-02 2.00155822e-03 9.98920285e-01 -4.82329247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters Centerline goodness : 0.998557 with order 1 Centerline is valid? [True, True] Translation: X:213.75, Y:-0.87, Z:-0.47 [[ 9.98917938e-01 2.26419891e-03 -4.64524071e-02 2.13750574e+02] [-2.29742234e-03 9.99997142e-01 -6.61837631e-04 -8.72779059e-01] [ 4.64507758e-02 7.67842280e-04 9.98920285e-01 -4.68215170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:-0.87, Z:-0.46 [[ 9.98920222e-01 7.53808365e-04 -4.64523625e-02 2.13810751e+02] [-7.85544581e-04 9.99999470e-01 -6.64947920e-04 -8.67023440e-01] [ 4.64518367e-02 7.00720326e-04 9.98920285e-01 -4.64863703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:-0.86, Z:-0.49 [[ 9.97741787e-01 4.85129537e-02 -4.64523405e-02 2.13870987e+02] [-4.85963255e-02 9.98818278e-01 -6.66485080e-04 -8.59071155e-01] [ 4.63651136e-02 2.92239307e-03 9.98920285e-01 -4.93100101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters Centerline goodness : 0.997368 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:-0.86, Z:-0.49 [[ 9.97688182e-01 4.96031898e-02 -4.64522967e-02 2.13931227e+02] [-4.96878786e-02 9.98764570e-01 -6.69520211e-04 -8.61687180e-01] [ 4.63616978e-02 2.97608848e-03 9.98920285e-01 -4.92611266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:213.99, Y:-0.87, Z:-0.48 [[ 9.98827217e-01 -1.36519663e-02 -4.64522856e-02 2.13990974e+02] [ 1.36355491e-02 9.99906807e-01 -6.70290164e-04 -8.68247947e-01] [ 4.64571074e-02 3.61016392e-05 9.98920285e-01 -4.77974292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters Centerline goodness : 0.996667 with order 1 Centerline is valid? [True, True] Translation: X:214.05, Y:-0.87, Z:-0.45 [[ 9.98792312e-01 -1.60032304e-02 -4.64522689e-02 2.14050239e+02] [ 1.59893008e-02 9.99871938e-01 -6.71446461e-04 -8.71507948e-01] [ 4.64570654e-02 -7.21037388e-05 9.98920285e-01 -4.49736338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters Centerline goodness : 0.997562 with order 1 Centerline is valid? [True, True] Translation: X:214.11, Y:-0.88, Z:-0.45 [[ 9.98739096e-01 -1.90369934e-02 -4.64522416e-02 2.14110478e+02] [ 1.90262556e-02 9.99818758e-01 -6.73331553e-04 -8.76985845e-01] [ 4.64566407e-02 -2.11329675e-04 9.98920285e-01 -4.50166710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:214.17, Y:-0.88, Z:-0.45 [[ 9.98705799e-01 -2.07103673e-02 -4.64522190e-02 2.14168968e+02] [ 2.07013662e-02 9.99785476e-01 -6.74885432e-04 -8.79166294e-01] [ 4.64562310e-02 -2.87612403e-04 9.98920285e-01 -4.49147987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.23, Y:-0.88, Z:-0.47 [[ 9.98742526e-01 -1.88570765e-02 -4.64518891e-02 2.14230529e+02] [ 1.88450492e-02 9.99822173e-01 -6.96873649e-04 -8.81568356e-01] [ 4.64567698e-02 -1.79390790e-04 9.98920285e-01 -4.69090209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters Centerline goodness : 0.994425 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:-0.89, Z:-0.43 [[ 9.98698379e-01 -2.10658939e-02 -4.64518766e-02 2.14289271e+02] [ 2.10562157e-02 9.99778050e-01 -6.97706751e-04 -8.85064400e-01] [ 4.64562645e-02 -2.81302134e-04 9.98920285e-01 -4.32427000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:-0.89, Z:-0.44 [[ 9.98704870e-01 -2.07558897e-02 -4.64518691e-02 2.14349379e+02] [ 2.07458529e-02 9.99784538e-01 -6.98210968e-04 -8.85502734e-01] [ 4.64563524e-02 -2.66376950e-04 9.98920285e-01 -4.36660072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:-0.89, Z:-0.43 [[ 9.98716147e-01 -2.02060157e-02 -4.64518482e-02 2.14408099e+02] [ 2.01953203e-02 9.99795809e-01 -6.99593669e-04 -8.86976444e-01] [ 4.64564992e-02 -2.39414457e-04 9.98920285e-01 -4.33112548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.47, Y:-0.89, Z:-0.45 [[ 9.98738747e-01 -1.90570483e-02 -4.64515232e-02 2.14469619e+02] [ 1.90441362e-02 9.99818384e-01 -7.20545582e-04 -8.86999882e-01] [ 4.64568184e-02 -1.64992345e-04 9.98920286e-01 -4.54599143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:-0.89, Z:-0.44 [[ 9.98012336e-01 -4.25867749e-02 -4.64515249e-02 2.14529010e+02] [ 4.25993129e-02 9.99091978e-01 -7.20437594e-04 -8.94944848e-01] [ 4.64400270e-02 -1.25979744e-03 9.98920286e-01 -4.41733376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:-0.90, Z:-0.44 [[ 9.97301480e-01 -5.68508278e-02 -4.64514920e-02 2.14588223e+02] [ 5.68787015e-02 9.98380835e-01 -7.22553609e-04 -8.95668197e-01] [ 4.64173571e-02 -1.92149676e-03 9.98920286e-01 -4.43596039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:-0.89, Z:-0.42 [[ 9.98725322e-01 -1.97482590e-02 -4.64514420e-02 2.14646242e+02] [ 1.97358520e-02 9.99804966e-01 -7.25752932e-04 -8.89106071e-01] [ 4.64567147e-02 -1.91930953e-04 9.98920286e-01 -4.18641970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:-0.89, Z:-0.44 [[ 9.98789232e-01 -1.61977380e-02 -4.64510867e-02 2.14707698e+02] [ 1.61804665e-02 9.99868808e-01 -7.47826439e-04 -8.87389513e-01] [ 4.64571057e-02 -4.67925533e-06 9.98920286e-01 -4.44656715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:-0.88, Z:-0.42 [[ 9.98793626e-01 -1.59245077e-02 -4.64510768e-02 2.14766581e+02] [ 1.59069124e-02 9.99873197e-01 -7.48437172e-04 -8.82906338e-01] [ 4.64571052e-02 8.64106598e-06 9.98920286e-01 -4.17460219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:-0.88, Z:-0.42 [[ 9.98770076e-01 -1.73388193e-02 -4.64510536e-02 2.14825558e+02] [ 1.73226857e-02 9.99849670e-01 -7.49878251e-04 -8.80613136e-01] [ 4.64570726e-02 -5.57010440e-05 9.98920286e-01 -4.17709786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:-0.88, Z:-0.44 [[ 9.98763520e-01 -1.77133879e-02 -4.64506892e-02 2.14887049e+02] [ 1.76966392e-02 9.99843104e-01 -7.71809311e-04 -8.78758142e-01] [ 4.64570726e-02 -5.11661044e-05 9.98920286e-01 -4.36455498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:214.95, Y:-0.88, Z:-0.43 [[ 9.98704317e-01 -2.07851121e-02 -4.64506769e-02 2.14945339e+02] [ 2.07716495e-02 9.99783948e-01 -7.72548786e-04 -8.77479965e-01] [ 4.64566986e-02 -1.93309372e-04 9.98920286e-01 -4.33563290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.00, Y:-0.87, Z:-0.43 [[ 9.98709115e-01 -2.05542224e-02 -4.64502638e-02 2.15003341e+02] [ 2.05393900e-02 9.99788727e-01 -7.96635093e-04 -8.73270836e-01] [ 4.64568243e-02 -1.58453353e-04 9.98920286e-01 -4.30497567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:215.06, Y:-0.87, Z:-0.40 [[ 9.98751648e-01 -1.83727405e-02 -4.64498389e-02 2.15062274e+02] [ 1.83544315e-02 9.99831206e-01 -8.20683445e-04 -8.70552217e-01] [ 4.64570767e-02 -3.29014415e-05 9.98920287e-01 -4.03206566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.12, Y:-0.86, Z:-0.43 [[ 9.98706030e-01 -2.07045902e-02 -4.64498261e-02 2.15123387e+02] [ 2.06887680e-02 9.99785627e-01 -8.21408486e-04 -8.62588537e-01] [ 4.64568754e-02 -1.40644071e-04 9.98920287e-01 -4.26155184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:-0.86, Z:-0.42 [[ 9.98694729e-01 -2.12427039e-02 -4.64498187e-02 2.15181304e+02] [ 2.12274441e-02 9.99774335e-01 -8.21824857e-04 -8.58589526e-01] [ 4.64567944e-02 -1.65258779e-04 9.98920287e-01 -4.23766415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.24, Y:-0.86, Z:-0.42 [[ 9.98602207e-01 -2.52207749e-02 -4.64493767e-02 2.15238965e+02] [ 2.52086871e-02 9.99681853e-01 -8.46090753e-04 -8.55134798e-01] [ 4.64559380e-02 -3.26019711e-04 9.98920287e-01 -4.20207200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:215.30, Y:-0.85, Z:-0.42 [[ 9.98537266e-01 -2.76735422e-02 -4.64489278e-02 2.15298032e+02] [ 2.76629916e-02 9.99616928e-01 -8.70057813e-04 -8.52292328e-01] [ 4.64552121e-02 -4.16131149e-04 9.98920287e-01 -4.18513007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.36, Y:-0.85, Z:-0.42 [[ 9.98469094e-01 -3.00333672e-02 -4.64485288e-02 2.15357094e+02] [ 3.00244005e-02 9.99548769e-01 -8.90863367e-04 -8.50671623e-01] [ 4.64543254e-02 -5.05089692e-04 9.98920287e-01 -4.15222471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:-0.85, Z:-0.41 [[ 9.98316931e-01 -3.47257411e-02 -4.64481199e-02 2.15415107e+02] [ 3.47208799e-02 9.99396633e-01 -9.11694373e-04 -8.52377776e-01] [ 4.64517539e-02 -7.02559662e-04 9.98920288e-01 -4.14441387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-0.85, Z:-0.41 [[ 9.98116030e-01 -4.00874818e-02 -4.64476460e-02 2.15472421e+02] [ 4.00873253e-02 9.99195742e-01 -9.35229163e-04 -8.53399474e-01] [ 4.64477812e-02 -9.28494676e-04 9.98920288e-01 -4.10144688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:-0.85, Z:-0.39 [[ 9.98079388e-01 -4.09901955e-02 -4.64471668e-02 2.15530045e+02] [ 4.09899352e-02 9.99159100e-01 -9.58452302e-04 -8.54865347e-01] [ 4.64473966e-02 -9.47254875e-04 9.98920288e-01 -3.86284005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:215.59, Y:-0.85, Z:-0.40 [[ 9.98054263e-01 -4.15979534e-02 -4.64467368e-02 2.15589166e+02] [ 4.15974013e-02 9.99133974e-01 -9.78858444e-04 -8.52802135e-01] [ 4.64472312e-02 -9.55109708e-04 9.98920288e-01 -4.03841765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:-0.85, Z:-0.40 [[ 9.98080545e-01 -4.09627648e-02 -4.64465070e-02 2.15647210e+02] [ 4.09610239e-02 9.99160255e-01 -9.89641526e-04 -8.52401945e-01] [ 4.64480423e-02 -9.14754533e-04 9.98920288e-01 -4.01001349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:215.71, Y:-0.85, Z:-0.37 [[ 9.98224572e-01 -3.72890539e-02 -4.64460021e-02 2.15706274e+02] [ 3.72822620e-02 9.99304262e-01 -1.01279876e-03 -8.50952743e-01] [ 4.64514541e-02 -7.20611411e-04 9.98920289e-01 -3.73845352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters Centerline goodness : 0.997965 with order 1 Centerline is valid? [True, True] Translation: X:215.77, Y:-0.85, Z:-0.37 [[ 9.98257547e-01 -3.63957941e-02 -4.64458460e-02 2.15765239e+02] [ 3.63877053e-02 9.99337228e-01 -1.01990772e-03 -8.50682376e-01] [ 4.64521833e-02 -6.71927183e-04 9.98920289e-01 -3.69678849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:215.82, Y:-0.85, Z:-0.37 [[ 9.98445542e-01 -3.08111442e-02 -4.64453677e-02 2.15824285e+02] [ 3.07960238e-02 9.99525148e-01 -1.04124137e-03 -8.49307110e-01] [ 4.64553949e-02 -3.90709839e-04 9.98920289e-01 -3.68470795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:-0.85, Z:-0.39 [[ 9.98400376e-01 -3.22416813e-02 -4.64452647e-02 2.15885083e+02] [ 3.22278949e-02 9.99479999e-01 -1.04581606e-03 -8.50311140e-01] [ 4.64548320e-02 -4.52689962e-04 9.98920289e-01 -3.88562645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-0.85, Z:-0.37 [[ 9.98444551e-01 -3.08435172e-02 -4.64451968e-02 2.15942358e+02] [ 3.08280791e-02 9.99524152e-01 -1.04882305e-03 -8.50088886e-01] [ 4.64554453e-02 -3.84624542e-04 9.98920289e-01 -3.70609169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:-0.85, Z:-0.38 [[ 9.98493523e-01 -2.92160873e-02 -4.64446444e-02 2.16002181e+02] [ 2.91977770e-02 9.99573078e-01 -1.07274111e-03 -8.52353509e-01] [ 4.64561575e-02 -2.84955315e-04 9.98920289e-01 -3.84759164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:216.06, Y:-0.85, Z:-0.38 [[ 9.98464463e-01 -3.01936741e-02 -4.64441484e-02 2.16060916e+02] [ 3.01754412e-02 9.99544019e-01 -1.09380183e-03 -8.54108937e-01] [ 4.64559967e-02 -3.09350413e-04 9.98920289e-01 -3.82145627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:216.12, Y:-0.86, Z:-0.36 [[ 9.98399178e-01 -3.22811016e-02 -4.64436481e-02 2.16118695e+02] [ 3.22641561e-02 9.99478755e-01 -1.11464768e-03 -8.57213477e-01] [ 4.64554216e-02 -3.85601786e-04 9.98920290e-01 -3.60605595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:-0.86, Z:-0.36 [[ 9.98460304e-01 -3.03324243e-02 -4.64431355e-02 2.16177553e+02] [ 3.03123966e-02 9.99539829e-01 -1.13561286e-03 -8.59503262e-01] [ 4.64562096e-02 -2.73938384e-04 9.98920290e-01 -3.59868073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:-0.86, Z:-0.35 [[ 9.98335054e-01 -3.42082541e-02 -4.64426094e-02 2.16236051e+02] [ 3.41914349e-02 9.99414633e-01 -1.15673371e-03 -8.61068002e-01] [ 4.64549933e-02 -4.33131645e-04 9.98920290e-01 -3.53306502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:216.30, Y:-0.87, Z:-0.35 [[ 9.98255768e-01 -3.64493539e-02 -4.64420665e-02 2.16295602e+02] [ 3.64339626e-02 9.99335368e-01 -1.17813760e-03 -8.65756341e-01] [ 4.64541420e-02 -5.15985859e-04 9.98920290e-01 -3.53614936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:216.35, Y:-0.87, Z:-0.35 [[ 9.98271136e-01 -3.60261686e-02 -4.64419483e-02 2.16354781e+02] [ 3.60101038e-02 9.99350726e-01 -1.18277814e-03 -8.67835946e-01] [ 4.64544057e-02 -4.91646104e-04 9.98920290e-01 -3.47701425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:216.41, Y:-0.87, Z:-0.35 [[ 9.98409559e-01 -3.19612422e-02 -4.64416944e-02 2.16413598e+02] [ 3.19403220e-02 9.99489066e-01 -1.19266329e-03 -8.72705170e-01] [ 4.64560848e-02 -2.92596247e-04 9.98920290e-01 -3.46452369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:216.47, Y:-0.87, Z:-0.35 [[ 9.98450641e-01 -3.06518064e-02 -4.64411856e-02 2.16472839e+02] [ 3.06285637e-02 9.99530100e-01 -1.21215788e-03 -8.73667240e-01] [ 4.64565178e-02 -2.12147003e-04 9.98920291e-01 -3.45444770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:-0.87, Z:-0.36 [[ 9.98457715e-01 -3.04213779e-02 -4.64406112e-02 2.16534022e+02] [ 3.03968805e-02 9.99537147e-01 -1.23377836e-03 -8.74789138e-01] [ 4.64566493e-02 -1.79774188e-04 9.98920291e-01 -3.64606463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:-0.88, Z:-0.36 [[ 9.97601686e-01 -5.13240333e-02 -4.64404951e-02 2.16591945e+02] [ 5.13219436e-02 9.98681393e-01 -1.23813409e-03 -8.83311562e-01] [ 4.64428044e-02 -1.14825181e-03 9.98920291e-01 -3.59850375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:216.65, Y:-0.87, Z:-0.36 [[ 9.98764325e-01 1.76952278e-02 -4.64402999e-02 2.16651430e+02] [-1.77722173e-02 9.99841286e-01 -1.24541303e-03 -8.67765623e-01] [ 4.64108913e-02 2.06922121e-03 9.98920291e-01 -3.57868850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:216.71, Y:-0.87, Z:-0.34 [[ 9.98691435e-01 -2.14176844e-02 -4.64402813e-02 2.16711405e+02] [ 2.13828822e-02 9.99770583e-01 -1.24610656e-03 -8.71982364e-01] [ 4.64563159e-02 2.51448890e-04 9.98920291e-01 -3.39204951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:216.77, Y:-0.87, Z:-0.36 [[ 9.98797573e-01 -1.57070526e-02 -4.64402538e-02 2.16772186e+02] [ 1.56660330e-02 9.99876502e-01 -1.24713159e-03 -8.68919578e-01] [ 4.64541073e-02 5.18097463e-04 9.98920291e-01 -3.56305561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:216.83, Y:-0.86, Z:-0.33 [[ 9.98808892e-01 -1.49700972e-02 -4.64402135e-02 2.16830817e+02] [ 1.49282119e-02 9.99887788e-01 -1.24862936e-03 -8.63464711e-01] [ 4.64536945e-02 5.53872763e-04 9.98920291e-01 -3.33569496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:216.89, Y:-0.85, Z:-0.35 [[ 9.98254713e-01 3.64807228e-02 -4.64401317e-02 2.16890102e+02] [-3.65782479e-02 9.99330008e-01 -1.25166370e-03 -8.52221303e-01] [ 4.63633556e-02 2.94817784e-03 9.98920291e-01 -3.50130071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-0.85, Z:-0.35 [[ 9.98822061e-01 -1.40645473e-02 -4.64400497e-02 2.16950399e+02] [ 1.40214015e-02 9.99900908e-01 -1.25470156e-03 -8.53052429e-01] [ 4.64530946e-02 6.02069019e-04 9.98920291e-01 -3.46133560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:217.01, Y:-0.85, Z:-0.32 [[ 9.98796753e-01 -1.57597645e-02 -4.64400283e-02 2.17006980e+02] [ 1.57184132e-02 9.99875670e-01 -1.25549006e-03 -8.48881890e-01] [ 4.64540407e-02 5.24015842e-04 9.98920291e-01 -3.20679803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters Centerline goodness : 0.951615 with order 2 Centerline is valid? [True, True] Translation: X:217.08, Y:-0.80, Z:-0.34 [[ 9.96039438e-01 7.58210007e-02 -4.64393547e-02 2.17077429e+02] [-7.59621610e-02 9.97109880e-01 -1.27993344e-03 -7.98986110e-01] [ 4.62080935e-02 4.80249792e-03 9.98920291e-01 -3.40520920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:217.13, Y:-0.84, Z:-0.34 [[ 9.98573108e-01 -2.62310485e-02 -4.65153673e-02 2.17125665e+02] [ 2.63269881e-02 9.99652332e-01 1.45099578e-03 -8.42374985e-01] [ 4.64611343e-02 -2.67353489e-03 9.98916521e-01 -3.35897195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters Centerline goodness : 0.860611 with order 3 Centerline is valid? [True, False] Translation: X:217.18, Y:-0.81, Z:-0.33 [[ 9.97240924e-01 -1.29141254e-02 -7.31010559e-02 2.17182170e+02] [ 1.05792155e-02 9.99424216e-01 -3.22384268e-02 -8.12218596e-01] [ 7.34752966e-02 3.13761267e-02 9.96803350e-01 -3.25877722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [False, True] Translation: X:217.23, Y:-0.80, Z:-0.32 [[ 9.95784297e-01 -4.80429314e-03 -9.15999545e-02 2.17232153e+02] [-1.10846745e-04 9.98563644e-01 -5.35783226e-02 -7.96554546e-01] [ 9.17257903e-02 5.33626059e-02 9.94353464e-01 -3.18236841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters Centerline goodness : 0.853182 with order 1 Centerline is valid? [True, False] Translation: X:217.26, Y:-0.80, Z:-0.32 [[ 9.95652465e-01 9.35923895e-04 -9.31412528e-02 2.17258063e+02] [-6.27344222e-03 9.98352791e-01 -5.70293593e-02 -8.00476014e-01] [ 9.29344546e-02 5.73657384e-02 9.94018289e-01 -3.16553651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters Centerline goodness : 0.995527 with order 1 Centerline is valid? [False, True] Translation: X:217.30, Y:-0.80, Z:-0.31 [[ 9.94932592e-01 3.88384942e-03 -1.00469168e-01 2.17296769e+02] [-1.05116613e-02 9.97795649e-01 -6.55236478e-02 -7.99719823e-01] [ 9.99932144e-02 6.62477106e-02 9.92780236e-01 -3.13165103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters Centerline goodness : 0.997265 with order 1 Centerline is valid? [True, True] Translation: X:217.36, Y:-0.86, Z:-0.32 [[ 9.94930325e-01 1.31642438e-02 -9.97013074e-02 2.17356908e+02] [-1.30822536e-02 9.99913334e-01 1.47612910e-03 -8.64904877e-01] [ 9.97120988e-02 -1.64327817e-04 9.95016317e-01 -3.22265712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters Centerline goodness : 0.978697 with order 1 Centerline is valid? [True, True] Translation: X:217.42, Y:-0.90, Z:-0.34 [[ 9.92714587e-01 -6.76563355e-02 -9.97014040e-02 2.17417404e+02] [ 6.81419651e-02 9.97674553e-01 1.46957284e-03 -8.97427419e-01] [ 9.93701278e-02 -8.25271599e-03 9.95016317e-01 -3.35850628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:217.48, Y:-0.87, Z:-0.31 [[ 9.94796836e-01 2.09466513e-02 -9.97020175e-02 2.17475009e+02] [-2.09085957e-02 9.99780373e-01 1.42671182e-03 -8.65104104e-01] [ 9.97100051e-02 6.65340764e-04 9.95016318e-01 -3.12485575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:-0.86, Z:-0.32 [[ 9.94701437e-01 2.50707136e-02 -9.97021109e-02 2.17534229e+02] [-2.50539767e-02 9.99685091e-01 1.42015046e-03 -8.63794504e-01] [ 9.97063180e-02 1.08530866e-03 9.95016318e-01 -3.19925163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters Centerline goodness : 0.973495 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:-0.84, Z:-0.33 [[ 9.88187284e-01 1.16383997e-01 -9.97028476e-02 2.17594362e+02] [-1.16830724e-01 9.93150902e-01 1.36641124e-03 -8.41116254e-01] [ 9.91790014e-02 1.02980857e-02 9.95016319e-01 -3.29533505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:217.65, Y:-0.87, Z:-0.33 [[ 9.94729804e-01 -2.39151431e-02 -9.97029757e-02 2.17651935e+02] [ 2.41708158e-02 9.99706922e-01 1.35699853e-03 -8.67734446e-01] [ 9.96413021e-02 -3.75974914e-03 9.95016319e-01 -3.30937472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:217.71, Y:-0.87, Z:-0.30 [[ 9.94737519e-01 2.35912128e-02 -9.97031769e-02 2.17709634e+02] [-2.35748907e-02 9.99721173e-01 1.34204996e-03 -8.69179280e-01] [ 9.97070375e-02 1.01550405e-03 9.95016319e-01 -3.02078635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:217.77, Y:-0.86, Z:-0.31 [[ 9.90719403e-01 9.23814455e-02 -9.97032215e-02 2.17769960e+02] [-9.27104183e-02 9.95692215e-01 1.33873036e-03 -8.57033963e-01] [ 9.93973952e-02 7.91722122e-03 9.95016319e-01 -3.06427442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:217.83, Y:-0.87, Z:-0.27 [[ 9.94695231e-01 2.53110241e-02 -9.97033071e-02 2.17827585e+02] [-2.53042934e-02 9.99678907e-01 1.33232305e-03 -8.70386101e-01] [ 9.97050155e-02 1.19766635e-03 9.95016319e-01 -2.74936645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:-0.87, Z:-0.26 [[ 9.94666564e-01 2.64135865e-02 -9.97033071e-02 2.17885949e+02] [-2.64123799e-02 9.99650244e-01 1.33232305e-03 -8.69995200e-01] [ 9.97036267e-02 1.30818444e-03 9.95016319e-01 -2.61929030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:217.95, Y:-0.87, Z:-0.26 [[ 9.94663195e-01 2.65380322e-02 -9.97038704e-02 2.17945263e+02] [-2.65418159e-02 9.99646873e-01 1.28875122e-03 -8.70835333e-01] [ 9.97028632e-02 1.36444837e-03 9.95016320e-01 -2.59549727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:-0.87, Z:-0.25 [[ 9.94642599e-01 2.72985806e-02 -9.97039994e-02 2.18003838e+02] [-2.73071835e-02 9.99626272e-01 1.27868863e-03 -8.67095027e-01] [ 9.97016436e-02 1.45079723e-03 9.95016320e-01 -2.54596884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:-0.86, Z:-0.26 [[ 9.94607870e-01 2.85338791e-02 -9.97045804e-02 2.18063970e+02] [-2.85533836e-02 9.99591510e-01 1.23167179e-03 -8.64319520e-01] [ 9.96989964e-02 1.62187268e-03 9.95016321e-01 -2.62669638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:218.12, Y:-0.86, Z:-0.26 [[ 9.94680121e-01 2.58910036e-02 -9.97051339e-02 2.18122880e+02] [-2.59019321e-02 9.99663786e-01 1.18511184e-03 -8.61976479e-01] [ 9.97022954e-02 1.40374842e-03 9.95016322e-01 -2.58654116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:218.18, Y:-0.86, Z:-0.24 [[ 9.94746384e-01 2.32037157e-02 -9.97056601e-02 2.18179660e+02] [-2.32057960e-02 9.99730060e-01 1.13905737e-03 -8.62001432e-01] [ 9.97051760e-02 1.18067601e-03 9.95016323e-01 -2.35005168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:218.24, Y:-0.86, Z:-0.23 [[ 9.94830219e-01 1.92747531e-02 -9.97061667e-02 2.18237338e+02] [-1.92617811e-02 9.99813877e-01 1.09284844e-03 -8.60500286e-01] [ 9.97086735e-02 8.33319701e-04 9.95016324e-01 -2.28972534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:218.30, Y:-0.86, Z:-0.23 [[ 9.94891484e-01 1.57956734e-02 -9.97067285e-02 2.18295814e+02] [-1.57706755e-02 9.99875095e-01 1.03894387e-03 -8.58912616e-01] [ 9.97106855e-02 5.38806050e-04 9.95016326e-01 -2.26236293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:218.35, Y:-0.86, Z:-0.22 [[ 9.94940266e-01 1.23426876e-02 -9.97072004e-02 2.18354053e+02] [-1.23051482e-02 9.99923797e-01 9.91500119e-04 -8.59431326e-01] [ 9.97118403e-02 2.40428483e-04 9.95016327e-01 -2.19372361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.41, Y:-0.86, Z:-0.23 [[ 9.94980083e-01 8.54529544e-03 -9.97076376e-02 2.18413877e+02] [-8.49335509e-03 9.99963484e-01 9.45406507e-04 -8.59540454e-01] [ 9.97120754e-02 -9.38082729e-05 9.95016328e-01 -2.30989433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:218.47, Y:-0.86, Z:-0.21 [[ 9.94985171e-01 7.92543592e-03 -9.97080564e-02 2.18470527e+02] [-7.87504511e-03 9.99968587e-01 8.98962960e-04 -8.61151490e-01] [ 9.97120490e-02 -1.09249372e-04 9.95016329e-01 -2.07981846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:-0.86, Z:-0.22 [[ 9.94970500e-01 9.58797779e-03 -9.97084476e-02 2.18530719e+02] [-9.55049300e-03 9.99954029e-01 8.53269950e-04 -8.62957460e-01] [ 9.97120450e-02 1.03286401e-04 9.95016330e-01 -2.18898769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:-0.86, Z:-0.21 [[ 9.94940975e-01 1.22721733e-02 -9.97088258e-02 2.18588216e+02] [-1.22528172e-02 9.99924606e-01 8.06530031e-04 -8.62979289e-01] [ 9.97112062e-02 4.19264240e-04 9.95016331e-01 -2.13586019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:-0.86, Z:-0.19 [[ 9.94938310e-01 1.24832237e-02 -9.97092216e-02 2.18645004e+02] [-1.24701677e-02 9.99921960e-01 7.54212141e-04 -8.64285826e-01] [ 9.97108553e-02 4.92996164e-04 9.95016333e-01 -1.87426234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:-0.87, Z:-0.18 [[ 9.94917038e-01 1.40747618e-02 -9.97095260e-02 2.18703910e+02] [-1.40739505e-02 9.99900704e-01 7.11578783e-04 -8.65526295e-01] [ 9.97096405e-02 6.95345073e-04 9.95016334e-01 -1.83768379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:218.76, Y:-0.87, Z:-0.19 [[ 9.94895136e-01 1.55440269e-02 -9.97098334e-02 2.18764290e+02] [-1.55551889e-02 9.99878789e-01 6.65541471e-04 -8.65697800e-01] [ 9.97080927e-02 8.88861321e-04 9.95016335e-01 -1.93606125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:218.82, Y:-0.86, Z:-0.17 [[ 9.94872013e-01 1.69578723e-02 -9.97101228e-02 2.18821438e+02] [-1.69807868e-02 9.99855624e-01 6.18939169e-04 -8.64453447e-01] [ 9.97062229e-02 1.07739108e-03 9.95016336e-01 -1.69810719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:-0.86, Z:-0.16 [[ 9.94778369e-01 2.17683203e-02 -9.97102595e-02 2.18880391e+02] [-2.18176250e-02 9.99761790e-01 5.96060714e-04 -8.58001403e-01] [ 9.96994828e-02 1.58249275e-03 9.95016336e-01 -1.63167096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:-0.85, Z:-0.16 [[ 9.94711726e-01 2.46255474e-02 -9.97103998e-02 2.18938522e+02] [-2.46916178e-02 9.99694952e-01 5.71592112e-04 -8.52780749e-01] [ 9.96940592e-02 1.89344171e-03 9.95016336e-01 -1.56128887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:219.00, Y:-0.85, Z:-0.17 [[ 9.94725822e-01 2.40483793e-02 -9.97106518e-02 2.18999290e+02] [-2.41163642e-02 9.99709021e-01 5.23630562e-04 -8.45144995e-01] [ 9.96942306e-02 1.88378955e-03 9.95016337e-01 -1.70074444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:219.06, Y:-0.84, Z:-0.17 [[ 9.94840504e-01 1.87121883e-02 -9.97107053e-02 2.19057521e+02] [-1.87544820e-02 9.99823988e-01 5.13248684e-04 -8.39230254e-01] [ 9.97027589e-02 1.35942205e-03 9.95016337e-01 -1.65203894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:219.12, Y:-0.83, Z:-0.16 [[ 9.94925725e-01 1.34361866e-02 -9.97109361e-02 2.19115942e+02] [-1.34570244e-02 9.99909343e-01 4.63627249e-04 -8.32830601e-01] [ 9.97081260e-02 8.80537824e-04 9.95016339e-01 -1.59103015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:219.17, Y:-0.83, Z:-0.15 [[ 9.94984294e-01 7.99659881e-03 -9.97111286e-02 2.19173882e+02] [-7.99479229e-03 9.99967954e-01 4.17704469e-04 -8.29092709e-01] [ 9.97112735e-02 3.81560376e-04 9.95016340e-01 -1.52993487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-0.82, Z:-0.13 [[ 9.95010321e-01 3.48056249e-03 -9.97113205e-02 2.19230470e+02] [-3.46137951e-03 9.99993943e-01 3.65385478e-04 -8.23162390e-01] [ 9.97119882e-02 -1.84235994e-05 9.95016341e-01 -1.26410884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters Centerline goodness : 0.998413 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:-0.82, Z:-0.12 [[ 9.95012129e-01 2.91312181e-03 -9.97114673e-02 2.19288341e+02] [-2.89568536e-03 9.99995756e-01 3.19595980e-04 -8.19636362e-01] [ 9.97119752e-02 -2.92688398e-05 9.95016342e-01 -1.16531306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:219.35, Y:-0.82, Z:-0.13 [[ 9.95014032e-01 -2.16616564e-03 -9.97115078e-02 2.19349646e+02] [ 2.20772228e-03 9.99997516e-01 3.06427873e-04 -8.17002406e-01] [ 9.97105963e-02 -5.25035351e-04 9.95016342e-01 -1.33574250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:219.41, Y:-0.81, Z:-0.10 [[ 9.94974494e-01 -9.13053205e-03 -9.97115366e-02 2.19407069e+02] [ 9.20600086e-03 9.99957580e-01 2.96769200e-04 -8.13958644e-01] [ 9.97045971e-02 -1.21322228e-03 9.95016342e-01 -1.01328292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:219.47, Y:-0.81, Z:-0.10 [[ 9.94924002e-01 -1.35587053e-02 -9.97115453e-02 2.19465264e+02] [ 1.36560549e-02 9.99906709e-01 2.93811843e-04 -8.12115124e-01] [ 9.96982593e-02 -1.65398679e-03 9.95016342e-01 -9.62288395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:219.53, Y:-0.81, Z:-0.12 [[ 9.94969364e-01 -9.67212438e-03 -9.97116568e-02 2.19527364e+02] [ 9.74554185e-03 9.99952480e-01 2.49226783e-04 -8.09153848e-01] [ 9.97045080e-02 -1.21971714e-03 9.95016343e-01 -1.15392815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:-0.81, Z:-0.11 [[ 9.94931015e-01 -1.30329884e-02 -9.97116640e-02 2.19584938e+02] [ 1.31229456e-02 9.99913860e-01 2.46308765e-04 -8.09999986e-01] [ 9.96998647e-02 -1.55357097e-03 9.95016343e-01 -1.09974524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:219.64, Y:-0.81, Z:-0.08 [[ 9.94864648e-01 -1.73751805e-02 -9.97117624e-02 2.19641776e+02] [ 1.74818892e-02 9.99847161e-01 1.96452555e-04 -8.11832924e-01] [ 9.96931091e-02 -1.93859368e-03 9.95016345e-01 -8.38759321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:-0.82, Z:-0.10 [[ 9.94842480e-01 -1.86008111e-02 -9.97118296e-02 2.19702340e+02] [ 1.87092606e-02 9.99824955e-01 1.52560514e-04 -8.15229793e-01] [ 9.96915378e-02 -2.01730829e-03 9.95016345e-01 -9.93891876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:219.76, Y:-0.82, Z:-0.09 [[ 9.94796008e-01 -2.09390755e-02 -9.97118768e-02 2.19760400e+02] [ 2.10549560e-02 9.99778314e-01 1.09842247e-04 -8.17342973e-01] [ 9.96874720e-02 -2.20869981e-03 9.95016346e-01 -9.33980504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:219.82, Y:-0.81, Z:-0.07 [[ 9.94980848e-01 -8.40527103e-03 -9.97119056e-02 2.19817141e+02] [ 8.45408446e-03 9.99964261e-01 6.70078461e-05 -8.13855981e-01] [ 9.97077789e-02 -9.09644395e-04 9.95016347e-01 -7.25228035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:219.88, Y:-0.83, Z:-0.08 [[ 9.94550955e-01 -3.04291211e-02 -9.97119159e-02 2.19875919e+02] [ 3.05838581e-02 9.99532204e-01 2.32549304e-05 -8.26412734e-01] [ 9.96645635e-02 -3.07270330e-03 9.95016348e-01 -8.30051919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:219.93, Y:-0.83, Z:-0.08 [[ 9.94512220e-01 -3.16698377e-02 -9.97119162e-02 2.19933895e+02] [ 3.18285425e-02 9.99493344e-01 8.27250490e-07 -8.30439425e-01] [ 9.96613703e-02 -3.17450767e-03 9.95016348e-01 -7.64849632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.99, Y:-0.84, Z:-0.07 [[ 9.94400395e-01 -3.50055974e-02 -9.97118988e-02 2.19992417e+02] [ 3.51767855e-02 9.99381105e-01 -4.13510047e-05 -8.35013277e-01] [ 9.96516350e-02 -3.46642462e-03 9.95016349e-01 -7.16810395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.05, Y:-0.84, Z:-0.07 [[ 9.94272248e-01 -3.84738900e-02 -9.97118639e-02 2.20049638e+02] [ 3.86582567e-02 9.99252487e-01 -8.32248059e-05 -8.40211095e-01] [ 9.96405299e-02 -3.77193871e-03 9.95016350e-01 -6.55321580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:220.11, Y:-0.85, Z:-0.04 [[ 9.93986100e-01 -4.52679655e-02 -9.97118019e-02 2.20106290e+02] [ 4.54816150e-02 9.98965167e-01 -1.30653186e-04 -8.47604544e-01] [ 9.96145312e-02 -4.40518633e-03 9.95016351e-01 -3.80847953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:-0.85, Z:-0.03 [[ 9.94078964e-01 -4.31808212e-02 -9.97117303e-02 2.20165344e+02] [ 4.33798624e-02 9.99058636e-01 -1.72132948e-04 -8.53042180e-01] [ 9.96252981e-02 -4.15436740e-03 9.95016352e-01 -3.27265556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.23, Y:-0.86, Z:-0.04 [[ 9.94235324e-01 -3.94170952e-02 -9.97116495e-02 2.20225708e+02] [ 3.95934448e-02 9.99215850e-01 -2.10455466e-04 -8.58795715e-01] [ 9.96417562e-02 -3.73868544e-03 9.95016353e-01 -3.82613857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.28, Y:-0.86, Z:-0.03 [[ 9.94563928e-01 -3.00030429e-02 -9.97116367e-02 2.20284067e+02] [ 3.01316447e-02 9.99545915e-01 -2.16344091e-04 -8.64297774e-01] [ 9.96728502e-02 -2.78930758e-03 9.95016353e-01 -2.55601398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.34, Y:-0.87, Z:-0.04 [[ 9.94561540e-01 -3.00822647e-02 -9.97115896e-02 2.20343958e+02] [ 3.02092679e-02 9.99543568e-01 -2.36263754e-04 -8.68305481e-01] [ 9.96731854e-02 -2.77723528e-03 9.95016353e-01 -3.81267367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.40, Y:-0.87, Z:-0.03 [[ 9.94616002e-01 -2.82247049e-02 -9.97114518e-02 2.20402601e+02] [ 2.83375620e-02 9.99598370e-01 -2.84585548e-04 -8.72963751e-01] [ 9.96794370e-02 -2.54252611e-03 9.95016354e-01 -3.24975403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:-0.88, Z:-0.01 [[ 9.94696355e-01 -2.52352131e-02 -9.97113112e-02 2.20459074e+02] [ 2.53288032e-02 9.99679121e-01 -3.27419693e-04 -8.76809840e-01] [ 9.96875784e-02 -2.19988500e-03 9.95016355e-01 -8.82302938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:-0.88, Z:0.00 [[ 9.94868313e-01 -1.71675729e-02 -9.97111506e-02 2.20517244e+02] [ 1.72164196e-02 9.99851718e-01 -3.70640360e-04 -8.80842219e-01] [ 9.97027282e-02 -1.34793066e-03 9.95016356e-01 5.34008538e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:220.58, Y:-0.88, Z:-0.02 [[ 9.94882779e-01 -1.63082484e-02 -9.97110689e-02 2.20577669e+02] [ 1.63507047e-02 9.99866242e-01 -3.91455887e-04 -8.83415354e-01] [ 9.97041157e-02 -1.24089352e-03 9.95016356e-01 -1.64393186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:220.63, Y:-0.89, Z:0.01 [[ 9.94950512e-01 -1.14540407e-02 -9.97110037e-02 2.20633618e+02] [ 1.14705820e-02 9.99934128e-01 -4.07424880e-04 -8.86861996e-01] [ 9.97091022e-02 -7.38375654e-04 9.95016357e-01 1.10996625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:220.69, Y:-0.89, Z:-0.01 [[ 9.94958305e-01 -1.07576713e-02 -9.97108031e-02 2.20694439e+02] [ 1.07662855e-02 9.99941940e-01 -4.51722473e-04 -8.89243396e-01] [ 9.97098734e-02 -6.24069943e-04 9.95016357e-01 -5.56685913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:220.75, Y:-0.89, Z:0.03 [[ 9.94987380e-01 -7.61022044e-03 -9.97105765e-02 2.20750898e+02] [ 7.59851314e-03 9.99971007e-01 -4.97190182e-04 -8.91591079e-01] [ 9.97114694e-02 -2.62954169e-04 9.95016359e-01 2.82333794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters Centerline goodness : 0.998207 with order 1 Centerline is valid? [True, True] Translation: X:220.81, Y:-0.89, Z:0.03 [[ 9.94990565e-01 -7.18185260e-03 -9.97105602e-02 2.20809248e+02] [ 7.16767435e-03 9.99974187e-01 -5.00437064e-04 -8.93621921e-01] [ 9.97115804e-02 -2.16762667e-04 9.95016359e-01 3.36146777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:-0.89, Z:0.01 [[ 9.95001436e-01 -5.47700193e-03 -9.97103011e-02 2.20871382e+02] [ 5.44955453e-03 9.99985001e-01 -5.47638387e-04 -8.93096603e-01] [ 9.97118050e-02 1.52425852e-06 9.95016360e-01 1.18147406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:220.93, Y:-0.89, Z:0.04 [[ 9.95013555e-01 -2.42607235e-03 -9.97102821e-02 2.20927856e+02] [ 2.38300033e-03 9.99997009e-01 -5.51071168e-04 -8.92024120e-01] [ 9.97113208e-02 3.10713647e-04 9.95016360e-01 3.78259094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:220.99, Y:-0.89, Z:0.02 [[ 9.95014625e-01 -1.95164951e-03 -9.97100102e-02 2.20988242e+02] [ 1.90164518e-03 9.99998014e-01 -5.96538619e-04 -8.90857115e-01] [ 9.97109764e-02 4.03951591e-04 9.95016361e-01 2.37194411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:-0.89, Z:0.03 [[ 9.95016473e-01 -4.39594488e-04 -9.97097089e-02 2.21047090e+02] [ 3.77335632e-04 9.99999722e-01 -6.43259296e-04 -8.87310848e-01] [ 9.97099639e-02 6.02429569e-04 9.95016362e-01 3.01224704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:221.10, Y:-0.88, Z:0.05 [[ 9.95015293e-01 1.61364230e-03 -9.97093889e-02 2.21103754e+02] [-1.69082225e-03 9.99998333e-01 -6.89547680e-04 -8.80058564e-01] [ 9.97081100e-02 8.54701340e-04 9.95016363e-01 5.31346660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:-0.87, Z:0.04 [[ 9.95016230e-01 8.98634132e-04 -9.97090456e-02 2.21163749e+02] [-9.76894961e-04 9.99999252e-01 -7.36070446e-04 -8.73220338e-01] [ 9.97083095e-02 8.29807305e-04 9.95016364e-01 4.21521511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:-0.87, Z:0.07 [[ 9.95015591e-01 -1.46707158e-03 -9.97086782e-02 2.21220337e+02] [ 1.39596891e-03 9.99998719e-01 -7.82869372e-04 -8.67175148e-01] [ 9.97096990e-02 6.39777017e-04 9.95016365e-01 6.64110800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:-0.86, Z:0.07 [[ 9.95008861e-01 -3.95266124e-03 -9.97082924e-02 2.21278475e+02] [ 3.88935679e-03 9.99992093e-01 -8.29274221e-04 -8.59660140e-01] [ 9.97107818e-02 4.37334074e-04 9.95016366e-01 7.41525831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters Centerline goodness : 0.942037 with order 3 Centerline is valid? [True, False] Translation: X:221.30, Y:-0.82, Z:0.09 [[ 9.93825005e-01 -7.69064636e-03 -1.10691977e-01 2.21300842e+02] [ 3.94819229e-03 9.99414402e-01 -3.39891888e-02 -8.23652547e-01] [ 1.10888555e-01 3.33422725e-02 9.93273387e-01 8.55364541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [False, True] Translation: X:221.31, Y:-0.80, Z:0.10 [[ 9.92417183e-01 -1.34116452e-02 -1.22181270e-01 2.21314530e+02] [ 5.70034211e-03 9.97981697e-01 -6.32458556e-02 -7.95397941e-01] [ 1.22782902e-01 6.20697988e-02 9.90490636e-01 9.68034377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:221.37, Y:-0.85, Z:0.09 [[ 9.92380257e-01 -1.14368077e-02 -1.22680987e-01 2.21374278e+02] [ 1.14614993e-02 9.99934188e-01 -5.04474279e-04 -8.53810330e-01] [ 1.22678683e-01 -9.05477735e-04 9.92446029e-01 9.11344004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:-0.85, Z:0.10 [[ 9.92193781e-01 -2.23816689e-02 -1.22680730e-01 2.21432369e+02] [ 2.24827202e-02 9.99747074e-01 -5.60746591e-04 -8.52418277e-01] [ 1.22662251e-01 -2.20182725e-03 9.92446031e-01 9.65239881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:-0.85, Z:0.10 [[ 9.92089702e-01 -2.65996248e-02 -1.22680409e-01 2.21490900e+02] [ 2.67249850e-02 9.99642629e-01 -6.23868082e-04 -8.52369795e-01] [ 1.22653162e-01 -2.65969900e-03 9.92446033e-01 1.04746584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters Centerline goodness : 0.997917 with order 1 Centerline is valid? [True, True] Translation: X:221.55, Y:-0.86, Z:0.13 [[ 9.91840686e-01 -3.46647199e-02 -1.22680115e-01 2.21548171e+02] [ 3.48448974e-02 9.99392503e-01 -6.77161828e-04 -8.56215795e-01] [ 1.22629061e-01 -3.60313938e-03 9.92446034e-01 1.32715324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:221.61, Y:-0.86, Z:0.12 [[ 9.91884079e-01 -3.34001373e-02 -1.22680094e-01 2.21609936e+02] [ 3.35702147e-02 9.99436130e-01 -6.80978078e-04 -8.59866187e-01] [ 1.22633663e-01 -3.44294579e-03 9.92446034e-01 1.19156131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:221.67, Y:-0.87, Z:0.15 [[ 9.91654512e-01 -3.96350211e-02 -1.22680047e-01 2.21666187e+02] [ 3.98515409e-02 9.99205374e-01 -6.89319521e-04 -8.68396305e-01] [ 1.22609884e-01 -4.20542211e-03 9.92446034e-01 1.47563535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:221.72, Y:-0.87, Z:0.16 [[ 9.91711797e-01 -3.81757803e-02 -1.22679754e-01 2.21724950e+02] [ 3.83751554e-02 9.99263130e-01 -7.38144730e-04 -8.74423183e-01] [ 1.22617534e-01 -3.97582778e-03 9.92446035e-01 1.55020188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.79, Y:-0.88, Z:0.14 [[ 9.91943276e-01 -3.15958651e-02 -1.22679417e-01 2.21785492e+02] [ 3.17386746e-02 9.99495889e-01 -7.90453629e-04 -8.80390590e-01] [ 1.22642548e-01 -3.10959693e-03 9.92446037e-01 1.40728734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.84, Y:-0.89, Z:0.15 [[ 9.92060981e-01 -2.76550295e-02 -1.22679292e-01 2.21843553e+02] [ 2.77655002e-02 9.99614137e-01 -8.09338426e-04 -8.87061613e-01] [ 1.22654337e-01 -2.60333884e-03 9.92446037e-01 1.47376861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:221.90, Y:-0.89, Z:0.17 [[ 9.92156836e-01 -2.39728256e-02 -1.22678914e-01 2.21900154e+02] [ 2.40486119e-02 9.99710418e-01 -8.63137950e-04 -8.91568316e-01] [ 1.22664080e-01 -2.09388937e-03 9.92446038e-01 1.71718118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:-0.90, Z:0.18 [[ 9.92199561e-01 -2.21362645e-02 -1.22678512e-01 2.21958018e+02] [ 2.21914236e-02 9.99753320e-01 -9.16894072e-04 -8.95796249e-01] [ 1.22668547e-01 -1.81266894e-03 9.92446040e-01 1.80687675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:222.02, Y:-0.90, Z:0.19 [[ 9.92212422e-01 -2.15527572e-02 -1.22678395e-01 2.22016132e+02] [ 2.16015666e-02 9.99766224e-01 -9.32323945e-04 -8.99467792e-01] [ 1.22669810e-01 -1.72498212e-03 9.92446040e-01 1.88136228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:222.08, Y:-0.91, Z:0.17 [[ 9.92249952e-01 -1.97522976e-02 -1.22677949e-01 2.22077051e+02] [ 1.97805434e-02 9.99803858e-01 -9.87791024e-04 -9.05970677e-01] [ 1.22673397e-01 -1.44650088e-03 9.92446041e-01 1.73783143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:222.13, Y:-0.91, Z:0.20 [[ 9.92252480e-01 -1.96278652e-02 -1.22677473e-01 2.22132741e+02] [ 1.96482503e-02 9.99806410e-01 -1.04371509e-03 -9.10186282e-01] [ 1.22674210e-01 -1.37476882e-03 9.92446043e-01 2.01838303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:222.19, Y:-0.91, Z:0.19 [[ 9.92246957e-01 -1.99079490e-02 -1.22677013e-01 2.22193670e+02] [ 1.99240928e-02 9.99800896e-01 -1.09527336e-03 -9.13246635e-01] [ 1.22674392e-01 -1.35744653e-03 9.92446044e-01 1.89150754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:222.25, Y:-0.92, Z:0.22 [[ 9.92206658e-01 -2.18272787e-02 -1.22676480e-01 2.22250144e+02] [ 2.18510143e-02 9.99760574e-01 -1.15206136e-03 -9.16901359e-01] [ 1.22672254e-01 -1.53752256e-03 9.92446046e-01 2.16988837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:222.31, Y:-0.92, Z:0.22 [[ 9.92245233e-01 -2.00000458e-02 -1.22675977e-01 2.22308843e+02] [ 2.00035279e-02 9.99799185e-01 -1.20336766e-03 -9.18453067e-01] [ 1.22675409e-01 -1.25991650e-03 9.92446047e-01 2.21513906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:222.37, Y:-0.92, Z:0.21 [[ 9.92280715e-01 -1.81584627e-02 -1.22675398e-01 2.22369342e+02] [ 1.81409545e-02 9.99834646e-01 -1.25975445e-03 -9.24430098e-01] [ 1.22677988e-01 -9.75418765e-04 9.92446049e-01 2.09441793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:222.43, Y:-0.93, Z:0.22 [[ 9.92306535e-01 -1.66924784e-02 -1.22674782e-01 2.22428154e+02] [ 1.66567190e-02 9.99860400e-01 -1.31711690e-03 -9.27365227e-01] [ 1.22679643e-01 -7.36375659e-04 9.92446050e-01 2.15930647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:222.49, Y:-0.93, Z:0.22 [[ 9.92340379e-01 -1.45473355e-02 -1.22674148e-01 2.22486548e+02] [ 1.44882472e-02 9.99894096e-01 -1.37373841e-03 -9.33247752e-01] [ 1.22681141e-01 -4.14117290e-04 9.92446052e-01 2.24616190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:222.54, Y:-0.93, Z:0.25 [[ 9.92383181e-01 -1.12621610e-02 -1.22673491e-01 2.22542191e+02] [ 1.11710966e-02 9.99936579e-01 -1.43012431e-03 -9.34072629e-01] [ 1.22681817e-01 4.88338919e-05 9.92446054e-01 2.54803305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:222.60, Y:-0.93, Z:0.26 [[ 9.92434699e-01 -4.97522192e-03 -1.22672799e-01 2.22600759e+02] [ 4.82925458e-03 9.99987233e-01 -1.48719678e-03 -9.32955484e-01] [ 1.22678632e-01 8.83527510e-04 9.92446055e-01 2.55932652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:222.66, Y:-0.93, Z:0.26 [[ 9.92445881e-01 -1.61843455e-03 -1.22672551e-01 2.22658509e+02] [ 1.44442236e-03 9.99997821e-01 -1.50742771e-03 -9.29595175e-01] [ 1.22674723e-01 1.31884944e-03 9.92446055e-01 2.64114073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:222.72, Y:-0.93, Z:0.27 [[ 9.92447227e-01 9.52783461e-05 -1.22672298e-01 2.22717017e+02] [-2.84836258e-04 9.99998792e-01 -1.52770207e-03 -9.26304885e-01] [ 1.22672005e-01 1.55110520e-03 9.92446056e-01 2.72515565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:222.78, Y:-0.92, Z:0.28 [[ 9.92446514e-01 1.26769756e-03 -1.22671550e-01 2.22775603e+02] [-1.47333756e-03 9.99997657e-01 -1.58565001e-03 -9.21327706e-01] [ 1.22669252e-01 1.75440943e-03 9.92446057e-01 2.77292696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:-0.92, Z:0.28 [[ 9.92447239e-01 6.00972308e-04 -1.22670767e-01 2.22833467e+02] [-8.08752922e-04 9.99998322e-01 -1.64402090e-03 -9.18545284e-01] [ 1.22669574e-01 1.73081434e-03 9.92446059e-01 2.84796472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:222.89, Y:-0.92, Z:0.29 [[ 9.92446803e-01 -1.20544123e-03 -1.22669844e-01 2.22891464e+02] [ 1.00321846e-03 9.99998034e-01 -1.71026479e-03 -9.16020434e-01] [ 1.22671665e-01 1.57428217e-03 9.92446061e-01 2.93947535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:222.95, Y:-0.91, Z:0.30 [[ 9.92423919e-01 -6.86159159e-03 -1.22669001e-01 2.22949371e+02] [ 6.69518142e-03 9.99976023e-01 -1.76873446e-03 -9.12718634e-01] [ 1.22678196e-01 9.34043171e-04 9.92446063e-01 3.03114641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:223.01, Y:-0.92, Z:0.31 [[ 9.92351131e-01 -1.38478842e-02 -1.22668124e-01 2.23008583e+02] [ 1.37273594e-02 9.99904105e-01 -1.82766006e-03 -9.15823540e-01] [ 1.22681670e-01 1.29771104e-04 9.92446065e-01 3.05977128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:223.07, Y:-0.92, Z:0.32 [[ 9.92235517e-01 -2.05245226e-02 -1.22667937e-01 2.23066392e+02] [ 2.04532832e-02 9.99789116e-01 -1.84009195e-03 -9.15912956e-01] [ 1.22679835e-01 -6.83157469e-04 9.92446065e-01 3.19569714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:223.13, Y:-0.92, Z:0.31 [[ 9.92080657e-01 -2.69927564e-02 -1.22667682e-01 2.23127237e+02] [ 2.69686778e-02 9.99634554e-01 -1.85695546e-03 -9.21649653e-01] [ 1.22672978e-01 -1.46593559e-03 9.92446065e-01 3.05229424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:-0.93, Z:0.31 [[ 9.91898303e-01 -3.30244616e-02 -1.22666790e-01 2.23186279e+02] [ 3.30392433e-02 9.99452222e-01 -1.91414541e-03 -9.28916590e-01] [ 1.22662809e-01 -2.15418032e-03 9.92446066e-01 3.11562742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:-0.94, Z:0.32 [[ 9.91750407e-01 -3.72049919e-02 -1.22665886e-01 2.23245161e+02] [ 3.72446541e-02 9.99304235e-01 -1.97043404e-03 -9.38175706e-01] [ 1.22653849e-01 -2.61446973e-03 9.92446068e-01 3.18056105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:-0.95, Z:0.35 [[ 9.91677782e-01 -3.90957622e-02 -1.22664985e-01 2.23302039e+02] [ 3.91430769e-02 9.99231564e-01 -2.02502686e-03 -9.48906533e-01] [ 1.22649894e-01 -2.79331078e-03 9.92446069e-01 3.49471906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:223.36, Y:-0.96, Z:0.36 [[ 9.91825583e-01 -3.51472549e-02 -1.22664920e-01 2.23361458e+02] [ 3.51640144e-02 9.99379495e-01 -2.02891602e-03 -9.60501570e-01] [ 1.22660117e-01 -2.30106020e-03 9.92446069e-01 3.55993408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:-0.97, Z:0.34 [[ 9.91859490e-01 -3.41774826e-02 -1.22664791e-01 2.23422905e+02] [ 3.41858911e-02 9.99413416e-01 -2.03672258e-03 -9.66902182e-01] [ 1.22662447e-01 -2.17326255e-03 9.92446070e-01 3.40682565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.48, Y:-0.97, Z:0.35 [[ 9.92004282e-01 -2.96831066e-02 -1.22663838e-01 2.23481101e+02] [ 2.96503823e-02 9.99558140e-01 -2.09258575e-03 -9.73987501e-01] [ 1.22671752e-01 -1.56117566e-03 9.92446071e-01 3.47681919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.54, Y:-0.99, Z:0.36 [[ 9.91079134e-01 -5.21149942e-02 -1.22662859e-01 2.23538190e+02] [ 5.22462369e-02 9.98631922e-01 -2.14850315e-03 -9.93710580e-01] [ 1.22607015e-01 -4.27933613e-03 9.92446073e-01 3.62135243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.60, Y:-0.98, Z:0.36 [[ 9.92301472e-01 -1.70850371e-02 -1.22661692e-01 2.23595791e+02] [ 1.69414939e-02 9.99854033e-01 -2.21319226e-03 -9.82163414e-01] [ 1.22681600e-01 1.18081641e-04 9.92446075e-01 3.63454976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.65, Y:-0.98, Z:0.39 [[ 9.92388715e-01 -1.09110389e-02 -1.22660457e-01 2.23651919e+02] [ 1.07122963e-02 9.99940023e-01 -2.27964689e-03 -9.81066280e-01] [ 1.22677973e-01 9.48320696e-04 9.92446077e-01 3.88943901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.71, Y:-0.98, Z:0.38 [[ 9.92408631e-01 -8.93263815e-03 -1.22659350e-01 2.23712205e+02] [ 8.71166283e-03 9.99959320e-01 -2.33773769e-03 -9.80505668e-01] [ 1.22675242e-01 1.25142416e-03 9.92446079e-01 3.76449003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:223.77, Y:-0.98, Z:0.40 [[ 9.92417574e-01 -7.88300287e-03 -1.22658950e-01 2.23767567e+02] [ 7.65146994e-03 9.99967946e-01 -2.35854748e-03 -9.77987066e-01] [ 1.22673610e-01 1.40214270e-03 9.92446079e-01 4.00298816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.83, Y:-0.98, Z:0.41 [[ 9.92379168e-01 -1.17769436e-02 -1.22657617e-01 2.23825471e+02] [ 1.15667064e-02 9.99930161e-01 -2.42596082e-03 -9.77063770e-01] [ 1.22677621e-01 9.88728340e-04 9.92446081e-01 4.07006210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.89, Y:-0.98, Z:0.40 [[ 9.92280772e-01 -1.82779481e-02 -1.22657193e-01 2.23886024e+02] [ 1.81145570e-02 9.99832923e-01 -2.44720763e-03 -9.79270167e-01] [ 1.22681430e-01 2.06436357e-04 9.92446081e-01 3.96714809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.94, Y:-0.98, Z:0.40 [[ 9.92215348e-01 -2.15455221e-02 -1.22655994e-01 2.23944666e+02] [ 2.13997465e-02 9.99767859e-01 -2.50589898e-03 -9.81458106e-01] [ 1.22681511e-01 -1.38415745e-04 9.92446083e-01 4.03603486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.00, Y:-0.98, Z:0.41 [[ 9.92204658e-01 -2.20391428e-02 -1.22654770e-01 2.24002103e+02] [ 2.18898850e-02 9.99757099e-01 -2.56446307e-03 -9.80794558e-01] [ 1.22681495e-01 -1.40426592e-04 9.92446085e-01 4.10049696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.06, Y:-0.98, Z:0.42 [[ 9.92171132e-01 -2.35074848e-02 -1.22653343e-01 2.24060249e+02] [ 2.33611816e-02 9.99723628e-01 -2.63097626e-03 -9.83726126e-01] [ 1.22681293e-01 -2.54948330e-04 9.92446087e-01 4.16313483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.12, Y:-0.99, Z:0.42 [[ 9.92176084e-01 -2.33042307e-02 -1.22652072e-01 2.24118456e+02] [ 2.31492089e-02 9.99728405e-01 -2.68898860e-03 -9.86963405e-01] [ 1.22681425e-01 -1.71348240e-04 9.92446089e-01 4.23620616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:-0.99, Z:0.45 [[ 9.92234829e-01 -2.06598922e-02 -1.22650778e-01 2.24175141e+02] [ 2.04776026e-02 9.99786539e-01 -2.74675452e-03 -9.90134636e-01] [ 1.22681345e-01 2.13831603e-04 9.92446090e-01 4.47263343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.23, Y:-0.99, Z:0.44 [[ 9.92354946e-01 -1.37395380e-02 -1.22649441e-01 2.24234374e+02] [ 1.34973624e-02 9.99904971e-01 -2.80521487e-03 -9.89605029e-01] [ 1.22676328e-01 1.12832490e-03 9.92446092e-01 4.38170196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:224.29, Y:-0.99, Z:0.46 [[ 9.92403523e-01 -9.63044064e-03 -1.22647878e-01 2.24290964e+02] [ 9.34875225e-03 9.99952175e-01 -2.87200564e-03 -9.91437145e-01] [ 1.22669671e-01 1.70358390e-03 9.92446094e-01 4.59847788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:224.35, Y:-1.00, Z:0.46 [[ 9.91853648e-01 -3.44119515e-02 -1.22646481e-01 2.24350766e+02] [ 3.43116448e-02 9.99406886e-01 -2.93046459e-03 -1.00232498e+00] [ 1.22674581e-01 -1.30161051e-03 9.92446096e-01 4.57456685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:224.41, Y:-1.01, Z:0.46 [[ 9.91109281e-01 -5.15808395e-02 -1.22645054e-01 2.24410008e+02] [ 5.16040920e-02 9.98663148e-01 -2.98902404e-03 -1.00668195e+00] [ 1.22635272e-01 -3.36653718e-03 9.92446098e-01 4.61421744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:224.47, Y:-0.98, Z:0.48 [[ 9.92450055e-01 -1.19790557e-03 -1.22643604e-01 2.24466355e+02] [ 8.30424297e-04 9.99995012e-01 -3.04740687e-03 -9.80559035e-01] [ 1.22646642e-01 2.92255289e-03 9.92446099e-01 4.80586743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.53, Y:-0.98, Z:0.49 [[ 9.92450337e-01 -1.11018790e-03 -1.22642145e-01 2.24525268e+02] [ 7.34924147e-04 9.99994909e-01 -3.10502176e-03 -9.75285961e-01] [ 1.22644968e-01 2.99144722e-03 9.92446101e-01 4.86033864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:224.58, Y:-0.97, Z:0.50 [[ 9.92449138e-01 -1.99186675e-03 -1.22640695e-01 2.24583065e+02] [ 1.61635519e-03 9.99993697e-01 -3.16129882e-03 -9.67164990e-01] [ 1.22646218e-01 2.93919737e-03 9.92446102e-01 4.99429890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.64, Y:-0.96, Z:0.50 [[ 9.92436545e-01 -5.41290670e-03 -1.22639325e-01 2.24641853e+02] [ 5.05694494e-03 9.99982050e-01 -3.21359054e-03 -9.61315612e-01] [ 1.22654518e-01 2.56910438e-03 9.92446104e-01 5.03076491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:-0.95, Z:0.51 [[ 9.92373645e-01 -1.24304399e-02 -1.22637810e-01 2.24699698e+02] [ 1.21208252e-02 9.99921192e-01 -3.27038418e-03 -9.54737176e-01] [ 1.22668798e-01 1.75897161e-03 9.92446105e-01 5.13173282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:-0.95, Z:0.53 [[ 9.92253352e-01 -1.98402857e-02 -1.22636244e-01 2.24757867e+02] [ 1.95799061e-02 9.99802756e-01 -3.32809339e-03 -9.51614744e-01] [ 1.22678085e-01 9.01105669e-04 9.92446107e-01 5.27664476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:-0.95, Z:0.51 [[ 9.92163663e-01 -2.39097016e-02 -1.22636016e-01 2.24819742e+02] [ 2.36792478e-02 9.99714040e-01 -3.33650037e-03 -9.47304353e-01] [ 1.22680721e-01 4.06425823e-04 9.92446107e-01 5.12316145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.88, Y:-0.95, Z:0.53 [[ 9.92004044e-01 -2.98066502e-02 -1.22635802e-01 2.24876715e+02] [ 2.96201103e-02 9.99555633e-01 -3.34434037e-03 -9.48203869e-01] [ 1.22680990e-01 -3.14886810e-04 9.92446107e-01 5.33890667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.94, Y:-0.95, Z:0.53 [[ 9.91912979e-01 -3.27032841e-02 -1.22634159e-01 2.24937020e+02] [ 3.25314753e-02 9.99464916e-01 -3.40355776e-03 -9.46924628e-01] [ 1.22679847e-01 -6.13436983e-04 9.92446109e-01 5.27943628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:-0.95, Z:0.54 [[ 9.91830919e-01 -3.51097035e-02 -1.22632524e-01 2.24994875e+02] [ 3.49490551e-02 9.99383101e-01 -3.46148727e-03 -9.47296339e-01] [ 1.22678403e-01 -8.52680718e-04 9.92446111e-01 5.36215056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.05, Y:-0.95, Z:0.54 [[ 9.91883398e-01 -3.36013429e-02 -1.22630641e-01 2.25053139e+02] [ 3.34211167e-02 9.99435135e-01 -3.52694808e-03 -9.46436475e-01] [ 1.22679882e-01 -6.00131721e-04 9.92446113e-01 5.44214230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.11, Y:-0.94, Z:0.57 [[ 9.92019911e-01 -2.93024202e-02 -1.22628974e-01 2.25109006e+02] [ 2.90824155e-02 9.99570592e-01 -3.58400016e-03 -9.43907665e-01] [ 1.22681336e-01 -1.09472524e-05 9.92446114e-01 5.67636788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.17, Y:-0.94, Z:0.56 [[ 9.92097248e-01 -2.65595220e-02 -1.22628062e-01 2.25169565e+02] [ 2.63148167e-02 9.99647169e-01 -3.61494597e-03 -9.35474409e-01] [ 1.22680806e-01 3.59442991e-04 9.92446115e-01 5.58985163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:-0.93, Z:0.57 [[ 9.92052537e-01 -2.81840752e-02 -1.22627166e-01 2.25228133e+02] [ 2.79480085e-02 9.99602732e-01 -3.64508010e-03 -9.34442735e-01] [ 1.22681183e-01 1.88925888e-04 9.92446115e-01 5.66682534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters Centerline goodness : 0.932916 with order 3 Centerline is valid? [True, False] Translation: X:225.23, Y:-0.90, Z:0.58 [[ 9.90912903e-01 -3.00574541e-02 -1.31103652e-01 2.25231125e+02] [ 2.41970971e-02 9.98645260e-01 -4.60667443e-02 -8.97293882e-01] [ 1.32310689e-01 4.24758035e-02 9.90297777e-01 5.75244947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:225.23, Y:-0.88, Z:0.58 [[ 9.90980688e-01 -2.79339663e-02 -1.31060936e-01 2.25234398e+02] [ 1.95518246e-02 9.97705894e-01 -6.48126166e-02 -8.82632455e-01] [ 1.32570742e-01 6.16655709e-02 9.89253434e-01 5.75035558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.29, Y:-0.94, Z:0.58 [[ 9.90973278e-01 -2.19297069e-02 -1.32253731e-01 2.25293836e+02] [ 2.18626468e-02 9.99759064e-01 -1.95929805e-03 -9.44365415e-01] [ 1.32264833e-01 -9.49804601e-04 9.91213959e-01 5.77462344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:225.35, Y:-0.95, Z:0.59 [[ 9.90852641e-01 -2.68380567e-02 -1.32252647e-01 2.25351568e+02] [ 2.68050874e-02 9.99638618e-01 -2.02995023e-03 -9.51344959e-01] [ 1.32259333e-01 -1.53366221e-03 9.91213961e-01 5.89390874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:225.41, Y:-0.96, Z:0.61 [[ 9.90796633e-01 -2.88362507e-02 -1.32251667e-01 2.25407879e+02] [ 2.88127264e-02 9.99582638e-01 -2.09194555e-03 -9.55791127e-01] [ 1.32256794e-01 -1.73783848e-03 9.91213963e-01 6.11716456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:-0.96, Z:0.60 [[ 9.90723271e-01 -3.12596559e-02 -1.32250650e-01 2.25468861e+02] [ 3.12492921e-02 9.99509300e-01 -2.15436287e-03 -9.62609399e-01] [ 1.32253099e-01 -1.99836178e-03 9.91213965e-01 6.00191700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.53, Y:-0.97, Z:0.61 [[ 9.90747020e-01 -3.05020554e-02 -1.32249642e-01 2.25526487e+02] [ 3.04769370e-02 9.99533017e-01 -2.21457680e-03 -9.69333329e-01] [ 1.32255433e-01 -1.83647865e-03 9.91213967e-01 6.07857437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:225.58, Y:-0.97, Z:0.63 [[ 9.90856468e-01 -2.67172023e-02 -1.32248442e-01 2.25582569e+02] [ 2.66492486e-02 9.99642236e-01 -2.28406115e-03 -9.74463138e-01] [ 1.32262152e-01 -1.26114485e-03 9.91213969e-01 6.33134905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.64, Y:-0.98, Z:0.62 [[ 9.90964007e-01 -2.23825593e-02 -1.32247335e-01 2.25643329e+02] [ 2.22678445e-02 9.99749287e-01 -2.34647690e-03 -9.78622494e-01] [ 1.32266699e-01 -6.19588949e-04 9.91213971e-01 6.22080139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.70, Y:-0.98, Z:0.64 [[ 9.91106899e-01 -1.47669458e-02 -1.32246181e-01 2.25699066e+02] [ 1.45762707e-02 9.99890857e-01 -2.40983586e-03 -9.77380014e-01] [ 1.32267333e-01 4.60748806e-04 9.91213973e-01 6.44881495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:-0.98, Z:0.64 [[ 9.91141992e-01 -1.21927423e-02 -1.32245566e-01 2.25759143e+02] [ 1.19748107e-02 9.99925315e-01 -2.44313690e-03 -9.75998312e-01] [ 1.32265478e-01 8.37879966e-04 9.91213974e-01 6.37011181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters Centerline goodness : 0.938725 with order 1 Centerline is valid? [True, False] Translation: X:225.73, Y:-0.94, Z:0.64 [[ 9.91561053e-01 -6.08405212e-03 -1.29497733e-01 2.25727389e+02] [ 2.22468498e-04 9.98976557e-01 -4.52304006e-02 -9.38183513e-01] [ 1.29640384e-01 4.48198944e-02 9.90547600e-01 6.35742033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [False, True] Translation: X:225.70, Y:-0.93, Z:0.63 [[ 9.93658396e-01 -6.03404750e-03 -1.12279042e-01 2.25700265e+02] [ 5.69447163e-04 9.98816292e-01 -4.86383647e-02 -9.31305314e-01] [ 1.12439623e-01 4.82659824e-02 9.92485630e-01 6.33094739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.76, Y:-0.97, Z:0.62 [[ 9.93574908e-01 1.95548025e-03 -1.13159527e-01 2.25762733e+02] [-2.17636325e-03 9.99995960e-01 -1.82845912e-03 -9.68801795e-01] [ 1.13155494e-01 2.06298733e-03 9.93575150e-01 6.22843760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:-0.96, Z:0.65 [[ 9.93576839e-01 2.70686300e-05 -1.13159466e-01 2.25820003e+02] [-2.35919566e-04 9.99998294e-01 -1.83224295e-03 -9.63185499e-01] [ 1.13159223e-01 1.84717069e-03 9.93575150e-01 6.47605773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:-0.96, Z:0.65 [[ 9.93569768e-01 -3.75213508e-03 -1.13159342e-01 2.25879002e+02] [ 3.56684257e-03 9.99991946e-01 -1.83986502e-03 -9.59650472e-01] [ 1.13165334e-01 1.42441270e-03 9.93575150e-01 6.51683968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.94, Y:-0.96, Z:0.66 [[ 9.93531295e-01 -9.52550327e-03 -1.13158435e-01 2.25936614e+02] [ 9.37135875e-03 9.99954294e-01 -1.89406747e-03 -9.56305462e-01] [ 1.13171305e-01 8.21367023e-04 9.93575151e-01 6.56301164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.99, Y:-0.96, Z:0.66 [[ 9.93445555e-01 -1.61660609e-02 -1.13157359e-01 2.25993599e+02] [ 1.60477636e-02 9.99869313e-01 -1.95629158e-03 -9.56159255e-01] [ 1.13174197e-01 1.27546625e-04 9.93575153e-01 6.64867686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters Centerline goodness : 0.954324 with order 1 Centerline is valid? [True, True] Translation: X:226.05, Y:-1.00, Z:0.66 [[ 9.87311038e-01 -1.11411764e-01 -1.13156236e-01 2.26054601e+02] [ 1.11903218e-01 9.93717059e-01 -2.01923186e-03 -9.99219191e-01] [ 1.12670249e-01 -1.06689370e-02 9.93575155e-01 6.55912148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.11, Y:-0.95, Z:0.66 [[ 9.93286822e-01 -2.40245527e-02 -1.13155247e-01 2.26113750e+02] [ 2.39437535e-02 9.99711157e-01 -2.07324498e-03 -9.53509141e-01] [ 1.13172372e-01 -6.50034423e-04 9.93575157e-01 6.61930480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.17, Y:-0.96, Z:0.68 [[ 9.93143769e-01 -2.93489517e-02 -1.13155177e-01 2.26171885e+02] [ 2.93021562e-02 9.99568442e-01 -2.07707730e-03 -9.56733882e-01] [ 1.13167303e-01 -1.25285427e-03 9.93575157e-01 6.76704971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.23, Y:-0.96, Z:0.69 [[ 9.93095336e-01 -3.09452446e-02 -1.13154966e-01 2.26228858e+02] [ 3.09074766e-02 9.99520068e-01 -2.08848265e-03 -9.56326528e-01] [ 1.13165288e-01 -1.42327209e-03 9.93575157e-01 6.85257788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.29, Y:-0.97, Z:0.69 [[ 9.92817987e-01 -3.88414794e-02 -1.13153805e-01 2.26286032e+02] [ 3.88478412e-02 9.99242826e-01 -2.14958891e-03 -9.65368391e-01] [ 1.13151621e-01 -2.26163052e-03 9.93575159e-01 6.89478135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:226.35, Y:-0.97, Z:0.68 [[ 9.91153247e-01 -6.93659478e-02 -1.13153018e-01 2.26345039e+02] [ 6.95653242e-02 9.97574994e-01 -2.19028955e-03 -9.73436371e-01] [ 1.13030552e-01 -5.70061377e-03 9.93575159e-01 6.79277102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters Centerline goodness : 0.922083 with order 1 Centerline is valid? [True, False] Translation: X:226.37, Y:-0.97, Z:0.68 [[ 9.90395487e-01 -6.39306293e-02 -1.22595487e-01 2.26367808e+02] [ 6.20799635e-02 9.97892960e-01 -1.88604761e-02 -9.66188034e-01] [ 1.23542935e-01 1.10686070e-02 9.92277496e-01 6.79637902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:226.37, Y:-0.97, Z:0.68 [[ 9.91987242e-01 -4.85864185e-02 -1.16621914e-01 2.26367272e+02] [ 4.65288846e-02 9.98710605e-01 -2.03024583e-02 -9.68107361e-01] [ 1.17457966e-01 1.47134921e-02 9.92968851e-01 6.77003545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters Centerline goodness : 0.974807 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:-1.00, Z:0.66 [[ 9.84478670e-01 -1.30716631e-01 -1.17110673e-01 2.26429640e+02] [ 1.31243270e-01 9.91344908e-01 -3.23682609e-03 -1.00175751e+00] [ 1.16520176e-01 -1.21834014e-02 9.93113595e-01 6.59060996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters Centerline goodness : 0.925917 with order 1 Centerline is valid? [True, False] Translation: X:226.44, Y:-0.98, Z:0.66 [[ 9.85578634e-01 -1.17082632e-01 -1.22173705e-01 2.26442626e+02] [ 1.14351801e-01 9.93012450e-01 -2.91537302e-02 -9.78387159e-01] [ 1.24733406e-01 1.47625104e-02 9.92080463e-01 6.60964092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [False, True] Translation: X:226.43, Y:-1.00, Z:0.66 [[ 9.88152689e-01 -1.04290098e-01 -1.12595907e-01 2.26425815e+02] [ 1.03804131e-01 9.94545596e-01 -1.01862208e-02 -9.99697257e-01] [ 1.13044086e-01 -1.62237880e-03 9.93588649e-01 6.57510730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.49, Y:-1.00, Z:0.68 [[ 9.81310002e-01 -1.56731838e-01 -1.11650396e-01 2.26485582e+02] [ 1.55857387e-01 9.87640539e-01 -1.65723068e-02 -1.00425698e+00] [ 1.12867866e-01 -1.13896858e-03 9.93609354e-01 6.76854917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:-1.00, Z:0.69 [[ 9.80928204e-01 -1.59104276e-01 -1.11649848e-01 2.26543838e+02] [ 1.58244715e-01 9.87260779e-01 -1.65760021e-02 -1.00185487e+00] [ 1.12864828e-01 -1.40813037e-03 9.93609354e-01 6.85631223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:-1.00, Z:0.69 [[ 9.80418412e-01 -1.62221424e-01 -1.11642052e-01 2.26603397e+02] [ 1.61376037e-01 9.86752894e-01 -1.66283428e-02 -1.00269257e+00] [ 1.12860591e-01 -1.71361840e-03 9.93609355e-01 6.87206078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.66, Y:-1.00, Z:0.70 [[ 9.80321959e-01 -1.62804406e-01 -1.11640414e-01 2.26661637e+02] [ 1.61961534e-01 9.86656776e-01 -1.66393342e-02 -1.00331455e+00] [ 1.12859728e-01 -1.76954801e-03 9.93609355e-01 6.95218896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.72, Y:-1.00, Z:0.70 [[ 9.80803063e-01 -1.59886733e-01 -1.11631465e-01 2.26719890e+02] [ 1.59018208e-01 9.87134412e-01 -1.66991565e-02 -1.00273095e+00] [ 1.12865234e-01 -1.37285164e-03 9.93609357e-01 7.03333854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:226.78, Y:-1.00, Z:0.71 [[ 9.81505404e-01 -1.55523502e-01 -1.11622499e-01 2.26778393e+02] [ 1.54620038e-01 9.87831860e-01 -1.67588777e-02 -1.00053168e+00] [ 1.12870660e-01 -8.10145974e-04 9.93609359e-01 7.09474906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.84, Y:-1.00, Z:0.72 [[ 9.82170519e-01 -1.51273112e-01 -1.11613250e-01 2.26836202e+02] [ 1.50335294e-01 9.88491972e-01 -1.68202506e-02 -9.96023301e-01] [ 1.12873253e-01 -2.59056505e-04 9.93609361e-01 7.18653237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.89, Y:-0.99, Z:0.72 [[ 9.83191394e-01 -1.44495643e-01 -1.11605072e-01 2.26894591e+02] [ 1.43508109e-01 9.89505270e-01 -1.68743387e-02 -9.88842002e-01] [ 1.12872076e-01 5.74471719e-04 9.93609362e-01 7.20919970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.95, Y:-0.98, Z:0.73 [[ 9.84164433e-01 -1.37718974e-01 -1.11596832e-01 2.26951193e+02] [ 1.36681809e-01 9.90470345e-01 -1.69286612e-02 -9.81262567e-01] [ 1.12864750e-01 1.40732941e-03 9.93609364e-01 7.29936324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:227.01, Y:-0.97, Z:0.74 [[ 9.84804488e-01 -1.33072666e-01 -1.11587567e-01 2.27008096e+02] [ 1.31998858e-01 9.91104262e-01 -1.69895147e-02 -9.71456195e-01] [ 1.12855753e-01 2.00191893e-03 9.93609366e-01 7.41605520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters Centerline goodness : 0.990507 with order 1 Centerline is valid? [True, True] Translation: X:227.07, Y:-1.00, Z:0.73 [[ 9.73322628e-01 -2.00478887e-01 -1.11585293e-01 2.27073195e+02] [ 1.99839127e-01 9.79681159e-01 -1.70044359e-02 -9.95798869e-01] [ 1.12727040e-01 -5.74830529e-03 9.93609366e-01 7.30026718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:227.12, Y:-0.95, Z:0.75 [[ 9.85585609e-01 -1.27167404e-01 -1.11577144e-01 2.27124318e+02] [ 1.26048135e-01 9.91877463e-01 -1.70577407e-02 -9.50069363e-01] [ 1.12840043e-01 2.74777275e-03 9.93609367e-01 7.47302442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.18, Y:-0.94, Z:0.76 [[ 9.85759351e-01 -1.25820494e-01 -1.11569283e-01 2.27181003e+02] [ 1.24686830e-01 9.92048626e-01 -1.71090048e-02 -9.37614981e-01] [ 1.12834817e-01 2.95414120e-03 9.93609368e-01 7.55182554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.24, Y:-0.92, Z:0.76 [[ 9.85683138e-01 -1.26424078e-01 -1.11560316e-01 2.27237748e+02] [ 1.25287674e-01 9.91971916e-01 -1.71672803e-02 -9.23362817e-01] [ 1.12835058e-01 2.94436618e-03 9.93609370e-01 7.55753070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.29, Y:-0.91, Z:0.76 [[ 9.85217684e-01 -1.30009266e-01 -1.11551358e-01 2.27294180e+02] [ 1.28889184e-01 9.91509389e-01 -1.72252898e-02 -9.08642072e-01] [ 1.12843666e-01 2.59289659e-03 9.93609372e-01 7.63289317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:-0.89, Z:0.77 [[ 9.84709009e-01 -1.33815264e-01 -1.11542111e-01 2.27350036e+02] [ 1.32712744e-01 9.91003813e-01 -1.72849680e-02 -8.91669148e-01] [ 1.12851649e-01 2.21760413e-03 9.93609374e-01 7.70898161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.41, Y:-0.88, Z:0.78 [[ 9.84540408e-01 -1.35057865e-01 -1.11532764e-01 2.27406704e+02] [ 1.33956484e-01 9.90835410e-01 -1.73450710e-02 -8.78217885e-01] [ 1.12853200e-01 2.13638637e-03 9.93609376e-01 7.83658974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.47, Y:-0.86, Z:0.77 [[ 9.83869097e-01 -1.39870797e-01 -1.11524710e-01 2.27466204e+02] [ 1.38794361e-01 9.90168410e-01 -1.73967005e-02 -8.61679412e-01] [ 1.12861535e-01 1.63707504e-03 9.93609377e-01 7.73878826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:-0.85, Z:0.80 [[ 9.83596230e-01 -1.41777827e-01 -1.11523559e-01 2.27521327e+02] [ 1.40712769e-01 9.89897477e-01 -1.74040757e-02 -8.49765135e-01] [ 1.12864402e-01 1.42579444e-03 9.93609377e-01 7.97234832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.58, Y:-0.84, Z:0.80 [[ 9.83532764e-01 -1.42223975e-01 -1.11515216e-01 2.27578306e+02] [ 1.41155733e-01 9.89833470e-01 -1.74573737e-02 -8.36138520e-01] [ 1.12864350e-01 1.42888698e-03 9.93609378e-01 8.02613657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.64, Y:-0.82, Z:0.80 [[ 9.83334412e-01 -1.43595486e-01 -1.11506818e-01 2.27635536e+02] [ 1.42529968e-01 9.89635579e-01 -1.75108521e-02 -8.16212900e-01] [ 1.12865594e-01 1.32596027e-03 9.93609380e-01 7.98287443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.69, Y:-0.80, Z:0.80 [[ 9.83357930e-01 -1.43440842e-01 -1.11498460e-01 2.27692778e+02] [ 1.42368317e-01 9.89657906e-01 -1.75639126e-02 -8.03554995e-01] [ 1.12864715e-01 1.39776459e-03 9.93609381e-01 8.03748003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:227.75, Y:-0.78, Z:0.81 [[ 9.83798277e-01 -1.40395627e-01 -1.11489992e-01 2.27749005e+02] [ 1.39297531e-01 9.90093845e-01 -1.76174992e-02 -7.82334290e-01] [ 1.12858975e-01 1.80178471e-03 9.93609383e-01 8.11155037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:227.81, Y:-0.77, Z:0.82 [[ 9.84074507e-01 -1.38452438e-01 -1.11482231e-01 2.27805425e+02] [ 1.37336365e-01 9.90366911e-01 -1.76664773e-02 -7.65057902e-01] [ 1.12854279e-01 2.07456562e-03 9.93609384e-01 8.17249712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:-0.75, Z:0.83 [[ 9.84061035e-01 -1.38554865e-01 -1.11473895e-01 2.27861666e+02] [ 1.37433507e-01 9.90352498e-01 -1.77189177e-02 -7.45070645e-01] [ 1.12853493e-01 2.11624802e-03 9.93609385e-01 8.26907032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:227.92, Y:-0.73, Z:0.85 [[ 9.82865867e-01 -1.46794157e-01 -1.11472702e-01 2.27916360e+02] [ 1.45724696e-01 9.89166360e-01 -1.77264259e-02 -7.29707366e-01] [ 1.12867182e-01 1.17837341e-03 9.93609385e-01 8.49307688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:227.97, Y:-0.71, Z:0.84 [[ 9.81907114e-01 -1.53082224e-01 -1.11464126e-01 2.27974528e+02] [ 1.52047009e-01 9.88213323e-01 -1.77801865e-02 -7.14042250e-01] [ 1.12872165e-01 5.10704631e-04 9.93609387e-01 8.35454296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:228.03, Y:-0.70, Z:0.86 [[ 9.80708648e-01 -1.60587925e-01 -1.11454327e-01 2.28029913e+02] [ 1.59594017e-01 9.87021496e-01 -1.78413999e-02 -7.02658499e-01] [ 1.12872930e-01 -2.90228652e-04 9.93609389e-01 8.62883527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:228.09, Y:-0.69, Z:0.87 [[ 9.79689579e-01 -1.66697779e-01 -1.11445856e-01 2.28087043e+02] [ 1.65737238e-01 9.86007590e-01 -1.78941630e-02 -6.92711338e-01] [ 1.12869377e-01 -9.40003225e-04 9.93609390e-01 8.71180083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:228.15, Y:-0.69, Z:0.86 [[ 9.79118491e-01 -1.70025555e-01 -1.11437388e-01 2.28147473e+02] [ 1.69080503e-01 9.85438835e-01 -1.79467425e-02 -6.86115079e-01] [ 1.12866135e-01 -1.26990214e-03 9.93609392e-01 8.56569367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:228.21, Y:-0.68, Z:0.86 [[ 9.78240989e-01 -1.75008861e-01 -1.11429193e-01 2.28205199e+02] [ 1.74090225e-01 9.84565226e-01 -1.79974795e-02 -6.79334189e-01] [ 1.12859027e-01 -1.79286127e-03 9.93609393e-01 8.64012962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:228.26, Y:-0.68, Z:0.87 [[ 9.77353278e-01 -1.79905385e-01 -1.11420925e-01 2.28263400e+02] [ 1.79012613e-01 9.83681216e-01 -1.80485272e-02 -6.77778750e-01] [ 1.12849698e-01 -2.30596367e-03 9.93609394e-01 8.71527306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:-0.68, Z:0.89 [[ 9.76604914e-01 -1.83930186e-01 -1.11411532e-01 2.28320965e+02] [ 1.83056901e-01 9.82935569e-01 -1.81063215e-02 -6.76311775e-01] [ 1.12840657e-01 -2.71192732e-03 9.93609396e-01 8.92067563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:-0.68, Z:0.90 [[ 9.76486464e-01 -1.84563012e-01 -1.11403234e-01 2.28380250e+02] [ 1.83688024e-01 9.82816883e-01 -1.81572346e-02 -6.78464274e-01] [ 1.12840133e-01 -2.73314613e-03 9.93609397e-01 9.03223029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:-0.68, Z:0.91 [[ 9.76471515e-01 -1.84647116e-01 -1.11394899e-01 2.28439309e+02] [ 1.83766860e-01 9.82801202e-01 -1.82082286e-02 -6.79684818e-01] [ 1.12841138e-01 -2.69087426e-03 9.93609399e-01 9.09585426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:228.50, Y:-0.68, Z:0.91 [[ 9.76685337e-01 -1.83517833e-01 -1.11386523e-01 2.28499049e+02] [ 1.82624433e-01 9.83013181e-01 -1.82593245e-02 -6.80959299e-01] [ 1.12845332e-01 -2.50828610e-03 9.93609400e-01 9.09008159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters Centerline goodness : 0.956599 with order 1 Centerline is valid? [True, True] Translation: X:228.57, Y:-0.72, Z:0.90 [[ 9.55809437e-01 -2.72069891e-01 -1.11383551e-01 2.28565772e+02] [ 2.71756854e-01 9.62192365e-01 -1.82774392e-02 -7.18163542e-01] [ 1.12145143e-01 -1.27994945e-02 9.93609400e-01 8.96536583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:228.62, Y:-0.67, Z:0.92 [[ 9.78777144e-01 -1.72020915e-01 -1.11373724e-01 2.28616134e+02] [ 1.71044319e-01 9.85092681e-01 -1.83371234e-02 -6.74765748e-01] [ 1.12867809e-01 -1.10188557e-03 9.93609402e-01 9.19191218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters Centerline goodness : 0.970606 with order 1 Centerline is valid? [True, True] Translation: X:228.67, Y:-0.64, Z:0.92 [[ 9.91137738e-01 -7.24140505e-02 -1.11365117e-01 2.28671662e+02] [ 7.07995799e-02 9.97321039e-01 -1.83892467e-02 -6.38858493e-01] [ 1.12398414e-01 1.03416729e-02 9.93609403e-01 9.18005035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:228.73, Y:-0.66, Z:0.94 [[ 9.80530532e-01 -1.61734430e-01 -1.11363595e-01 2.28733808e+02] [ 1.60684610e-01 9.86834309e-01 -1.83984606e-02 -6.55220984e-01] [ 1.12873081e-01 1.45836493e-04 9.93609403e-01 9.36232015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters Centerline goodness : 0.995879 with order 1 Centerline is valid? [True, True] Translation: X:228.79, Y:-0.62, Z:0.93 [[ 9.89420110e-01 -9.29845215e-02 -1.11363029e-01 2.28788643e+02] [ 9.14974123e-02 9.95635272e-01 -1.84018845e-02 -6.22942256e-01] [ 1.12588050e-01 8.01776560e-03 9.93609403e-01 9.27881223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-0.63, Z:0.96 [[ 9.81585756e-01 -1.55209442e-01 -1.11352743e-01 2.28846215e+02] [ 1.54110293e-01 9.87881117e-01 -1.84639234e-02 -6.31826977e-01] [ 1.12869047e-01 9.63320421e-04 9.93609405e-01 9.59489468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:-0.64, Z:0.95 [[ 9.69551576e-01 -2.18107479e-01 -1.11350212e-01 2.28908990e+02] [ 2.17414327e-01 9.75904468e-01 -1.84791734e-02 -6.38801893e-01] [ 1.12697615e-01 -6.29261970e-03 9.93609405e-01 9.51187912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:-0.60, Z:0.96 [[ 9.82127505e-01 -1.51751374e-01 -1.11342196e-01 2.28962594e+02] [ 1.50622870e-01 9.88417669e-01 -1.85273485e-02 -6.02534668e-01] [ 1.12864144e-01 1.42553747e-03 9.93609407e-01 9.60796047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.02, Y:-0.59, Z:0.97 [[ 9.81653154e-01 -1.54791079e-01 -1.11340951e-01 2.29019706e+02] [ 1.53681205e-01 9.87946632e-01 -1.85348228e-02 -5.89815178e-01] [ 1.12867943e-01 1.08375564e-03 9.93609407e-01 9.68494068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:-0.58, Z:0.98 [[ 9.81386058e-01 -1.56481855e-01 -1.11332091e-01 2.29076649e+02] [ 1.55376804e-01 9.87680383e-01 -1.85878957e-02 -5.79062027e-01] [ 1.12869190e-01 9.43477327e-04 9.93609408e-01 9.75327179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.13, Y:-0.56, Z:0.98 [[ 9.81190790e-01 -1.57708823e-01 -1.11321875e-01 2.29133085e+02] [ 1.56604724e-01 9.87485281e-01 -1.86488775e-02 -5.64234873e-01] [ 1.12869806e-01 8.64575307e-04 9.93609410e-01 9.81911457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:-0.55, Z:1.00 [[ 9.81129939e-01 -1.58093195e-01 -1.11313002e-01 2.29188563e+02] [ 1.56985571e-01 9.87423808e-01 -1.87016909e-02 -5.51059524e-01] [ 1.12869718e-01 8.74253666e-04 9.93609411e-01 1.00383748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:229.25, Y:-0.54, Z:1.01 [[ 9.80584867e-01 -1.61440889e-01 -1.11311087e-01 2.29245547e+02] [ 1.60353459e-01 9.86882257e-01 -1.87130843e-02 -5.38253356e-01] [ 1.12871993e-01 5.00649501e-04 9.93609411e-01 1.01084436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:229.30, Y:-0.53, Z:1.02 [[ 9.78971005e-01 -1.70960853e-01 -1.11302098e-01 2.29302248e+02] [ 1.69928600e-01 9.85277673e-01 -1.87663958e-02 -5.26031512e-01] [ 1.12871791e-01 -5.41652370e-04 9.93609413e-01 1.01585884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.36, Y:-0.51, Z:1.01 [[ 9.79274485e-01 -1.69215893e-01 -1.11298984e-01 2.29361568e+02] [ 1.68170305e-01 9.85578956e-01 -1.87848437e-02 -5.12792469e-01] [ 1.12872631e-01 -3.21666062e-04 9.93609413e-01 1.00906785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:229.42, Y:-0.50, Z:1.02 [[ 9.78096245e-01 -1.75899281e-01 -1.11297699e-01 2.29418550e+02] [ 1.74895904e-01 9.84407571e-01 -1.87924569e-02 -5.03505756e-01] [ 1.12867877e-01 -1.08468015e-03 9.93609413e-01 1.01586573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:229.48, Y:-0.50, Z:1.04 [[ 9.77193096e-01 -1.80855481e-01 -1.11287678e-01 2.29475170e+02] [ 1.79877376e-01 9.83508387e-01 -1.88516162e-02 -4.96399378e-01] [ 1.12861783e-01 -1.59646618e-03 9.93609415e-01 1.04428284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:229.53, Y:-0.49, Z:1.05 [[ 9.77066022e-01 -1.81541496e-01 -1.11286446e-01 2.29533456e+02] [ 1.80566997e-01 9.83381870e-01 -1.88588832e-02 -4.89727599e-01] [ 1.12860744e-01 -1.66828543e-03 9.93609415e-01 1.05203282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:-0.49, Z:1.05 [[ 9.77842625e-01 -1.77316337e-01 -1.11277659e-01 2.29593121e+02] [ 1.76308662e-01 9.84153263e-01 -1.89105936e-02 -4.86299224e-01] [ 1.12867428e-01 -1.12763063e-03 9.93609416e-01 1.05176884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:-0.48, Z:1.04 [[ 9.77839499e-01 -1.77339217e-01 -1.11268669e-01 2.29653991e+02] [ 1.76325688e-01 9.84149198e-01 -1.89633411e-02 -4.76454273e-01] [ 1.12867916e-01 -1.07642074e-03 9.93609418e-01 1.04185107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:229.71, Y:-0.47, Z:1.07 [[ 9.79041571e-01 -1.70578505e-01 -1.11268039e-01 2.29710904e+02] [ 1.69520982e-01 9.85344046e-01 -1.89670370e-02 -4.68338878e-01] [ 1.12872669e-01 -2.92749617e-04 9.93609418e-01 1.06605703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:229.77, Y:-0.46, Z:1.07 [[ 9.79093372e-01 -1.70281332e-01 -1.11267411e-01 2.29767507e+02] [ 1.69221478e-01 9.85395455e-01 -1.89707225e-02 -4.58319527e-01] [ 1.12872761e-01 -2.54727160e-04 9.93609418e-01 1.07358578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:-0.45, Z:1.08 [[ 9.78992561e-01 -1.70866734e-01 -1.11257023e-01 2.29824351e+02] [ 1.69803747e-01 9.85294114e-01 -1.90314532e-02 -4.47914182e-01] [ 1.12872732e-01 -2.60208232e-04 9.93609420e-01 1.08043159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters Centerline goodness : 0.952033 with order 2 Centerline is valid? [True, True] Translation: X:229.89, Y:-0.39, Z:1.06 [[ 9.91232521e-01 -7.12901107e-02 -1.11246611e-01 2.29890060e+02] [ 6.95904516e-02 9.97392932e-01 -1.90921208e-02 -3.87178700e-01] [ 1.12317663e-01 1.11830291e-02 9.93609421e-01 1.05877551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:229.94, Y:-0.43, Z:1.09 [[ 9.78410188e-01 -1.73364100e-01 -1.12509526e-01 2.29940075e+02] [ 1.73143637e-01 9.84825858e-01 -1.18029964e-02 -4.28371006e-01] [ 1.12848506e-01 -7.93213662e-03 9.93580543e-01 1.08897560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.00, Y:-0.40, Z:1.10 [[ 9.78507304e-01 -1.73705034e-01 -1.11130629e-01 2.29995407e+02] [ 1.72592319e-01 9.84797726e-01 -1.96298452e-02 -4.04403187e-01] [ 1.12850994e-01 2.76539538e-05 9.93611922e-01 1.09707685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:230.06, Y:-0.39, Z:1.08 [[ 9.66623766e-01 -2.30847564e-01 -1.11121094e-01 2.30055991e+02] [ 2.30099873e-01 9.72967934e-01 -1.96836753e-02 -3.93166567e-01] [ 1.12661190e-01 -6.54224124e-03 9.93611924e-01 1.08047534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:230.11, Y:-0.37, Z:1.11 [[ 9.77587262e-01 -1.78816840e-01 -1.11120131e-01 2.30109744e+02] [ 1.77730282e-01 9.83882252e-01 -1.96891070e-02 -3.72109887e-01] [ 1.12849869e-01 -5.01592076e-04 9.93611924e-01 1.11292543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.17, Y:-0.35, Z:1.10 [[ 9.77419497e-01 -1.79731974e-01 -1.11119509e-01 2.30167973e+02] [ 1.78650910e-01 9.83715433e-01 -1.96926198e-02 -3.53752307e-01] [ 1.12849369e-01 -6.03650804e-04 9.93611924e-01 1.10016911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.22, Y:-0.34, Z:1.11 [[ 9.77242339e-01 -1.80694380e-01 -1.11116840e-01 2.30224803e+02] [ 1.79617806e-01 9.83539044e-01 -1.97076664e-02 -3.37387277e-01] [ 1.12848815e-01 -6.99397016e-04 9.93611924e-01 1.10654617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:230.28, Y:-0.32, Z:1.13 [[ 9.77198255e-01 -1.80938306e-01 -1.11107604e-01 2.30279462e+02] [ 1.79857398e-01 9.83494217e-01 -1.97596026e-02 -3.22862287e-01] [ 1.12848955e-01 -6.74475289e-04 9.93611925e-01 1.13053674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:-0.30, Z:1.12 [[ 9.76059208e-01 -1.86990857e-01 -1.11098340e-01 2.30337509e+02] [ 1.85943075e-01 9.82360766e-01 -1.98115563e-02 -3.04344600e-01] [ 1.12843230e-01 -1.32071489e-03 9.93611927e-01 1.11913505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:-0.29, Z:1.13 [[ 9.75768925e-01 -1.88505199e-01 -1.11089133e-01 2.30393727e+02] [ 1.87461335e-01 9.82071131e-01 -1.98630492e-02 -2.89881288e-01] [ 1.12841718e-01 -1.44317094e-03 9.93611928e-01 1.12500697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:230.45, Y:-0.28, Z:1.15 [[ 9.75026177e-01 -1.92316049e-01 -1.11078764e-01 2.30448001e+02] [ 1.91290230e-01 9.81331344e-01 -1.99208650e-02 -2.76633608e-01] [ 1.12836175e-01 -1.82491752e-03 9.93611930e-01 1.15103802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:-0.27, Z:1.17 [[ 9.72669052e-01 -2.03904750e-01 -1.11075508e-01 2.30505249e+02] [ 2.02951963e-01 9.78985667e-01 -1.99390019e-02 -2.65429197e-01] [ 1.12806988e-01 -3.14894235e-03 9.93611930e-01 1.16518790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:-0.26, Z:1.14 [[ 9.71596162e-01 -2.08957913e-01 -1.11074247e-01 2.30567727e+02] [ 2.08037169e-01 9.77917528e-01 -1.99460269e-02 -2.57041633e-01] [ 1.12789333e-01 -3.72808873e-03 9.93611930e-01 1.14395790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.63, Y:-0.25, Z:1.15 [[ 9.70447377e-01 -2.14230109e-01 -1.11073621e-01 2.30625085e+02] [ 2.13343303e-01 9.76773593e-01 -1.99495131e-02 -2.49542550e-01] [ 1.12767566e-01 -4.33686046e-03 9.93611930e-01 1.15066286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.68, Y:-0.25, Z:1.16 [[ 9.69617802e-01 -2.17959057e-01 -1.11063796e-01 2.30683765e+02] [ 2.17090339e-01 9.75946526e-01 -2.00040635e-02 -2.45933836e-01] [ 1.12752392e-01 -4.71458101e-03 9.93611932e-01 1.15832529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.74, Y:-0.25, Z:1.16 [[ 9.66468272e-01 -2.31529298e-01 -1.11055230e-01 2.30744196e+02] [ 2.30743944e-01 9.72807879e-01 -2.00515062e-02 -2.47606464e-01] [ 1.12677914e-01 -6.24617720e-03 9.93611933e-01 1.16157723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:230.80, Y:-0.24, Z:1.17 [[ 9.67769352e-01 -2.26030138e-01 -1.11053399e-01 2.30801708e+02] [ 2.25207589e-01 9.74104241e-01 -2.00616415e-02 -2.40500819e-01] [ 1.12712122e-01 -5.59502646e-03 9.93611933e-01 1.17332914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:230.86, Y:-0.23, Z:1.21 [[ 9.67611422e-01 -2.26709402e-01 -1.11044962e-01 2.30857130e+02] [ 2.25885967e-01 9.73946194e-01 -2.01082343e-02 -2.33210497e-01] [ 1.12710544e-01 -5.62654141e-03 9.93611934e-01 1.20501442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:-0.23, Z:1.21 [[ 9.67766705e-01 -2.26046796e-01 -1.11042560e-01 2.30917806e+02] [ 2.25217506e-01 9.74100714e-01 -2.01214913e-02 -2.32876120e-01] [ 1.12715035e-01 -5.53581900e-03 9.93611934e-01 1.20882392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:-0.23, Z:1.19 [[ 9.67979631e-01 -2.25133854e-01 -1.11041350e-01 2.30979088e+02] [ 2.24297826e-01 9.74312754e-01 -2.01281634e-02 -2.29925178e-01] [ 1.12720535e-01 -5.42268128e-03 9.93611934e-01 1.19299999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:-0.23, Z:1.22 [[ 9.67945425e-01 -2.25285082e-01 -1.11032814e-01 2.31036236e+02] [ 2.24444667e-01 9.74277966e-01 -2.01751433e-02 -2.30084410e-01] [ 1.12721983e-01 -5.39228528e-03 9.93611935e-01 1.22045632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-0.23, Z:1.23 [[ 9.68174239e-01 -2.24303942e-01 -1.11024248e-01 2.31095473e+02] [ 2.23451728e-01 9.74505202e-01 -2.02221731e-02 -2.26346880e-01] [ 1.12729620e-01 -5.22997299e-03 9.93611936e-01 1.22710108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:-0.22, Z:1.23 [[ 9.69357719e-01 -2.19136982e-01 -1.11016198e-01 2.31154933e+02] [ 2.18245972e-01 9.75683337e-01 -2.02662729e-02 -2.21878950e-01] [ 1.12757744e-01 -4.58356984e-03 9.93611937e-01 1.22788115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:231.21, Y:-0.22, Z:1.24 [[ 9.69346871e-01 -2.19189465e-01 -1.11007306e-01 2.31213607e+02] [ 2.18293243e-01 9.75671752e-01 -2.03148578e-02 -2.20258750e-01] [ 1.12759496e-01 -4.54000103e-03 9.93611939e-01 1.23880591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.27, Y:-0.22, Z:1.23 [[ 9.69328195e-01 -2.19276504e-01 -1.10998492e-01 2.31273834e+02] [ 2.18375356e-01 9.75652374e-01 -2.03629073e-02 -2.15774127e-01] [ 1.12761049e-01 -4.50099498e-03 9.93611940e-01 1.22703215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:231.33, Y:-0.21, Z:1.25 [[ 9.69522065e-01 -2.18422945e-01 -1.10988208e-01 2.31330346e+02] [ 2.17509839e-01 9.75844528e-01 -2.04188058e-02 -2.13003835e-01] [ 1.12767171e-01 -4.34454455e-03 9.93611941e-01 1.25288613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:231.39, Y:-0.21, Z:1.24 [[ 9.70516184e-01 -2.13967129e-01 -1.10979296e-01 2.31390876e+02] [ 2.13019472e-01 9.76833559e-01 -2.04671301e-02 -2.10142794e-01] [ 1.12787594e-01 -3.77707003e-03 9.93611943e-01 1.24170819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.45, Y:-0.21, Z:1.25 [[ 9.71396240e-01 -2.09937250e-01 -1.10976109e-01 2.31450599e+02] [ 2.08961410e-01 9.77709322e-01 -2.04843949e-02 -2.08655476e-01] [ 1.12802814e-01 -3.29126016e-03 9.93611943e-01 1.24838964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:231.51, Y:-0.20, Z:1.27 [[ 9.72603456e-01 -2.04276073e-01 -1.10967578e-01 2.31506583e+02] [ 2.03258223e-01 9.78909900e-01 -2.05305076e-02 -2.03657745e-01] [ 1.12821152e-01 -2.58703001e-03 9.93611944e-01 1.27334107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:-0.20, Z:1.28 [[ 9.74970185e-01 -1.92665695e-01 -1.10964269e-01 2.31565868e+02] [ 1.91570695e-01 9.81263692e-01 -2.05483776e-02 -1.99136331e-01] [ 1.12844176e-01 -1.22344660e-03 9.93611944e-01 1.28367348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:-0.19, Z:1.28 [[ 9.75865850e-01 -1.88078455e-01 -1.10960971e-01 2.31624867e+02] [ 1.86951846e-01 9.82153776e-01 -2.05661737e-02 -1.88444065e-01] [ 1.12848790e-01 -6.74531695e-04 9.93611944e-01 1.28465226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:-0.18, Z:1.27 [[ 9.77003545e-01 -1.82077030e-01 -1.10959576e-01 2.31683753e+02] [ 1.80910941e-01 9.83284269e-01 -2.05736931e-02 -1.75434074e-01] [ 1.12850803e-01 2.67697375e-05 9.93611944e-01 1.27284496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:231.74, Y:-0.16, Z:1.29 [[ 9.77421084e-01 -1.79828224e-01 -1.10949692e-01 2.31739660e+02] [ 1.78641650e-01 9.83697969e-01 -2.06268585e-02 -1.62906241e-01] [ 1.12850278e-01 3.40890252e-04 9.93611946e-01 1.29408192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.80, Y:-0.15, Z:1.29 [[ 9.76703947e-01 -1.83684610e-01 -1.10947576e-01 2.31798487e+02] [ 1.82521527e-01 9.82985227e-01 -2.06382351e-02 -1.51934985e-01] [ 1.12850754e-01 -9.28753419e-05 9.93611946e-01 1.28682134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:231.85, Y:-0.14, Z:1.31 [[ 9.76006114e-01 -1.87358831e-01 -1.10944733e-01 2.31853980e+02] [ 1.86217658e-01 9.82291411e-01 -2.06535089e-02 -1.42928246e-01] [ 1.12849675e-01 -5.01917306e-04 9.93611946e-01 1.31108300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.91, Y:-0.13, Z:1.30 [[ 9.75602235e-01 -1.89456402e-01 -1.10934892e-01 2.31913424e+02] [ 1.88322747e-01 9.81888891e-01 -2.07062336e-02 -1.33733209e-01] [ 1.12848666e-01 -6.90515838e-04 9.93611947e-01 1.30047573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:231.97, Y:-0.13, Z:1.32 [[ 9.75749519e-01 -1.88702250e-01 -1.10924918e-01 2.31970624e+02] [ 1.87557677e-01 9.82034195e-01 -2.07595255e-02 -1.25463730e-01] [ 1.12849432e-01 -5.48723048e-04 9.93611949e-01 1.32127043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:-0.12, Z:1.33 [[ 9.75797273e-01 -1.88455981e-01 -1.10923514e-01 2.32028008e+02] [ 1.87308969e-01 9.82081504e-01 -2.07670292e-02 -1.17464522e-01] [ 1.12849602e-01 -5.12558592e-04 9.93611949e-01 1.32967591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.09, Y:-0.11, Z:1.32 [[ 9.75534730e-01 -1.89815683e-01 -1.10914372e-01 2.32087765e+02] [ 1.88671892e-01 9.81819547e-01 -2.08157383e-02 -1.07353231e-01] [ 1.12849052e-01 -6.19948757e-04 9.93611950e-01 1.32064508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:-0.10, Z:1.33 [[ 9.75388376e-01 -1.90572193e-01 -1.10904263e-01 2.32145514e+02] [ 1.89427168e-01 9.81672967e-01 -2.08694634e-02 -9.94879102e-02] [ 1.12848856e-01 -6.52448399e-04 9.93611951e-01 1.32644979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-0.09, Z:1.35 [[ 9.75352802e-01 -1.90760763e-01 -1.10892932e-01 2.32200765e+02] [ 1.89610127e-01 9.81636366e-01 -2.09295003e-02 -8.97967738e-02] [ 1.12849062e-01 -6.12776086e-04 9.93611953e-01 1.34961523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:232.26, Y:-0.08, Z:1.34 [[ 9.75102908e-01 -1.92036115e-01 -1.10889354e-01 2.32261138e+02] [ 1.90891544e-01 9.81387580e-01 -2.09484374e-02 -8.14817597e-02] [ 1.12848292e-01 -7.40957781e-04 9.93611953e-01 1.33858760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters Centerline goodness : 0.949067 with order 3 Centerline is valid? [True, False] Translation: X:232.24, Y:-0.09, Z:1.34 [[ 9.80273592e-01 -1.72818777e-01 -9.59028453e-02 2.32243180e+02] [ 1.72820789e-01 9.84917903e-01 -8.34857403e-03 -9.21841518e-02] [ 9.58992196e-02 -8.39011876e-03 9.95355688e-01 1.33563162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [False, True] Translation: X:232.22, Y:-0.10, Z:1.33 [[ 9.84366472e-01 -1.56379833e-01 -8.10431760e-02 2.32224127e+02] [ 1.56823147e-01 9.87626286e-01 -9.05509144e-04 -1.01529166e-01] [ 8.01819742e-02 -1.18180930e-02 9.96710180e-01 1.33428943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:232.28, Y:-0.08, Z:1.34 [[ 9.84427425e-01 -1.56854655e-01 -7.93678862e-02 2.32280948e+02] [ 1.56395283e-01 9.87621521e-01 -1.20102431e-02 -8.47249817e-02] [ 8.02692950e-02 -5.89550341e-04 9.96773040e-01 1.33626177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:232.34, Y:-0.08, Z:1.34 [[ 9.84808949e-01 -1.54444081e-01 -7.93622005e-02 2.32339178e+02] [ 1.53973872e-01 9.88001467e-01 -1.20476972e-02 -7.80381633e-02] [ 8.02706660e-02 -3.55025293e-04 9.96773040e-01 1.33653277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.40, Y:-0.07, Z:1.33 [[ 9.85434191e-01 -1.50406202e-01 -7.93563438e-02 2.32398995e+02] [ 1.49919815e-01 9.88624284e-01 -1.20861520e-02 -6.79007124e-02] [ 8.02714407e-02 1.30191017e-05 9.96773041e-01 1.32960992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.46, Y:-0.06, Z:1.33 [[ 9.85813510e-01 -1.47899834e-01 -7.93559278e-02 2.32456021e+02] [ 1.47405116e-01 9.89002321e-01 -1.20888823e-02 -5.79748773e-02] [ 8.02711405e-02 2.19913773e-04 9.96773041e-01 1.33423007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:-0.05, Z:1.34 [[ 9.85810836e-01 -1.47921217e-01 -7.93492810e-02 2.32513625e+02] [ 1.47423069e-01 9.88999113e-01 -1.21323550e-02 -4.73868675e-02] [ 8.02710012e-02 2.62292507e-04 9.96773042e-01 1.33895604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:-0.04, Z:1.36 [[ 9.85742473e-01 -1.48379206e-01 -7.93434854e-02 2.32570367e+02] [ 1.47879497e-01 9.88930504e-01 -1.21701402e-02 -3.66637171e-02] [ 8.02709887e-02 2.63349321e-04 9.96773043e-01 1.35994678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.63, Y:-0.03, Z:1.35 [[ 9.85157832e-01 -1.52213190e-01 -7.93422428e-02 2.32630019e+02] [ 1.51725236e-01 9.88347683e-01 -1.21782356e-02 -2.73263273e-02] [ 8.02714100e-02 -4.07363674e-05 9.96773043e-01 1.34737800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:-0.02, Z:1.37 [[ 9.84741194e-01 -1.54888772e-01 -7.93363072e-02 2.32686923e+02] [ 1.54406380e-01 9.87931890e-01 -1.22167823e-02 -1.74462665e-02] [ 8.02711103e-02 -2.19663144e-04 9.96773044e-01 1.36794606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:-0.01, Z:1.36 [[ 9.83945047e-01 -1.59868987e-01 -7.93350544e-02 2.32746970e+02] [ 1.59402089e-01 9.87138048e-01 -1.22249127e-02 -9.62817868e-03] [ 8.02690351e-02 -6.17531093e-04 9.96773044e-01 1.35659038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:-0.01, Z:1.36 [[ 9.82836071e-01 -1.66552335e-01 -7.93320724e-02 2.32804897e+02] [ 1.66105589e-01 9.86031953e-01 -1.22442336e-02 -5.12837233e-03] [ 8.02632639e-02 -1.14342618e-03 9.96773044e-01 1.36018183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:-0.00, Z:1.36 [[ 9.81476277e-01 -1.74389745e-01 -7.93254953e-02 2.32862696e+02] [ 1.73965084e-01 9.84675168e-01 -1.22866967e-02 -3.42403055e-03] [ 8.02525194e-02 -1.74076515e-03 9.96773045e-01 1.36473881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:232.92, Y:0.00, Z:1.39 [[ 9.80953988e-01 -1.77306994e-01 -7.93189953e-02 2.32919826e+02] [ 1.76888466e-01 9.84153686e-01 -1.23285171e-02 8.31482931e-04] [ 8.02480139e-02 -1.93690741e-03 9.96773046e-01 1.39003729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.98, Y:0.00, Z:1.37 [[ 9.81492961e-01 -1.74301344e-01 -7.93133624e-02 2.32980507e+02] [ 1.73870098e-01 9.84690969e-01 -1.23646495e-02 4.61082566e-03] [ 8.02543267e-02 -1.65440562e-03 9.96773046e-01 1.37452118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:233.04, Y:0.01, Z:1.38 [[ 9.82515743e-01 -1.68443207e-01 -7.93076396e-02 2.33038971e+02] [ 1.67989937e-01 9.85710703e-01 -1.24012479e-02 1.24908166e-02] [ 8.02632952e-02 -1.13846414e-03 9.96773047e-01 1.38085158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:233.09, Y:0.02, Z:1.40 [[ 9.83540792e-01 -1.62353692e-01 -7.93018806e-02 2.33094607e+02] [ 1.61877679e-01 9.86732443e-01 -1.24379670e-02 2.34162982e-02] [ 8.02690882e-02 -6.03956504e-04 9.96773048e-01 1.40297725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:233.15, Y:0.04, Z:1.41 [[ 9.84549176e-01 -1.56123230e-01 -7.92997951e-02 2.33151767e+02] [ 1.55625949e-01 9.87737582e-01 -1.24512492e-02 3.56748037e-02] [ 8.02713170e-02 -8.22387548e-05 9.96773048e-01 1.40500588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters Centerline goodness : 0.972593 with order 1 Centerline is valid? [True, True] Translation: X:233.20, Y:0.09, Z:1.40 [[ 9.93953820e-01 -7.59452854e-02 -7.92976492e-02 2.33203270e+02] [ 7.51905595e-02 9.97091273e-01 -1.24649008e-02 8.94460819e-02] [ 8.00136444e-02 6.42710111e-03 9.96773048e-01 1.39925929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:233.27, Y:0.06, Z:1.42 [[ 9.85117318e-01 -1.52501528e-01 -7.92915688e-02 2.33266771e+02] [ 1.51988323e-01 9.88303199e-01 -1.25034603e-02 6.04470019e-02] [ 8.02709079e-02 2.65982715e-04 9.96773049e-01 1.41609458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:233.32, Y:0.07, Z:1.42 [[ 9.84467242e-01 -1.56646063e-01 -7.92859375e-02 2.33324435e+02] [ 1.56143402e-01 9.87654803e-01 -1.25390681e-02 6.70001089e-02] [ 8.02713326e-02 -3.56742184e-05 9.96773049e-01 1.41984107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:233.38, Y:0.08, Z:1.42 [[ 9.84217879e-01 -1.58208708e-01 -7.92790767e-02 2.33382853e+02] [ 1.57707626e-01 9.87405687e-01 -1.25822975e-02 7.50878962e-02] [ 8.02712402e-02 -1.19192835e-04 9.96773050e-01 1.42278332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:233.44, Y:0.08, Z:1.43 [[ 9.84294783e-01 -1.57732604e-01 -7.92729850e-02 2.33441597e+02] [ 1.57226898e-01 9.87481860e-01 -1.26205610e-02 7.75562787e-02] [ 8.02713086e-02 -4.14931486e-05 9.96773051e-01 1.43079335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters Centerline goodness : 0.947889 with order 3 Centerline is valid? [True, False] Translation: X:233.43, Y:0.07, Z:1.43 [[ 9.88036033e-01 -1.39356326e-01 -6.60652160e-02 2.33425218e+02] [ 1.39312496e-01 9.90234325e-01 -5.29251822e-03 7.06776510e-02] [ 6.61575905e-02 -3.97451142e-03 9.97801271e-01 1.42933562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [False, True] Translation: X:233.41, Y:0.06, Z:1.43 [[ 9.91251484e-01 -1.21295598e-01 -5.20372302e-02 2.33408210e+02] [ 1.21592100e-01 9.92576856e-01 2.55866075e-03 6.11264862e-02] [ 5.13405960e-02 -8.86359234e-03 9.98641868e-01 1.42815059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:0.08, Z:1.43 [[ 9.92136771e-01 -1.14367184e-01 -5.08406886e-02 2.33465459e+02] [ 1.14177383e-01 9.93438245e-01 -6.63158486e-03 7.68680872e-02] [ 5.12655202e-02 7.74582386e-04 9.98684758e-01 1.43104263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:0.09, Z:1.42 [[ 9.93184598e-01 -1.04880402e-01 -5.08375469e-02 2.33523016e+02] [ 1.04676945e-01 9.94484007e-01 -6.65558256e-03 9.06310280e-02] [ 5.12551675e-02 1.28870300e-03 9.98684759e-01 1.41652829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.58, Y:0.10, Z:1.42 [[ 9.94091885e-01 -9.59021598e-02 -5.08340433e-02 2.33579394e+02] [ 9.56856083e-02 9.95389176e-01 -6.68223604e-03 1.04851344e-01] [ 5.12404973e-02 1.77867027e-03 9.98684759e-01 1.41950036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:233.64, Y:0.12, Z:1.44 [[ 9.94556273e-01 -9.09619110e-02 -5.08306133e-02 2.33635063e+02] [ 9.07375905e-02 9.95852243e-01 -6.70822601e-03 1.22975571e-01] [ 5.12299733e-02 2.05946088e-03 9.98684759e-01 1.43937182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:0.14, Z:1.45 [[ 9.94397324e-01 -9.26850067e-02 -5.08276721e-02 2.33691876e+02] [ 9.24617984e-02 9.95693485e-01 -6.73043818e-03 1.39678015e-01] [ 5.12325927e-02 1.99311175e-03 9.98684760e-01 1.44556425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:233.75, Y:0.16, Z:1.43 [[ 9.93980075e-01 -9.70579349e-02 -5.08268394e-02 2.33749744e+02] [ 9.68401090e-02 9.95277152e-01 -6.73672072e-03 1.56059231e-01] [ 5.12406441e-02 1.77408950e-03 9.98684760e-01 1.42997268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.81, Y:0.17, Z:1.43 [[ 9.93416511e-01 -1.02667271e-01 -5.08238868e-02 2.33806194e+02] [ 1.02455635e-01 9.94714612e-01 -6.75892249e-03 1.74408471e-01] [ 5.12491830e-02 1.50723158e-03 9.98684760e-01 1.43141845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:0.19, Z:1.43 [[ 9.92574196e-01 -1.10515635e-01 -5.08208583e-02 2.33862781e+02] [ 1.10313104e-01 9.93873749e-01 -6.78161815e-03 1.89385168e-01] [ 5.12589918e-02 1.12505256e-03 9.98684760e-01 1.43427243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.92, Y:0.20, Z:1.44 [[ 9.91487800e-01 -1.19873023e-01 -5.08173273e-02 2.33920533e+02] [ 1.19681408e-01 9.92789007e-01 -6.80797517e-03 2.02537043e-01] [ 5.12669764e-02 6.68135050e-04 9.98684760e-01 1.43672379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:233.98, Y:0.22, Z:1.46 [[ 9.90522082e-01 -1.27608478e-01 -5.08141781e-02 2.33977125e+02] [ 1.27425824e-01 9.91824577e-01 -6.83139957e-03 2.15478666e-01] [ 5.12704952e-02 2.91613613e-04 9.98684761e-01 1.45890288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.04, Y:0.22, Z:1.44 [[ 9.89655326e-01 -1.34166259e-01 -5.08109281e-02 2.34036545e+02] [ 1.33991000e-01 9.90958836e-01 -6.85548817e-03 2.24031340e-01] [ 5.12713133e-02 -2.36366637e-05 9.98684761e-01 1.44337398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.09, Y:0.23, Z:1.45 [[ 9.89131288e-01 -1.37977827e-01 -5.08076267e-02 2.34094835e+02] [ 1.37806338e-01 9.90435299e-01 -6.87986882e-03 2.30480880e-01] [ 5.12709363e-02 -1.96519494e-04 9.98684761e-01 1.44602072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:234.15, Y:0.24, Z:1.45 [[ 9.89123796e-01 -1.38032727e-01 -5.08043509e-02 2.34151566e+02] [ 1.37860072e-01 9.90427653e-01 -6.90397488e-03 2.40892113e-01] [ 5.12710085e-02 -1.75005614e-04 9.98684762e-01 1.45076578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:234.21, Y:0.25, Z:1.45 [[ 9.89077070e-01 -1.38368523e-01 -5.08005980e-02 2.34208492e+02] [ 1.38194898e-01 9.90380798e-01 -6.93147969e-03 2.49058739e-01] [ 5.12710354e-02 -1.64615827e-04 9.98684762e-01 1.45317805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:0.26, Z:1.46 [[ 9.89124755e-01 -1.38028618e-01 -5.07968479e-02 2.34266466e+02] [ 1.37853139e-01 9.90428234e-01 -6.95885403e-03 2.58044364e-01] [ 5.12711534e-02 -1.19330141e-04 9.98684762e-01 1.45646297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:0.27, Z:1.48 [[ 9.88720655e-01 -1.40895283e-01 -5.07935616e-02 2.34324168e+02] [ 1.40722356e-01 9.90024474e-01 -6.98275931e-03 2.65997689e-01] [ 5.12707070e-02 -2.43791291e-04 9.98684763e-01 1.47682501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:0.27, Z:1.48 [[ 9.88722663e-01 -1.40882387e-01 -5.07902369e-02 2.34381778e+02] [ 1.40708205e-01 9.90026315e-01 -7.00685868e-03 2.74542102e-01] [ 5.12708141e-02 -2.18763079e-04 9.98684763e-01 1.48229122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:0.28, Z:1.48 [[ 9.88979742e-01 -1.39067496e-01 -5.07868316e-02 2.34439922e+02] [ 1.38889658e-01 9.90282900e-01 -7.03145474e-03 2.80446762e-01] [ 5.12711777e-02 -9.97993901e-05 9.98684763e-01 1.48399899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:0.29, Z:1.49 [[ 9.89042199e-01 -1.38623842e-01 -5.07834561e-02 2.34498115e+02] [ 1.38444171e-01 9.90345105e-01 -7.05574975e-03 2.87887908e-01] [ 5.12712423e-02 -5.22392502e-05 9.98684764e-01 1.48621076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:0.29, Z:1.49 [[ 9.89051330e-01 -1.38559903e-01 -5.07801156e-02 2.34555279e+02] [ 1.38378918e-01 9.90354054e-01 -7.07971016e-03 2.93225219e-01] [ 5.12712573e-02 -2.47007050e-05 9.98684764e-01 1.49060579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:234.61, Y:0.30, Z:1.49 [[ 9.88627358e-01 -1.41554674e-01 -5.07761823e-02 2.34613478e+02] [ 1.41376192e-01 9.89930428e-01 -7.10780862e-03 2.98340601e-01] [ 5.12710314e-02 -1.51569244e-04 9.98684764e-01 1.49275509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:234.67, Y:0.30, Z:1.48 [[ 9.87901662e-01 -1.46534763e-01 -5.07727159e-02 2.34672724e+02] [ 1.46361581e-01 9.89205446e-01 -7.13248451e-03 3.02321082e-01] [ 5.12698040e-02 -3.84981688e-04 9.98684765e-01 1.47664553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:0.31, Z:1.50 [[ 9.88010109e-01 -1.45802190e-01 -5.07715079e-02 2.34730932e+02] [ 1.45627601e-01 9.89313705e-01 -7.14107329e-03 3.05582255e-01] [ 5.12701327e-02 -3.38280301e-04 9.98684765e-01 1.50145928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:234.79, Y:0.31, Z:1.50 [[ 9.88120123e-01 -1.45055828e-01 -5.07683793e-02 2.34789811e+02] [ 1.44879115e-01 9.89423433e-01 -7.16324671e-03 3.09373625e-01] [ 5.12704948e-02 -2.77129627e-04 9.98684765e-01 1.50327936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:234.85, Y:0.32, Z:1.51 [[ 9.88640538e-01 -1.41466624e-01 -5.07649601e-02 2.34849585e+02] [ 1.41283939e-01 9.89943024e-01 -7.18739654e-03 3.15367445e-01] [ 5.12711948e-02 -6.65219454e-05 9.98684765e-01 1.51221175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:234.91, Y:0.32, Z:1.49 [[ 9.89140947e-01 -1.37924364e-01 -5.07647149e-02 2.34910884e+02] [ 1.37736926e-01 9.90442757e-01 -7.18912792e-03 3.20496137e-01] [ 5.12711001e-02 1.18885020e-04 9.98684765e-01 1.49009529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters Centerline goodness : 0.936322 with order 3 Centerline is valid? [True, False] Translation: X:234.91, Y:0.32, Z:1.49 [[ 9.91785627e-01 -1.19059727e-01 -4.67552193e-02 2.34907927e+02] [ 1.18895146e-01 9.92886858e-01 -6.29536946e-03 3.19945553e-01] [ 4.71721677e-02 6.84688332e-04 9.98886539e-01 1.49025697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [False, True] Translation: X:234.90, Y:0.32, Z:1.49 [[ 9.94213358e-01 -9.94385440e-02 -4.06420318e-02 2.34903565e+02] [ 9.93462045e-02 9.95043679e-01 -4.29041366e-03 3.20715302e-01] [ 4.08672293e-02 2.27954967e-04 9.99164560e-01 1.49018128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.96, Y:0.33, Z:1.47 [[ 9.94229001e-01 -9.92886557e-02 -4.06258102e-02 2.34962629e+02] [ 9.91901236e-02 9.95058599e-01 -4.43888229e-03 3.27367110e-01] [ 4.08657924e-02 3.83586376e-04 9.99164571e-01 1.47362057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:235.02, Y:0.34, Z:1.49 [[ 9.94319334e-01 -9.83807613e-02 -4.06237230e-02 2.35020507e+02] [ 9.82806947e-02 9.95148749e-01 -4.45790259e-03 3.36361639e-01] [ 4.08652189e-02 4.40051026e-04 9.99164571e-01 1.49453912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:235.08, Y:0.35, Z:1.50 [[ 9.94454138e-01 -9.70091332e-02 -4.06225990e-02 2.35079578e+02] [ 9.69075052e-02 9.95283362e-01 -4.46812131e-03 3.45488149e-01] [ 4.08644455e-02 5.06707005e-04 9.99164571e-01 1.49839859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.14, Y:0.36, Z:1.48 [[ 9.94433465e-01 -9.72209423e-02 -4.06222982e-02 2.35139286e+02] [ 9.71193793e-02 9.95262698e-01 -4.47085454e-03 3.57254581e-01] [ 4.08645188e-02 5.00754991e-04 9.99164571e-01 1.48019344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:235.20, Y:0.37, Z:1.51 [[ 9.94622829e-01 -9.52642694e-02 -4.06219980e-02 2.35196273e+02] [ 9.51609638e-02 9.95451846e-01 -4.47358023e-03 3.67744622e-01] [ 4.08634153e-02 5.83896545e-04 9.99164571e-01 1.50585927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:235.25, Y:0.38, Z:1.51 [[ 9.94663191e-01 -9.48421746e-02 -4.06214043e-02 2.35254962e+02] [ 9.47382974e-02 9.95492137e-01 -4.47896507e-03 3.81377642e-01] [ 4.08630833e-02 6.06659011e-04 9.99164571e-01 1.50538724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:0.39, Z:1.51 [[ 9.94738326e-01 -9.40509906e-02 -4.06211033e-02 2.35312612e+02] [ 9.39463427e-02 9.95567175e-01 -4.48169285e-03 3.94259805e-01] [ 4.08625447e-02 6.41907553e-04 9.99164571e-01 1.50555602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:235.37, Y:0.41, Z:1.51 [[ 9.94631403e-01 -9.51759994e-02 -4.06189779e-02 2.35370149e+02] [ 9.50715058e-02 9.95460271e-01 -4.50087402e-03 4.07827420e-01] [ 4.08629539e-02 6.15003247e-04 9.99164571e-01 1.51371388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:0.42, Z:1.50 [[ 9.94295129e-01 -9.86273022e-02 -4.06183689e-02 2.35428604e+02] [ 9.85254616e-02 9.95124327e-01 -4.50636319e-03 4.20065972e-01] [ 4.08647775e-02 4.78711422e-04 9.99164571e-01 1.49511547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters Centerline goodness : 0.965953 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:0.39, Z:1.49 [[ 9.79419563e-01 -1.97705944e-01 -4.06162346e-02 2.35491303e+02] [ 1.97686868e-01 9.80254774e-01 -4.52551861e-03 3.90983877e-01] [ 4.07089798e-02 -3.59691474e-03 9.99164572e-01 1.49413394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.55, Y:0.44, Z:1.50 [[ 9.92553346e-01 -1.14840560e-01 -4.06140432e-02 2.35545403e+02] [ 1.14750680e-01 9.93383926e-01 -4.54510080e-03 4.36339224e-01] [ 4.08672996e-02 -1.49234043e-04 9.99164572e-01 1.50014519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters Centerline goodness : 0.987782 with order 1 Centerline is valid? [True, True] Translation: X:235.60, Y:0.47, Z:1.50 [[ 9.97454127e-01 -5.86168660e-02 -4.06119044e-02 2.35600305e+02] [ 5.84794614e-02 9.98278178e-01 -4.56413163e-03 4.70008440e-01] [ 4.08095131e-02 2.17754964e-03 9.99164572e-01 1.50474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:235.66, Y:0.45, Z:1.52 [[ 9.91927163e-01 -1.20130563e-01 -4.06097438e-02 2.35661061e+02] [ 1.20043550e-01 9.92758047e-01 -4.58327585e-03 4.52230345e-01] [ 4.08662414e-02 -3.28661981e-04 9.99164572e-01 1.52377411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:235.72, Y:0.46, Z:1.53 [[ 9.92013564e-01 -1.19415711e-01 -4.06076045e-02 2.35719678e+02] [ 1.19327326e-01 9.92844303e-01 -4.60215200e-03 4.60552537e-01] [ 4.08665981e-02 -2.80199669e-04 9.99164572e-01 1.52770967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:235.78, Y:0.47, Z:1.53 [[ 9.91681336e-01 -1.22144307e-01 -4.06066079e-02 2.35778187e+02] [ 1.22057848e-01 9.92512278e-01 -4.61092929e-03 4.68920161e-01] [ 4.08657556e-02 -3.83782654e-04 9.99164572e-01 1.52879660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:235.84, Y:0.47, Z:1.53 [[ 9.91224448e-01 -1.25798946e-01 -4.06044214e-02 2.35836132e+02] [ 1.25714766e-01 9.92055623e-01 -4.63010359e-03 4.74511189e-01] [ 4.08643068e-02 -5.15103454e-04 9.99164573e-01 1.53487445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:235.89, Y:0.48, Z:1.54 [[ 9.90754362e-01 -1.29449798e-01 -4.06022677e-02 2.35893718e+02] [ 1.29367909e-01 9.91585766e-01 -4.64891382e-03 4.77676739e-01] [ 4.08624317e-02 -6.46698832e-04 9.99164573e-01 1.53715828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:235.95, Y:0.48, Z:1.52 [[ 9.90897383e-01 -1.28351210e-01 -4.05997862e-02 2.35953089e+02] [ 1.28267516e-01 9.91728607e-01 -4.67048505e-03 4.78739990e-01] [ 4.08634318e-02 -5.79662317e-04 9.99164573e-01 1.51848544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:236.01, Y:0.48, Z:1.52 [[ 9.90944394e-01 -1.27988111e-01 -4.05986516e-02 2.36011497e+02] [ 1.27903709e-01 9.91775547e-01 -4.68032657e-03 4.81466895e-01] [ 4.08637761e-02 -5.54774749e-04 9.99164573e-01 1.51984001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:236.07, Y:0.48, Z:1.54 [[ 9.91248412e-01 -1.25612541e-01 -4.05964893e-02 2.36069356e+02] [ 1.25525383e-01 9.92079280e-01 -4.69900816e-03 4.84826575e-01] [ 4.08651902e-02 -4.38005475e-04 9.99164573e-01 1.54325279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:0.49, Z:1.55 [[ 9.91734458e-01 -1.21716343e-01 -4.05942915e-02 2.36127690e+02] [ 1.21625146e-01 9.92564892e-01 -4.71791813e-03 4.88499786e-01] [ 4.08667163e-02 -2.58364661e-04 9.99164573e-01 1.54696490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:0.49, Z:1.53 [[ 9.92544183e-01 -1.14927496e-01 -4.05920604e-02 2.36187509e+02] [ 1.14829837e-01 9.93373882e-01 -4.73703736e-03 4.91238998e-01] [ 4.08675084e-02 4.05391966e-05 9.99164574e-01 1.52877343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:236.25, Y:0.50, Z:1.55 [[ 9.93012574e-01 -1.10808363e-01 -4.05898269e-02 2.36245527e+02] [ 1.10706483e-01 9.93841765e-01 -4.75609850e-03 4.99456387e-01] [ 4.08668807e-02 2.29308619e-04 9.99164574e-01 1.55102901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters Centerline goodness : 0.889154 with order 3 Centerline is valid? [True, False] Translation: X:236.22, Y:0.52, Z:1.55 [[ 9.93993812e-01 -1.02934706e-01 -3.71584237e-02 2.36219035e+02] [ 1.01779641e-01 9.94300270e-01 -3.17470901e-02 5.23705903e-01] [ 4.02145081e-02 2.77744401e-02 9.98804973e-01 1.55205928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters Centerline goodness : 0.940437 with order 3 Centerline is valid? [False, False] Translation: X:236.20, Y:0.54, Z:1.55 [[ 9.95407672e-01 -9.08922182e-02 -3.00361671e-02 2.36203180e+02] [ 8.95484916e-02 9.95036123e-01 -4.34071658e-02 5.40365340e-01] [ 3.38324449e-02 4.05181324e-02 9.98605851e-01 1.55367882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [False, True] Translation: X:236.18, Y:0.56, Z:1.56 [[ 9.96243293e-01 -8.36899606e-02 -2.22551661e-02 2.36175647e+02] [ 8.21028854e-02 9.94528295e-01 -6.45955611e-02 5.60813902e-01] [ 2.75393923e-02 6.25256811e-02 9.97663331e-01 1.55830736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:0.51, Z:1.56 [[ 9.96054418e-01 -8.39963860e-02 -2.86391961e-02 2.36239526e+02] [ 8.39465685e-02 9.96465922e-01 -2.93952835e-03 5.13834691e-01] [ 2.87848927e-02 5.23767957e-04 9.99585492e-01 1.55739387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:236.30, Y:0.52, Z:1.56 [[ 9.95631444e-01 -8.88701528e-02 -2.86378034e-02 2.36297564e+02] [ 8.88219615e-02 9.96043141e-01 -2.95303455e-03 5.21427616e-01] [ 2.87869243e-02 3.96468184e-04 9.99585492e-01 1.55739024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:0.53, Z:1.56 [[ 9.95048961e-01 -9.51710159e-02 -2.86364037e-02 2.36354559e+02] [ 9.51250429e-02 9.95460911e-01 -2.96654584e-03 5.29126540e-01] [ 2.87887497e-02 2.27819225e-04 9.99585492e-01 1.56001167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:236.41, Y:0.53, Z:1.56 [[ 9.94464584e-01 -1.01095206e-01 -2.86347780e-02 2.36411993e+02] [ 1.01051237e-01 9.94876753e-01 -2.98215642e-03 5.33625326e-01] [ 2.87895567e-02 7.20691963e-05 9.99585492e-01 1.56070486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:236.47, Y:0.54, Z:1.56 [[ 9.93796372e-01 -1.07465876e-01 -2.86331387e-02 2.36470507e+02] [ 1.07424099e-01 9.94208769e-01 -2.99781429e-03 5.38614933e-01] [ 2.87894803e-02 -9.66721480e-05 9.99585492e-01 1.56138663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:236.53, Y:0.54, Z:1.56 [[ 9.93441212e-01 -1.10701323e-01 -2.86317142e-02 2.36529188e+02] [ 1.10660499e-01 9.93853704e-01 -3.01135822e-03 5.41922442e-01] [ 2.87890965e-02 -1.76792400e-04 9.99585492e-01 1.56303286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:236.59, Y:0.55, Z:1.58 [[ 9.93386184e-01 -1.11194398e-01 -2.86303117e-02 2.36587686e+02] [ 1.11153396e-01 9.93798659e-01 -3.02463313e-03 5.45891162e-01] [ 2.87890877e-02 -1.77727614e-04 9.99585493e-01 1.58403085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:0.55, Z:1.57 [[ 9.93904159e-01 -1.06465532e-01 -2.86288960e-02 2.36646328e+02] [ 1.06422182e-01 9.94316393e-01 -3.03797487e-03 5.50951126e-01] [ 2.87896202e-02 -2.72937321e-05 9.99585493e-01 1.56734639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.70, Y:0.56, Z:1.57 [[ 9.94174764e-01 -1.03908643e-01 -2.86274618e-02 2.36704562e+02] [ 1.03863846e-01 9.94586844e-01 -3.05143014e-03 5.55303697e-01] [ 2.87895668e-02 6.02965592e-05 9.99585493e-01 1.56914588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:236.76, Y:0.56, Z:1.57 [[ 9.94298912e-01 -1.02714293e-01 -2.86260100e-02 2.36761663e+02] [ 1.02668611e-01 9.94710894e-01 -3.06498901e-03 5.64241117e-01] [ 2.87894222e-02 1.08522552e-04 9.99585493e-01 1.57169575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:0.57, Z:1.57 [[ 9.94165067e-01 -1.04002238e-01 -2.86243488e-02 2.36819531e+02] [ 1.03956645e-01 9.94577059e-01 -3.08042590e-03 5.68781487e-01] [ 2.87894918e-02 8.67605486e-05 9.99585493e-01 1.57370044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:0.57, Z:1.60 [[ 9.93735980e-01 -1.08025663e-01 -2.86226760e-02 2.36877322e+02] [ 1.07981293e-01 9.94148106e-01 -3.09589098e-03 5.74175589e-01] [ 2.87896148e-02 -1.42153078e-05 9.99585493e-01 1.59572920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:236.94, Y:0.58, Z:1.60 [[ 9.93421366e-01 -1.10881990e-01 -2.86212058e-02 2.36935662e+02] [ 1.10838415e-01 9.93833576e-01 -3.10942417e-03 5.78862588e-01] [ 2.87894945e-02 -8.33606787e-05 9.99585493e-01 1.59667547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.00, Y:0.58, Z:1.58 [[ 9.93098672e-01 -1.13736268e-01 -2.86197355e-02 2.36995623e+02] [ 1.13693489e-01 9.93510965e-01 -3.12289865e-03 5.81181775e-01] [ 2.87892079e-02 -1.52531075e-04 9.99585493e-01 1.57740379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:0.58, Z:1.58 [[ 9.92838843e-01 -1.15982845e-01 -2.86183673e-02 2.37054908e+02] [ 1.15940639e-01 9.93251196e-01 -3.13538664e-03 5.82136552e-01] [ 2.87888786e-02 -2.05098144e-04 9.99585493e-01 1.58009460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.11, Y:0.58, Z:1.58 [[ 9.92627916e-01 -1.17774753e-01 -2.86169080e-02 2.37114239e+02] [ 1.17732909e-01 9.93040305e-01 -3.14864979e-03 5.83989593e-01] [ 2.87885745e-02 -2.43714152e-04 9.99585493e-01 1.58235000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.17, Y:0.58, Z:1.58 [[ 9.92504805e-01 -1.18808115e-01 -2.86154426e-02 2.37172389e+02] [ 1.18766318e-01 9.92917199e-01 -3.16191226e-03 5.84307275e-01] [ 2.87884259e-02 -2.60337647e-04 9.99585493e-01 1.58307267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:0.59, Z:1.60 [[ 9.92539299e-01 -1.18520012e-01 -2.86137478e-02 2.37231127e+02] [ 1.18477655e-01 9.92951636e-01 -3.17717570e-03 5.86766366e-01] [ 2.87886266e-02 -2.36618005e-04 9.99585494e-01 1.60087484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:0.59, Z:1.59 [[ 9.92620138e-01 -1.17841133e-01 -2.86134307e-02 2.37290144e+02] [ 1.17798412e-01 9.93032437e-01 -3.18002842e-03 5.92349818e-01] [ 2.87888030e-02 -2.14056455e-04 9.99585494e-01 1.58823408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:237.35, Y:0.60, Z:1.61 [[ 9.92740165e-01 -1.16825776e-01 -2.86129995e-02 2.37348210e+02] [ 1.16782521e-01 9.93152408e-01 -3.18390355e-03 5.96807022e-01] [ 2.87890314e-02 -1.80709297e-04 9.99585494e-01 1.60671617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:237.41, Y:0.61, Z:1.61 [[ 9.93050775e-01 -1.14155766e-01 -2.86115152e-02 2.37405965e+02] [ 1.14111020e-01 9.93462859e-01 -3.19718667e-03 6.05502004e-01] [ 2.87894550e-02 -8.99204842e-05 9.99585494e-01 1.61163018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.46, Y:0.61, Z:1.59 [[ 9.93247093e-01 -1.12435232e-01 -2.86099798e-02 2.37464810e+02] [ 1.12389378e-01 9.93659055e-01 -3.21086736e-03 6.12348279e-01] [ 2.87895802e-02 -2.62731743e-05 9.99585494e-01 1.59315632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:0.62, Z:1.60 [[ 9.93369638e-01 -1.11347740e-01 -2.86084298e-02 2.37523423e+02] [ 1.11301039e-01 9.93781505e-01 -3.22461905e-03 6.20392233e-01] [ 2.87895825e-02 1.90906925e-05 9.99585494e-01 1.59605040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.58, Y:0.63, Z:1.60 [[ 9.93274654e-01 -1.12192275e-01 -2.86069053e-02 2.37580902e+02] [ 1.12145537e-01 9.93686517e-01 -3.23808749e-03 6.27278854e-01] [ 2.87895845e-02 8.17348990e-06 9.99585494e-01 1.59782561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:237.64, Y:0.64, Z:1.63 [[ 9.93504596e-01 -1.10137926e-01 -2.86051428e-02 2.37639607e+02] [ 1.10089890e-01 9.93916309e-01 -3.25358306e-03 6.35703633e-01] [ 2.87894609e-02 8.33126937e-05 9.99585494e-01 1.62663831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.70, Y:0.64, Z:1.60 [[ 9.93299551e-01 -1.11972110e-01 -2.86050324e-02 2.37700092e+02] [ 1.11924807e-01 9.93711349e-01 -3.25455351e-03 6.42619630e-01] [ 2.87895646e-02 3.11338211e-05 9.99585494e-01 1.60041665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.76, Y:0.65, Z:1.60 [[ 9.92988388e-01 -1.14698830e-01 -2.86048864e-02 2.37757608e+02] [ 1.14652621e-01 9.93400310e-01 -3.25583611e-03 6.49668077e-01] [ 2.87895436e-02 -4.66177378e-05 9.99585494e-01 1.60267255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:237.82, Y:0.66, Z:1.60 [[ 9.92660588e-01 -1.17502420e-01 -2.86031243e-02 2.37816138e+02] [ 1.17456929e-01 9.93072590e-01 -3.27124363e-03 6.55632964e-01] [ 2.87893578e-02 -1.12400525e-04 9.99585494e-01 1.60245589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:237.87, Y:0.66, Z:1.62 [[ 9.92500359e-01 -1.18848590e-01 -2.86015718e-02 2.37874344e+02] [ 1.18803269e-01 9.92912380e-01 -3.28476178e-03 6.62001486e-01] [ 2.87892440e-02 -1.37832983e-04 9.99585494e-01 1.62253525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:0.66, Z:1.62 [[ 9.92134146e-01 -1.21868267e-01 -2.86000190e-02 2.37933416e+02] [ 1.21823812e-01 9.92546261e-01 -3.29822697e-03 6.64836024e-01] [ 2.87887911e-02 -2.11879734e-04 9.99585494e-01 1.62202029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:237.99, Y:0.67, Z:1.61 [[ 9.91754257e-01 -1.24922459e-01 -2.85984744e-02 2.37992998e+02] [ 1.24878889e-01 9.92166466e-01 -3.31156602e-03 6.68086610e-01] [ 2.87881362e-02 -2.87085997e-04 9.99585494e-01 1.60526228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:238.05, Y:0.67, Z:1.61 [[ 9.91680934e-01 -1.25503300e-01 -2.85980334e-02 2.38050973e+02] [ 1.25459861e-01 9.92093157e-01 -3.31537027e-03 6.72310413e-01] [ 2.87880031e-02 -3.00115803e-04 9.99585494e-01 1.60722446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.11, Y:0.68, Z:1.61 [[ 9.91798823e-01 -1.24568648e-01 -2.85962771e-02 2.38108305e+02] [ 1.24524385e-01 9.92210958e-01 -3.33044978e-03 6.77856098e-01] [ 2.87884092e-02 -2.57797664e-04 9.99585495e-01 1.60786756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:238.17, Y:0.68, Z:1.63 [[ 9.91731202e-01 -1.25106260e-01 -2.85945158e-02 2.38167213e+02] [ 1.25061787e-01 9.92143315e-01 -3.34550432e-03 6.84426682e-01] [ 2.87884012e-02 -2.58240219e-04 9.99585495e-01 1.63046961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters Centerline goodness : 0.997666 with order 1 Centerline is valid? [True, True] Translation: X:238.22, Y:0.69, Z:1.63 [[ 9.91322443e-01 -1.28305026e-01 -2.85942956e-02 2.38224640e+02] [ 1.28261829e-01 9.91734691e-01 -3.34738546e-03 6.90409097e-01] [ 2.87874413e-02 -3.49218310e-04 9.99585495e-01 1.63239625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:238.28, Y:0.70, Z:1.61 [[ 9.91455034e-01 -1.27276808e-01 -2.85924803e-02 2.38284042e+02] [ 1.27232738e-01 9.91867190e-01 -3.36281967e-03 6.96811919e-01] [ 2.87879521e-02 -3.03815053e-04 9.99585495e-01 1.61126939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:0.71, Z:1.64 [[ 9.91395068e-01 -1.27743379e-01 -2.85910355e-02 2.38342518e+02] [ 1.27699150e-01 9.91807207e-01 -3.37505927e-03 7.05015732e-01] [ 2.87879365e-02 -3.05033820e-04 9.99585495e-01 1.63540910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:238.40, Y:0.71, Z:1.62 [[ 9.91799395e-01 -1.24565350e-01 -2.85908128e-02 2.38401820e+02] [ 1.24519746e-01 9.92211383e-01 -3.37694492e-03 7.13273273e-01] [ 2.87887802e-02 -2.10868816e-04 9.99585495e-01 1.61519618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters Centerline goodness : 0.997513 with order 1 Centerline is valid? [True, True] Translation: X:238.46, Y:0.72, Z:1.64 [[ 9.91533306e-01 -1.26666300e-01 -2.85893599e-02 2.38460073e+02] [ 1.26621216e-01 9.91945352e-01 -3.38920035e-03 7.19913095e-01] [ 2.87883801e-02 -2.59514478e-04 9.99585495e-01 1.63893416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:238.52, Y:0.73, Z:1.64 [[ 9.91386878e-01 -1.27807376e-01 -2.85890189e-02 2.38518418e+02] [ 1.27762683e-01 9.91798967e-01 -3.39207477e-03 7.27891899e-01] [ 2.87880916e-02 -2.89751327e-04 9.99585495e-01 1.63792191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:238.58, Y:0.73, Z:1.64 [[ 9.91236104e-01 -1.28971882e-01 -2.85874086e-02 2.38576619e+02] [ 1.28927284e-01 9.91648202e-01 -3.40559198e-03 7.33069368e-01] [ 2.87878779e-02 -3.09951205e-04 9.99585495e-01 1.63927539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:238.63, Y:0.74, Z:1.64 [[ 9.91121001e-01 -1.29853811e-01 -2.85858354e-02 2.38634971e+02] [ 1.29809199e-01 9.91533098e-01 -3.41874646e-03 7.42149967e-01] [ 2.87877391e-02 -3.22312987e-04 9.99585495e-01 1.64086956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:0.75, Z:1.64 [[ 9.90979835e-01 -1.30926860e-01 -2.85853782e-02 2.38693570e+02] [ 1.30882585e-01 9.91391968e-01 -3.42256470e-03 7.47890278e-01] [ 2.87874200e-02 -3.49635585e-04 9.99585495e-01 1.64341867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:0.75, Z:1.63 [[ 9.90725063e-01 -1.32841076e-01 -2.85849255e-02 2.38753420e+02] [ 1.32797487e-01 9.91137270e-01 -3.42634138e-03 7.54298057e-01] [ 2.87867439e-02 -4.01444005e-04 9.99585495e-01 1.62668095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:238.81, Y:0.76, Z:1.63 [[ 9.90405941e-01 -1.35199801e-01 -2.85847000e-02 2.38812377e+02] [ 1.35157140e-01 9.90818245e-01 -3.42822154e-03 7.58369082e-01] [ 2.87857372e-02 -4.68095333e-04 9.99585495e-01 1.62707343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:238.87, Y:0.76, Z:1.65 [[ 9.90093755e-01 -1.37467673e-01 -2.85831309e-02 2.38872156e+02] [ 1.37425581e-01 9.90506117e-01 -3.44125498e-03 7.63490018e-01] [ 2.87848273e-02 -5.20888285e-04 9.99585495e-01 1.64762724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:238.93, Y:0.77, Z:1.63 [[ 9.90313838e-01 -1.35873129e-01 -2.85831309e-02 2.38932582e+02] [ 1.35830373e-01 9.90726131e-01 -3.44125498e-03 7.66033921e-01] [ 2.87856287e-02 -4.74534885e-04 9.99585495e-01 1.63149495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:238.99, Y:0.77, Z:1.63 [[ 9.89940753e-01 -1.38565228e-01 -2.85829083e-02 2.38990704e+02] [ 1.38523540e-01 9.90353156e-01 -3.44310288e-03 7.69433046e-01] [ 2.87842677e-02 -5.50937766e-04 9.99585495e-01 1.63293634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters Centerline goodness : 0.913958 with order 3 Centerline is valid? [True, False] Translation: X:238.99, Y:0.77, Z:1.63 [[ 9.92605545e-01 -1.19414033e-01 -2.17834927e-02 2.38985315e+02] [ 1.19416782e-01 9.92843513e-01 -1.17922145e-03 7.69240475e-01] [ 2.17684150e-02 -1.43081286e-03 9.99762016e-01 1.63267445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [False, True] Translation: X:238.98, Y:0.77, Z:1.63 [[ 9.94907873e-01 -9.94955421e-02 -1.60922904e-02 2.38982043e+02] [ 9.95241432e-02 9.95034661e-01 9.84363859e-04 7.70708114e-01] [ 1.59144469e-02 -2.58092276e-03 9.99870026e-01 1.63114993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:239.04, Y:0.78, Z:1.63 [[ 9.95116387e-01 -9.74194538e-02 -1.59005323e-02 2.39039396e+02] [ 9.74107598e-02 9.95243385e-01 -1.32219939e-03 7.77746233e-01] [ 1.59537076e-02 -2.33140656e-04 9.99872704e-01 1.63131462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters Centerline goodness : 0.997761 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:0.79, Z:1.63 [[ 9.95429885e-01 -9.41622354e-02 -1.59002603e-02 2.39098133e+02] [ 9.41530737e-02 9.95556850e-01 -1.32546260e-03 7.85942406e-01] [ 1.59544216e-02 -1.77653299e-04 9.99872704e-01 1.63116878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:239.16, Y:0.79, Z:1.62 [[ 9.95759258e-01 -9.06128429e-02 -1.59000779e-02 2.39156948e+02] [ 9.06031937e-02 9.95886188e-01 -1.32764752e-03 7.93128603e-01] [ 1.59549698e-02 -1.18580524e-04 9.99872704e-01 1.61663368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:239.22, Y:0.80, Z:1.62 [[ 9.95783842e-01 -9.03423068e-02 -1.58999022e-02 2.39215504e+02] [ 9.03325896e-02 9.95910767e-01 -1.32974764e-03 8.01928417e-01] [ 1.59550163e-02 -1.12138131e-04 9.99872704e-01 1.61758214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:0.81, Z:1.63 [[ 9.95573669e-01 -9.26297413e-02 -1.58997245e-02 2.39274023e+02] [ 9.26202818e-02 9.95700612e-01 -1.33186914e-03 8.09143277e-01] [ 1.59547361e-02 -1.46663123e-04 9.99872704e-01 1.63445894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:0.82, Z:1.64 [[ 9.95584153e-01 -9.25170197e-02 -1.58995442e-02 2.39332729e+02] [ 9.25075116e-02 9.95711093e-01 -1.33401799e-03 8.17845328e-01] [ 1.59547719e-02 -1.42700101e-04 9.99872704e-01 1.63567883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:0.82, Z:1.62 [[ 9.95692647e-01 -9.13420088e-02 -1.58993694e-02 2.39392696e+02] [ 9.13323177e-02 9.95819573e-01 -1.33609866e-03 8.24891171e-01] [ 1.59549452e-02 -1.21782642e-04 9.99872704e-01 1.61908563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:0.84, Z:1.64 [[ 9.94743126e-01 -1.01159901e-01 -1.58993257e-02 2.39451595e+02] [ 1.01151454e-01 9.94870141e-01 -1.33661823e-03 8.36068190e-01] [ 1.59529766e-02 -2.78648115e-04 9.99872704e-01 1.63744734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:0.84, Z:1.62 [[ 9.94725124e-01 -1.01336779e-01 -1.58992374e-02 2.39511694e+02] [ 1.01328338e-01 9.94852139e-01 -1.33766734e-03 8.41914522e-01] [ 1.59529453e-02 -2.80431990e-04 9.99872704e-01 1.61764719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:0.85, Z:1.62 [[ 9.94156927e-01 -1.06767129e-01 -1.58991950e-02 2.39569772e+02] [ 1.06759374e-01 9.94283986e-01 -1.33817170e-03 8.50167879e-01] [ 1.59511877e-02 -3.67035428e-04 9.99872704e-01 1.61852295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:0.86, Z:1.62 [[ 9.93897396e-01 -1.09156712e-01 -1.58990247e-02 2.39628658e+02] [ 1.09149230e-01 9.94024471e-01 -1.34019175e-03 8.55401148e-01] [ 1.59503106e-02 -4.03353216e-04 9.99872704e-01 1.61724789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:239.69, Y:0.86, Z:1.64 [[ 9.93768181e-01 -1.10326916e-01 -1.58988561e-02 2.39688245e+02] [ 1.10319551e-01 9.93895264e-01 -1.34218939e-03 8.60353720e-01] [ 1.59498774e-02 -4.20129556e-04 9.99872704e-01 1.63503457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.75, Y:0.86, Z:1.62 [[ 9.94064098e-01 -1.07628050e-01 -1.58988132e-02 2.39747930e+02] [ 1.07620332e-01 9.94191159e-01 -1.34269652e-03 8.64786828e-01] [ 1.59509714e-02 -3.76309152e-04 9.99872704e-01 1.62081207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:0.87, Z:1.62 [[ 9.94180215e-01 -1.06550135e-01 -1.58987298e-02 2.39806027e+02] [ 1.06542264e-01 9.94307267e-01 -1.34368432e-03 8.70818721e-01] [ 1.59513923e-02 -3.58022302e-04 9.99872704e-01 1.62008264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:239.86, Y:0.87, Z:1.62 [[ 9.94171771e-01 -1.06628913e-01 -1.58985605e-02 2.39864578e+02] [ 1.06621020e-01 9.94298822e-01 -1.34568340e-03 8.73606144e-01] [ 1.59514088e-02 -3.57280294e-04 9.99872704e-01 1.62102563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:239.92, Y:0.88, Z:1.64 [[ 9.94105840e-01 -1.07241877e-01 -1.58983905e-02 2.39924293e+02] [ 1.07234030e-01 9.94232894e-01 -1.34768913e-03 8.77307057e-01] [ 1.59512315e-02 -3.65102852e-04 9.99872704e-01 1.63988939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:0.88, Z:1.64 [[ 9.94317794e-01 -1.05258575e-01 -1.58983463e-02 2.39983151e+02] [ 1.05250467e-01 9.94444831e-01 -1.34821111e-03 8.79710736e-01] [ 1.59519390e-02 -3.32758065e-04 9.99872704e-01 1.63945167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:240.04, Y:0.88, Z:1.64 [[ 9.94320975e-01 -1.05228544e-01 -1.58981658e-02 2.40042080e+02] [ 1.05220398e-01 9.94448010e-01 -1.35033615e-03 8.84563488e-01] [ 1.59519932e-02 -3.30143766e-04 9.99872704e-01 1.63958438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.10, Y:0.89, Z:1.63 [[ 9.94273240e-01 -1.05678653e-01 -1.58980340e-02 2.40102292e+02] [ 1.05670539e-01 9.94400276e-01 -1.35188601e-03 8.86162846e-01] [ 1.59518749e-02 -3.35809731e-04 9.99872704e-01 1.62639212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:240.16, Y:0.89, Z:1.64 [[ 9.94034233e-01 -1.07903646e-01 -1.58979896e-02 2.40162122e+02] [ 1.07895808e-01 9.94161288e-01 -1.35240804e-03 8.86965570e-01] [ 1.59510955e-02 -3.70986534e-04 9.99872704e-01 1.64358451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:240.22, Y:0.89, Z:1.65 [[ 9.94154724e-01 -1.06787830e-01 -1.58978996e-02 2.40221068e+02] [ 1.06779832e-01 9.94281769e-01 -1.35346424e-03 8.89380833e-01] [ 1.59515253e-02 -3.52022194e-04 9.99872704e-01 1.64891068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:0.89, Z:1.63 [[ 9.94686494e-01 -1.01715492e-01 -1.58977231e-02 2.40280733e+02] [ 1.01706814e-01 9.94813493e-01 -1.35553434e-03 8.91810535e-01] [ 1.59531483e-02 -2.68575062e-04 9.99872704e-01 1.62815705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:0.89, Z:1.63 [[ 9.94660626e-01 -1.01968157e-01 -1.58975927e-02 2.40339727e+02] [ 1.01959487e-01 9.94787626e-01 -1.35706257e-03 8.92425938e-01] [ 1.59531057e-02 -2.71093684e-04 9.99872704e-01 1.62750665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:0.89, Z:1.65 [[ 9.94463899e-01 -1.03869274e-01 -1.58974165e-02 2.40399068e+02] [ 1.03860813e-01 9.94590913e-01 -1.35912278e-03 8.93339674e-01] [ 1.59525971e-02 -2.99520073e-04 9.99872704e-01 1.65012870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:0.89, Z:1.66 [[ 9.94669042e-01 -1.01886075e-01 -1.58973284e-02 2.40459316e+02] [ 1.01877344e-01 9.94796038e-01 -1.36015358e-03 8.94895034e-01] [ 1.59531800e-02 -2.66674936e-04 9.99872704e-01 1.65608676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:0.90, Z:1.63 [[ 9.95024531e-01 -9.83537429e-02 -1.58972827e-02 2.40518069e+02] [ 9.83445533e-02 9.95151495e-01 -1.36068723e-03 8.97486236e-01] [ 1.59540333e-02 -2.09493994e-04 9.99872704e-01 1.63205733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:0.90, Z:1.65 [[ 9.94995756e-01 -9.86444548e-02 -1.58970572e-02 2.40577233e+02] [ 9.86352603e-02 9.95122719e-01 -1.36331686e-03 9.01121353e-01] [ 1.59540064e-02 -2.11515878e-04 9.99872704e-01 1.65289827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:0.91, Z:1.63 [[ 9.95140955e-01 -9.71687519e-02 -1.58969656e-02 2.40636115e+02] [ 9.71593520e-02 9.95267903e-01 -1.36438382e-03 9.06134085e-01] [ 1.59543151e-02 -1.86784656e-04 9.99872704e-01 1.63424430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:0.91, Z:1.65 [[ 9.95021598e-01 -9.83834898e-02 -1.58967852e-02 2.40695272e+02] [ 9.83742114e-02 9.95148555e-01 -1.36648190e-03 9.10528097e-01] [ 1.59541021e-02 -2.04154712e-04 9.99872704e-01 1.65458600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:240.75, Y:0.92, Z:1.66 [[ 9.95033063e-01 -9.82674872e-02 -1.58966942e-02 2.40754183e+02] [ 9.82581771e-02 9.95160018e-01 -1.36754049e-03 9.16092622e-01] [ 1.59541392e-02 -2.01232187e-04 9.99872704e-01 1.65621810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:240.81, Y:0.92, Z:1.66 [[ 9.95003424e-01 -9.85671700e-02 -1.58965086e-02 2.40812852e+02] [ 9.85578638e-02 9.95130379e-01 -1.36969449e-03 9.19727199e-01] [ 1.59541055e-02 -2.03875214e-04 9.99872704e-01 1.65836598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:240.87, Y:0.92, Z:1.65 [[ 9.95023732e-01 -9.83619882e-02 -1.58963193e-02 2.40872461e+02] [ 9.83526207e-02 9.95150682e-01 -1.37188821e-03 9.23196410e-01] [ 1.59541746e-02 -1.98383332e-04 9.99872704e-01 1.65476653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters Centerline goodness : 0.998212 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:0.93, Z:1.66 [[ 9.94969559e-01 -9.89084782e-02 -1.58962272e-02 2.40931041e+02] [ 9.88991634e-02 9.95096513e-01 -1.37295428e-03 9.26921995e-01] [ 1.59540771e-02 -2.06075860e-04 9.99872704e-01 1.65765580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters Centerline goodness : 0.997865 with order 1 Centerline is valid? [True, True] Translation: X:240.99, Y:0.93, Z:1.66 [[ 9.95214129e-01 -9.64165564e-02 -1.58960413e-02 2.40989311e+02] [ 9.64068894e-02 9.95341058e-01 -1.37510266e-03 9.31291693e-01] [ 1.59545652e-02 -1.63966306e-04 9.99872704e-01 1.65919085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:241.05, Y:0.94, Z:1.64 [[ 9.95654842e-01 -9.17537867e-02 -1.58958594e-02 2.41048959e+02] [ 9.17434917e-02 9.95781721e-01 -1.37720263e-03 9.35740103e-01] [ 1.59551698e-02 -8.71231748e-05 9.99872704e-01 1.64037232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:241.11, Y:0.94, Z:1.66 [[ 9.95470998e-01 -9.37273480e-02 -1.58957678e-02 2.41109074e+02] [ 9.37172877e-02 9.95597896e-01 -1.37825868e-03 9.40777092e-01] [ 1.59549735e-02 -1.17691699e-04 9.99872704e-01 1.65939612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters Centerline goodness : 0.915627 with order 3 Centerline is valid? [True, False] Translation: X:241.11, Y:0.94, Z:1.66 [[ 9.97142519e-01 -7.48883857e-02 -9.92605269e-03 2.41105689e+02] [ 7.48889552e-02 9.97191830e-01 -3.14824757e-04 9.41269571e-01] [ 9.92175536e-03 -4.29426564e-04 9.99950686e-01 1.65851617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters Centerline goodness : 0.997964 with order 1 Centerline is valid? [False, True] Translation: X:241.10, Y:0.95, Z:1.66 [[ 9.98236987e-01 -5.92666100e-02 -3.22290333e-03 2.41101446e+02] [ 5.92566086e-02 9.98237923e-01 -3.11498314e-03 9.45107023e-01] [ 3.40183882e-03 2.91851306e-03 9.99989955e-01 1.65829495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:241.16, Y:0.94, Z:1.66 [[ 9.98313490e-01 -5.79548268e-02 -3.37832137e-03 2.41160325e+02] [ 5.79545536e-02 9.98319206e-01 -1.78804738e-04 9.43587560e-01] [ 3.38300571e-03 -1.72859252e-05 9.99994277e-01 1.65916438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:241.22, Y:0.95, Z:1.66 [[ 9.98359410e-01 -5.71583434e-02 -3.37829702e-03 2.41219484e+02] [ 5.71580640e-02 9.98365125e-01 -1.79263723e-04 9.47159257e-01] [ 3.38302034e-03 -1.41272926e-05 9.99994277e-01 1.65955432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:0.95, Z:1.66 [[ 9.98427557e-01 -5.59553502e-02 -3.37827245e-03 2.41278345e+02] [ 5.59550623e-02 9.98433272e-01 -1.79725471e-04 9.46491471e-01] [ 3.38303622e-03 -9.58858279e-06 9.99994277e-01 1.65748527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:241.34, Y:0.95, Z:1.66 [[ 9.98458441e-01 -5.54015320e-02 -3.37824778e-03 2.41336711e+02] [ 5.54012394e-02 9.98464156e-01 -1.80187961e-04 9.50330950e-01] [ 3.38304201e-03 -7.24892417e-06 9.99994277e-01 1.66045625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:241.40, Y:0.95, Z:1.64 [[ 9.98697232e-01 -5.09158791e-02 -3.37822297e-03 2.41396003e+02] [ 5.09155593e-02 9.98702945e-01 -1.80652035e-04 9.51594355e-01] [ 3.38303929e-03 8.41257500e-06 9.99994277e-01 1.64496111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters Centerline goodness : 0.997863 with order 1 Centerline is valid? [True, True] Translation: X:241.45, Y:0.96, Z:1.66 [[ 9.98658158e-01 -5.16766033e-02 -3.37818898e-03 2.41454104e+02] [ 5.16762857e-02 9.98663872e-01 -1.81285400e-04 9.55049645e-01] [ 3.38304350e-03 6.46988478e-06 9.99994277e-01 1.66224702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters Centerline goodness : 0.997319 with order 1 Centerline is valid? [True, True] Translation: X:241.51, Y:0.96, Z:1.66 [[ 9.98820546e-01 -4.84366006e-02 -3.37815807e-03 2.41512876e+02] [ 4.84362626e-02 9.98826259e-01 -1.81859540e-04 9.56830389e-01] [ 3.38300165e-03 1.80196939e-05 9.99994277e-01 1.66303791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:241.57, Y:0.96, Z:1.65 [[ 9.99064121e-01 -4.31215822e-02 -3.37813337e-03 2.41571741e+02] [ 4.31212122e-02 9.99069831e-01 -1.82317315e-04 9.60003123e-01] [ 3.38285294e-03 3.64774825e-05 9.99994277e-01 1.64783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:0.97, Z:1.65 [[ 9.99234960e-01 -3.89625928e-02 -3.37810886e-03 2.41630095e+02] [ 3.89621975e-02 9.99240669e-01 -1.82770310e-04 9.65084596e-01] [ 3.38266496e-03 5.10119388e-05 9.99994277e-01 1.64891641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters Centerline goodness : 0.974634 with order 1 Centerline is valid? [True, True] Translation: X:241.69, Y:1.01, Z:1.65 [[ 9.99269700e-01 3.80611958e-02 -3.37808453e-03 2.41687023e+02] [-3.80620308e-02 9.99275362e-01 -1.83218792e-04 1.00578460e+00] [ 3.36866312e-03 3.11661745e-04 9.99994277e-01 1.64570257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters Centerline goodness : 0.998261 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:0.98, Z:1.67 [[ 9.99154950e-01 -4.09630876e-02 -3.37799892e-03 2.41748216e+02] [ 4.09626969e-02 9.99160659e-01 -1.84783761e-04 9.75587275e-01] [ 3.38273295e-03 4.62556634e-05 9.99994277e-01 1.66727302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:0.98, Z:1.67 [[ 9.99041131e-01 -4.36509672e-02 -3.37798659e-03 2.41807140e+02] [ 4.36505911e-02 9.99046842e-01 -1.85008901e-04 9.81354292e-01] [ 3.38284265e-03 3.73803902e-05 9.99994277e-01 1.66533438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:241.87, Y:0.99, Z:1.67 [[ 9.99045563e-01 -4.35494266e-02 -3.37796174e-03 2.41865776e+02] [ 4.35490484e-02 9.99051273e-01 -1.85461518e-04 9.86389486e-01] [ 3.38283372e-03 3.81774876e-05 9.99994277e-01 1.66519372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:0.99, Z:1.66 [[ 9.98977648e-01 -4.50804749e-02 -3.37793696e-03 2.41924380e+02] [ 4.50801040e-02 9.98983358e-01 -1.85911828e-04 9.91194640e-01] [ 3.38288380e-03 3.34440108e-05 9.99994277e-01 1.66423714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:1.00, Z:1.65 [[ 9.98920271e-01 -4.63344479e-02 -3.37791177e-03 2.41984401e+02] [ 4.63340826e-02 9.98925982e-01 -1.86368303e-04 9.96700707e-01] [ 3.38291911e-03 2.96546328e-05 9.99994277e-01 1.64749067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters Centerline goodness : 0.998198 with order 1 Centerline is valid? [True, True] Translation: X:242.04, Y:1.00, Z:1.67 [[ 9.98774282e-01 -4.93814031e-02 -3.37790553e-03 2.42043401e+02] [ 4.93810548e-02 9.98779994e-01 -1.86481501e-04 1.00088394e+00] [ 3.38299318e-03 1.94483892e-05 9.99994277e-01 1.66747700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.10, Y:1.01, Z:1.65 [[ 9.98741051e-01 -5.00489998e-02 -3.37788007e-03 2.42101767e+02] [ 5.00486538e-02 9.98746763e-01 -1.86941534e-04 1.00625239e+00] [ 3.38300302e-03 1.76478346e-05 9.99994277e-01 1.64786933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:242.16, Y:1.01, Z:1.65 [[ 9.98620689e-01 -5.23957054e-02 -3.37785378e-03 2.42160395e+02] [ 5.23953712e-02 9.98626402e-01 -1.87415209e-04 1.00926701e+00] [ 3.38303372e-03 1.01728024e-05 9.99994277e-01 1.64819282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:242.22, Y:1.01, Z:1.67 [[ 9.98361367e-01 -5.71241707e-02 -3.37782824e-03 2.42219411e+02] [ 5.71238620e-02 9.98367081e-01 -1.87874410e-04 1.01215574e+00] [ 3.38304470e-03 -5.38804224e-06 9.99994277e-01 1.67074205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:1.01, Z:1.65 [[ 9.98289364e-01 -5.83689648e-02 -3.37780273e-03 2.42278648e+02] [ 5.83686617e-02 9.98295079e-01 -1.88332052e-04 1.01258524e+00] [ 3.38303659e-03 -9.14794061e-06 9.99994277e-01 1.64709304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:242.34, Y:1.01, Z:1.65 [[ 9.98353024e-01 -5.72698030e-02 -3.37777767e-03 2.42337809e+02] [ 5.72694921e-02 9.98358738e-01 -1.88780409e-04 1.01406039e+00] [ 3.38304527e-03 -4.97411977e-06 9.99994277e-01 1.64724472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:1.02, Z:1.67 [[ 9.98299504e-01 -5.81952906e-02 -3.37775214e-03 2.42397713e+02] [ 5.81949835e-02 9.98305218e-01 -1.89236137e-04 1.01567541e+00] [ 3.38304024e-03 -7.65388826e-06 9.99994277e-01 1.66598276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.46, Y:1.02, Z:1.65 [[ 9.98184267e-01 -6.01395014e-02 -3.37773939e-03 2.42457199e+02] [ 6.01392046e-02 9.98189982e-01 -1.89463353e-04 1.01721763e+00] [ 3.38301986e-03 -1.40152227e-05 9.99994277e-01 1.64576889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:242.52, Y:1.02, Z:1.66 [[ 9.97796872e-01 -6.62570230e-02 -3.37772004e-03 2.42516879e+02] [ 6.62567601e-02 9.97802589e-01 -1.89807722e-04 1.01609956e+00] [ 3.38287390e-03 -3.44072348e-05 9.99994277e-01 1.66249433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:242.58, Y:1.02, Z:1.66 [[ 9.97546201e-01 -6.99297310e-02 -3.37770717e-03 2.42576153e+02] [ 6.99294883e-02 9.97551919e-01 -1.90036518e-04 1.01544946e+00] [ 3.38272747e-03 -4.66311269e-05 9.99994277e-01 1.66186659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:1.01, Z:1.65 [[ 9.97476212e-01 -7.09210730e-02 -3.37768147e-03 2.42636014e+02] [ 7.09208345e-02 9.97481929e-01 -1.90492150e-04 1.01415407e+00] [ 3.38268614e-03 -4.95366011e-05 9.99994277e-01 1.64719409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.70, Y:1.01, Z:1.65 [[ 9.97299722e-01 -7.33611304e-02 -3.37766891e-03 2.42695352e+02] [ 7.33609051e-02 9.97305440e-01 -1.90714611e-04 1.00926975e+00] [ 3.38255862e-03 -5.75892201e-05 9.99994277e-01 1.64748685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.75, Y:1.01, Z:1.65 [[ 9.97021903e-01 -7.70448996e-02 -3.37764390e-03 2.42754557e+02] [ 7.70446939e-02 9.97027622e-01 -1.91156573e-04 1.00503633e+00] [ 3.38233190e-03 -6.96422506e-05 9.99994277e-01 1.64827875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:242.81, Y:1.00, Z:1.67 [[ 9.96799733e-01 -7.98679136e-02 -3.37761895e-03 2.42814164e+02] [ 7.98677226e-02 9.96805453e-01 -1.91596415e-04 9.96633538e-01] [ 3.38213139e-03 -7.87794783e-05 9.99994277e-01 1.66670559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.87, Y:0.99, Z:1.65 [[ 9.96811328e-01 -7.97230685e-02 -3.37760023e-03 2.42874007e+02] [ 7.97228756e-02 9.96817048e-01 -1.91925754e-04 9.93086350e-01] [ 3.38215040e-03 -7.79582379e-05 9.99994277e-01 1.64772506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:0.99, Z:1.65 [[ 9.96739431e-01 -8.06169889e-02 -3.37758785e-03 2.42933137e+02] [ 8.06168004e-02 9.96745150e-01 -1.92143449e-04 9.93599061e-01] [ 3.38208434e-03 -8.07733730e-05 9.99994277e-01 1.64749195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:0.99, Z:1.65 [[ 9.96956052e-01 -7.78923760e-02 -3.37756891e-03 2.42992659e+02] [ 7.78921707e-02 9.96961771e-01 -1.92475770e-04 9.91370488e-01] [ 3.38229948e-03 -7.11962906e-05 9.99994277e-01 1.64895078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:0.99, Z:1.67 [[ 9.97125302e-01 -7.56949395e-02 -3.37755030e-03 2.43053196e+02] [ 7.56947205e-02 9.97131021e-01 -1.92801792e-04 9.86544022e-01] [ 3.38245430e-03 -6.34151814e-05 9.99994277e-01 1.66506668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:0.99, Z:1.67 [[ 9.97342217e-01 -7.27811343e-02 -3.37754393e-03 2.43112251e+02] [ 7.27808982e-02 9.97347935e-01 -1.92913425e-04 9.85888027e-01] [ 3.38262692e-03 -5.34199778e-05 9.99994277e-01 1.66886918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:243.17, Y:0.98, Z:1.65 [[ 9.97457209e-01 -7.11878479e-02 -3.37749706e-03 2.43172661e+02] [ 7.11875999e-02 9.97462926e-01 -1.93730572e-04 9.83477580e-01] [ 3.38271936e-03 -4.71979537e-05 9.99994277e-01 1.64930321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:0.99, Z:1.67 [[ 9.97767295e-01 -6.67009571e-02 -3.37749045e-03 2.43231718e+02] [ 6.67006831e-02 9.97773011e-01 -1.93845613e-04 9.85047551e-01] [ 3.38289851e-03 -3.18681069e-05 9.99994277e-01 1.66702044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:243.29, Y:0.99, Z:1.65 [[ 9.97867643e-01 -6.51825096e-02 -3.37747075e-03 2.43291122e+02] [ 6.51822257e-02 9.97873359e-01 -1.94188292e-04 9.88117760e-01] [ 3.38294576e-03 -2.63768472e-05 9.99994277e-01 1.64836734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:0.99, Z:1.65 [[ 9.97792896e-01 -6.63168859e-02 -3.37745750e-03 2.43349895e+02] [ 6.63166077e-02 9.97798612e-01 -1.94418491e-04 9.90419069e-01] [ 3.38291563e-03 -2.99921352e-05 9.99994277e-01 1.64808704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:243.41, Y:0.99, Z:1.67 [[ 9.97709498e-01 -6.75599835e-02 -3.37743137e-03 2.43409669e+02] [ 6.75597109e-02 9.97715214e-01 -1.94871395e-04 9.92435202e-01] [ 3.38288017e-03 -3.37532455e-05 9.99994277e-01 1.66756443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:243.47, Y:1.00, Z:1.67 [[ 9.97688440e-01 -6.78702398e-02 -3.37742479e-03 2.43468299e+02] [ 6.78699685e-02 9.97694156e-01 -1.94985304e-04 9.95332420e-01] [ 3.38287068e-03 -3.46911310e-05 9.99994277e-01 1.66537434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:1.00, Z:1.67 [[ 9.97874556e-01 -6.50765944e-02 -3.37739829e-03 2.43526709e+02] [ 6.50763056e-02 9.97880272e-01 -1.95443345e-04 9.99002477e-01] [ 3.38295791e-03 -2.47606620e-05 9.99994277e-01 1.66789460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:1.00, Z:1.65 [[ 9.98107484e-01 -6.14006749e-02 -3.37737144e-03 2.43585500e+02] [ 6.14003635e-02 9.98113198e-01 -1.95906178e-04 1.00197704e+00] [ 3.38302778e-03 -1.18364113e-05 9.99994277e-01 1.65145883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:1.01, Z:1.67 [[ 9.98373821e-01 -5.69061260e-02 -3.37734462e-03 2.43643908e+02] [ 5.69057874e-02 9.98379533e-01 -1.96367428e-04 1.00827660e+00] [ 3.38304626e-03 3.85764434e-06 9.99994277e-01 1.66962124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:1.01, Z:1.67 [[ 9.98692335e-01 -5.10119062e-02 -3.37731791e-03 2.43702888e+02] [ 5.10115322e-02 9.98698045e-01 -1.96825825e-04 1.01389912e+00] [ 3.38296125e-03 2.42862811e-05 9.99994277e-01 1.66975407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:243.76, Y:1.02, Z:1.65 [[ 9.99019366e-01 -4.41463542e-02 -3.37729134e-03 2.43761640e+02] [ 4.41459395e-02 9.99025073e-01 -1.97280680e-04 1.02164125e+00] [ 3.38270795e-03 4.79935210e-05 9.99994277e-01 1.65255012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters Centerline goodness : 0.997313 with order 1 Centerline is valid? [True, True] Translation: X:243.82, Y:1.03, Z:1.67 [[ 9.99309821e-01 -3.69929090e-02 -3.37726496e-03 2.43819487e+02] [ 3.69924519e-02 9.99315525e-01 -1.97731254e-04 1.03140471e+00] [ 3.38226796e-03 7.26614725e-05 9.99994277e-01 1.67303235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:243.88, Y:1.04, Z:1.66 [[ 9.99367915e-01 -3.53887771e-02 -3.37723281e-03 2.43877502e+02] [ 3.53883090e-02 9.99373618e-01 -1.98278767e-04 1.04198430e+00] [ 3.38213422e-03 7.86388790e-05 9.99994277e-01 1.65658920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:243.94, Y:1.06, Z:1.66 [[ 9.99393628e-01 -3.46550244e-02 -3.37720713e-03 2.43935402e+02] [ 3.46545507e-02 9.99399331e-01 -1.98715217e-04 1.05588663e+00] [ 3.38206503e-03 8.15591262e-05 9.99994277e-01 1.65808803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters Centerline goodness : 0.993043 with order 1 Centerline is valid? [True, True] Translation: X:243.99, Y:1.07, Z:1.69 [[ 9.99369072e-01 -3.53560894e-02 -3.37718160e-03 2.43994542e+02] [ 3.53556181e-02 9.99374775e-01 -1.99148129e-04 1.07059502e+00] [ 3.38211120e-03 7.96201380e-05 9.99994277e-01 1.68825764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters Centerline goodness : 0.994202 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:1.08, Z:1.69 [[ 9.99254082e-01 -3.84691448e-02 -3.37718044e-03 2.44052672e+02] [ 3.84686913e-02 9.99259786e-01 -1.99167761e-04 1.07795347e+00] [ 3.38234242e-03 6.91034865e-05 9.99994277e-01 1.68531351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:244.11, Y:1.09, Z:1.68 [[ 9.99002898e-01 -4.45174566e-02 -3.37714849e-03 2.44112968e+02] [ 4.45170358e-02 9.99008605e-01 -1.99708065e-04 1.08525830e+00] [ 3.38269090e-03 4.91682948e-05 9.99994277e-01 1.67738845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:1.09, Z:1.66 [[ 9.98909746e-01 -4.65608613e-02 -3.37714849e-03 2.44171526e+02] [ 4.65604522e-02 9.98915454e-01 -1.99708065e-04 1.09186845e+00] [ 3.38278440e-03 4.22487711e-05 9.99994277e-01 1.65802267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters Centerline goodness : 0.968087 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:1.13, Z:1.64 [[ 9.99008887e-01 4.43828594e-02 -3.37712225e-03 2.44227944e+02] [-4.43837868e-02 9.99014534e-01 -2.00150806e-04 1.12792960e+00] [ 3.36491095e-03 3.49841908e-04 9.99994277e-01 1.64206129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters Centerline goodness : 0.823719 with order 3 Centerline is valid? [True, False] Translation: X:244.31, Y:1.11, Z:1.65 [[ 9.99062965e-01 2.70401316e-02 -3.37938471e-02 2.44314127e+02] [-2.63499961e-02 9.99438370e-01 2.07031735e-02 1.10936898e+00] [ 3.43346840e-02 -1.97933061e-02 9.99214369e-01 1.64502552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters Centerline goodness : 0.994424 with order 1 Centerline is valid? [False, True] Translation: X:244.36, Y:1.10, Z:1.65 [[ 9.98782717e-01 1.14531352e-02 -4.79782230e-02 2.44360728e+02] [-9.70081735e-03 9.99282978e-01 3.65981527e-02 1.09968921e+00] [ 4.83629852e-02 -3.60881744e-02 9.98177672e-01 1.64647844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.42, Y:1.16, Z:1.64 [[ 9.95864923e-01 7.57909513e-02 -5.00878007e-02 2.44423359e+02] [-7.57301531e-02 9.97123489e-01 3.11322767e-03 1.15883489e+00] [ 5.01796771e-02 6.92802590e-04 9.98739966e-01 1.64451823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:244.48, Y:1.16, Z:1.67 [[ 9.95805429e-01 7.65683846e-02 -5.00882182e-02 2.44481367e+02] [-7.65089075e-02 9.97064058e-01 3.10649594e-03 1.16065737e+00] [ 5.01790215e-02 7.38729334e-04 9.98739966e-01 1.66602919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:244.54, Y:1.16, Z:1.67 [[ 9.95703451e-01 7.78823723e-02 -5.00896509e-02 2.44540159e+02] [-7.78257266e-02 9.96962211e-01 3.08322173e-03 1.15845402e+00] [ 5.01776177e-02 8.28288955e-04 9.98739966e-01 1.67084126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:1.15, Z:1.65 [[ 9.95534289e-01 8.00154047e-02 -5.00900576e-02 2.44600045e+02] [-7.99617890e-02 9.96793182e-01 3.07660000e-03 1.15470353e+00] [ 5.01756033e-02 9.42429818e-04 9.98739966e-01 1.65420088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:1.15, Z:1.68 [[ 9.95267444e-01 8.32686663e-02 -5.00903636e-02 2.44657650e+02] [-8.32194162e-02 9.96526514e-01 3.07161060e-03 1.15238233e+00] [ 5.01721443e-02 1.11141678e-03 9.98739967e-01 1.67748804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:1.15, Z:1.68 [[ 9.95135517e-01 8.48305340e-02 -5.00907599e-02 2.44716205e+02] [-8.47835858e-02 9.96394675e-01 3.06513396e-03 1.14851516e+00] [ 5.01701834e-02 1.19665057e-03 9.98739967e-01 1.68208064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters Centerline goodness : 0.959316 with order 1 Centerline is valid? [True, True] Translation: X:244.77, Y:1.11, Z:1.66 [[ 9.98736149e-01 -4.10866947e-03 -5.00921592e-02 2.44773560e+02] [ 4.26639010e-03 9.99986272e-01 3.04209200e-03 1.10932965e+00] [ 5.00789726e-02 -3.25195994e-03 9.98739967e-01 1.65959492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:1.15, Z:1.67 [[ 9.94724089e-01 8.95249499e-02 -5.00926166e-02 2.44835179e+02] [-8.94854826e-02 9.95983504e-01 3.03454178e-03 1.14502174e+00] [ 5.01630870e-02 1.46403016e-03 9.98739967e-01 1.66873905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:1.15, Z:1.67 [[ 9.94410621e-01 9.29420616e-02 -5.00928136e-02 2.44894032e+02] [-9.29070854e-02 9.95670169e-01 3.03128693e-03 1.14590507e+00] [ 5.01576542e-02 1.63963339e-03 9.98739967e-01 1.67289067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.95, Y:1.15, Z:1.68 [[ 9.94283586e-01 9.42906522e-02 -5.00941556e-02 2.44952376e+02] [-9.42585085e-02 9.95543208e-01 3.00894444e-03 1.14754397e+00] [ 5.01546117e-02 1.73005633e-03 9.98739967e-01 1.67656243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.01, Y:1.15, Z:1.68 [[ 9.94472859e-01 9.22721833e-02 -5.00956729e-02 2.45011041e+02] [-9.22387648e-02 9.95732449e-01 2.98346725e-03 1.14938493e+00] [ 5.01571781e-02 1.65378579e-03 9.98739967e-01 1.68003237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:245.07, Y:1.15, Z:1.70 [[ 9.94600426e-01 9.08861097e-02 -5.00969904e-02 2.45069133e+02] [-9.08520574e-02 9.95859998e-01 2.96117768e-03 1.15318397e+00] [ 5.01587187e-02 1.60622607e-03 9.98739968e-01 1.69869944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:245.13, Y:1.16, Z:1.71 [[ 9.94427087e-01 9.27627640e-02 -5.00982764e-02 2.45128161e+02] [-9.27321915e-02 9.95686749e-01 2.93925958e-03 1.15602857e+00] [ 5.01548438e-02 1.72284362e-03 9.98739968e-01 1.70519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:1.16, Z:1.71 [[ 9.94382071e-01 9.32433816e-02 -5.00995863e-02 2.45187336e+02] [-9.32145501e-02 9.95641773e-01 2.91675963e-03 1.15995061e+00] [ 5.01532095e-02 1.76963692e-03 9.98739968e-01 1.70939188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:1.16, Z:1.69 [[ 9.94635956e-01 9.04942924e-02 -5.01008783e-02 2.45247285e+02] [-9.04631041e-02 9.95895602e-01 2.89439573e-03 1.16117581e+00] [ 5.01571707e-02 1.65341091e-03 9.98739968e-01 1.69277935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:245.31, Y:1.16, Z:1.71 [[ 9.95264521e-01 8.32965011e-02 -5.01021588e-02 2.45305205e+02] [-8.32573247e-02 9.96523943e-01 2.87205864e-03 1.16261251e+00] [ 5.01672333e-02 1.31291363e-03 9.98739969e-01 1.71448779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:1.16, Z:1.70 [[ 9.95433887e-01 8.12472365e-02 -5.01025294e-02 2.45365965e+02] [-8.12057932e-02 9.96693236e-01 2.86557930e-03 1.16135777e+00] [ 5.01696726e-02 1.21612090e-03 9.98739969e-01 1.69935974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:245.42, Y:1.16, Z:1.72 [[ 9.95480016e-01 8.06799583e-02 -5.01027167e-02 2.45423757e+02] [-8.06379623e-02 9.96739347e-01 2.86230002e-03 1.16134623e+00] [ 5.01702794e-02 1.19081852e-03 9.98739969e-01 1.72406961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:1.16, Z:1.72 [[ 9.95520626e-01 8.01770757e-02 -5.01030944e-02 2.45483043e+02] [-8.01347768e-02 9.96779947e-01 2.85567347e-03 1.15986619e+00] [ 5.01707193e-02 1.17211845e-03 9.98739969e-01 1.71986390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:1.16, Z:1.71 [[ 9.95403693e-01 8.16158073e-02 -5.01033752e-02 2.45542847e+02] [-8.15755769e-02 9.96663082e-01 2.85073758e-03 1.15980556e+00] [ 5.01688496e-02 1.24957702e-03 9.98739969e-01 1.71134822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:1.16, Z:1.73 [[ 9.95286157e-01 8.30360488e-02 -5.01046957e-02 2.45601181e+02] [-8.29987925e-02 9.96545637e-01 2.82733787e-03 1.16275744e+00] [ 5.01663868e-02 1.34461900e-03 9.98739969e-01 1.72964087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters Centerline goodness : 0.996772 with order 1 Centerline is valid? [True, True] Translation: X:245.66, Y:1.18, Z:1.71 [[ 9.88910606e-01 1.39804153e-01 -5.01059997e-02 2.45662522e+02] [-1.39840139e-01 9.90170123e-01 2.80403655e-03 1.18387410e+00] [ 5.00054798e-02 4.23388846e-03 9.98739969e-01 1.70789142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:245.72, Y:1.17, Z:1.73 [[ 9.95545511e-01 7.98648699e-02 -5.01072752e-02 2.45719700e+02] [-7.98259295e-02 9.96804939e-01 2.78105478e-03 1.16701946e+00] [ 5.01692880e-02 1.23119322e-03 9.98739970e-01 1.73457757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.78, Y:1.17, Z:1.72 [[ 9.95726007e-01 7.75813175e-02 -5.01084656e-02 2.45779212e+02] [-7.75405758e-02 9.96985378e-01 2.75943928e-03 1.16737389e+00] [ 5.01714885e-02 1.13779382e-03 9.98739970e-01 1.72286705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:245.84, Y:1.17, Z:1.74 [[ 9.96010577e-01 7.38372829e-02 -5.01097466e-02 2.45837327e+02] [-7.37929867e-02 9.97269828e-01 2.73597749e-03 1.16648248e+00] [ 5.01749555e-02 9.72685348e-04 9.98739970e-01 1.74363727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:1.17, Z:1.73 [[ 9.96109135e-01 7.24946684e-02 -5.01110161e-02 2.45895886e+02] [-7.24498543e-02 9.97368368e-01 2.71252500e-03 1.16757386e+00] [ 5.01757859e-02 9.28564887e-04 9.98739970e-01 1.72739586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:1.17, Z:1.73 [[ 9.96205524e-01 7.11568265e-02 -5.01124656e-02 2.45954808e+02] [-7.11116815e-02 9.97464745e-01 2.68547686e-03 1.16761201e+00] [ 5.01765077e-02 8.88294805e-04 9.98739971e-01 1.73088377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:1.17, Z:1.75 [[ 9.96540538e-01 6.62990997e-02 -5.01137247e-02 2.46012886e+02] [-6.62490079e-02 9.97799571e-01 2.66177124e-03 1.16540432e+00] [ 5.01799261e-02 6.67421604e-04 9.98739971e-01 1.75007669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.07, Y:1.16, Z:1.75 [[ 9.96730387e-01 6.33800007e-02 -5.01149791e-02 2.46071690e+02] [-6.33274194e-02 9.97989318e-01 2.63794215e-03 1.16222706e+00] [ 5.01814066e-02 5.44335195e-04 9.98739971e-01 1.75031573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:246.13, Y:1.16, Z:1.75 [[ 9.96728386e-01 6.34104862e-02 -5.01162226e-02 2.46129815e+02] [-6.33591419e-02 9.97987367e-01 2.61410226e-03 1.16019802e+00] [ 5.01811185e-02 5.69770929e-04 9.98739972e-01 1.75358494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:246.19, Y:1.16, Z:1.76 [[ 9.96755782e-01 6.29772564e-02 -5.01176304e-02 2.46187805e+02] [-6.29267362e-02 9.98014797e-01 2.58682790e-03 1.15566330e+00] [ 5.01810480e-02 5.75303233e-04 9.98739972e-01 1.75617679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.25, Y:1.15, Z:1.74 [[ 9.96739110e-01 6.32394741e-02 -5.01190175e-02 2.46248836e+02] [-6.31906505e-02 9.97998191e-01 2.55966800e-03 1.15290838e+00] [ 5.01805609e-02 6.15732113e-04 9.98739972e-01 1.74245149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:1.16, Z:1.75 [[ 9.94447626e-01 9.25310454e-02 -5.01191032e-02 2.46306501e+02] [-9.25193631e-02 9.95707600e-01 2.55798932e-03 1.15645237e+00] [ 5.01406654e-02 2.09320110e-03 9.98739972e-01 1.74850488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.37, Y:1.15, Z:1.75 [[ 9.96465449e-01 6.74139651e-02 -5.01195147e-02 2.46365430e+02] [-6.73709069e-02 9.97724741e-01 2.54990155e-03 1.15123038e+00] [ 5.01773788e-02 8.35708369e-04 9.98739972e-01 1.74900101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:1.15, Z:1.75 [[ 9.96379703e-01 6.86687860e-02 -5.01207137e-02 2.46423940e+02] [-6.86285100e-02 9.97639086e-01 2.52611100e-03 1.14983642e+00] [ 5.01758480e-02 9.22744173e-04 9.98739973e-01 1.75020271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:246.48, Y:1.15, Z:1.77 [[ 9.96282883e-01 7.00586289e-02 -5.01219000e-02 2.46482569e+02] [-7.00213046e-02 9.97542358e-01 2.50235038e-03 1.14969022e+00] [ 5.01740295e-02 1.01655198e-03 9.98739973e-01 1.76589175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:246.54, Y:1.15, Z:1.77 [[ 9.96530748e-01 6.64397331e-02 -5.01221530e-02 2.46541704e+02] [-6.63980901e-02 9.97790087e-01 2.49727269e-03 1.14683179e+00] [ 5.01773055e-02 8.39406205e-04 9.98739973e-01 1.76909334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:246.60, Y:1.14, Z:1.77 [[ 9.96657848e-01 6.45042270e-02 -5.01232400e-02 2.46600387e+02] [-6.44612450e-02 9.97917141e-01 2.47526069e-03 1.14139268e+00] [ 5.01785052e-02 7.64018459e-04 9.98739973e-01 1.77209346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:246.66, Y:1.14, Z:1.77 [[ 9.96803043e-01 6.22192622e-02 -5.01244152e-02 2.46658875e+02] [-6.21746016e-02 9.98062278e-01 2.45123000e-03 1.13534942e+00] [ 5.01798017e-02 6.73072022e-04 9.98739973e-01 1.77313423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:1.13, Z:1.78 [[ 9.96944025e-01 5.99169150e-02 -5.01255759e-02 2.46717214e+02] [-5.98705512e-02 9.98203199e-01 2.42726138e-03 1.12965245e+00] [ 5.01809442e-02 5.81202122e-04 9.98739974e-01 1.77839907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:246.78, Y:1.13, Z:1.78 [[ 9.96854797e-01 6.13826068e-02 -5.01267285e-02 2.46775795e+02] [-6.13393031e-02 9.98114079e-01 2.40321920e-03 1.12597586e+00] [ 5.01797093e-02 6.79078011e-04 9.98739974e-01 1.78082734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:246.83, Y:1.12, Z:1.79 [[ 9.96668669e-01 6.43332227e-02 -5.01278527e-02 2.46834771e+02] [-6.42948376e-02 9.97928109e-01 2.37953767e-03 1.12410857e+00] [ 5.01770766e-02 8.51351510e-04 9.98739974e-01 1.78695758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:246.89, Y:1.12, Z:1.79 [[ 9.96425089e-01 6.80009957e-02 -5.01288903e-02 2.46894296e+02] [-6.79683557e-02 9.97684692e-01 2.35747509e-03 1.12426752e+00] [ 5.01731371e-02 1.05813091e-03 9.98739975e-01 1.78579845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:246.95, Y:1.13, Z:1.80 [[ 9.96318732e-01 6.95417483e-02 -5.01291240e-02 2.46952503e+02] [-6.95113065e-02 9.97578390e-01 2.35249445e-03 1.12536115e+00] [ 5.01713274e-02 1.14070662e-03 9.98739975e-01 1.79555243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:1.13, Z:1.80 [[ 9.96399484e-01 6.83747561e-02 -5.01294398e-02 2.47010937e+02] [-6.83431783e-02 9.97659114e-01 2.34574522e-03 1.12971918e+00] [ 5.01724823e-02 1.08870592e-03 9.98739975e-01 1.79766217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:1.13, Z:1.80 [[ 9.96456409e-01 6.75391554e-02 -5.01306946e-02 2.47068817e+02] [-6.75078856e-02 9.97716046e-01 2.31861742e-03 1.13025891e+00] [ 5.01727958e-02 1.07381600e-03 9.98739975e-01 1.79756013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:1.13, Z:1.80 [[ 9.96591417e-01 6.55159179e-02 -5.01319410e-02 2.47127608e+02] [-6.54834619e-02 9.97851024e-01 2.29134821e-03 1.13155484e+00] [ 5.01743284e-02 9.99275087e-04 9.98739975e-01 1.80174740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:247.19, Y:1.13, Z:1.78 [[ 9.96842742e-01 6.15729461e-02 -5.01330136e-02 2.47187629e+02] [-6.15366997e-02 9.98102245e-01 2.26763346e-03 1.13188738e+00] [ 5.01774984e-02 8.24546250e-04 9.98739976e-01 1.78458358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:1.13, Z:1.80 [[ 9.97177871e-01 5.58833138e-02 -5.01333173e-02 2.47245177e+02] [-5.58402189e-02 9.98437158e-01 2.26090100e-03 1.12859868e+00] [ 5.01813134e-02 5.44934964e-04 9.98739976e-01 1.80405448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:247.30, Y:1.13, Z:1.79 [[ 9.97451245e-01 5.07696614e-02 -5.01343662e-02 2.47304669e+02] [-5.07212915e-02 9.98710341e-01 2.23739794e-03 1.12521400e+00] [ 5.01833019e-02 3.11184441e-04 9.98739976e-01 1.78679128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:247.36, Y:1.12, Z:1.81 [[ 9.97637796e-01 4.69610928e-02 -5.01346587e-02 2.47362531e+02] [-4.69082464e-02 9.98896711e-01 2.23082333e-03 1.11827393e+00] [ 5.01841076e-02 1.26175258e-04 9.98739976e-01 1.80690516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:247.42, Y:1.11, Z:1.79 [[ 9.97750427e-01 4.45037000e-02 -5.01348804e-02 2.47421650e+02] [-4.44480040e-02 9.99009219e-01 2.22582949e-03 1.11045062e+00] [ 5.01842654e-02 7.57303903e-06 9.98739976e-01 1.79257272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:247.48, Y:1.10, Z:1.81 [[ 9.97602004e-01 4.77141084e-02 -5.01358737e-02 2.47479397e+02] [-4.76635991e-02 9.98861015e-01 2.20322811e-03 1.10233644e+00] [ 5.01838947e-02 1.91711403e-04 9.98739976e-01 1.81379443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:247.54, Y:1.10, Z:1.82 [[ 9.97363309e-01 5.24663880e-02 -5.01368904e-02 2.47537094e+02] [-5.24230529e-02 9.98622587e-01 2.17984337e-03 1.09776596e+00] [ 5.01821997e-02 4.54233066e-04 9.98739976e-01 1.81666816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.60, Y:1.09, Z:1.80 [[ 9.97129164e-01 5.67415773e-02 -5.01380500e-02 2.47597078e+02] [-5.67049987e-02 9.98388656e-01 2.15283823e-03 1.09442437e+00] [ 5.01794158e-02 6.96420273e-04 9.98739977e-01 1.80265753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:1.10, Z:1.81 [[ 9.96807208e-01 6.21407480e-02 -5.01389837e-02 2.47655588e+02] [-6.21120956e-02 9.98066905e-01 2.13086721e-03 1.09709155e+00] [ 5.01744740e-02 9.90173553e-04 9.98739977e-01 1.80633388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.71, Y:1.10, Z:1.81 [[ 9.96615621e-01 6.51405306e-02 -5.01399651e-02 2.47714692e+02] [-6.51168435e-02 9.97875421e-01 2.10752027e-03 1.09917153e+00] [ 5.01707237e-02 1.16456863e-03 9.98739977e-01 1.81034767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:247.77, Y:1.10, Z:1.82 [[ 9.96529411e-01 6.64456206e-02 -5.01409335e-02 2.47774065e+02] [-6.64247548e-02 9.97789260e-01 2.08422224e-03 1.10358805e+00] [ 5.01685724e-02 1.25361046e-03 9.98739978e-01 1.82475948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:247.83, Y:1.11, Z:1.83 [[ 9.96756835e-01 6.29419152e-02 -5.01410726e-02 2.47833190e+02] [-6.29167891e-02 9.98016607e-01 2.08087028e-03 1.10588581e+00] [ 5.01725971e-02 1.08059362e-03 9.98739978e-01 1.82986294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:247.89, Y:1.11, Z:1.83 [[ 9.97099169e-01 5.72627671e-02 -5.01420335e-02 2.47892281e+02] [-5.72316423e-02 9.98358806e-01 2.05745313e-03 1.10690176e+00] [ 5.01775562e-02 8.18226119e-04 9.98739978e-01 1.83281022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:247.95, Y:1.11, Z:1.83 [[ 9.97418718e-01 5.13963120e-02 -5.01429915e-02 2.47951418e+02] [-5.13589650e-02 9.98678187e-01 2.03383531e-03 1.10590844e+00] [ 5.01812434e-02 5.46706736e-04 9.98739978e-01 1.83490948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:248.01, Y:1.11, Z:1.82 [[ 9.97557132e-01 4.86348995e-02 -5.01439456e-02 2.48011225e+02] [-4.85952624e-02 9.98816530e-01 2.01003374e-03 1.10715049e+00] [ 5.01823595e-02 4.31634697e-04 9.98739978e-01 1.82181909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters Centerline goodness : 0.949797 with order 3 Centerline is valid? [True, False] Translation: X:247.99, Y:1.11, Z:1.82 [[ 9.98769401e-01 3.54584215e-02 -3.46754083e-02 2.47992692e+02] [-3.54581399e-02 9.99370968e-01 6.23264196e-04 1.11058318e+00] [ 3.46756963e-02 6.07028268e-04 9.99398433e-01 1.82122937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [False, True] Translation: X:247.98, Y:1.12, Z:1.82 [[ 9.99566333e-01 2.23102503e-02 -1.92197464e-02 2.47975204e+02] [-2.23414721e-02 9.99749402e-01 -1.41125543e-03 1.11653261e+00] [ 1.91834445e-02 1.84004084e-03 9.99814288e-01 1.82033500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:248.03, Y:1.12, Z:1.80 [[ 9.99642825e-01 1.85893661e-02 -1.92004739e-02 2.48034304e+02] [-1.85884484e-02 9.99827194e-01 2.26276533e-04 1.11794581e+00] [ 1.92013623e-02 1.30711306e-04 9.99815628e-01 1.80367156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:248.09, Y:1.12, Z:1.81 [[ 9.99682014e-01 1.63465191e-02 -1.92005760e-02 2.48092727e+02] [-1.63453611e-02 9.99866382e-01 2.17257356e-04 1.11984927e+00] [ 1.92015618e-02 9.66520759e-05 9.99815628e-01 1.80501347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters Centerline goodness : 0.997619 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:1.12, Z:1.83 [[ 9.99766089e-01 9.95491219e-03 -1.92006862e-02 2.48150140e+02] [-9.95277173e-03 9.99950449e-01 2.07036503e-04 1.12098730e+00] [ 1.92017958e-02 -1.58880288e-05 9.99815628e-01 1.82652909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:248.21, Y:1.12, Z:1.83 [[ 9.99810106e-01 3.32890635e-03 -1.92007907e-02 2.48209260e+02] [-3.32573999e-03 9.99994450e-01 1.96836778e-04 1.12029243e+00] [ 1.92013394e-02 -1.32942563e-04 9.99815628e-01 1.83191844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:248.27, Y:1.12, Z:1.81 [[ 9.99815574e-01 -3.80215638e-04 -1.92008724e-02 2.48268977e+02] [ 3.83906106e-04 9.99999909e-01 1.88517551e-04 1.11630289e+00] [ 1.92007990e-02 -1.95854115e-04 9.99815628e-01 1.80629625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:248.33, Y:1.11, Z:1.81 [[ 9.99773811e-01 -9.14617295e-03 -1.92008907e-02 2.48327664e+02] [ 9.15144341e-03 9.99958107e-01 1.86640337e-04 1.10951260e+00] [ 1.91983792e-02 -3.62313985e-04 9.99815628e-01 1.80507839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters Centerline goodness : 0.977441 with order 1 Centerline is valid? [True, True] Translation: X:248.39, Y:1.13, Z:1.80 [[ 9.96886335e-01 7.64784791e-02 -1.92009716e-02 2.48386704e+02] [-7.64891731e-02 9.97070396e-01 1.77905154e-04 1.13022852e+00] [ 1.91583263e-02 1.29131522e-03 9.99815629e-01 1.79983966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:248.45, Y:1.09, Z:1.81 [[ 9.99649760e-01 -1.82120737e-02 -1.92009882e-02 2.48445390e+02] [ 1.82188128e-02 9.99834008e-01 1.76096842e-04 1.08955069e+00] [ 1.91945939e-02 -5.25854376e-04 9.99815629e-01 1.80845277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:248.50, Y:1.08, Z:1.82 [[ 9.99518641e-01 -2.43681864e-02 -1.92010046e-02 2.48504080e+02] [ 2.43760253e-02 9.99702845e-01 1.74284703e-04 1.07543110e+00] [ 1.91910520e-02 -6.42244984e-04 9.99815629e-01 1.81997488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:1.06, Z:1.81 [[ 9.99525994e-01 -2.40646833e-02 -1.92010217e-02 2.48563474e+02] [ 2.40724297e-02 9.99710202e-01 1.72379012e-04 1.06132636e+00] [ 1.91913091e-02 -6.34512550e-04 9.99815629e-01 1.81171518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:248.62, Y:1.05, Z:1.81 [[ 9.99493662e-01 -2.53720306e-02 -1.92010326e-02 2.48620984e+02] [ 2.53799947e-02 9.99677861e-01 1.71165136e-04 1.04662450e+00] [ 1.91905044e-02 -6.58400573e-04 9.99815629e-01 1.81421702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters Centerline goodness : 0.997462 with order 1 Centerline is valid? [True, True] Translation: X:248.68, Y:1.04, Z:1.84 [[ 9.99498867e-01 -2.51660939e-02 -1.92011124e-02 2.48678482e+02] [ 2.51738380e-02 9.99683076e-01 1.61678211e-04 1.03666695e+00] [ 1.91909583e-02 -6.44962883e-04 9.99815629e-01 1.83881158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters Centerline goodness : 0.998114 with order 1 Centerline is valid? [True, True] Translation: X:248.74, Y:1.03, Z:1.84 [[ 9.99651749e-01 -1.81023329e-02 -1.92011892e-02 2.48737359e+02] [ 1.81085890e-02 9.99836015e-01 1.51985485e-04 1.02781007e+00] [ 1.91952892e-02 -4.99638999e-04 9.99815629e-01 1.83989674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:248.80, Y:1.02, Z:1.82 [[ 9.99762672e-01 -1.02913720e-02 -1.92012525e-02 2.48796857e+02] [ 1.02960255e-02 9.99946984e-01 1.43513128e-04 1.01920508e+00] [ 1.91987576e-02 -3.41175654e-04 9.99815629e-01 1.81598263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:248.86, Y:1.01, Z:1.82 [[ 9.99776450e-01 -8.85209978e-03 -1.92013127e-02 2.48855449e+02] [ 8.85632361e-03 9.99960773e-01 1.34951317e-04 1.01477855e+00] [ 1.91993648e-02 -3.04974187e-04 9.99815629e-01 1.81514470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.91, Y:1.01, Z:1.82 [[ 9.99795454e-01 -6.35273856e-03 -1.92013694e-02 2.48914494e+02] [ 6.35633598e-03 9.99979790e-01 1.26326532e-04 1.01171761e+00] [ 1.92001788e-02 -2.48351048e-04 9.99815629e-01 1.81767528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.97, Y:1.01, Z:1.82 [[ 9.99814338e-01 -1.61076193e-03 -1.92014225e-02 2.48973403e+02] [ 1.61331858e-03 9.99998692e-01 1.17659242e-04 1.00808359e+00] [ 1.92012079e-02 -1.48615409e-04 9.99815629e-01 1.81651189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.03, Y:1.00, Z:1.82 [[ 9.99814516e-01 -1.49578506e-03 -1.92014721e-02 2.49031767e+02] [ 1.49815257e-03 9.99998872e-01 1.08914696e-04 1.00412687e+00] [ 1.92012875e-02 -1.37661229e-04 9.99815629e-01 1.81861517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.09, Y:1.00, Z:1.82 [[ 9.99814190e-01 -1.69966325e-03 -1.92014897e-02 2.49089485e+02] [ 1.70200716e-03 9.99998546e-01 1.05727731e-04 9.97804943e-01] [ 1.92012820e-02 -1.38389159e-04 9.99815629e-01 1.81881990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.15, Y:1.00, Z:1.82 [[ 9.99815333e-01 -7.74576819e-04 -1.92015402e-02 2.49148589e+02] [ 7.76554981e-04 9.99999694e-01 9.55650227e-05 9.95708880e-01] [ 1.92014603e-02 -1.10458427e-04 9.99815629e-01 1.82104018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:249.21, Y:0.99, Z:1.84 [[ 9.99809512e-01 3.49857264e-03 -1.92015800e-02 2.49208878e+02] [-3.49755161e-03 9.99993880e-01 8.67567439e-05 9.92099031e-01] [ 1.92017661e-02 -1.95817005e-05 9.99815629e-01 1.83945310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:249.27, Y:0.99, Z:1.84 [[ 9.99790447e-01 7.09664427e-03 -1.92015800e-02 2.49268070e+02] [-7.09628674e-03 9.99974817e-01 8.67567439e-05 9.92895382e-01] [ 1.92017122e-02 4.95213542e-05 9.99815629e-01 1.84036870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:249.33, Y:0.99, Z:1.84 [[ 9.99793525e-01 6.64874762e-03 -1.92016165e-02 2.49326607e+02] [-6.64848064e-03 9.99977896e-01 7.77416491e-05 9.93829903e-01] [ 1.92017090e-02 4.99359785e-05 9.99815629e-01 1.84332160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:249.38, Y:0.99, Z:1.84 [[ 9.99811680e-01 2.81103896e-03 -1.92016493e-02 2.49384540e+02] [-2.81024011e-03 9.99996049e-01 6.85858185e-05 9.94091502e-01] [ 1.92017662e-02 -1.46116574e-05 9.99815629e-01 1.84322796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:249.44, Y:1.00, Z:1.84 [[ 9.99812214e-01 -2.61386549e-03 -1.92016808e-02 2.49442946e+02] [ 2.61546445e-03 9.99996578e-01 5.81595983e-05 9.95378473e-01] [ 1.92014631e-02 -1.08369990e-04 9.99815629e-01 1.84485247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:249.50, Y:1.00, Z:1.84 [[ 9.99812280e-01 -2.58812462e-03 -1.92017051e-02 2.49500741e+02] [ 2.58953411e-03 9.99996646e-01 4.85406881e-05 9.97253739e-01] [ 1.92015151e-02 -9.82550466e-05 9.99815629e-01 1.83989406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:249.56, Y:1.00, Z:1.84 [[ 9.99811766e-01 -2.77966834e-03 -1.92017165e-02 2.49559242e+02] [ 2.78101735e-03 9.99996132e-01 4.35526747e-05 1.00093352e+00] [ 1.92015211e-02 -9.69447833e-05 9.99815629e-01 1.84044319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters Centerline goodness : 0.997568 with order 1 Centerline is valid? [True, True] Translation: X:249.62, Y:1.00, Z:1.85 [[ 9.99804662e-01 -4.68315350e-03 -1.92017329e-02 2.49618351e+02] [ 4.68467653e-03 9.99989026e-01 3.43367661e-05 1.00182242e+00] [ 1.92013614e-02 -1.24283966e-04 9.99815629e-01 1.84704502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters Centerline goodness : 0.996426 with order 1 Centerline is valid? [True, True] Translation: X:249.68, Y:1.00, Z:1.85 [[ 9.99797517e-01 -6.01815634e-03 -1.92017448e-02 2.49676239e+02] [ 6.01975256e-03 9.99981881e-01 2.53292399e-05 1.00363953e+00] [ 1.92012445e-02 -1.40913864e-04 9.99815629e-01 1.84898473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters Centerline goodness : 0.996618 with order 1 Centerline is valid? [True, True] Translation: X:249.74, Y:1.00, Z:1.85 [[ 9.99794910e-01 -6.43667678e-03 -1.92017529e-02 2.49735119e+02] [ 6.43815148e-03 9.99979275e-01 1.49834350e-05 1.00335750e+00] [ 1.92012585e-02 -1.38604156e-04 9.99815629e-01 1.84701945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:1.01, Z:1.85 [[ 9.99812892e-01 -2.33941087e-03 -1.92017557e-02 2.49793750e+02] [ 2.33996100e-03 9.99997262e-01 6.18235886e-06 1.00685993e+00] [ 1.92016887e-02 -5.11125617e-05 9.99815629e-01 1.84810256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters Centerline goodness : 0.996467 with order 1 Centerline is valid? [True, True] Translation: X:249.85, Y:1.01, Z:1.85 [[ 9.99813342e-01 2.13853688e-03 -1.92017545e-02 2.49851645e+02] [-2.13898316e-03 9.99997712e-01 -2.70393343e-06 1.00849064e+00] [ 1.92017048e-02 4.37756583e-05 9.99815629e-01 1.84822229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:1.01, Z:1.85 [[ 9.99794613e-01 6.48261080e-03 -1.92017476e-02 2.49910064e+02] [-6.48405482e-03 9.99978978e-01 -1.29443748e-05 1.01327446e+00] [ 1.92012600e-02 1.37446900e-04 9.99815629e-01 1.84899341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:1.03, Z:1.82 [[ 9.97570328e-01 6.69681547e-02 -1.92017372e-02 2.49969815e+02] [-6.69809256e-02 9.97754256e-01 -2.20020947e-05 1.02629937e+00] [ 1.91571416e-02 1.30809877e-03 9.99815629e-01 1.82225499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:250.03, Y:1.03, Z:1.85 [[ 9.99776860e-01 8.80477950e-03 -1.92017361e-02 2.50029288e+02] [-8.80684372e-03 9.99961219e-01 -2.29415833e-05 1.02707416e+00] [ 1.92007894e-02 1.92043153e-04 9.99815629e-01 1.84720274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:250.09, Y:1.03, Z:1.83 [[ 9.99798948e-01 5.77553351e-03 -1.92017356e-02 2.50090598e+02] [-5.77704745e-03 9.99983312e-01 -2.33748610e-05 1.03292131e+00] [ 1.92012801e-02 1.34299499e-04 9.99815629e-01 1.82676535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters Centerline goodness : 0.996971 with order 1 Centerline is valid? [True, True] Translation: X:250.15, Y:1.04, Z:1.85 [[ 9.99810328e-01 3.25605896e-03 -1.92017348e-02 2.50150377e+02] [-3.25711935e-03 9.99994695e-01 -2.39499490e-05 1.03834329e+00] [ 1.92015550e-02 8.64877485e-05 9.99815629e-01 1.84802094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:250.21, Y:1.04, Z:1.85 [[ 9.99815612e-01 1.87437688e-04 -1.92017347e-02 2.50209312e+02] [-1.87933667e-04 9.99999982e-01 -2.40254396e-05 1.04139415e+00] [ 1.92017299e-02 2.76296620e-05 9.99815629e-01 1.85093547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters Centerline goodness : 0.926935 with order 1 Centerline is valid? [True, False] Translation: X:250.18, Y:1.07, Z:1.85 [[ 9.99815054e-01 -1.46485963e-03 -1.91758044e-02 2.50184564e+02] [ 7.14653050e-04 9.99236177e-01 -3.90711045e-02 1.07479996e+00] [ 1.92183911e-02 3.90501745e-02 9.99052420e-01 1.85441983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [False, True] Translation: X:250.21, Y:1.10, Z:1.86 [[ 9.99476517e-01 1.47457939e-03 -3.23189898e-02 2.50206263e+02] [-3.45576173e-03 9.98111496e-01 -6.13310648e-02 1.09530718e+00] [ 3.21675177e-02 6.14106458e-02 9.97594098e-01 1.85752077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:250.26, Y:1.06, Z:1.84 [[ 9.97865400e-01 5.68577131e-02 -3.21223204e-02 2.50264651e+02] [-5.68827530e-02 9.98380856e-01 1.34523002e-04 1.05645021e+00] [ 3.20779584e-02 1.69297017e-03 9.99483936e-01 1.83991073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:250.32, Y:1.05, Z:1.84 [[ 9.99468713e-01 5.51785790e-03 -3.21223411e-02 2.50324645e+02] [-5.51654889e-03 9.99984775e-01 1.29376453e-04 1.04586994e+00] [ 3.21225660e-02 4.78967487e-05 9.99483936e-01 1.83658824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters Centerline goodness : 0.998360 with order 1 Centerline is valid? [True, True] Translation: X:250.38, Y:1.05, Z:1.86 [[ 9.99478292e-01 3.36128824e-03 -3.21223454e-02 2.50384514e+02] [-3.35889967e-03 9.99994351e-01 1.28320246e-04 1.04857547e+00] [ 3.21225952e-02 -2.03575647e-05 9.99483936e-01 1.85624220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:250.44, Y:1.05, Z:1.86 [[ 9.99482261e-01 1.83414878e-03 -3.21223473e-02 2.50441950e+02] [-1.83098768e-03 9.99998316e-01 1.27823194e-04 1.05220949e+00] [ 3.21225277e-02 -6.89413926e-05 9.99483936e-01 1.86043120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:1.06, Z:1.86 [[ 9.99482593e-01 1.64251646e-03 -3.21224056e-02 2.50500789e+02] [-1.63979889e-03 9.99998649e-01 1.10944221e-04 1.05523878e+00] [ 3.21225445e-02 -5.82125327e-05 9.99483936e-01 1.85894981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:250.56, Y:1.05, Z:1.86 [[ 9.99483272e-01 -1.15615169e-03 -3.21224498e-02 2.50558298e+02] [ 1.15983973e-03 9.99999323e-01 9.61791675e-05 1.05450035e+00] [ 3.21223169e-02 -1.33386363e-04 9.99483936e-01 1.85962882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters Centerline goodness : 0.943596 with order 1 Centerline is valid? [True, False] Translation: X:250.58, Y:1.08, Z:1.86 [[ 9.98916803e-01 6.82240814e-03 -4.60290772e-02 2.50576400e+02] [-8.41850078e-03 9.99366770e-01 -3.45714924e-02 1.08306111e+00] [ 4.57640694e-02 3.49215404e-02 9.98341693e-01 1.86417497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [False, True] Translation: X:250.57, Y:1.06, Z:1.86 [[ 9.99302616e-01 1.93438079e-03 -3.72899346e-02 2.50571094e+02] [-2.64355281e-03 9.99816409e-01 -1.89778715e-02 1.06353151e+00] [ 3.72463781e-02 1.90632146e-02 9.99124267e-01 1.86288920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:250.63, Y:1.04, Z:1.86 [[ 9.99285117e-01 7.26278828e-03 -3.71013166e-02 2.50629538e+02] [-7.25387220e-03 9.99973620e-01 3.74923802e-04 1.03925072e+00] [ 3.71030609e-02 -1.05527566e-04 9.99311439e-01 1.86264719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:250.69, Y:1.04, Z:1.86 [[ 9.99275816e-01 8.44539642e-03 -3.71014799e-02 2.50687288e+02] [-8.43792345e-03 9.99964336e-01 3.58001486e-04 1.03750075e+00] [ 3.71031802e-02 -4.46827790e-05 9.99311439e-01 1.86320406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:250.75, Y:1.03, Z:1.86 [[ 9.99264706e-01 9.67028824e-03 -3.71016580e-02 2.50746334e+02] [-9.66438371e-03 9.99953241e-01 3.38489602e-04 1.03428588e+00] [ 3.71031964e-02 2.03239464e-05 9.99311439e-01 1.86406632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:250.80, Y:1.03, Z:1.86 [[ 9.99275123e-01 8.52553658e-03 -3.71018025e-02 2.50804422e+02] [-8.51946183e-03 9.99963657e-01 3.21829800e-04 1.03049394e+00] [ 3.71031978e-02 -5.50912305e-06 9.99311439e-01 1.86458566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:250.86, Y:1.03, Z:1.86 [[ 9.99277965e-01 8.18492423e-03 -3.71019617e-02 2.50862599e+02] [-8.17934058e-03 9.99966503e-01 3.02281895e-04 1.02782092e+00] [ 3.71031931e-02 1.40594431e-06 9.99311439e-01 1.86277497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:250.92, Y:1.02, Z:1.85 [[ 9.99263608e-01 9.78139100e-03 -3.71021113e-02 2.50923352e+02] [-9.77763652e-03 9.99952158e-01 2.82644197e-04 1.02320848e+00] [ 3.71031010e-02 8.03348990e-05 9.99311440e-01 1.85174338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:250.98, Y:1.02, Z:1.85 [[ 9.99266636e-01 9.46695418e-03 -3.71021205e-02 2.50983809e+02] [-9.46302763e-03 9.99955185e-01 2.81443066e-04 1.02014062e+00] [ 3.71031221e-02 6.98617251e-05 9.99311440e-01 1.85087673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:251.04, Y:1.02, Z:1.87 [[ 9.99311405e-01 3.85270364e-04 -3.71021297e-02 2.51043396e+02] [-3.75131962e-04 9.99999890e-01 2.80217706e-04 1.01688506e+00] [ 3.71022336e-02 -2.66106554e-04 9.99311440e-01 1.87030327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:251.10, Y:1.01, Z:1.85 [[ 9.99311415e-01 3.57202486e-04 -3.71021321e-02 2.51104128e+02] [-3.47056581e-04 9.99999901e-01 2.79898934e-04 1.01392789e+00] [ 3.71022284e-02 -2.66829661e-04 9.99311440e-01 1.85237705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:1.01, Z:1.87 [[ 9.99311347e-01 -5.13649400e-04 -3.71021409e-02 2.51163772e+02] [ 5.24351889e-04 9.99999824e-01 2.78730071e-04 1.01286466e+00] [ 3.71019912e-02 -2.97992700e-04 9.99311440e-01 1.86824692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters Centerline goodness : 0.789759 with order 1 Centerline is valid? [True, False] Translation: X:251.19, Y:1.04, Z:1.87 [[ 9.98596430e-01 1.24222167e-02 -5.14864925e-02 2.51188564e+02] [-1.39376843e-02 9.99476983e-01 -2.91805103e-02 1.03698357e+00] [ 5.10970775e-02 2.98571559e-02 9.98247283e-01 1.87002127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [False, True] Translation: X:251.18, Y:1.02, Z:1.87 [[ 9.99030292e-01 6.18754908e-03 -4.35911670e-02 2.51184485e+02] [-6.88893309e-03 9.99848927e-01 -1.59582451e-02 1.02352212e+00] [ 4.34858392e-02 1.62430669e-02 9.98921991e-01 1.86827442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:251.24, Y:1.01, Z:1.89 [[ 9.99001892e-01 1.04173681e-02 -4.34361382e-02 2.51243790e+02] [-1.04086686e-02 9.99945737e-01 4.26444858e-04 1.00887597e+00] [ 4.34382237e-02 2.60931497e-05 9.99056115e-01 1.89123864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:251.30, Y:1.01, Z:1.89 [[ 9.98958341e-01 1.39833263e-02 -4.34361526e-02 2.51302147e+02] [-1.39780600e-02 9.99902212e-01 4.24973285e-04 1.01169831e+00] [ 4.34378476e-02 1.82622541e-04 9.99056115e-01 1.89147291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:251.36, Y:1.01, Z:1.89 [[ 9.98925333e-01 1.61697778e-02 -4.34363653e-02 2.51360175e+02] [-1.61675764e-02 9.99869215e-01 4.01998276e-04 1.01382735e+00] [ 4.34371847e-02 3.00694493e-04 9.99056115e-01 1.89447576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:251.42, Y:1.02, Z:1.90 [[ 9.98921812e-01 1.63853345e-02 -4.34365531e-02 2.51418298e+02] [-1.63842690e-02 9.99865696e-01 3.80560048e-04 1.01790946e+00] [ 4.34369550e-02 3.31526439e-04 9.99056115e-01 1.89763671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:251.48, Y:1.02, Z:1.90 [[ 9.98969915e-01 1.31285181e-02 -4.34367465e-02 2.51476042e+02] [-1.31253985e-02 9.99913795e-01 3.57028770e-04 1.01852123e+00] [ 4.34376893e-02 2.13463607e-04 9.99056115e-01 1.89948942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:1.02, Z:1.90 [[ 9.98984956e-01 1.19286043e-02 -4.34369263e-02 2.51534900e+02] [-1.19253689e-02 9.99928835e-01 3.33618392e-04 1.02370845e+00] [ 4.34378147e-02 1.84721615e-04 9.99056116e-01 1.89867138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:1.03, Z:1.88 [[ 9.99007478e-01 9.86301321e-03 -4.34370750e-02 2.51595262e+02] [-9.85872347e-03 9.99951353e-01 3.12979946e-04 1.02737572e+00] [ 4.34380489e-02 1.15564804e-04 9.99056116e-01 1.88275998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters Centerline goodness : 0.997165 with order 1 Centerline is valid? [True, True] Translation: X:251.66, Y:1.05, Z:1.87 [[ 9.96267639e-01 7.45922865e-02 -4.34370960e-02 2.51656591e+02] [-7.46493100e-02 9.97209800e-01 3.10039575e-04 1.05322658e+00] [ 4.33390244e-02 2.93366685e-03 9.99056116e-01 1.87253918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:1.03, Z:1.91 [[ 9.99041596e-01 5.39517499e-03 -4.34370960e-02 2.51713565e+02] [-5.38679195e-03 9.99985443e-01 3.10039575e-04 1.02971268e+00] [ 4.34381364e-02 -7.57558328e-05 9.99056116e-01 1.90577775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters Centerline goodness : 0.991454 with order 1 Centerline is valid? [True, True] Translation: X:251.77, Y:1.00, Z:1.87 [[ 9.96704631e-01 -6.85061607e-02 -4.34371369e-02 2.51773825e+02] [ 6.85840726e-02 9.97645294e-01 3.04208200e-04 1.00170533e+00] [ 4.33140150e-02 -3.28230147e-03 9.99056116e-01 1.87431904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:251.83, Y:1.04, Z:1.88 [[ 9.98327951e-01 3.81379886e-02 -4.34372695e-02 2.51832497e+02] [-3.81616823e-02 9.99271537e-01 2.83911621e-04 1.03722419e+00] [ 4.34164549e-02 1.37420237e-03 9.99056116e-01 1.88354006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:251.89, Y:1.02, Z:1.89 [[ 9.99054664e-01 1.72374207e-03 -4.34373944e-02 2.51892376e+02] [-1.71392188e-03 9.99998497e-01 2.63317554e-04 1.02090431e+00] [ 4.34377830e-02 -1.88620329e-04 9.99056116e-01 1.89169926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:251.95, Y:1.02, Z:1.89 [[ 9.99033768e-01 6.68743216e-03 -4.34374032e-02 2.51950088e+02] [-6.68236511e-03 9.99977638e-01 2.61853052e-04 1.01941197e+00] [ 4.34381830e-02 2.86645469e-05 9.99056116e-01 1.89316496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:252.01, Y:1.02, Z:1.92 [[ 9.98970688e-01 1.30669745e-02 -4.34375318e-02 2.52009031e+02] [-1.30689534e-02 9.99914569e-01 2.38431342e-04 1.01977709e+00] [ 4.34369365e-02 3.29497156e-04 9.99056117e-01 1.91748807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:252.07, Y:1.02, Z:1.92 [[ 9.98858580e-01 1.98674627e-02 -4.34375475e-02 2.52067921e+02] [-1.98759932e-02 9.99802425e-01 2.35533548e-04 1.02198445e+00] [ 4.34336448e-02 6.28099694e-04 9.99056117e-01 1.92216313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:1.03, Z:1.92 [[ 9.98744910e-01 2.49354256e-02 -4.34376502e-02 2.52127230e+02] [-2.49496482e-02 9.99688686e-01 2.14760527e-04 1.02731482e+00] [ 4.34294826e-02 8.69263110e-04 9.99056117e-01 1.92004684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:1.04, Z:1.92 [[ 9.98641708e-01 2.87732939e-02 -4.34377421e-02 2.52186048e+02] [-2.87920366e-02 9.99585405e-01 1.94210631e-04 1.03566348e+00] [ 4.34253211e-02 1.05671422e-03 9.99056117e-01 1.92274520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:252.24, Y:1.04, Z:1.91 [[ 9.98534827e-01 3.22700140e-02 -4.34378239e-02 2.52244387e+02] [-3.22929497e-02 9.99478432e-01 1.73766159e-04 1.04409454e+00] [ 4.34207755e-02 1.22922390e-03 9.99056117e-01 1.91372636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:252.30, Y:1.05, Z:1.93 [[ 9.98714284e-01 2.61328841e-02 -4.34379045e-02 2.52302929e+02] [-2.61510320e-02 9.99657992e-01 1.50496769e-04 1.05200443e+00] [ 4.34269813e-02 9.85642759e-04 9.99056117e-01 1.92698425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:252.36, Y:1.05, Z:1.93 [[ 9.98924258e-01 1.62317557e-02 -4.34379656e-02 2.52362093e+02] [-1.62414340e-02 9.99868091e-01 1.30121797e-04 1.05487101e+00] [ 4.34343478e-02 5.75513030e-04 9.99056118e-01 1.93094075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:252.42, Y:1.06, Z:1.94 [[ 9.99038983e-01 5.85235505e-03 -4.34380151e-02 2.52422374e+02] [-5.85307137e-03 9.99982865e-01 1.10693423e-04 1.05735246e+00] [ 4.34379186e-02 1.43658758e-04 9.99056118e-01 1.94115010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:252.48, Y:1.05, Z:1.94 [[ 9.99055667e-01 -9.55757073e-04 -4.34380142e-02 2.52481731e+02] [ 9.61489067e-04 9.99999532e-01 1.11065741e-04 1.05227561e+00] [ 4.34378877e-02 -1.52726034e-04 9.99056118e-01 1.94413518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:252.54, Y:1.05, Z:1.95 [[ 9.99052009e-01 -2.86734812e-03 -4.34380215e-02 2.52541659e+02] [ 2.87475727e-03 9.99995862e-01 1.08102918e-04 1.05146830e+00] [ 4.34375318e-02 -2.32874206e-04 9.99056118e-01 1.95144034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:252.60, Y:1.04, Z:1.95 [[ 9.99055166e-01 -1.38302376e-03 -4.34380268e-02 2.52602170e+02] [ 1.38893569e-03 9.99999030e-01 1.05919890e-04 1.04277366e+00] [ 4.34378382e-02 -1.66152439e-04 9.99056118e-01 1.94732024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:1.04, Z:1.95 [[ 9.99053796e-01 2.15633006e-03 -4.34380294e-02 2.52661737e+02] [-2.15380716e-03 9.99997675e-01 1.04880998e-04 1.03980251e+00] [ 4.34381545e-02 -1.12246209e-05 9.99056118e-01 1.94944348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:1.04, Z:1.93 [[ 9.99013161e-01 9.26508505e-03 -4.34380363e-02 2.52721549e+02] [-9.26940625e-03 9.99957033e-01 1.01941132e-04 1.03827755e+00] [ 4.34371143e-02 3.00804272e-04 9.99056118e-01 1.93494871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:252.78, Y:1.04, Z:1.95 [[ 9.98968419e-01 1.32375659e-02 -4.34380460e-02 2.52779502e+02] [-1.32458290e-02 9.99912265e-01 9.76013378e-05 1.03837050e+00] [ 4.34355270e-02 4.77872275e-04 9.99056118e-01 1.95277142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.84, Y:1.04, Z:1.93 [[ 9.98929854e-01 1.58834045e-02 -4.34380583e-02 2.52839232e+02] [-1.58944195e-02 9.99873672e-01 9.18052187e-05 1.03803907e+00] [ 4.34340290e-02 5.98715746e-04 9.99056118e-01 1.93021625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:252.90, Y:1.04, Z:1.96 [[ 9.98898921e-01 1.77222532e-02 -4.34380920e-02 2.52896636e+02] [-1.77358994e-02 9.99842704e-01 7.12463923e-05 1.03886447e+00] [ 4.34325220e-02 6.99245684e-04 9.99056118e-01 1.95793839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:1.04, Z:1.94 [[ 9.98822787e-01 2.15909822e-02 -4.34381157e-02 2.52956376e+02] [-2.16091605e-02 9.99766494e-01 5.10776567e-05 1.04228804e+00] [ 4.34290754e-02 8.87643685e-04 9.99056118e-01 1.93740086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:1.04, Z:1.94 [[ 9.98805613e-01 2.23713403e-02 -4.34381302e-02 2.53014698e+02] [-2.23911472e-02 9.99749286e-01 3.05717242e-05 1.04495462e+00] [ 4.34279236e-02 9.42094359e-04 9.99056119e-01 1.93842419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:1.05, Z:1.94 [[ 9.98788777e-01 2.31107474e-02 -4.34381341e-02 2.53073123e+02] [-2.31315685e-02 9.99732429e-01 2.33127424e-05 1.04930111e+00] [ 4.34270500e-02 9.81507668e-04 9.99056119e-01 1.94469497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:253.13, Y:1.05, Z:1.97 [[ 9.98794739e-01 2.28516396e-02 -4.34381355e-02 2.53130832e+02] [-2.28730951e-02 9.99738377e-01 3.08432778e-06 1.05290370e+00] [ 4.34268415e-02 9.90483995e-04 9.99056119e-01 1.96503987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:253.19, Y:1.06, Z:1.97 [[ 9.98814591e-01 2.19668412e-02 -4.34381274e-02 2.53188830e+02] [-2.19883468e-02 9.99758227e-01 -1.72993369e-05 1.06273397e+00] [ 4.34272452e-02 9.72411439e-04 9.99056119e-01 1.96776988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:253.25, Y:1.07, Z:1.98 [[ 9.98839327e-01 2.08117838e-02 -4.34381053e-02 2.53247976e+02] [-2.08332207e-02 9.99782964e-01 -4.08202434e-05 1.07214112e+00] [ 4.34278281e-02 9.45728497e-04 9.99056119e-01 1.97972520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:253.31, Y:1.08, Z:1.97 [[ 9.98852051e-01 2.01918777e-02 -4.34381032e-02 2.53308676e+02] [-2.02128205e-02 9.99795699e-01 -4.29286500e-05 1.08174120e+00] [ 4.34283620e-02 9.20885952e-04 9.99056119e-01 1.96542368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.37, Y:1.09, Z:1.97 [[ 9.98984088e-01 1.19968267e-02 -4.34381019e-02 2.53367515e+02] [-1.20100847e-02 9.99927875e-01 -4.42486124e-05 1.08634612e+00] [ 4.34344381e-02 5.65898943e-04 9.99056119e-01 1.96921544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:253.43, Y:1.09, Z:1.98 [[ 9.99055737e-01 8.77022143e-04 -4.34380709e-02 2.53426725e+02] [-8.80675080e-04 9.99999610e-01 -6.49589130e-05 1.08723093e+00] [ 4.34379970e-02 1.03152401e-04 9.99056119e-01 1.98268181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.49, Y:1.09, Z:1.97 [[ 9.99043516e-01 -5.01870722e-03 -4.34380663e-02 2.53487280e+02] [ 5.02049557e-03 9.99987395e-01 -6.79223166e-05 1.08740697e+00] [ 4.34378596e-02 -1.50223269e-04 9.99056119e-01 1.96966144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:253.55, Y:1.09, Z:1.99 [[ 9.99044667e-01 -4.78415134e-03 -4.34380639e-02 2.53547238e+02] [ 4.78565486e-03 9.99988546e-01 -6.93763151e-05 1.08688863e+00] [ 4.34378983e-02 -1.38569544e-04 9.99056119e-01 1.98952613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:1.09, Z:1.98 [[ 9.99055596e-01 -1.02550082e-03 -4.34380629e-02 2.53608625e+02] [ 1.02342491e-03 9.99999474e-01 -7.00284532e-05 1.08711212e+00] [ 4.34381119e-02 2.55067224e-05 9.99056119e-01 1.97637538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:1.09, Z:1.98 [[ 9.99039422e-01 5.77643258e-03 -4.34380613e-02 2.53665855e+02] [-5.78497707e-03 9.99983264e-01 -7.10031067e-05 1.08842081e+00] [ 4.34369242e-02 3.22223091e-04 9.99056119e-01 1.98219037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:1.09, Z:1.99 [[ 9.99019523e-01 8.55174436e-03 -4.34380115e-02 2.53723328e+02] [-8.56391177e-03 9.99963325e-01 -9.40264620e-05 1.09166683e+00] [ 4.34356143e-02 4.65933569e-04 9.99056120e-01 1.98595154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:1.10, Z:1.99 [[ 9.98962065e-01 1.37089983e-02 -4.34379488e-02 2.53780874e+02] [-1.37270477e-02 9.99905773e-01 -1.17258207e-04 1.09951235e+00] [ 4.34322482e-02 7.13411297e-04 9.99056120e-01 1.98734651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:253.84, Y:1.10, Z:1.99 [[ 9.98966703e-01 1.33670418e-02 -4.34378726e-02 2.53838956e+02] [-1.33857902e-02 9.99910396e-01 -1.40767891e-04 1.10428433e+00] [ 4.34320988e-02 7.22072685e-04 9.99056120e-01 1.98783911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:253.90, Y:1.11, Z:1.99 [[ 9.98999878e-01 1.06019683e-02 -4.34377846e-02 2.53896945e+02] [-1.06191171e-02 9.99943602e-01 -1.64058970e-04 1.11016906e+00] [ 4.34335955e-02 6.25165814e-04 9.99056121e-01 1.99404644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:253.96, Y:1.11, Z:2.00 [[ 9.99053216e-01 -2.41635416e-03 -4.34376855e-02 2.53955138e+02] [ 2.41050291e-03 9.99997077e-01 -1.87082153e-04 1.11131292e+00] [ 4.34380106e-02 8.21983593e-05 9.99056121e-01 1.99735505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:254.01, Y:1.11, Z:2.01 [[ 9.99023688e-01 -8.05280339e-03 -4.34375708e-02 2.54014558e+02] [ 8.05124887e-03 9.99967566e-01 -2.10736133e-04 1.11019701e+00] [ 4.34378589e-02 -1.39196303e-04 9.99056121e-01 2.01290962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:254.07, Y:1.10, Z:2.01 [[ 9.98984962e-01 -1.19257915e-02 -4.34375638e-02 2.54074074e+02] [ 1.19278344e-02 9.99928838e-01 -2.12157866e-04 1.10492439e+00] [ 4.34370029e-02 -3.06173551e-04 9.99056121e-01 2.01396068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.13, Y:1.10, Z:2.01 [[ 9.99013248e-01 -9.25790714e-03 -4.34375498e-02 2.54133658e+02] [ 9.25730612e-03 9.99957127e-01 -2.14992924e-04 1.10227055e+00] [ 4.34376779e-02 -1.87333916e-04 9.99056121e-01 2.00523645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:254.19, Y:1.10, Z:2.02 [[ 9.99050875e-01 -3.24528324e-03 -4.34375212e-02 2.54192723e+02] [ 3.23875682e-03 9.99994731e-01 -2.20622583e-04 1.09946120e+00] [ 4.34380083e-02 7.97296159e-05 9.99056121e-01 2.02375403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:254.25, Y:1.10, Z:2.03 [[ 9.99043176e-01 5.09075956e-03 -4.34375036e-02 2.54251989e+02] [-5.10530905e-03 9.99986943e-01 -2.24024828e-04 1.10017621e+00] [ 4.34357960e-02 4.45572356e-04 9.99056121e-01 2.02810352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:1.10, Z:2.03 [[ 9.99029755e-01 7.26180411e-03 -4.34374888e-02 2.54312023e+02] [-7.27852775e-03 9.99973485e-01 -2.26859882e-04 1.10082630e+00] [ 4.34346897e-02 5.42800740e-04 9.99056121e-01 2.02712881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:254.37, Y:1.10, Z:2.03 [[ 9.99050381e-01 3.39422187e-03 -4.34374805e-02 2.54370931e+02] [-3.40736083e-03 9.99994169e-01 -2.28444747e-04 1.10176467e+00] [ 4.34364518e-02 3.76234982e-04 9.99056121e-01 2.03202673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:1.10, Z:2.02 [[ 9.99055390e-01 1.23382904e-03 -4.34373616e-02 2.54432075e+02] [-1.24582827e-03 9.99999193e-01 -2.49172523e-04 1.10099515e+00] [ 4.34370191e-02 3.03052645e-04 9.99056121e-01 2.01770633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:1.10, Z:2.04 [[ 9.99052677e-01 2.63524300e-03 -4.34373533e-02 2.54490765e+02] [-2.64862896e-03 9.99996461e-01 -2.50617973e-04 1.10205052e+00] [ 4.34365391e-02 3.65429988e-04 9.99056121e-01 2.03819253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.55, Y:1.10, Z:2.02 [[ 9.99053677e-01 2.22463983e-03 -4.34373365e-02 2.54551631e+02] [-2.23776273e-03 9.99997464e-01 -2.53489310e-04 1.09982477e+00] [ 4.34366624e-02 3.50451880e-04 9.99056121e-01 2.02459534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:254.61, Y:1.09, Z:2.04 [[ 9.99052958e-01 -2.52706228e-03 -4.34373279e-02 2.54609366e+02] [ 2.51836492e-03 9.99996796e-01 -2.54948160e-04 1.09381606e+00] [ 4.34378331e-02 1.45315670e-04 9.99056121e-01 2.04156838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:254.67, Y:1.09, Z:2.04 [[ 9.99043446e-01 -5.04018172e-03 -4.34372017e-02 2.54667737e+02] [ 5.03299113e-03 9.99987297e-01 -2.74899963e-04 1.09069792e+00] [ 4.34380354e-02 5.60179548e-05 9.99056122e-01 2.04413243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.73, Y:1.08, Z:2.05 [[ 9.99038649e-01 -5.91601639e-03 -4.34370631e-02 2.54726291e+02] [ 5.90876703e-03 9.99982499e-01 -2.95283128e-04 1.08477462e+00] [ 4.34380499e-02 3.83397708e-05 9.99056122e-01 2.04723128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.78, Y:1.08, Z:2.05 [[ 9.99047091e-01 -4.25964889e-03 -4.34369161e-02 2.54784687e+02] [ 4.24995484e-03 9.99990919e-01 -3.15519468e-04 1.08244009e+00] [ 4.34378657e-02 1.30613874e-04 9.99056122e-01 2.04798411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:254.84, Y:1.08, Z:2.05 [[ 9.99043890e-01 -4.95457449e-03 -4.34368333e-02 2.54843303e+02] [ 4.94505781e-03 9.99987720e-01 -3.26539676e-04 1.07678952e+00] [ 4.34379178e-02 1.11429817e-04 9.99056122e-01 2.04508565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:1.07, Z:2.04 [[ 9.99037216e-01 -6.15603513e-03 -4.34366709e-02 2.54902101e+02] [ 6.14676920e-03 9.99981048e-01 -3.46879224e-04 1.07217015e+00] [ 4.34379831e-02 7.95500633e-05 9.99056122e-01 2.03834613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:254.96, Y:1.07, Z:2.04 [[ 9.99033895e-01 -6.67439508e-03 -4.34364970e-02 2.54960975e+02] [ 6.66472503e-03 9.99977723e-01 -3.67437295e-04 1.06900992e+00] [ 4.34379818e-02 7.75900036e-05 9.99056122e-01 2.04338954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.02, Y:1.07, Z:2.04 [[ 9.99026845e-01 -7.65830686e-03 -4.34363164e-02 2.55020140e+02] [ 7.64868652e-03 9.99970673e-01 -3.87673356e-04 1.06798401e+00] [ 4.34380115e-02 5.50653217e-05 9.99056123e-01 2.04246495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.08, Y:1.07, Z:2.04 [[ 9.99027287e-01 -7.60155704e-03 -4.34361240e-02 2.55078612e+02] [ 7.59099271e-03 9.99971105e-01 -4.08152204e-04 1.06604999e+00] [ 4.34379715e-02 7.80318892e-05 9.99056123e-01 2.04328210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.14, Y:1.07, Z:2.05 [[ 9.99037864e-01 -6.05526132e-03 -4.34359228e-02 2.55137213e+02] [ 6.04234960e-03 9.99981653e-01 -4.28543458e-04 1.06565741e+00] [ 4.34377208e-02 1.65676110e-04 9.99056123e-01 2.04648155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters Centerline goodness : 0.963673 with order 1 Centerline is valid? [True, True] Translation: X:255.20, Y:1.10, Z:2.04 [[ 9.94527222e-01 9.50207559e-02 -4.34357138e-02 2.55195571e+02] [-9.51299319e-02 9.95464763e-01 -4.48770745e-04 1.09535174e+00] [ 4.31960800e-02 4.57835122e-03 9.99056123e-01 2.04477337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:255.25, Y:1.07, Z:2.08 [[ 9.99056192e-01 2.59698024e-04 -4.34356701e-02 2.55253301e+02] [-2.79636754e-04 9.99999858e-01 -4.52965122e-04 1.06885855e+00] [ 4.34355463e-02 4.64683820e-04 9.99056123e-01 2.07699584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:1.07, Z:2.08 [[ 9.99037606e-01 6.10112842e-03 -4.34354453e-02 2.55312480e+02] [-6.12748061e-03 9.99981115e-01 -4.73584696e-04 1.07313471e+00] [ 4.34317356e-02 7.39278770e-04 9.99056123e-01 2.07899907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:255.37, Y:1.08, Z:2.08 [[ 9.98996635e-01 1.09127785e-02 -4.34353970e-02 2.55370262e+02] [-1.09438653e-02 9.99940000e-01 -4.77972275e-04 1.07854884e+00] [ 4.34275749e-02 9.52843830e-04 9.99056123e-01 2.08114982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters Centerline goodness : 0.997219 with order 1 Centerline is valid? [True, True] Translation: X:255.43, Y:1.09, Z:2.08 [[ 9.98941971e-01 1.51105646e-02 -4.34351278e-02 2.55428842e+02] [-1.51466289e-02 9.99885158e-01 -5.01299790e-04 1.08658542e+00] [ 4.34225647e-02 1.15866516e-03 9.99056124e-01 2.08274561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:255.49, Y:1.09, Z:2.08 [[ 9.98844175e-01 2.05845798e-02 -4.34348836e-02 2.55487970e+02] [-2.06266953e-02 9.99787111e-01 -5.21629921e-04 1.09445312e+00] [ 4.34148993e-02 1.41694512e-03 9.99056124e-01 2.08263311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:255.55, Y:1.11, Z:2.07 [[ 9.97177475e-01 6.12414511e-02 -4.34346314e-02 2.55546159e+02] [-6.13228049e-02 9.98117839e-01 -5.41848219e-04 1.10672805e+00] [ 4.33196969e-02 3.20385227e-03 9.99056124e-01 2.06637545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:1.11, Z:2.09 [[ 9.98656272e-01 2.82681973e-02 -4.34345439e-02 2.55605516e+02] [-2.83187444e-02 9.99598793e-01 -5.48776253e-04 1.11272697e+00] [ 4.34016047e-02 1.77805059e-03 9.99056124e-01 2.08563222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:1.13, Z:2.08 [[ 9.98637189e-01 2.89345206e-02 -4.34345258e-02 2.55663832e+02] [-2.89857584e-02 9.99579673e-01 -5.50199913e-04 1.12601492e+00] [ 4.34003494e-02 1.80843277e-03 9.99056124e-01 2.08451626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters Centerline goodness : 0.991955 with order 1 Centerline is valid? [True, True] Translation: X:255.72, Y:1.15, Z:2.07 [[ 9.94838096e-01 9.17093934e-02 -4.34344355e-02 2.55723549e+02] [-9.18201330e-02 9.95775453e-01 -5.57242680e-04 1.14636601e+00] [ 4.31998403e-02 4.54252189e-03 9.99056124e-01 2.06907125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters Centerline goodness : 0.972691 with order 1 Centerline is valid? [True, True] Translation: X:255.78, Y:1.15, Z:2.07 [[ 9.95065105e-01 8.92126124e-02 -4.34344003e-02 2.55781947e+02] [-8.93211173e-02 9.96002723e-01 -5.59971387e-04 1.14535830e+00] [ 4.32108245e-02 4.43681715e-03 9.99056124e-01 2.06748388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:255.84, Y:1.15, Z:2.09 [[ 9.98982045e-01 1.21791579e-02 -4.34343380e-02 2.55841209e+02] [-1.22152118e-02 9.99925232e-01 -5.64759738e-04 1.14680772e+00] [ 4.34242123e-02 1.09474447e-03 9.99056124e-01 2.08630952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:255.90, Y:1.14, Z:2.07 [[ 9.97541894e-01 -5.49875294e-02 -4.34343284e-02 2.55900589e+02] [ 5.50149142e-02 9.98485373e-01 -5.65500117e-04 1.13882136e+00] [ 4.33996370e-02 -1.82542579e-03 9.99056124e-01 2.06972787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:255.96, Y:1.15, Z:2.08 [[ 9.98385583e-01 3.66017840e-02 -4.34342810e-02 2.55959971e+02] [-3.66610782e-02 9.99327595e-01 -5.69116218e-04 1.14993344e+00] [ 4.33842449e-02 2.16054500e-03 9.99056124e-01 2.07643261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:256.02, Y:1.15, Z:2.07 [[ 9.98287716e-01 3.91803782e-02 -4.34342523e-02 2.56018646e+02] [-3.92422001e-02 9.99229565e-01 -5.71300000e-04 1.14831104e+00] [ 4.33784053e-02 2.27477739e-03 9.99056124e-01 2.07323549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters Centerline goodness : 0.997468 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:1.14, Z:2.10 [[ 9.98946293e-01 -1.48247754e-02 -4.34341949e-02 2.56077010e+02] [ 1.48137533e-02 9.99890105e-01 -5.75634550e-04 1.14081633e+00] [ 4.34379553e-02 -6.83954483e-05 9.99056124e-01 2.09620684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters Centerline goodness : 0.983690 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:1.15, Z:2.09 [[ 9.97256955e-01 5.99336459e-02 -4.34341379e-02 2.56136182e+02] [-6.00154150e-02 9.98197282e-01 -5.79902174e-04 1.15464658e+00] [ 4.33210827e-02 3.18502929e-03 9.99056124e-01 2.09142728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters Centerline goodness : 0.996124 with order 1 Centerline is valid? [True, True] Translation: X:256.19, Y:1.14, Z:2.12 [[ 9.98930160e-01 -1.58750063e-02 -4.34340924e-02 2.56194145e+02] [ 1.58646438e-02 9.99873978e-01 -5.83286988e-04 1.14355430e+00] [ 4.34378785e-02 -1.06403440e-04 9.99056124e-01 2.12027980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters Centerline goodness : 0.996225 with order 1 Centerline is valid? [True, True] Translation: X:256.25, Y:1.15, Z:2.11 [[ 9.99003519e-01 1.02691230e-02 -4.34340121e-02 2.56252202e+02] [-1.03044359e-02 9.99946734e-01 -5.89209369e-04 1.15004858e+00] [ 4.34256479e-02 1.03618523e-03 9.99056124e-01 2.11191117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters Centerline goodness : 0.996232 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:1.13, Z:2.10 [[ 9.95720618e-01 -8.15717200e-02 -4.34339211e-02 2.56312870e+02] [ 8.16229396e-02 9.96663103e-01 -5.95841636e-04 1.13159309e+00] [ 4.33375904e-02 -2.95191252e-03 9.99056124e-01 2.10322431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters Centerline goodness : 0.996022 with order 1 Centerline is valid? [True, True] Translation: X:256.37, Y:1.14, Z:2.13 [[ 9.98852506e-01 -2.01783525e-02 -4.34339141e-02 2.56372107e+02] [ 2.01714881e-02 9.99796357e-01 -5.96350875e-04 1.14070650e+00] [ 4.34371025e-02 -2.80460116e-04 9.99056124e-01 2.13152897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters Centerline goodness : 0.998110 with order 1 Centerline is valid? [True, True] Translation: X:256.43, Y:1.13, Z:2.10 [[ 9.96029278e-01 -7.77121227e-02 -4.34339063e-02 2.56432832e+02] [ 7.77596423e-02 9.96971956e-01 -5.96921068e-04 1.12591132e+00] [ 4.33487745e-02 -2.78285416e-03 9.99056124e-01 2.10436459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:256.49, Y:1.13, Z:2.14 [[ 9.98709788e-01 -2.63107730e-02 -4.34338770e-02 2.56491919e+02] [ 2.63095869e-02 9.99653663e-01 -5.99040112e-04 1.12588140e+00] [ 4.34345955e-02 -5.44460140e-04 9.99056124e-01 2.13823040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:256.55, Y:1.12, Z:2.12 [[ 9.98570555e-01 -3.11503632e-02 -4.34338761e-02 2.56552553e+02] [ 3.11537482e-02 9.99514425e-01 -5.99111701e-04 1.11891649e+00] [ 4.34314482e-02 -7.54872733e-04 9.99056124e-01 2.12209294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:1.10, Z:2.15 [[ 9.98519830e-01 -3.27360897e-02 -4.34338383e-02 2.56611279e+02] [ 3.27408551e-02 9.99463693e-01 -6.01835856e-04 1.10152497e+00] [ 4.34302462e-02 -8.21115973e-04 9.99056124e-01 2.14581019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:1.09, Z:2.15 [[ 9.98444572e-01 -3.49562941e-02 -4.34338007e-02 2.56670044e+02] [ 3.49630407e-02 9.99388423e-01 -6.04540587e-04 1.09254113e+00] [ 4.34283701e-02 -9.14977473e-04 9.99056124e-01 2.14845277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:1.07, Z:2.15 [[ 9.98331303e-01 -3.80542512e-02 -4.34336636e-02 2.56728704e+02] [ 3.80635051e-02 9.99275133e-01 -6.14231552e-04 1.07499882e+00] [ 4.34255541e-02 -1.04003089e-03 9.99056124e-01 2.15177102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:1.06, Z:2.16 [[ 9.98317633e-01 -3.84115200e-02 -4.34333793e-02 2.56787930e+02] [ 3.84202644e-02 9.99261468e-01 -6.33715737e-04 1.05815828e+00] [ 4.34256444e-02 -1.03607232e-03 9.99056125e-01 2.15626768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:256.85, Y:1.04, Z:2.16 [[ 9.98344389e-01 -3.77100345e-02 -4.34330928e-02 2.56847044e+02] [ 3.77172867e-02 9.99288237e-01 -6.52780157e-04 1.04145815e+00] [ 4.34267951e-02 -9.86479010e-04 9.99056125e-01 2.15524483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:256.91, Y:1.03, Z:2.16 [[ 9.98524922e-01 -3.25817891e-02 -4.34327922e-02 2.56906152e+02] [ 3.25833488e-02 9.99468796e-01 -6.72205222e-04 1.02548677e+00] [ 4.34316222e-02 -7.43972150e-04 9.99056125e-01 2.16125766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:256.97, Y:1.02, Z:2.16 [[ 9.98794776e-01 -2.28607735e-02 -4.34324817e-02 2.56966155e+02] [ 2.28522977e-02 9.99738613e-01 -6.91704774e-04 1.01504619e+00] [ 4.34369419e-02 -3.01660884e-04 9.99056125e-01 2.15987280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.02, Y:1.01, Z:2.16 [[ 9.98931782e-01 -1.57771355e-02 -4.34324364e-02 2.57024092e+02] [ 1.57618435e-02 9.99875533e-01 -6.94534623e-04 1.00693628e+00] [ 4.34379883e-02 9.21744356e-06 9.99056125e-01 2.16285945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:1.00, Z:2.15 [[ 9.98971813e-01 -1.29990249e-02 -4.34320499e-02 2.57084434e+02] [ 1.29800917e-02 9.99915497e-01 -7.17920399e-04 1.00060087e+00] [ 4.34377120e-02 1.53430253e-04 9.99056125e-01 2.14628515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.14, Y:0.99, Z:2.15 [[ 9.98998729e-01 -1.07331635e-02 -4.34320013e-02 2.57142705e+02] [ 1.07119628e-02 9.99942365e-01 -7.20845312e-04 9.94661694e-01] [ 4.34372351e-02 2.54881570e-04 9.99056125e-01 2.15489791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:257.20, Y:0.99, Z:2.17 [[ 9.99030001e-01 -7.26285335e-03 -4.34316479e-02 2.57201371e+02] [ 7.23747502e-03 9.99973534e-01 -7.41543658e-04 9.91490645e-01] [ 4.34358842e-02 4.26488894e-04 9.99056126e-01 2.16640602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:0.99, Z:2.17 [[ 9.99051869e-01 -3.01430281e-03 -4.34312799e-02 2.57259809e+02] [ 2.98400116e-03 9.99995257e-01 -7.62505140e-04 9.90845207e-01] [ 4.34333723e-02 6.32183196e-04 9.99056126e-01 2.16623417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:0.99, Z:2.16 [[ 9.99055658e-01 -1.23820510e-03 -4.34310809e-02 2.57319270e+02] [ 1.20574080e-03 9.99998974e-01 -7.73677744e-04 9.90286733e-01] [ 4.34319943e-02 7.20580501e-04 9.99056126e-01 2.15845070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.38, Y:0.99, Z:2.16 [[ 9.99054203e-01 -2.11512972e-03 -4.34307070e-02 2.57377756e+02] [ 2.08260467e-03 9.99997516e-01 -7.94127541e-04 9.89735827e-01] [ 4.34322788e-02 7.02927464e-04 9.99056126e-01 2.16440792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:257.44, Y:0.99, Z:2.17 [[ 9.99052434e-01 -2.83566303e-03 -4.34303226e-02 2.57435230e+02] [ 2.80292765e-03 9.99995740e-01 -8.14621068e-04 9.90205878e-01] [ 4.34324476e-02 6.92117109e-04 9.99056126e-01 2.16671015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters Centerline goodness : 0.957880 with order 1 Centerline is valid? [True, True] Translation: X:257.49, Y:1.02, Z:2.15 [[ 9.94413857e-01 9.62025393e-02 -4.34298653e-02 2.57494069e+02] [-9.63296330e-02 9.95349134e-01 -8.38309900e-04 1.02182305e+00] [ 4.31472313e-02 5.01720997e-03 9.99056127e-01 2.14813347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:257.55, Y:0.98, Z:2.17 [[ 9.99031947e-01 -7.00357555e-03 -4.34294599e-02 2.57553107e+02] [ 6.97285507e-03 9.99975321e-01 -8.58811740e-04 9.83217974e-01] [ 4.34344029e-02 5.55153035e-04 9.99056127e-01 2.16675259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:257.61, Y:0.98, Z:2.17 [[ 9.99050490e-01 -3.46941985e-03 -4.34290385e-02 2.57612243e+02] [ 3.43445818e-03 9.99993715e-01 -8.79616955e-04 9.84119588e-01] [ 4.34318174e-02 7.29626534e-04 9.99056127e-01 2.16871355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.67, Y:0.98, Z:2.17 [[ 9.99056165e-01 8.56675813e-04 -4.34286131e-02 2.57671009e+02] [-8.96613426e-04 9.99999193e-01 -9.00145029e-04 9.84744970e-01] [ 4.34278069e-02 9.38234118e-04 9.99056127e-01 2.17102548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:257.73, Y:0.99, Z:2.20 [[ 9.99055764e-01 1.25425505e-03 -4.34281796e-02 2.57729645e+02] [-1.29545638e-03 9.99998737e-01 -9.20593635e-04 9.87537623e-01] [ 4.34269701e-02 9.75983691e-04 9.99056127e-01 2.19818087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:257.79, Y:1.00, Z:2.19 [[ 9.99045037e-01 4.79691383e-03 -4.34281488e-02 2.57790350e+02] [-4.84152176e-03 9.99987855e-01 -9.22045189e-04 9.95200346e-01] [ 4.34231984e-02 1.13142300e-03 9.99056127e-01 2.19379656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:1.00, Z:2.18 [[ 9.99056462e-01 4.28165672e-04 -4.34281187e-02 2.57850252e+02] [-4.68711910e-04 9.99999464e-01 -9.23462073e-04 9.98494939e-01] [ 4.34277000e-02 9.42946028e-04 9.99056127e-01 2.18283209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:257.91, Y:1.00, Z:2.21 [[ 9.99055776e-01 -1.26074385e-03 -4.34277125e-02 2.57907143e+02] [ 1.22097840e-03 9.99998811e-01 -9.42182423e-04 1.00162214e+00] [ 4.34288487e-02 8.88268493e-04 9.99056128e-01 2.20558678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:257.97, Y:1.01, Z:2.21 [[ 9.99055730e-01 -1.31441222e-03 -4.34271891e-02 2.57965457e+02] [ 1.27367474e-03 9.99998723e-01 -9.65719639e-04 1.00692705e+00] [ 4.34284030e-02 9.09495625e-04 9.99056128e-01 2.20656155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.03, Y:1.01, Z:2.20 [[ 9.99056583e-01 2.50569166e-04 -4.34267306e-02 2.58025556e+02] [-2.93661225e-04 9.99999471e-01 -9.85916897e-04 1.01318729e+00] [ 4.34264606e-02 9.97739513e-04 9.99056128e-01 2.20088817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:258.08, Y:1.02, Z:2.20 [[ 9.99055976e-01 -1.13250884e-03 -4.34266642e-02 2.58083489e+02] [ 1.09059543e-03 9.99998916e-01 -9.88833394e-04 1.01604483e+00] [ 4.34277370e-02 9.40538990e-04 9.99056128e-01 2.20307360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.14, Y:1.02, Z:2.20 [[ 9.99040729e-01 -5.63852614e-03 -4.34261246e-02 2.58141442e+02] [ 5.59985986e-03 9.99983809e-01 -1.01198894e-03 1.02077135e+00] [ 4.34311276e-02 7.67837959e-04 9.99056128e-01 2.20212212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.20, Y:1.02, Z:2.20 [[ 9.98981325e-01 -1.22692013e-02 -4.34255651e-02 2.58200840e+02] [ 1.22357753e-02 9.99924604e-01 -1.03545352e-03 1.02245873e+00] [ 4.34349952e-02 5.03053275e-04 9.99056129e-01 2.20079190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:1.02, Z:2.22 [[ 9.98930966e-01 -1.58488569e-02 -4.34250985e-02 2.58259980e+02] [ 1.58179762e-02 9.99874332e-01 -1.05466652e-03 1.02306747e+00] [ 4.34363566e-02 3.66641871e-04 9.99056129e-01 2.22454968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:258.32, Y:1.02, Z:2.19 [[ 9.98721552e-01 2.58751737e-02 -4.34250624e-02 2.58320603e+02] [-2.59454819e-02 9.99662801e-01 -1.05614940e-03 1.02477244e+00] [ 4.33830915e-02 2.18148334e-03 9.99056129e-01 2.18920045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:258.38, Y:1.02, Z:2.18 [[ 9.96950882e-01 -6.48321210e-02 -4.34250420e-02 2.58380026e+02] [ 6.48474531e-02 9.97894629e-01 -1.05698813e-03 1.01566269e+00] [ 4.34021430e-02 -1.76223813e-03 9.99056129e-01 2.17792796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:258.44, Y:1.02, Z:2.23 [[ 9.98769628e-01 -2.39484981e-02 -4.34246426e-02 2.58436686e+02] [ 2.39244644e-02 9.99713193e-01 -1.07314841e-03 1.01582689e+00] [ 4.34378884e-02 3.29167173e-05 9.99056129e-01 2.22633298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:258.50, Y:1.01, Z:2.23 [[ 9.98713562e-01 -2.61833534e-02 -4.34241158e-02 2.58496810e+02] [ 2.61605219e-02 9.99657156e-01 -1.09406050e-03 1.01222454e+00] [ 4.34378743e-02 -4.33444715e-05 9.99056129e-01 2.23439522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters Centerline goodness : 0.889104 with order 1 Centerline is valid? [True, False] Translation: X:258.46, Y:1.04, Z:2.23 [[ 9.99001085e-01 -2.15057941e-02 -3.91705557e-02 2.58457586e+02] [ 1.98715962e-02 9.98934961e-01 -4.16420823e-02 1.04358230e+00] [ 4.00243836e-02 4.08221039e-02 9.98364465e-01 2.23487689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [False, True] Translation: X:258.45, Y:1.05, Z:2.24 [[ 9.99317966e-01 -1.44991675e-02 -3.39614121e-02 2.58451362e+02] [ 1.26167808e-02 9.98406621e-01 -5.50003346e-02 1.05320819e+00] [ 3.47047578e-02 5.45343387e-02 9.97908606e-01 2.23726386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:258.51, Y:1.01, Z:2.22 [[ 9.99132754e-01 2.20102030e-02 -3.53453190e-02 2.58511694e+02] [-2.20547099e-02 9.99756387e-01 -8.69761597e-04 1.00536429e+00] [ 3.53175648e-02 1.64853806e-03 9.99374781e-01 2.22296288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:258.57, Y:1.01, Z:2.22 [[ 9.98882364e-01 3.13805096e-02 -3.53452341e-02 2.58570711e+02] [-3.14309850e-02 9.99505543e-01 -8.73195709e-04 1.00504363e+00] [ 3.53003561e-02 1.98315532e-03 9.99374781e-01 2.22216638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:258.63, Y:1.00, Z:2.25 [[ 9.99345612e-01 -7.68673133e-03 -3.53448999e-02 2.58630855e+02] [ 7.66018153e-03 9.99970267e-01 -8.86520583e-04 9.96315721e-01] [ 3.53506635e-02 6.15192105e-04 9.99374781e-01 2.24542084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:258.69, Y:1.00, Z:2.25 [[ 9.99360428e-01 -5.42897483e-03 -3.53448999e-02 2.58689369e+02] [ 5.40101387e-03 9.99985021e-01 -8.86520583e-04 9.95363196e-01] [ 3.53491834e-02 6.95055294e-04 9.99374781e-01 2.24597047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.75, Y:0.99, Z:2.25 [[ 9.99360975e-01 -5.33042980e-03 -3.53444156e-02 2.58748431e+02] [ 5.30173887e-03 9.99985536e-01 -9.05426484e-04 9.93369431e-01] [ 3.53487307e-02 7.17461032e-04 9.99374781e-01 2.24608707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.81, Y:0.99, Z:2.24 [[ 9.99359171e-01 -5.66115614e-03 -3.53439910e-02 2.58807776e+02] [ 5.63209631e-03 9.99983715e-01 -9.21708162e-04 9.92699610e-01] [ 3.53486334e-02 7.22056744e-04 9.99374781e-01 2.23774248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.87, Y:0.99, Z:2.24 [[ 9.99359256e-01 -5.64899827e-03 -3.53435548e-02 2.58866525e+02] [ 5.61934993e-03 9.99983771e-01 -9.38140789e-04 9.94078294e-01] [ 3.53482808e-02 7.38931878e-04 9.99374781e-01 2.23591431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:258.93, Y:1.00, Z:2.25 [[ 9.99354309e-01 -6.46764799e-03 -3.53431106e-02 2.58925435e+02] [ 6.43792984e-03 9.99978821e-01 -9.54587335e-04 9.95352900e-01] [ 3.53485360e-02 7.26434500e-04 9.99374781e-01 2.25328910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:1.00, Z:2.24 [[ 9.99354177e-01 -6.49029060e-03 -3.53426893e-02 2.58985127e+02] [ 6.46004387e-03 9.99978663e-01 -9.69940083e-04 9.98897703e-01] [ 3.53482304e-02 7.40998350e-04 9.99374781e-01 2.23979156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:1.00, Z:2.24 [[ 9.99316559e-01 -1.08312624e-02 -3.53425903e-02 2.59043678e+02] [ 1.08036015e-02 9.99941165e-01 -9.73533899e-04 1.00054325e+00] [ 3.53510555e-02 5.91041283e-04 9.99374781e-01 2.23747404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:259.10, Y:1.00, Z:2.24 [[ 9.99258225e-01 -1.52949174e-02 -3.53421282e-02 2.59102045e+02] [ 1.52694635e-02 9.99882925e-01 -9.90028769e-04 9.99321155e-01] [ 3.53531330e-02 4.49639051e-04 9.99374781e-01 2.24177291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:259.16, Y:1.00, Z:2.26 [[ 9.99232341e-01 -1.69025538e-02 -3.53416573e-02 2.59159092e+02] [ 1.68775202e-02 9.99857058e-01 -1.00656551e-03 1.00045256e+00] [ 3.53536190e-02 4.09313276e-04 9.99374782e-01 2.26161729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:1.00, Z:2.26 [[ 9.99196800e-01 -1.88881081e-02 -3.53411052e-02 2.59216908e+02] [ 1.88636432e-02 9.99821540e-01 -1.02558869e-03 9.97409887e-01] [ 3.53541697e-02 3.58102937e-04 9.99374782e-01 2.26308138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:0.99, Z:2.27 [[ 9.99249705e-01 -1.58452891e-02 -3.53405355e-02 2.59276009e+02] [ 1.58182404e-02 9.99874338e-01 -1.04485905e-03 9.94358481e-01] [ 3.53526506e-02 4.85050008e-04 9.99374782e-01 2.26504244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.34, Y:0.99, Z:2.27 [[ 9.99335226e-01 -8.95472021e-03 -3.53400356e-02 2.59335284e+02] [ 8.92277683e-03 9.99959628e-01 -1.06150102e-03 9.93517341e-01] [ 3.53481143e-02 7.45464116e-04 9.99374782e-01 2.26505896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:1.00, Z:2.27 [[ 9.99364012e-01 -4.76328475e-03 -3.53395338e-02 2.59394922e+02] [ 4.72814143e-03 9.99988241e-01 -1.07795281e-03 9.96810341e-01] [ 3.53442529e-02 9.10176929e-04 9.99374782e-01 2.27034873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:1.00, Z:2.27 [[ 9.99367702e-01 3.91392913e-03 -3.53394637e-02 2.59453880e+02] [-3.95457209e-03 9.99991597e-01 -1.08024758e-03 1.00183564e+00] [ 3.53349387e-02 1.21931700e-03 9.99374782e-01 2.26985259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:1.01, Z:2.26 [[ 9.99359535e-01 5.62570988e-03 -3.53393588e-02 2.59512966e+02] [-5.66754218e-03 9.99983352e-01 -1.08366682e-03 1.00820875e+00] [ 3.53326741e-02 1.28326008e-03 9.99374782e-01 2.25540039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:1.02, Z:2.27 [[ 9.99273524e-01 1.42675685e-02 -3.53392216e-02 2.59571808e+02] [-1.43149511e-02 9.99896944e-01 -1.08812409e-03 1.02272992e+00] [ 3.53200548e-02 1.59321282e-03 9.99374782e-01 2.26908004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:1.03, Z:2.26 [[ 9.99252962e-01 1.56416906e-02 -3.53391533e-02 2.59631488e+02] [-1.56900086e-02 9.99876310e-01 -1.09033781e-03 1.03306887e+00] [ 3.53177274e-02 1.64399491e-03 9.99374782e-01 2.25960897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:1.05, Z:2.28 [[ 9.99195718e-01 1.89490226e-02 -3.53390856e-02 2.59688648e+02] [-1.89994807e-02 9.99818897e-01 -1.09252576e-03 1.04779804e+00] [ 3.53119833e-02 1.76307134e-03 9.99374782e-01 2.28115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:1.06, Z:2.27 [[ 9.99176694e-01 1.99279030e-02 -3.53385409e-02 2.59748110e+02] [-1.99795834e-02 9.99799772e-01 -1.10987087e-03 1.06132715e+00] [ 3.53093477e-02 1.81500643e-03 9.99374782e-01 2.26974777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:1.07, Z:2.27 [[ 9.99289474e-01 1.31049224e-02 -3.53384713e-02 2.59808023e+02] [-1.31524252e-02 9.99912885e-01 -1.11208291e-03 1.07205871e+00] [ 3.53208190e-02 1.57607935e-03 9.99374782e-01 2.26774428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:1.09, Z:2.28 [[ 9.99323064e-01 1.02277885e-02 -3.53384369e-02 2.59866174e+02] [-1.02735347e-02 9.99946606e-01 -1.11317458e-03 1.08632167e+00] [ 3.53251647e-02 1.47547169e-03 9.99374782e-01 2.28425353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:259.92, Y:1.10, Z:2.29 [[ 9.99360864e-01 5.39132046e-03 -3.53383317e-02 2.59924349e+02] [-5.43416607e-03 9.99984612e-01 -1.11650414e-03 1.09708459e+00] [ 3.53317685e-02 1.30782491e-03 9.99374782e-01 2.28940037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:259.98, Y:1.10, Z:2.29 [[ 9.99373544e-01 1.93833050e-03 -3.53378209e-02 2.59982868e+02] [-1.97958363e-03 9.99997399e-01 -1.13244246e-03 1.10383764e+00] [ 3.53355340e-02 1.20168721e-03 9.99374783e-01 2.29184846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.04, Y:1.12, Z:2.28 [[ 9.99372171e-01 -2.55722620e-03 -3.53372991e-02 2.60041532e+02] [ 2.51821256e-03 9.99996170e-01 -1.14849903e-03 1.11606117e+00] [ 3.53401007e-02 1.05879114e-03 9.99374783e-01 2.27711937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.10, Y:1.12, Z:2.28 [[ 9.99368582e-01 -3.70453098e-03 -3.53371473e-02 2.60100017e+02] [ 3.66606945e-03 9.99992615e-01 -1.15314897e-03 1.12302633e+00] [ 3.53411583e-02 1.02287242e-03 9.99374783e-01 2.28015043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:260.16, Y:1.13, Z:2.30 [[ 9.99350966e-01 -6.99795615e-03 -3.53366063e-02 2.60157639e+02] [ 6.96097373e-03 9.99975088e-01 -1.16949547e-03 1.13341882e+00] [ 3.53439101e-02 9.22759240e-04 9.99374783e-01 2.30145123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:260.22, Y:1.14, Z:2.30 [[ 9.99310009e-01 -1.14398426e-02 -3.53360468e-02 2.60216169e+02] [ 1.14050456e-02 9.99934257e-01 -1.18616422e-03 1.14461576e+00] [ 3.53472932e-02 7.82336557e-04 9.99374783e-01 2.30267219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:260.27, Y:1.15, Z:2.30 [[ 9.99221406e-01 -1.75495291e-02 -3.53354769e-02 2.60274250e+02] [ 1.75179576e-02 9.99845825e-01 -1.20290461e-03 1.15240435e+00] [ 3.53511395e-02 5.82962645e-04 9.99374783e-01 2.30429207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:1.16, Z:2.31 [[ 9.99068566e-01 -2.47678303e-02 -3.53348945e-02 2.60333018e+02] [ 2.47401740e-02 9.99693171e-01 -1.21977548e-03 1.15815314e+00] [ 3.53542640e-02 3.44447898e-04 9.99374783e-01 2.30797946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:260.39, Y:1.16, Z:2.31 [[ 9.98957783e-01 -2.88935175e-02 -3.53343046e-02 2.60390942e+02] [ 2.88678447e-02 9.99582472e-01 -1.23663120e-03 1.16020486e+00] [ 3.53552822e-02 2.15317141e-04 9.99374783e-01 2.30821558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:260.45, Y:1.16, Z:2.31 [[ 9.98952240e-01 -2.90853490e-02 -3.53336234e-02 2.60449076e+02] [ 2.90591183e-02 9.99576906e-01 -1.25579804e-03 1.16282910e+00] [ 3.53551993e-02 2.27718325e-04 9.99374784e-01 2.31025423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:260.51, Y:1.17, Z:2.31 [[ 9.99002021e-01 -2.73229922e-02 -3.53329318e-02 2.60508179e+02] [ 2.72949816e-02 9.99626610e-01 -1.27496451e-03 1.16636072e+00] [ 3.53545747e-02 3.09280402e-04 9.99374784e-01 2.31216868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:260.57, Y:1.17, Z:2.31 [[ 9.99078393e-01 -2.43719643e-02 -3.53323131e-02 2.60566659e+02] [ 2.43415105e-02 9.99702867e-01 -1.29188550e-03 1.16955318e+00] [ 3.53533005e-02 4.30653012e-04 9.99374784e-01 2.31142081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:260.63, Y:1.18, Z:2.29 [[ 9.98916835e-01 3.02791780e-02 -3.53316891e-02 2.60626559e+02] [-3.03443163e-02 9.99538648e-01 -1.30873272e-03 1.18254361e+00] [ 3.52757614e-02 2.37943110e-03 9.99374784e-01 2.28910699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:260.68, Y:1.18, Z:2.32 [[ 9.99140675e-01 -2.16699652e-02 -3.53316193e-02 2.60684706e+02] [ 2.16371607e-02 9.99765030e-01 -1.31061355e-03 1.18439909e+00] [ 3.53517184e-02 5.45011380e-04 9.99374784e-01 2.31578043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:260.74, Y:1.19, Z:2.32 [[ 9.99159973e-01 -2.07613605e-02 -3.53314866e-02 2.60742635e+02] [ 2.07278621e-02 9.99784291e-01 -1.31418219e-03 1.19357848e+00] [ 3.53511495e-02 5.80732062e-04 9.99374784e-01 2.32276774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:260.80, Y:1.20, Z:2.32 [[ 9.99075292e-01 -2.45008630e-02 -3.53308494e-02 2.60801256e+02] [ 2.44691035e-02 9.99699700e-01 -1.33109517e-03 1.20321228e+00] [ 3.53528525e-02 4.65350087e-04 9.99374784e-01 2.32210113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.86, Y:1.21, Z:2.31 [[ 9.98973519e-01 -2.83493499e-02 -3.53302030e-02 2.60860796e+02] [ 2.83193968e-02 9.99598016e-01 -1.34803709e-03 1.20790311e+00] [ 3.53542168e-02 3.46123313e-04 9.99374784e-01 2.30652710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:1.21, Z:2.33 [[ 9.98854149e-01 -3.22833027e-02 -3.53295648e-02 2.60918853e+02] [ 3.22552249e-02 9.99478733e-01 -1.36456120e-03 1.21422110e+00] [ 3.53552012e-02 2.23434558e-04 9.99374784e-01 2.32512235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters Centerline goodness : 0.997868 with order 1 Centerline is valid? [True, True] Translation: X:260.98, Y:1.22, Z:2.33 [[ 9.98778009e-01 -3.45594493e-02 -3.53289246e-02 2.60977063e+02] [ 3.45322155e-02 9.99402631e-01 -1.38093863e-03 1.21779614e+00] [ 3.53555447e-02 1.59265097e-04 9.99374785e-01 2.33337036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:261.04, Y:1.21, Z:2.32 [[ 9.96807965e-01 -7.15943990e-02 -3.53287906e-02 2.61036138e+02] [ 7.15902389e-02 9.97433166e-01 -1.38435748e-03 1.21225589e+00] [ 3.53372197e-02 -1.14925800e-03 9.99374785e-01 2.31549056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:261.10, Y:1.22, Z:2.33 [[ 9.98724634e-01 -3.60693398e-02 -3.53285743e-02 2.61095508e+02] [ 3.60427349e-02 9.99349283e-01 -1.38985686e-03 1.22068309e+00] [ 3.53557166e-02 1.14745851e-04 9.99374785e-01 2.33320815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.15, Y:1.22, Z:2.32 [[ 9.98694510e-01 -3.68940350e-02 -3.53285286e-02 2.61154160e+02] [ 3.68679049e-02 9.99319180e-01 -1.39101625e-03 1.21983893e+00] [ 3.53557965e-02 8.67114596e-05 9.99374785e-01 2.31880601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.21, Y:1.22, Z:2.32 [[ 9.98693046e-01 -3.69343652e-02 -3.53277771e-02 2.61211515e+02] [ 3.69075942e-02 9.99317688e-01 -1.40984762e-03 1.22296510e+00] [ 3.53557444e-02 1.04141747e-04 9.99374785e-01 2.32133695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.27, Y:1.22, Z:2.32 [[ 9.98622527e-01 -3.87949786e-02 -3.53270230e-02 2.61270619e+02] [ 3.87687117e-02 9.99247190e-01 -1.42849750e-03 1.22356541e+00] [ 3.53558470e-02 5.69466096e-05 9.99374785e-01 2.32338289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:1.23, Z:2.33 [[ 9.98540934e-01 -4.08418012e-02 -3.53263529e-02 2.61329658e+02] [ 4.08162351e-02 9.99165626e-01 -1.44488058e-03 1.22620200e+00] [ 3.53558890e-02 8.83681248e-07 9.99374785e-01 2.32632779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:261.39, Y:1.23, Z:2.35 [[ 9.98457415e-01 -4.28355767e-02 -3.53256832e-02 2.61388921e+02] [ 4.28106852e-02 9.99082134e-01 -1.46107247e-03 1.22992943e+00] [ 3.53558449e-02 -5.34980618e-05 9.99374785e-01 2.34883577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.45, Y:1.23, Z:2.33 [[ 9.98455947e-01 -4.28698131e-02 -3.53256352e-02 2.61449268e+02] [ 4.28449019e-02 9.99080666e-01 -1.46223212e-03 1.23104687e+00] [ 3.53558448e-02 -5.35490237e-05 9.99374785e-01 2.33104181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.51, Y:1.23, Z:2.33 [[ 9.98404054e-01 -4.40619040e-02 -3.53255388e-02 2.61508466e+02] [ 4.40376564e-02 9.99028798e-01 -1.46455838e-03 1.23133409e+00] [ 3.53557618e-02 -9.34329140e-05 9.99374785e-01 2.33449059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.57, Y:1.23, Z:2.34 [[ 9.98439919e-01 -4.32420995e-02 -3.53249084e-02 2.61567574e+02] [ 4.32168064e-02 9.99064622e-01 -1.47960819e-03 1.23108328e+00] [ 3.53558476e-02 -4.93298437e-05 9.99374785e-01 2.33617901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.63, Y:1.23, Z:2.34 [[ 9.98600575e-01 -3.93584793e-02 -3.53242262e-02 2.61625968e+02] [ 3.93301869e-02 9.99225149e-01 -1.49571887e-03 1.22980335e+00] [ 3.53557245e-02 1.04317301e-04 9.99374785e-01 2.33796995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.68, Y:1.23, Z:2.34 [[ 9.98629815e-01 -3.86100978e-02 -3.53235365e-02 2.61684381e+02] [ 3.85807672e-02 9.99254341e-01 -1.51183585e-03 1.23046698e+00] [ 3.53555693e-02 1.46955222e-04 9.99374786e-01 2.33965839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.74, Y:1.23, Z:2.34 [[ 9.98665532e-01 -3.76756257e-02 -3.53228337e-02 2.61743001e+02] [ 3.76451362e-02 9.99290002e-01 -1.52808047e-03 1.23458444e+00] [ 3.53553260e-02 1.96308407e-04 9.99374786e-01 2.34138936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:261.80, Y:1.24, Z:2.37 [[ 9.98767865e-01 -3.48582772e-02 -3.53221202e-02 2.61802254e+02] [ 3.48254491e-02 9.99392217e-01 -1.54439985e-03 1.24312199e+00] [ 3.53544871e-02 3.12388237e-04 9.99374786e-01 2.37192395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters Centerline goodness : 0.852857 with order 2 Centerline is valid? [True, False] Translation: X:261.79, Y:1.29, Z:2.38 [[ 9.98747630e-01 -2.78686421e-02 -4.15512866e-02 2.61785858e+02] [ 2.58025759e-02 9.98442922e-01 -4.94566356e-02 1.28578870e+00] [ 4.28648773e-02 4.83225674e-02 9.97911585e-01 2.38384459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [False, True] Translation: X:261.83, Y:1.31, Z:2.39 [[ 9.97988811e-01 -2.14818241e-02 -5.96394456e-02 2.61831411e+02] [ 1.70841676e-02 9.97164182e-01 -7.32920532e-02 1.30609439e+00] [ 6.10447660e-02 7.21257588e-02 9.95525696e-01 2.39153628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:1.24, Z:2.36 [[ 9.97888688e-01 -2.20344935e-02 -6.10954043e-02 2.61895082e+02] [ 2.20085823e-02 9.99757180e-01 -1.09710057e-03 1.24039018e+00] [ 6.11047431e-02 -2.49838987e-04 9.98131328e-01 2.35767254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:1.24, Z:2.36 [[ 9.97795923e-01 -2.58969644e-02 -6.10953681e-02 2.61953186e+02] [ 2.58781629e-02 9.99664500e-01 -1.09910998e-03 1.24074777e+00] [ 6.11033343e-02 -4.84348430e-04 9.98131328e-01 2.36246633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.01, Y:1.24, Z:2.37 [[ 9.97806705e-01 -2.54795586e-02 -6.10947811e-02 2.62012222e+02] [ 2.54580334e-02 9.99675252e-01 -1.13082944e-03 1.24052213e+00] [ 6.11037537e-02 -4.27003785e-04 9.98131329e-01 2.36638899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:262.07, Y:1.24, Z:2.37 [[ 9.97832266e-01 -2.44593594e-02 -6.10942593e-02 2.62071163e+02] [ 2.44342387e-02 9.99700768e-01 -1.15835124e-03 1.24018734e+00] [ 6.11043105e-02 -3.36951471e-04 9.98131329e-01 2.36956271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.13, Y:1.24, Z:2.37 [[ 9.97841713e-01 -2.40722353e-02 -6.10937251e-02 2.62129912e+02] [ 2.40447047e-02 9.99710181e-01 -1.18587281e-03 1.24163672e+00] [ 6.11045656e-02 -2.85667224e-04 9.98131329e-01 2.37437674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:1.24, Z:2.38 [[ 9.97831231e-01 -2.45042710e-02 -6.10931727e-02 2.62188807e+02] [ 2.44758470e-02 9.99699685e-01 -1.21367831e-03 1.24338179e+00] [ 6.11045658e-02 -2.84261026e-04 9.98131330e-01 2.37786167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:1.24, Z:2.38 [[ 9.97765915e-01 -2.70346347e-02 -6.10926124e-02 2.62246613e+02] [ 2.70092606e-02 9.99634413e-01 -1.24125585e-03 1.24362719e+00] [ 6.11038346e-02 -4.11583507e-04 9.98131330e-01 2.38191731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.31, Y:1.24, Z:2.39 [[ 9.97692460e-01 -2.96230964e-02 -6.10919509e-02 2.62305679e+02] [ 2.96006262e-02 9.99560995e-01 -1.27300255e-03 1.24187810e+00] [ 6.11028415e-02 -5.38294953e-04 9.98131331e-01 2.38547947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:1.24, Z:2.39 [[ 9.97652430e-01 -3.09430695e-02 -6.10913653e-02 2.62363788e+02] [ 3.09213870e-02 9.99520974e-01 -1.30051189e-03 1.23843940e+00] [ 6.11023428e-02 -5.91570900e-04 9.98131331e-01 2.38837942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.42, Y:1.23, Z:2.39 [[ 9.97611791e-01 -3.22279929e-02 -6.10906800e-02 2.62422361e+02] [ 3.22067923e-02 9.99480339e-01 -1.33194653e-03 1.22990771e+00] [ 6.11018595e-02 -6.38769286e-04 9.98131331e-01 2.39207723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.48, Y:1.23, Z:2.40 [[ 9.97556566e-01 -3.38954254e-02 -6.10900739e-02 2.62481398e+02] [ 3.38756801e-02 9.99425130e-01 -1.35918802e-03 1.22610811e+00] [ 6.11010254e-02 -7.13600862e-04 9.98131332e-01 2.39552779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:262.54, Y:1.22, Z:2.43 [[ 9.97593039e-01 -3.28056097e-02 -6.10894480e-02 2.62539213e+02] [ 3.27821345e-02 9.99461559e-01 -1.38676414e-03 1.21764073e+00] [ 6.11020486e-02 -6.19216249e-04 9.98131332e-01 2.42884171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.60, Y:1.22, Z:2.40 [[ 9.97641876e-01 -3.12853757e-02 -6.10893735e-02 2.62601302e+02] [ 3.12588528e-02 9.99510356e-01 -1.39003604e-03 1.21642036e+00] [ 6.11029493e-02 -5.22825572e-04 9.98131332e-01 2.40448445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.66, Y:1.21, Z:2.41 [[ 9.97674780e-01 -3.02179154e-02 -6.10893759e-02 2.62660110e+02] [ 3.01893996e-02 9.99543230e-01 -1.38993302e-03 1.21262891e+00] [ 6.11034729e-02 -4.57550464e-04 9.98131332e-01 2.40906644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.72, Y:1.21, Z:2.41 [[ 9.97638784e-01 -3.13850687e-02 -6.10887325e-02 2.62719060e+02] [ 3.13570413e-02 9.99507242e-01 -1.41765641e-03 1.20940674e+00] [ 6.11031238e-02 -5.01252894e-04 9.98131333e-01 2.41165762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:1.21, Z:2.42 [[ 9.97614783e-01 -3.21402054e-02 -6.10880702e-02 2.62777321e+02] [ 3.21118786e-02 9.99483235e-01 -1.44564480e-03 1.20948848e+00] [ 6.11029654e-02 -5.19456071e-04 9.98131333e-01 2.41620805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.84, Y:1.21, Z:2.42 [[ 9.97576550e-01 -3.33071861e-02 -6.10873006e-02 2.62835653e+02] [ 3.32790965e-02 9.99445005e-01 -1.47746790e-03 1.20634278e+00] [ 6.11026077e-02 -5.59042842e-04 9.98131333e-01 2.42106146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:1.20, Z:2.42 [[ 9.97552484e-01 -3.40217519e-02 -6.10865158e-02 2.62893208e+02] [ 3.39930556e-02 9.99420930e-01 -1.50923292e-03 1.20396584e+00] [ 6.11024891e-02 -5.70978279e-04 9.98131334e-01 2.42480329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:262.95, Y:1.20, Z:2.45 [[ 9.97540744e-01 -3.43657002e-02 -6.10857069e-02 2.62952321e+02] [ 3.43356851e-02 9.99409168e-01 -1.54129399e-03 1.20082680e+00] [ 6.11025831e-02 -5.59916040e-04 9.98131334e-01 2.45065639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.01, Y:1.20, Z:2.43 [[ 9.97584041e-01 -3.30850805e-02 -6.10856616e-02 2.63013385e+02] [ 3.30525570e-02 9.99452424e-01 -1.54308783e-03 1.19740446e+00] [ 6.11032657e-02 -4.79677521e-04 9.98131334e-01 2.43393828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:263.07, Y:1.19, Z:2.44 [[ 9.97565515e-01 -3.36391189e-02 -6.10856246e-02 2.63070932e+02] [ 3.36075436e-02 9.99433913e-01 -1.54454869e-03 1.19235023e+00] [ 6.11030021e-02 -5.12149284e-04 9.98131334e-01 2.43671548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:263.13, Y:1.19, Z:2.44 [[ 9.97560133e-01 -3.37998468e-02 -6.10847954e-02 2.63128904e+02] [ 3.37666054e-02 9.99428502e-01 -1.57667495e-03 1.18838771e+00] [ 6.11031770e-02 -4.89798112e-04 9.98131335e-01 2.44241464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:263.19, Y:1.18, Z:2.46 [[ 9.97478235e-01 -3.61375516e-02 -6.10839468e-02 2.63187202e+02] [ 3.61067159e-02 9.99346645e-01 -1.60889629e-03 1.18242102e+00] [ 6.11021788e-02 -6.00701680e-04 9.98131335e-01 2.46117191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:263.25, Y:1.18, Z:2.45 [[ 9.97505426e-01 -3.53792327e-02 -6.10838438e-02 2.63248014e+02] [ 3.53467378e-02 9.99373807e-01 -1.61279634e-03 1.17629590e+00] [ 6.11026531e-02 -5.50341505e-04 9.98131336e-01 2.44970952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters Centerline goodness : 0.996870 with order 1 Centerline is valid? [True, True] Translation: X:263.31, Y:1.17, Z:2.47 [[ 9.97504113e-01 -3.54163024e-02 -6.10837898e-02 2.63306600e+02] [ 3.53837518e-02 9.99372494e-01 -1.61483928e-03 1.17032678e+00] [ 6.11026510e-02 -5.50564833e-04 9.98131336e-01 2.47487444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters Centerline goodness : 0.996873 with order 1 Centerline is valid? [True, True] Translation: X:263.37, Y:1.17, Z:2.48 [[ 9.97504001e-01 -3.54195571e-02 -6.10837363e-02 2.63365533e+02] [ 3.53868887e-02 9.99372380e-01 -1.61686221e-03 1.16646706e+00] [ 6.11026674e-02 -5.48736854e-04 9.98131336e-01 2.47941669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:263.42, Y:1.16, Z:2.48 [[ 9.97515825e-01 -3.50863601e-02 -6.10829504e-02 2.63424673e+02] [ 3.50512820e-02 9.99384159e-01 -1.64602471e-03 1.16061524e+00] [ 6.11030861e-02 -4.99100028e-04 9.98131336e-01 2.47828463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:263.48, Y:1.16, Z:2.48 [[ 9.97728063e-01 -2.84197447e-02 -6.10821549e-02 2.63484053e+02] [ 2.83704063e-02 9.99596076e-01 -1.67503594e-03 1.15751697e+00] [ 6.11050864e-02 -6.16951858e-05 9.98131336e-01 2.48060649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:263.54, Y:1.16, Z:2.49 [[ 9.97826458e-01 -2.47255299e-02 -6.10819833e-02 2.63542411e+02] [ 2.46688939e-02 9.99694263e-01 -1.68127094e-03 1.15504565e+00] [ 6.11048785e-02 1.70791662e-04 9.98131336e-01 2.48974080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters Centerline goodness : 0.997615 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:1.15, Z:2.49 [[ 9.97919129e-01 -2.06519702e-02 -6.10811565e-02 2.63601148e+02] [ 2.05859031e-02 9.99786624e-01 -1.71079104e-03 1.15166101e+00] [ 6.11034544e-02 4.49820334e-04 9.98131337e-01 2.49155068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:263.66, Y:1.15, Z:2.48 [[ 9.97911733e-01 -2.10087717e-02 -6.10803203e-02 2.63660665e+02] [ 2.09415758e-02 9.99779187e-01 -1.74014342e-03 1.14758313e+00] [ 6.11033912e-02 4.57391380e-04 9.98131337e-01 2.47861621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:263.72, Y:1.14, Z:2.48 [[ 9.97917560e-01 -2.07326435e-02 -6.10794688e-02 2.63719458e+02] [ 2.06631320e-02 9.99784929e-01 -1.76953354e-03 1.14379502e+00] [ 6.11030195e-02 5.03755461e-04 9.98131338e-01 2.48345981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:263.78, Y:1.14, Z:2.50 [[ 9.97937785e-01 -1.97377933e-02 -6.10786158e-02 2.63777597e+02] [ 1.96646472e-02 9.99805015e-01 -1.79850592e-03 1.14191770e+00] [ 6.11022048e-02 5.93707584e-04 9.98131338e-01 2.50151447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters Centerline goodness : 0.996370 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:1.14, Z:2.50 [[ 9.97940704e-01 -1.95923632e-02 -6.10777362e-02 2.63835293e+02] [ 1.95171464e-02 9.99807851e-01 -1.82789521e-03 1.13896105e+00] [ 6.11018130e-02 6.32067912e-04 9.98131339e-01 2.50497942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:263.90, Y:1.14, Z:2.49 [[ 9.97873021e-01 -2.27831075e-02 -6.10767120e-02 2.63895012e+02] [ 2.27118043e-02 9.99740321e-01 -1.86150272e-03 1.13580279e+00] [ 6.11032624e-02 4.70381017e-04 9.98131339e-01 2.49148017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters Centerline goodness : 0.997220 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:1.14, Z:2.51 [[ 9.97935103e-01 -1.98814753e-02 -6.10758314e-02 2.63952238e+02] [ 1.98030014e-02 9.99802115e-01 -1.88995913e-03 1.13566363e+00] [ 6.11013206e-02 6.76571785e-04 9.98131339e-01 2.50870026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters Centerline goodness : 0.997320 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:1.13, Z:2.51 [[ 9.97921955e-01 -2.05339579e-02 -6.10747743e-02 2.64011225e+02] [ 2.04546506e-02 9.99788931e-01 -1.92352581e-03 1.13384625e+00] [ 6.11013809e-02 6.70265461e-04 9.98131340e-01 2.51342864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:264.07, Y:1.14, Z:2.50 [[ 9.97850597e-01 -2.37523111e-02 -6.10738379e-02 2.64071062e+02] [ 2.36772332e-02 9.99717748e-01 -1.95281109e-03 1.13564065e+00] [ 6.11029835e-02 5.02554205e-04 9.98131340e-01 2.50008451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters Centerline goodness : 0.996524 with order 1 Centerline is valid? [True, True] Translation: X:264.13, Y:1.14, Z:2.52 [[ 9.97816199e-01 -2.51565607e-02 -6.10735731e-02 2.64129452e+02] [ 2.50836057e-02 9.99683433e-01 -1.96105841e-03 1.13672174e+00] [ 6.11035728e-02 4.24830420e-04 9.98131341e-01 2.52108179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:264.19, Y:1.14, Z:2.51 [[ 9.97730917e-01 -2.83381827e-02 -6.10734399e-02 2.64189635e+02] [ 2.82709287e-02 9.99598366e-01 -1.96519976e-03 1.13860587e+00] [ 6.11046009e-02 2.34137696e-04 9.98131341e-01 2.50711196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:264.25, Y:1.14, Z:2.51 [[ 9.97531831e-01 -3.46466325e-02 -6.10725619e-02 2.64248364e+02] [ 3.45895404e-02 9.99399617e-01 -1.99211668e-03 1.14000788e+00] [ 6.11049151e-02 -1.25272045e-04 9.98131341e-01 2.50864075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:1.14, Z:2.51 [[ 9.97388194e-01 -3.85622929e-02 -6.10716020e-02 2.64306821e+02] [ 3.85107575e-02 9.99256142e-01 -2.02112291e-03 1.14122222e+00] [ 6.11041125e-02 -3.36069527e-04 9.98131341e-01 2.51102580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:1.14, Z:2.51 [[ 9.97197745e-01 -4.32091730e-02 -6.10706462e-02 2.64365124e+02] [ 4.31645978e-02 9.99065872e-01 -2.04960079e-03 1.14083523e+00] [ 6.11021600e-02 -5.92232598e-04 9.98131342e-01 2.51346161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.42, Y:1.14, Z:2.52 [[ 9.97070682e-01 -4.60496052e-02 -6.10695453e-02 2.64423223e+02] [ 4.60083740e-02 9.98938885e-01 -2.08189572e-03 1.13796553e+00] [ 6.11006140e-02 -7.33913294e-04 9.98131342e-01 2.51574790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:1.13, Z:2.52 [[ 9.96959972e-01 -4.83886337e-02 -6.10684392e-02 2.64480815e+02] [ 4.83498283e-02 9.98828226e-01 -2.11385318e-03 1.13477251e+00] [ 6.10991672e-02 -8.45221546e-04 9.98131343e-01 2.52015630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:1.13, Z:2.52 [[ 9.96762105e-01 -5.23076434e-02 -6.10673163e-02 2.64539471e+02] [ 5.22742257e-02 9.98630463e-01 -2.14581004e-03 1.12872649e+00] [ 6.10959246e-02 -1.05338454e-03 9.98131343e-01 2.52218337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:264.60, Y:1.12, Z:2.55 [[ 9.96669304e-01 -5.40483085e-02 -6.10661806e-02 2.64597540e+02] [ 5.40162031e-02 9.98537685e-01 -2.17765785e-03 1.11998691e+00] [ 6.10945813e-02 -1.12815848e-03 9.98131344e-01 2.54580550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:1.12, Z:2.53 [[ 9.96550552e-01 -5.61964445e-02 -6.10651788e-02 2.64657384e+02] [ 5.61666673e-02 9.98418971e-01 -2.20539691e-03 1.11995306e+00] [ 6.10925685e-02 -1.23203807e-03 9.98131344e-01 2.52905818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.72, Y:1.11, Z:2.53 [[ 9.96713343e-01 -5.32323191e-02 -6.10641599e-02 2.64716313e+02] [ 5.31952787e-02 9.98581632e-01 -2.23325828e-03 1.11126706e+00] [ 6.10964299e-02 -1.02240668e-03 9.98131345e-01 2.53258777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.77, Y:1.11, Z:2.53 [[ 9.96752194e-01 -5.25010150e-02 -6.10631351e-02 2.64774812e+02] [ 5.24609086e-02 9.98620419e-01 -2.26093612e-03 1.11048729e+00] [ 6.10975950e-02 -9.49834511e-04 9.98131345e-01 2.53499039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.83, Y:1.11, Z:2.54 [[ 9.96731002e-01 -5.29032169e-02 -6.10619347e-02 2.64833320e+02] [ 5.28619064e-02 9.98599200e-01 -2.29290474e-03 1.10530392e+00] [ 6.10977012e-02 -9.42441035e-04 9.98131345e-01 2.53717574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:264.89, Y:1.10, Z:2.56 [[ 9.96808488e-01 -5.14240041e-02 -6.10607011e-02 2.64892207e+02] [ 5.13779371e-02 9.98676575e-01 -2.32529860e-03 1.10366907e+00] [ 6.10994680e-02 -8.19295481e-04 9.98131346e-01 2.55861847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.95, Y:1.10, Z:2.54 [[ 9.96789271e-01 -5.17953594e-02 -6.10605478e-02 2.64952124e+02] [ 5.17497423e-02 9.98657368e-01 -2.32931834e-03 1.10050264e+00] [ 6.10992138e-02 -8.38028078e-04 9.98131346e-01 2.54488149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:265.01, Y:1.10, Z:2.57 [[ 9.96920685e-01 -4.92025583e-02 -6.10594483e-02 2.65009347e+02] [ 4.91503387e-02 9.98788609e-01 -2.35779100e-03 1.09865561e+00] [ 6.11014908e-02 -6.50561945e-04 9.98131346e-01 2.57270886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.07, Y:1.09, Z:2.55 [[ 9.96746610e-01 -5.26115741e-02 -6.10591327e-02 2.65070702e+02] [ 5.25652438e-02 9.98614689e-01 -2.36593797e-03 1.09466073e+00] [ 6.10990225e-02 -8.51347541e-04 9.98131346e-01 2.55267449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:1.09, Z:2.56 [[ 9.96552869e-01 -5.61620895e-02 -6.10589751e-02 2.65129077e+02] [ 5.61221658e-02 9.98421096e-01 -2.36999761e-03 1.09143002e+00] [ 6.10956729e-02 -1.06493400e-03 9.98131346e-01 2.55683377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:265.19, Y:1.08, Z:2.58 [[ 9.96304602e-01 -6.04077648e-02 -6.10576961e-02 2.65186752e+02] [ 6.03738106e-02 9.98172946e-01 -2.40250210e-03 1.08398303e+00] [ 6.10912702e-02 -1.29266188e-03 9.98131347e-01 2.57804853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters Centerline goodness : 0.956640 with order 3 Centerline is valid? [True, True] Translation: X:265.16, Y:1.02, Z:2.56 [[ 9.85661300e-01 -1.57301929e-01 -6.10565741e-02 2.65155657e+02] [ 1.57448658e-01 9.87524183e-01 -2.43068707e-03 1.02491080e+00] [ 6.06771952e-02 -7.21744149e-03 9.98131347e-01 2.56149322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:265.29, Y:1.09, Z:2.59 [[ 9.97143671e-01 -4.52370079e-02 -6.04823249e-02 2.65291219e+02] [ 4.41918479e-02 9.98851599e-01 -1.85084843e-02 1.09432852e+00] [ 6.12501354e-02 1.57827922e-02 9.97997658e-01 2.58953326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:265.35, Y:1.07, Z:2.57 [[ 9.97205606e-01 -4.33173494e-02 -6.08653197e-02 2.65351339e+02] [ 4.33170684e-02 9.99060497e-01 -1.32471366e-03 1.07422409e+00] [ 6.08655196e-02 -1.31549533e-03 9.98145109e-01 2.57367315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:1.07, Z:2.60 [[ 9.97334015e-01 -4.02535947e-02 -6.08646952e-02 2.65409205e+02] [ 4.02459013e-02 9.99188890e-01 -1.35280967e-03 1.07371436e+00] [ 6.08697827e-02 -1.10035141e-03 9.98145109e-01 2.59991722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters Centerline goodness : 0.998060 with order 1 Centerline is valid? [True, True] Translation: X:265.47, Y:1.08, Z:2.60 [[ 9.97303602e-01 -4.10010594e-02 -6.08640940e-02 2.65467727e+02] [ 4.09931376e-02 9.99158476e-01 -1.37933883e-03 1.07502326e+00] [ 6.08694298e-02 -1.11939059e-03 9.98145109e-01 2.59942011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:265.53, Y:1.07, Z:2.60 [[ 9.97083989e-01 -4.60339333e-02 -6.08637435e-02 2.65526300e+02] [ 4.60344399e-02 9.98938880e-01 -1.39463593e-03 1.07295610e+00] [ 6.08633603e-02 -1.41125919e-03 9.98145110e-01 2.59979681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:265.59, Y:1.07, Z:2.59 [[ 9.96819410e-01 -5.14460636e-02 -6.08635067e-02 2.65586681e+02] [ 5.14560140e-02 9.98674274e-01 -1.40489270e-03 1.06993249e+00] [ 6.08550946e-02 -1.73136914e-03 9.98145110e-01 2.58520585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters Centerline goodness : 0.997761 with order 1 Centerline is valid? [True, True] Translation: X:265.64, Y:1.07, Z:2.61 [[ 9.96790742e-01 -5.19989694e-02 -6.08631642e-02 2.65644069e+02] [ 5.20090528e-02 9.98645604e-01 -1.41957755e-03 1.06508298e+00] [ 6.08545480e-02 -1.75041376e-03 9.98145110e-01 2.60741225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:1.06, Z:2.59 [[ 9.96774811e-01 -5.23042254e-02 -6.08625031e-02 2.65704314e+02] [ 5.23131805e-02 9.98629679e-01 -1.44738135e-03 1.05983623e+00] [ 6.08548061e-02 -1.74119784e-03 9.98145110e-01 2.59174036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters Centerline goodness : 0.921169 with order 3 Centerline is valid? [True, False] Translation: X:265.69, Y:1.06, Z:2.59 [[ 9.98061586e-01 -3.96486722e-02 -4.79693051e-02 2.65691295e+02] [ 3.96021027e-02 9.99213682e-01 -1.92119450e-03 1.05537271e+00] [ 4.80077588e-02 1.77850874e-05 9.98846963e-01 2.59037162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [False, True] Translation: X:265.68, Y:1.05, Z:2.59 [[ 9.99085898e-01 -2.67590475e-02 -3.33364819e-02 2.65677700e+02] [ 2.67703161e-02 9.99641605e-01 -1.08348856e-04 1.05094155e+00] [ 3.33274336e-02 -7.84178343e-04 9.99444179e-01 2.58761960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters Centerline goodness : 0.997964 with order 1 Centerline is valid? [True, True] Translation: X:265.74, Y:1.05, Z:2.59 [[ 9.99110911e-01 -2.58082855e-02 -3.33364759e-02 2.65735901e+02] [ 2.58189648e-02 9.99666629e-01 -1.10160189e-04 1.04758062e+00] [ 3.33282055e-02 -7.50651051e-04 9.99444179e-01 2.58868621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:1.05, Z:2.57 [[ 9.99193574e-01 -2.23804839e-02 -3.33364061e-02 2.65795618e+02] [ 2.23886514e-02 9.99749334e-01 -1.28306519e-04 1.04597841e+00] [ 3.33309213e-02 -6.18154125e-04 9.99444179e-01 2.57240975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:265.85, Y:1.05, Z:2.57 [[ 9.99309047e-01 -1.64351221e-02 -3.33363925e-02 2.65854696e+02] [ 1.64398687e-02 9.99864848e-01 -1.31728795e-04 1.04537413e+00] [ 3.33340520e-02 -4.16408140e-04 9.99444179e-01 2.57305564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters Centerline goodness : 0.997718 with order 1 Centerline is valid? [True, True] Translation: X:265.91, Y:1.05, Z:2.59 [[ 9.99412607e-01 -7.94542086e-03 -3.33363227e-02 2.65911962e+02] [ 7.94491899e-03 9.99968428e-01 -1.47520968e-04 1.04600948e+00] [ 3.33364423e-02 -1.17420067e-04 9.99444179e-01 2.59070591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters Centerline goodness : 0.996826 with order 1 Centerline is valid? [True, True] Translation: X:265.97, Y:1.05, Z:2.60 [[ 9.99443857e-01 -8.19665145e-04 -3.33362306e-02 2.65971173e+02] [ 8.14583963e-04 9.99999654e-01 -1.66003282e-04 1.04741765e+00] [ 3.33363552e-02 1.38755802e-04 9.99444180e-01 2.59582390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:1.05, Z:2.58 [[ 9.99412640e-01 7.94191876e-03 -3.33361893e-02 2.66031729e+02] [-7.95213618e-03 9.99968366e-01 -1.73921561e-04 1.05079107e+00] [ 3.33337535e-02 4.38913324e-04 9.99444180e-01 2.57804047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters Centerline goodness : 0.997416 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:1.06, Z:2.60 [[ 9.99328774e-01 1.51888201e-02 -3.33361776e-02 2.66090376e+02] [-1.52031411e-02 9.99884410e-01 -1.76142444e-04 1.05743502e+00] [ 3.33296489e-02 6.82838824e-04 9.99444180e-01 2.59756299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:266.15, Y:1.06, Z:2.60 [[ 9.99211787e-01 2.15524990e-02 -3.33360906e-02 2.66148728e+02] [-2.15708633e-02 9.99767304e-01 -1.91294860e-04 1.06444034e+00] [ 3.33242106e-02 9.10232332e-04 9.99444180e-01 2.59821436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters Centerline goodness : 0.997266 with order 1 Centerline is valid? [True, True] Translation: X:266.21, Y:1.07, Z:2.60 [[ 9.99159574e-01 2.38507543e-02 -3.33359831e-02 2.66207502e+02] [-2.38709696e-02 9.99715026e-01 -2.08494526e-04 1.06918344e+00] [ 3.33215104e-02 1.00408154e-03 9.99444180e-01 2.60242054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:266.27, Y:1.08, Z:2.59 [[ 9.99141664e-01 2.45897197e-02 -3.33358861e-02 2.66266996e+02] [-2.46108290e-02 9.99697083e-01 -2.22988219e-04 1.07634614e+00] [ 3.33203049e-02 1.04322061e-03 9.99444180e-01 2.58689218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:266.33, Y:1.08, Z:2.59 [[ 9.99121828e-01 2.53830131e-02 -3.33357836e-02 2.66325417e+02] [-2.54050431e-02 9.99677212e-01 -2.37385095e-04 1.08219289e+00] [ 3.33189977e-02 1.08407365e-03 9.99444180e-01 2.58831228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters Centerline goodness : 0.997162 with order 1 Centerline is valid? [True, True] Translation: X:266.38, Y:1.08, Z:2.61 [[ 9.99062391e-01 2.76237502e-02 -3.33356732e-02 2.66383839e+02] [-2.76475125e-02 9.99617703e-01 -2.51988306e-04 1.08472602e+00] [ 3.33159682e-02 1.17340048e-03 9.99444180e-01 2.60857160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:266.44, Y:1.09, Z:2.59 [[ 9.99010784e-01 2.94311687e-02 -3.33355564e-02 2.66443314e+02] [-2.94564224e-02 9.99566030e-01 -2.66597239e-04 1.09417018e+00] [ 3.33132435e-02 1.24827975e-03 9.99444180e-01 2.59253467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters Centerline goodness : 0.968513 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:1.06, Z:2.59 [[ 9.98348027e-01 -4.67970598e-02 -3.33354352e-02 2.66503061e+02] [ 4.68137199e-02 9.98903597e-01 -2.80977161e-04 1.06275962e+00] [ 3.33120350e-02 -1.28004273e-03 9.99444180e-01 2.59222775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:1.12, Z:2.60 [[ 9.98651292e-01 3.98038550e-02 -3.33354091e-02 2.66562582e+02] [-3.98354542e-02 9.99206213e-01 -2.84041497e-04 1.11641517e+00] [ 3.32976419e-02 1.61158957e-03 9.99444180e-01 2.59649246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:266.62, Y:1.12, Z:2.60 [[ 9.98629972e-01 4.03352228e-02 -3.33354005e-02 2.66621403e+02] [-4.03671509e-02 9.99184874e-01 -2.85051420e-04 1.12231638e+00] [ 3.32967303e-02 1.63031603e-03 9.99444180e-01 2.59757572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:266.68, Y:1.13, Z:2.60 [[ 9.98568563e-01 4.18280304e-02 -3.33352731e-02 2.66680084e+02] [-4.18612605e-02 9.99123388e-01 -2.99241996e-04 1.13020224e+00] [ 3.32935343e-02 1.69427020e-03 9.99444181e-01 2.59776703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:266.74, Y:1.14, Z:2.60 [[ 9.98521986e-01 4.29256533e-02 -3.33351406e-02 2.66738892e+02] [-4.29599624e-02 9.99076746e-01 -3.13334360e-04 1.14015466e+00] [ 3.32909137e-02 1.74494764e-03 9.99444181e-01 2.59985321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:1.15, Z:2.62 [[ 9.98465969e-01 4.42095838e-02 -3.33350029e-02 2.66797253e+02] [-4.42450732e-02 9.99020654e-01 -3.27361979e-04 1.14692818e+00] [ 3.32878838e-02 1.80176944e-03 9.99444181e-01 2.61988132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:266.86, Y:1.16, Z:2.60 [[ 9.98391876e-01 4.58523777e-02 -3.33349730e-02 2.66858039e+02] [-4.58888801e-02 9.98946496e-01 -3.30376896e-04 1.15606465e+00] [ 3.32847059e-02 1.85955019e-03 9.99444181e-01 2.60347752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:266.92, Y:1.17, Z:2.60 [[ 9.98417500e-01 4.52910219e-02 -3.33349631e-02 2.66917284e+02] [-4.53272457e-02 9.98972137e-01 -3.31375258e-04 1.16558593e+00] [ 3.32856910e-02 1.84183292e-03 9.99444181e-01 2.60379783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.98, Y:1.17, Z:2.61 [[ 9.98510835e-01 4.31845110e-02 -3.33348285e-02 2.66975591e+02] [-4.32199981e-02 9.99065520e-01 -3.44398116e-04 1.17448843e+00] [ 3.32888051e-02 1.78461647e-03 9.99444181e-01 2.60682693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:267.03, Y:1.18, Z:2.62 [[ 9.98601876e-01 4.10254998e-02 -3.33346789e-02 2.67034351e+02] [-4.10602509e-02 9.99156608e-01 -3.58319180e-04 1.18229761e+00] [ 3.32918645e-02 1.72654849e-03 9.99444181e-01 2.61851782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:267.09, Y:1.19, Z:2.61 [[ 9.98737660e-01 3.75750934e-02 -3.33346461e-02 2.67094048e+02] [-3.76080284e-02 9.99292503e-01 -3.61341665e-04 1.18809474e+00] [ 3.32974845e-02 1.61453585e-03 9.99444181e-01 2.61126703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.15, Y:1.19, Z:2.61 [[ 9.98783615e-01 3.63330795e-02 -3.33346239e-02 2.67152762e+02] [-3.63653925e-02 9.99338494e-01 -3.63382734e-04 1.19059367e+00] [ 3.32993700e-02 1.57516740e-03 9.99444181e-01 2.61207227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:267.21, Y:1.20, Z:2.61 [[ 9.98819285e-01 3.53390614e-02 -3.33344612e-02 2.67211941e+02] [-3.53713001e-02 9.99374168e-01 -3.77734055e-04 1.19746803e+00] [ 3.33002507e-02 1.55637129e-03 9.99444181e-01 2.61289964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:267.27, Y:1.20, Z:2.62 [[ 9.98925777e-01 3.21887509e-02 -3.33343037e-02 2.67271147e+02] [-3.22196866e-02 9.99480735e-01 -3.91162021e-04 1.20105257e+00] [ 3.33044033e-02 1.46476264e-03 9.99444181e-01 2.61516780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:1.20, Z:2.62 [[ 9.98992371e-01 3.00512520e-02 -3.33341277e-02 2.67329421e+02] [-3.00814820e-02 9.99547368e-01 -4.05626322e-04 1.20322674e+00] [ 3.33068500e-02 1.40795756e-03 9.99444181e-01 2.61843962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.39, Y:1.21, Z:2.62 [[ 9.99007250e-01 2.95527469e-02 -3.33339172e-02 2.67387238e+02] [-2.95832534e-02 9.99562231e-01 -4.22244593e-04 1.20660561e+00] [ 3.33068461e-02 1.40795113e-03 9.99444181e-01 2.61956608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.45, Y:1.21, Z:2.62 [[ 9.98881376e-01 3.35389637e-02 -3.33336962e-02 2.67445309e+02] [-3.35722433e-02 9.99436197e-01 -4.39022421e-04 1.21397345e+00] [ 3.33001782e-02 1.55761828e-03 9.99444182e-01 2.62088652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:267.50, Y:1.22, Z:2.62 [[ 9.98599186e-01 4.10919081e-02 -3.33334693e-02 2.67503447e+02] [-4.11299349e-02 9.99153702e-01 -4.55622637e-04 1.22201028e+00] [ 3.32865369e-02 1.82598782e-03 9.99444182e-01 2.62437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:267.56, Y:1.24, Z:2.63 [[ 9.98110430e-01 5.16184452e-02 -3.33332366e-02 2.67561829e+02] [-5.16628629e-02 9.98664471e-01 -4.72052273e-04 1.23762196e+00] [ 3.32643525e-02 2.19325073e-03 9.99444182e-01 2.63351264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.62, Y:1.24, Z:2.63 [[ 9.98600080e-01 4.10703972e-02 -3.33331943e-02 2.67621954e+02] [-4.11090579e-02 9.99154552e-01 -4.75025958e-04 1.24215685e+00] [ 3.32855033e-02 1.84465717e-03 9.99444182e-01 2.62711047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:267.68, Y:1.25, Z:2.65 [[ 9.98820272e-01 3.53124085e-02 -3.33331282e-02 2.67679537e+02] [-3.53480245e-02 9.99374948e-01 -4.79614504e-04 1.25428523e+00] [ 3.32953570e-02 1.65730892e-03 9.99444182e-01 2.64777554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.74, Y:1.26, Z:2.63 [[ 9.98868785e-01 3.39126265e-02 -3.33329136e-02 2.67738416e+02] [-3.39479473e-02 9.99423480e-01 -4.94095549e-04 1.26291268e+00] [ 3.32969404e-02 1.62512061e-03 9.99444182e-01 2.63068520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:267.80, Y:1.27, Z:2.66 [[ 9.99014851e-01 2.92960487e-02 -3.33326899e-02 2.67796363e+02] [-2.93292936e-02 9.99569674e-01 -5.08750111e-04 1.27251721e+00] [ 3.33034416e-02 1.48587317e-03 9.99444182e-01 2.65515282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:267.85, Y:1.28, Z:2.66 [[ 9.99133960e-01 2.49053678e-02 -3.33324596e-02 2.67854792e+02] [-2.49366625e-02 9.99688896e-01 -5.23416201e-04 1.28015695e+00] [ 3.33090539e-02 1.35416320e-03 9.99444182e-01 2.65560664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:1.29, Z:2.66 [[ 9.99254872e-01 1.94592912e-02 -3.33322186e-02 2.67913521e+02] [-1.94880580e-02 9.99809945e-01 -5.38338778e-04 1.28929574e+00] [ 3.33154080e-02 1.18751786e-03 9.99444182e-01 2.65571944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:267.97, Y:1.30, Z:2.66 [[ 9.99397154e-01 9.71129386e-03 -3.33319680e-02 2.67973316e+02] [-9.73514800e-03 9.99952459e-01 -5.53433340e-04 1.29794302e+00] [ 3.33250088e-02 8.77591346e-04 9.99444182e-01 2.66077318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:268.03, Y:1.30, Z:2.66 [[ 9.99443254e-01 1.47105583e-03 -3.33319496e-02 2.68031739e+02] [-1.49036761e-03 9.99998736e-01 -5.54539408e-04 1.30087465e+00] [ 3.33310917e-02 6.03907528e-04 9.99444182e-01 2.66466006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:268.09, Y:1.30, Z:2.66 [[ 9.99386483e-01 -1.07544183e-02 -3.33316698e-02 2.68090731e+02] [ 1.07413578e-02 9.99942147e-01 -5.70878164e-04 1.30179282e+00] [ 3.33358809e-02 2.12500529e-04 9.99444182e-01 2.66354496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:268.15, Y:1.30, Z:2.67 [[ 9.99249673e-01 -1.97258530e-02 -3.33313919e-02 2.68149973e+02] [ 1.97172548e-02 9.99805424e-01 -5.86668002e-04 1.29948575e+00] [ 3.33364789e-02 -7.09757360e-05 9.99444183e-01 2.66705811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters Centerline goodness : 0.935511 with order 3 Centerline is valid? [True, False] Translation: X:268.13, Y:1.31, Z:2.67 [[ 9.99370671e-01 -1.75632618e-02 -3.08187308e-02 2.68128094e+02] [ 1.66951314e-02 9.99462768e-01 -2.82036788e-02 1.31459776e+00] [ 3.12975226e-02 2.76714067e-02 9.99126998e-01 2.66996085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters Centerline goodness : 0.920392 with order 3 Centerline is valid? [False, False] Translation: X:268.13, Y:1.32, Z:2.67 [[ 9.99566412e-01 -1.39518314e-02 -2.59294145e-02 2.68125133e+02] [ 1.27745919e-02 9.98904149e-01 -4.50256699e-02 1.32491877e+00] [ 2.65291902e-02 4.46749097e-02 9.98649265e-01 2.67110905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters Centerline goodness : 0.966280 with order 2 Centerline is valid? [False, True] Translation: X:268.15, Y:1.32, Z:2.67 [[ 9.99652982e-01 -5.35065860e-03 -2.57931580e-02 2.68145230e+02] [ 4.19353994e-03 9.98991268e-01 -4.47086204e-02 1.31719138e+00] [ 2.60063602e-02 4.45849411e-02 9.98667038e-01 2.67296542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:268.20, Y:1.23, Z:2.69 [[ 9.94863614e-01 -9.66715430e-02 -3.00166900e-02 2.68198205e+02] [ 9.67727217e-02 9.95304628e-01 1.93310758e-03 1.22810382e+00] [ 2.96888740e-02 -4.82797518e-03 9.99547528e-01 2.69104150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:268.26, Y:1.23, Z:2.70 [[ 9.95404782e-01 -9.10723417e-02 -2.95829147e-02 2.68258466e+02] [ 9.10309698e-02 9.95844278e-01 -2.74509090e-03 1.23103739e+00] [ 2.97099782e-02 3.95151992e-05 9.99558560e-01 2.70128346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.32, Y:1.23, Z:2.68 [[ 9.95769051e-01 -8.69991324e-02 -2.95828937e-02 2.68318923e+02] [ 8.69559561e-02 9.96208374e-01 -2.74531635e-03 1.23418243e+00] [ 2.97095666e-02 1.61292250e-04 9.99558560e-01 2.67893976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:1.24, Z:2.68 [[ 9.95757131e-01 -8.71354937e-02 -2.95828022e-02 2.68376446e+02] [ 8.70923482e-02 9.96196457e-01 -2.74630200e-03 1.23687954e+00] [ 2.97095831e-02 1.58214091e-04 9.99558560e-01 2.68076485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:268.44, Y:1.24, Z:2.71 [[ 9.95442978e-01 -9.06544172e-02 -2.95813271e-02 2.68435064e+02] [ 9.06123553e-02 9.95882409e-01 -2.76210018e-03 1.23925736e+00] [ 2.97099199e-02 6.90795093e-05 9.99558561e-01 2.70563802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters Centerline goodness : 0.997072 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:1.24, Z:2.70 [[ 9.95404623e-01 -9.10749852e-02 -2.95801162e-02 2.68494695e+02] [ 9.10327254e-02 9.95844035e-01 -2.77500820e-03 1.24020524e+00] [ 2.97099161e-02 6.94973967e-05 9.99558561e-01 2.70338284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:268.55, Y:1.24, Z:2.69 [[ 9.95942985e-01 -8.49858668e-02 -2.95799350e-02 2.68553536e+02] [ 8.49408632e-02 9.96382125e-01 -2.77693819e-03 1.24194727e+00] [ 2.97089190e-02 2.53126902e-04 9.99558561e-01 2.68691757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:1.24, Z:2.71 [[ 9.95832635e-01 -8.62697989e-02 -2.95784593e-02 2.68611734e+02] [ 8.62248973e-02 9.96271785e-01 -2.79256820e-03 1.24223791e+00] [ 2.97090988e-02 2.30530932e-04 9.99558561e-01 2.71318284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters Centerline goodness : 0.996374 with order 1 Centerline is valid? [True, True] Translation: X:268.67, Y:1.24, Z:2.71 [[ 9.95988027e-01 -8.44570123e-02 -2.95780879e-02 2.68670924e+02] [ 8.44111948e-02 9.96427082e-01 -2.79649677e-03 1.24467825e+00] [ 2.97085916e-02 2.88555558e-04 9.99558561e-01 2.71086347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters Centerline goodness : 0.995778 with order 1 Centerline is valid? [True, True] Translation: X:268.73, Y:1.25, Z:2.71 [[ 9.96129943e-01 -8.27665198e-02 -2.95776927e-02 2.68730251e+02] [ 8.27198333e-02 9.96568907e-01 -2.80066998e-03 1.24533387e+00] [ 2.97080106e-02 3.43169411e-04 9.99558561e-01 2.71366538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:268.79, Y:1.25, Z:2.72 [[ 9.96582922e-01 -7.71214468e-02 -2.95763749e-02 2.68788808e+02] [ 7.70718631e-02 9.97021568e-01 -2.81451822e-03 1.24822354e+00] [ 2.97053434e-02 5.25394471e-04 9.99558561e-01 2.71755965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters Centerline goodness : 0.995922 with order 1 Centerline is valid? [True, True] Translation: X:268.85, Y:1.26, Z:2.72 [[ 9.97195860e-01 -6.87439641e-02 -2.95750478e-02 2.68847314e+02] [ 6.86902847e-02 9.97634024e-01 -2.82839542e-03 1.25546910e+00] [ 2.96995090e-02 7.88945755e-04 9.99558561e-01 2.71775354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters Centerline goodness : 0.994983 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:1.26, Z:2.72 [[ 9.97548514e-01 -6.34220529e-02 -2.95737221e-02 2.68905971e+02] [ 6.33656277e-02 9.97986332e-01 -2.84218972e-03 1.26344589e+00] [ 2.96944279e-02 9.61264670e-04 9.99558561e-01 2.72146526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters Centerline goodness : 0.956278 with order 2 Centerline is valid? [True, True] Translation: X:268.93, Y:1.23, Z:2.70 [[ 9.88414935e-01 -1.48866998e-01 -2.95725013e-02 2.68932598e+02] [ 1.48848008e-01 9.88855965e-01 -2.85483510e-03 1.22803190e+00] [ 2.96679351e-02 -1.58004627e-03 9.99558561e-01 2.69952934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters Centerline goodness : 0.993488 with order 1 Centerline is valid? [True, True] Translation: X:269.02, Y:1.29, Z:2.73 [[ 9.98545738e-01 -4.53179447e-02 -2.92009100e-02 2.69020256e+02] [ 4.51329095e-02 9.98956709e-01 -6.96521159e-03 1.29374223e+00] [ 2.94860940e-02 5.63716032e-03 9.99549295e-01 2.72648820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:269.08, Y:1.30, Z:2.73 [[ 9.98587600e-01 -4.41364688e-02 -2.95766341e-02 2.69078398e+02] [ 4.40826288e-02 9.99024834e-01 -2.47025736e-03 1.30194125e+00] [ 2.96568204e-02 1.16295259e-03 9.99559463e-01 2.72566822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:269.14, Y:1.30, Z:2.72 [[ 9.96505254e-01 -7.81189207e-02 -2.95755345e-02 2.69137631e+02] [ 7.80796138e-02 9.96944034e-01 -2.48335281e-03 1.29675745e+00] [ 2.96791496e-02 1.65427811e-04 9.99559463e-01 2.72163231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters Centerline goodness : 0.997717 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:1.33, Z:2.71 [[ 9.98481987e-01 -4.64658597e-02 -2.95744124e-02 2.69194027e+02] [ 4.64122593e-02 9.98919250e-01 -2.49664571e-03 1.32540855e+00] [ 2.96584586e-02 1.12024047e-03 9.99559463e-01 2.70997002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters Centerline goodness : 0.995135 with order 1 Centerline is valid? [True, True] Translation: X:269.25, Y:1.34, Z:2.73 [[ 9.98419942e-01 -4.77807167e-02 -2.95740100e-02 2.69251928e+02] [ 4.77275515e-02 9.98857259e-01 -2.50140243e-03 1.33520529e+00] [ 2.96597334e-02 1.08595498e-03 9.99559463e-01 2.72726897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters Centerline goodness : 0.994535 with order 1 Centerline is valid? [True, True] Translation: X:269.31, Y:1.34, Z:2.73 [[ 9.97927142e-01 -5.71564878e-02 -2.95728676e-02 2.69310692e+02] [ 5.71070347e-02 9.98364894e-01 -2.51483727e-03 1.34321297e+00] [ 2.96682521e-02 8.20805596e-04 9.99559464e-01 2.73107387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:269.37, Y:1.35, Z:2.71 [[ 9.97578586e-01 -6.29481758e-02 -2.95717937e-02 2.69370369e+02] [ 6.29008922e-02 9.98016578e-01 -2.52740226e-03 1.34707052e+00] [ 2.96722357e-02 6.61190168e-04 9.99559464e-01 2.71498498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters Centerline goodness : 0.995287 with order 1 Centerline is valid? [True, True] Translation: X:269.43, Y:1.35, Z:2.73 [[ 9.97357943e-01 -6.63529059e-02 -2.95706932e-02 2.69428139e+02] [ 6.63067379e-02 9.97796053e-01 -2.54021271e-03 1.35148189e+00] [ 2.96740715e-02 5.72765113e-04 9.99559464e-01 2.73316693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters Centerline goodness : 0.995181 with order 1 Centerline is valid? [True, True] Translation: X:269.49, Y:1.35, Z:2.74 [[ 9.97224259e-01 -6.83331743e-02 -2.95694855e-02 2.69486837e+02] [ 6.82874619e-02 9.97662417e-01 -2.55419465e-03 1.35345298e+00] [ 2.96749006e-02 5.27879751e-04 9.99559464e-01 2.73523771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters Centerline goodness : 0.993981 with order 1 Centerline is valid? [True, True] Translation: X:269.54, Y:1.36, Z:2.74 [[ 9.97460152e-01 -6.47994023e-02 -2.95682621e-02 2.69544680e+02] [ 6.47517204e-02 9.97898100e-01 -2.56827898e-03 1.35863026e+00] [ 2.96725355e-02 6.47160103e-04 9.99559464e-01 2.73879486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters Centerline goodness : 0.994341 with order 1 Centerline is valid? [True, True] Translation: X:269.60, Y:1.36, Z:2.74 [[ 9.97583536e-01 -6.28720147e-02 -2.95668481e-02 2.69603407e+02] [ 6.28230076e-02 9.98021338e-01 -2.58445558e-03 1.36196836e+00] [ 2.96708352e-02 7.20732013e-04 9.99559464e-01 2.74088509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:269.66, Y:1.37, Z:2.72 [[ 9.97841411e-01 -5.86378031e-02 -2.95656253e-02 2.69661844e+02] [ 5.85865264e-02 9.98278953e-01 -2.59836985e-03 1.37035556e+00] [ 2.96671041e-02 8.60613751e-04 9.99559464e-01 2.72247482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:269.72, Y:1.38, Z:2.73 [[ 9.97988680e-01 -5.60761899e-02 -2.95644151e-02 2.69720119e+02] [ 5.60233849e-02 9.98426040e-01 -2.61206677e-03 1.37757906e+00] [ 2.96643567e-02 9.50514463e-04 9.99559464e-01 2.72557637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:269.78, Y:1.39, Z:2.73 [[ 9.98122167e-01 -5.36484456e-02 -2.95632129e-02 2.69777738e+02] [ 5.35941765e-02 9.98559347e-01 -2.62560341e-03 1.38763786e+00] [ 2.96614821e-02 1.03625691e-03 9.99559464e-01 2.72638038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters Centerline goodness : 0.997569 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:1.40, Z:2.73 [[ 9.98144553e-01 -5.32311030e-02 -2.95618195e-02 2.69836007e+02] [ 5.31761898e-02 9.98581653e-01 -2.64119965e-03 1.39654191e+00] [ 2.96604845e-02 1.06431412e-03 9.99559464e-01 2.72861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters Centerline goodness : 0.993548 with order 1 Centerline is valid? [True, True] Translation: X:269.89, Y:1.40, Z:2.75 [[ 9.98047526e-01 -5.50209659e-02 -2.95606110e-02 2.69893729e+02] [ 5.49664385e-02 9.98484674e-01 -2.65465676e-03 1.40455464e+00] [ 2.96618788e-02 1.02463210e-03 9.99559465e-01 2.74905160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters Centerline goodness : 0.991857 with order 1 Centerline is valid? [True, True] Translation: X:269.95, Y:1.42, Z:2.76 [[ 9.98060317e-01 -5.47891174e-02 -2.95593846e-02 2.69951915e+02] [ 5.47340866e-02 9.98497401e-01 -2.66824267e-03 1.41763046e+00] [ 2.96611594e-02 1.04516121e-03 9.99559465e-01 2.75513092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:270.01, Y:1.43, Z:2.75 [[ 9.98005225e-01 -5.57839649e-02 -2.95587430e-02 2.70010851e+02] [ 5.57291601e-02 9.98442339e-01 -2.67533106e-03 1.43004341e+00] [ 2.96619411e-02 1.02271046e-03 9.99559465e-01 2.74959244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:270.07, Y:1.44, Z:2.75 [[ 9.97599201e-01 -6.26268762e-02 -2.95585710e-02 2.70069220e+02] [ 6.25750140e-02 9.98036673e-01 -2.67723091e-03 1.43939984e+00] [ 2.96682044e-02 8.21175426e-04 9.99559465e-01 2.75326251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters Centerline goodness : 0.993647 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:1.45, Z:2.76 [[ 9.97067058e-01 -7.05949421e-02 -2.95573342e-02 2.70127221e+02] [ 7.05461742e-02 9.97504886e-01 -2.69081589e-03 1.44739485e+00] [ 2.96735433e-02 5.97767032e-04 9.99559465e-01 2.75504691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters Centerline goodness : 0.993796 with order 1 Centerline is valid? [True, True] Translation: X:270.19, Y:1.45, Z:2.76 [[ 9.96246761e-01 -8.13558660e-02 -2.95569745e-02 2.70186500e+02] [ 8.13117109e-02 9.96685078e-01 -2.69476166e-03 1.44877867e+00] [ 2.96782301e-02 2.81319405e-04 9.99559465e-01 2.75735660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters Centerline goodness : 0.992160 with order 1 Centerline is valid? [True, True] Translation: X:270.25, Y:1.45, Z:2.76 [[ 9.95709532e-01 -8.76865729e-02 -2.95566096e-02 2.70246089e+02] [ 8.76450861e-02 9.96148109e-01 -2.69875831e-03 1.44818358e+00] [ 2.96794056e-02 9.66877790e-05 9.99559465e-01 2.75848861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters Centerline goodness : 0.993344 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:1.45, Z:2.76 [[ 9.95511544e-01 -8.99068493e-02 -2.95554279e-02 2.70304770e+02] [ 8.98659583e-02 9.95950178e-01 -2.71163781e-03 1.44832040e+00] [ 2.96795285e-02 4.34398915e-05 9.99559465e-01 2.75771191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters Centerline goodness : 0.992600 with order 1 Centerline is valid? [True, True] Translation: X:270.36, Y:1.45, Z:2.76 [[ 9.95567464e-01 -8.92856578e-02 -2.95549711e-02 2.70363866e+02] [ 8.92443456e-02 9.96006058e-01 -2.71660745e-03 1.44772777e+00] [ 2.96794843e-02 6.69519382e-05 9.99559465e-01 2.76186557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters Centerline goodness : 0.993146 with order 1 Centerline is valid? [True, True] Translation: X:270.42, Y:1.45, Z:2.76 [[ 9.95559051e-01 -8.93795286e-02 -2.95546101e-02 2.70422681e+02] [ 8.93381413e-02 9.95997638e-01 -2.72052909e-03 1.44640636e+00] [ 2.96794815e-02 6.80934253e-05 9.99559465e-01 2.76141721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters Centerline goodness : 0.991510 with order 1 Centerline is valid? [True, True] Translation: X:270.48, Y:1.45, Z:2.77 [[ 9.95622936e-01 -8.86651882e-02 -2.95542445e-02 2.70481550e+02] [ 8.86233685e-02 9.96061482e-01 -2.72449471e-03 1.44955620e+00] [ 2.96794124e-02 9.33727174e-05 9.99559465e-01 2.76596500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters Centerline goodness : 0.992987 with order 1 Centerline is valid? [True, True] Translation: X:270.54, Y:1.45, Z:2.77 [[ 9.95853031e-01 -8.60424825e-02 -2.95538756e-02 2.70539854e+02] [ 8.59993893e-02 9.96291454e-01 -2.72849099e-03 1.45325109e+00] [ 2.96790398e-02 1.75560771e-04 9.99559465e-01 2.76862022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:270.60, Y:1.45, Z:2.75 [[ 9.95789406e-01 -8.67758506e-02 -2.95535061e-02 2.70599393e+02] [ 8.67329616e-02 9.96227849e-01 -2.73248722e-03 1.45470744e+00] [ 2.96791397e-02 1.57718718e-04 9.99559465e-01 2.74999866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters Centerline goodness : 0.998462 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:1.46, Z:2.75 [[ 9.95799857e-01 -8.66562881e-02 -2.95521846e-02 2.70656975e+02] [ 8.66129246e-02 9.96238253e-01 -2.74670556e-03 1.45920717e+00] [ 2.96790361e-02 1.75567873e-04 9.99559465e-01 2.75178750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:270.72, Y:1.46, Z:2.77 [[ 9.96132024e-01 -8.27511128e-02 -2.95507130e-02 2.70715078e+02] [ 8.27055637e-02 9.96570198e-01 -2.76244725e-03 1.46480347e+00] [ 2.96779555e-02 3.07753795e-04 9.99559465e-01 2.77239602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters Centerline goodness : 0.997565 with order 1 Centerline is valid? [True, True] Translation: X:270.77, Y:1.47, Z:2.76 [[ 9.95933774e-01 -8.51043169e-02 -2.95495019e-02 2.70774447e+02] [ 8.50594206e-02 9.96372015e-01 -2.77534190e-03 1.46990660e+00] [ 2.96784904e-02 2.50593216e-04 9.99559465e-01 2.75543000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:270.83, Y:1.47, Z:2.76 [[ 9.95674610e-01 -8.80850616e-02 -2.95481557e-02 2.70831804e+02] [ 8.80410541e-02 9.96112941e-01 -2.78960191e-03 1.47375399e+00] [ 2.96790225e-02 1.76085021e-04 9.99559465e-01 2.75720544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:270.89, Y:1.48, Z:2.78 [[ 9.95694278e-01 -8.78629667e-02 -2.95466536e-02 2.70889384e+02] [ 8.78183920e-02 9.96132551e-01 -2.80542188e-03 1.48131837e+00] [ 2.96788761e-02 1.98602907e-04 9.99559465e-01 2.77904240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters Centerline goodness : 0.993248 with order 1 Centerline is valid? [True, True] Translation: X:270.95, Y:1.49, Z:2.78 [[ 9.95323116e-01 -9.19723488e-02 -2.95462770e-02 2.70949285e+02] [ 9.19294660e-02 9.95761558e-01 -2.80938255e-03 1.48664186e+00] [ 2.96794323e-02 8.00699214e-05 9.99559465e-01 2.78402884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters Centerline goodness : 0.994137 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:1.49, Z:2.79 [[ 9.94827766e-01 -9.71840485e-02 -2.95461807e-02 2.71007796e+02] [ 9.71434326e-02 9.95266424e-01 -2.81039545e-03 1.49211571e+00] [ 2.96794472e-02 -7.43579803e-05 9.99559465e-01 2.78637693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:271.07, Y:1.50, Z:2.76 [[ 9.94489702e-01 -1.00584683e-01 -2.95458122e-02 2.71067562e+02] [ 1.00545452e-01 9.94928486e-01 -2.81426390e-03 1.49500771e+00] [ 2.96790420e-02 -1.71940579e-04 9.99559465e-01 2.76377368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:271.13, Y:1.49, Z:2.76 [[ 9.94360165e-01 -1.01857671e-01 -2.95444875e-02 2.71125653e+02] [ 1.01818591e-01 9.94798963e-01 -2.82810304e-03 1.49453214e+00] [ 2.96788895e-02 -1.96025079e-04 9.99559466e-01 2.76498201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters Centerline goodness : 0.997072 with order 1 Centerline is valid? [True, True] Translation: X:271.18, Y:1.49, Z:2.78 [[ 9.94942807e-01 -9.59998321e-02 -2.95439281e-02 2.71184637e+02] [ 9.59579950e-02 9.95381350e-01 -2.83393387e-03 1.49322522e+00] [ 2.96795323e-02 -1.53739963e-05 9.99559466e-01 2.78361753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:271.24, Y:1.49, Z:2.77 [[ 9.95373557e-01 -9.14260184e-02 -2.95426027e-02 2.71244107e+02] [ 9.13817581e-02 9.95811862e-01 -2.84768443e-03 1.49377003e+00] [ 2.96792267e-02 1.34854812e-04 9.99559466e-01 2.77060324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:271.30, Y:1.50, Z:2.77 [[ 9.95857603e-01 -8.59938875e-02 -2.95412629e-02 2.71302527e+02] [ 8.59468262e-02 9.96295616e-01 -2.86151622e-03 1.49619979e+00] [ 2.96779036e-02 3.10684902e-04 9.99559466e-01 2.77293711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:271.36, Y:1.50, Z:2.79 [[ 9.96100748e-01 -8.31305827e-02 -2.95399183e-02 2.71360213e+02] [ 8.30818528e-02 9.96538578e-01 -2.87532989e-03 1.50255329e+00] [ 2.96766960e-02 4.09887110e-04 9.99559466e-01 2.79393809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:271.42, Y:1.51, Z:2.78 [[ 9.96661333e-01 -7.61160975e-02 -2.95385568e-02 2.71418552e+02] [ 7.60638741e-02 9.97098761e-01 -2.88924943e-03 1.51277768e+00] [ 2.96727768e-02 6.32786126e-04 9.99559466e-01 2.77748962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:1.52, Z:2.80 [[ 9.96827145e-01 -7.39134414e-02 -2.95371887e-02 2.71475599e+02] [ 7.38598393e-02 9.97264406e-01 -2.90316833e-03 1.52336006e+00] [ 2.96709701e-02 7.12344988e-04 9.99559466e-01 2.79531932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:271.53, Y:1.53, Z:2.78 [[ 9.96821772e-01 -7.39864206e-02 -2.95358235e-02 2.71533047e+02] [ 7.39324412e-02 9.97258986e-01 -2.91699174e-03 1.53220411e+00] [ 2.96706832e-02 7.24065339e-04 9.99559466e-01 2.78054124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.59, Y:1.54, Z:2.78 [[ 9.96695830e-01 -7.56647224e-02 -2.95342565e-02 2.71590495e+02] [ 7.56110119e-02 9.97133077e-01 -2.93277212e-03 1.54034292e+00] [ 2.96714915e-02 6.89966717e-04 9.99559466e-01 2.78203138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.65, Y:1.55, Z:2.78 [[ 9.96770753e-01 -7.46718673e-02 -2.95326756e-02 2.71648908e+02] [ 7.46172524e-02 9.97207888e-01 -2.94860679e-03 1.54809867e+00] [ 2.96703950e-02 7.35437901e-04 9.99559466e-01 2.78475810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:271.71, Y:1.56, Z:2.80 [[ 9.96750750e-01 -7.49389379e-02 -2.95312938e-02 2.71706244e+02] [ 7.48840322e-02 9.97187849e-01 -2.96238128e-03 1.55568687e+00] [ 2.96702450e-02 7.41333412e-04 9.99559466e-01 2.80364146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.77, Y:1.56, Z:2.79 [[ 9.96836386e-01 -7.37912684e-02 -2.95307999e-02 2.71765177e+02] [ 7.37357140e-02 9.97273403e-01 -2.96729637e-03 1.56174384e+00] [ 2.96692419e-02 7.80434376e-04 9.99559466e-01 2.78818682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:1.57, Z:2.79 [[ 9.96815362e-01 -7.40752843e-02 -2.95294071e-02 2.71823682e+02] [ 7.40194460e-02 9.97252343e-01 -2.98109320e-03 1.56937304e+00] [ 2.96690957e-02 7.85849146e-04 9.99559467e-01 2.78946447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:1.58, Z:2.81 [[ 9.96601589e-01 -7.68984358e-02 -2.95280084e-02 2.71881010e+02] [ 7.68434271e-02 9.97038674e-01 -2.99488357e-03 1.57884486e+00] [ 2.96708682e-02 7.15672359e-04 9.99559467e-01 2.80626141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.94, Y:1.59, Z:2.79 [[ 9.96269655e-01 -8.10860902e-02 -2.95266033e-02 2.71939321e+02] [ 8.10325104e-02 9.96706918e-01 -3.00867327e-03 1.58648700e+00] [ 2.96733313e-02 6.04835098e-04 9.99559467e-01 2.79414310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:1.57, Z:2.80 [[ 9.89599074e-01 -1.40790399e-01 -2.95251802e-02 2.72000298e+02] [ 1.40762770e-01 9.90038740e-01 -3.02257441e-03 1.56835342e+00] [ 2.96566216e-02 -1.16490931e-03 9.99559467e-01 2.79862001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:1.60, Z:2.82 [[ 9.95334746e-01 -9.18533111e-02 -2.95247721e-02 2.72056995e+02] [ 9.18039318e-02 9.95772503e-01 -3.02655571e-03 1.60141711e+00] [ 2.96779553e-02 3.01945903e-04 9.99559467e-01 2.81699601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:1.60, Z:2.80 [[ 9.94779101e-01 -9.76874263e-02 -2.95246681e-02 2.72117420e+02] [ 9.76405843e-02 9.95217137e-01 -3.02756971e-03 1.60487589e+00] [ 2.96792111e-02 1.28957236e-04 9.99559467e-01 2.80021711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:1.61, Z:2.82 [[ 9.94186199e-01 -1.03547614e-01 -2.95244615e-02 2.72176662e+02] [ 1.03503294e-01 9.94624497e-01 -3.02958251e-03 1.60756093e+00] [ 2.96794587e-02 -4.39099099e-05 9.99559467e-01 2.82218245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:1.61, Z:2.80 [[ 9.93995512e-01 -1.05362395e-01 -2.95243600e-02 2.72237009e+02] [ 1.05318846e-01 9.94433887e-01 -3.03057214e-03 1.61017539e+00] [ 2.96793324e-02 -9.70964223e-05 9.99559467e-01 2.80492539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:272.30, Y:1.61, Z:2.83 [[ 9.93884602e-01 -1.06403555e-01 -2.95242579e-02 2.72296378e+02] [ 1.06360436e-01 9.94323020e-01 -3.03156577e-03 1.60934086e+00] [ 2.96792187e-02 -1.27186405e-04 9.99559467e-01 2.82874044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:1.61, Z:2.83 [[ 9.93909108e-01 -1.06174452e-01 -2.95240569e-02 2.72356375e+02] [ 1.06131173e-01 9.94347511e-01 -3.03352250e-03 1.60902000e+00] [ 2.96792550e-02 -1.18377155e-04 9.99559467e-01 2.82702356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:1.61, Z:2.83 [[ 9.94275888e-01 -1.02683009e-01 -2.95238536e-02 2.72415469e+02] [ 1.02638133e-01 9.94714130e-01 -3.03549961e-03 1.60758764e+00] [ 2.96794886e-02 -1.21491337e-05 9.99559467e-01 2.82930037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:1.61, Z:2.81 [[ 9.94515596e-01 -1.00334912e-01 -2.95234472e-02 2.72476236e+02] [ 1.00288884e-01 9.94953718e-01 -3.03944712e-03 1.60769159e+00] [ 2.96794262e-02 6.19040024e-05 9.99559467e-01 2.81173088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:1.61, Z:2.81 [[ 9.94943201e-01 -9.60021020e-02 -2.95232491e-02 2.72535130e+02] [ 9.59541086e-02 9.95381112e-01 -3.04137010e-03 1.60937591e+00] [ 2.96788625e-02 1.93113450e-04 9.99559467e-01 2.81312564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.59, Y:1.61, Z:2.81 [[ 9.95422877e-01 -9.08942168e-02 -2.95218198e-02 2.72592567e+02] [ 9.08435668e-02 9.95860488e-01 -3.05518112e-03 1.61407191e+00] [ 2.96773122e-02 3.59329769e-04 9.99559467e-01 2.81475607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:272.65, Y:1.62, Z:2.84 [[ 9.95804967e-01 -8.66084721e-02 -2.95201824e-02 2.72650469e+02] [ 8.65554724e-02 9.96242300e-01 -3.07092118e-03 1.61821039e+00] [ 2.96752222e-02 5.02905225e-04 9.99559467e-01 2.83624035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:272.71, Y:1.61, Z:2.84 [[ 9.94311210e-01 -1.02341587e-01 -2.95197695e-02 2.72710262e+02] [ 1.02295391e-01 9.94749314e-01 -3.07488530e-03 1.60931492e+00] [ 2.96794591e-02 3.76565735e-05 9.99559467e-01 2.84309044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:272.77, Y:1.61, Z:2.85 [[ 9.93668343e-01 -1.08406157e-01 -2.95182937e-02 2.72768558e+02] [ 1.08362216e-01 9.94106679e-01 -3.08898854e-03 1.61358141e+00] [ 2.96791982e-02 -1.29237586e-04 9.99559467e-01 2.84714234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:1.62, Z:2.85 [[ 9.93089552e-01 -1.13586523e-01 -2.95168239e-02 2.72827170e+02] [ 1.13544452e-01 9.93528072e-01 -3.10296971e-03 1.61665689e+00] [ 2.96782486e-02 -2.69944796e-04 9.99559467e-01 2.84742555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:1.62, Z:2.85 [[ 9.92458876e-01 -1.18971523e-01 -2.95153614e-02 2.72885531e+02] [ 1.18931420e-01 9.92897579e-01 -3.11681890e-03 1.61854284e+00] [ 2.96765436e-02 -4.16989250e-04 9.99559467e-01 2.85085294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:272.95, Y:1.62, Z:2.83 [[ 9.92315912e-01 -1.20158247e-01 -2.95148466e-02 2.72945250e+02] [ 1.20118523e-01 9.92754650e-01 -3.12168658e-03 1.62048650e+00] [ 2.96760976e-02 -4.47580524e-04 9.99559467e-01 2.82674713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:273.00, Y:1.62, Z:2.85 [[ 9.91824478e-01 -1.24149514e-01 -2.95144454e-02 2.73003479e+02] [ 1.24111444e-01 9.92263363e-01 -3.12547516e-03 1.61973704e+00] [ 2.96741290e-02 -5.63157656e-04 9.99559467e-01 2.85103147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.06, Y:1.62, Z:2.83 [[ 9.91981784e-01 -1.22886621e-01 -2.95130164e-02 2.73062842e+02] [ 1.22847592e-01 9.92420584e-01 -3.13891060e-03 1.62045736e+00] [ 2.96750551e-02 -5.11860865e-04 9.99559468e-01 2.82998986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:1.62, Z:2.83 [[ 9.91354096e-01 -1.27851721e-01 -2.95126131e-02 2.73120990e+02] [ 1.27814776e-01 9.91793076e-01 -3.14269825e-03 1.61869187e+00] [ 2.96722047e-02 -6.56621263e-04 9.99559468e-01 2.83007637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters Centerline goodness : 0.970872 with order 2 Centerline is valid? [True, True] Translation: X:273.20, Y:1.67, Z:2.83 [[ 9.98613415e-01 -4.35929988e-02 -2.95109872e-02 2.73204416e+02] [ 4.35186317e-02 9.99047625e-01 -3.15789208e-03 1.66572562e+00] [ 2.96205437e-02 1.86923561e-03 9.99559468e-01 2.83484666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:273.24, Y:1.62, Z:2.83 [[ 9.89970133e-01 -1.38068655e-01 -2.99363057e-02 2.73238538e+02] [ 1.38154004e-01 9.90410442e-01 7.91683196e-04 1.61625030e+00] [ 2.95399232e-02 -4.91956321e-03 9.99551495e-01 2.83486815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:273.30, Y:1.62, Z:2.84 [[ 9.90168483e-01 -1.36740481e-01 -2.94689077e-02 2.73295834e+02] [ 1.36701660e-01 9.90606641e-01 -3.33752084e-03 1.62453411e+00] [ 2.96484699e-02 -7.23740662e-04 9.99560125e-01 2.83558397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:273.35, Y:1.63, Z:2.84 [[ 9.90516115e-01 -1.34199519e-01 -2.94671977e-02 2.73354467e+02] [ 1.34159127e-01 9.90954131e-01 -3.35255114e-03 1.62894858e+00] [ 2.96505520e-02 -6.32537590e-04 9.99560126e-01 2.83899195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:273.41, Y:1.64, Z:2.84 [[ 9.91147298e-01 -1.29455811e-01 -2.94656842e-02 2.73412680e+02] [ 1.29412929e-01 9.91585077e-01 -3.36580052e-03 1.63618750e+00] [ 2.96534552e-02 -4.77236415e-04 9.99560126e-01 2.84229283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:273.47, Y:1.65, Z:2.84 [[ 9.92367490e-01 -1.19744015e-01 -2.94641541e-02 2.73469460e+02] [ 1.19696452e-01 9.92804785e-01 -3.37914197e-03 1.64891437e+00] [ 2.96567852e-02 -1.73404071e-04 9.99560126e-01 2.84421024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:273.53, Y:1.66, Z:2.85 [[ 9.93500716e-01 -1.09946794e-01 -2.94623570e-02 2.73527093e+02] [ 1.09894456e-01 9.93937465e-01 -3.39473936e-03 1.66145751e+00] [ 2.96569811e-02 1.34926282e-04 9.99560126e-01 2.84770383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:1.68, Z:2.87 [[ 9.93902559e-01 -1.06253311e-01 -2.94607698e-02 2.73584284e+02] [ 1.06198944e-01 9.94339060e-01 -3.40845759e-03 1.67607788e+00] [ 2.96561541e-02 2.58972082e-04 9.99560126e-01 2.87173523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:273.64, Y:1.68, Z:2.87 [[ 9.93961920e-01 -1.05697026e-01 -2.94591346e-02 2.73642731e+02] [ 1.05641997e-01 9.94398338e-01 -3.42253255e-03 1.68494828e+00] [ 2.96558660e-02 2.89745210e-04 9.99560126e-01 2.87023699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:1.70, Z:2.85 [[ 9.94254442e-01 -1.02909484e-01 -2.94574790e-02 2.73701337e+02] [ 1.02852811e-01 9.94690650e-01 -3.43672378e-03 1.69664480e+00] [ 2.96547504e-02 3.87193379e-04 9.99560126e-01 2.85387881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:273.76, Y:1.71, Z:2.86 [[ 9.94139859e-01 -1.04011028e-01 -2.94558360e-02 2.73758453e+02] [ 1.03954423e-01 9.94576076e-01 -3.45074854e-03 1.71250626e+00] [ 2.96549857e-02 3.68462226e-04 9.99560126e-01 2.85557321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters Centerline goodness : 0.997021 with order 1 Centerline is valid? [True, True] Translation: X:273.82, Y:1.73, Z:2.87 [[ 9.93786409e-01 -1.07336039e-01 -2.94541820e-02 2.73815033e+02] [ 1.07280477e-01 9.94222759e-01 -3.46480902e-03 1.72529478e+00] [ 2.96559170e-02 2.83421413e-04 9.99560126e-01 2.87315510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters Centerline goodness : 0.994935 with order 1 Centerline is valid? [True, True] Translation: X:273.87, Y:1.74, Z:2.88 [[ 9.93123346e-01 -1.13307475e-01 -2.94522716e-02 2.73873333e+02] [ 1.13254057e-01 9.93559964e-01 -3.48097284e-03 1.73516386e+00] [ 2.96570181e-02 1.21446147e-04 9.99560127e-01 2.87746696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:273.93, Y:1.74, Z:2.86 [[ 9.92757251e-01 -1.16471898e-01 -2.94505944e-02 2.73932106e+02] [ 1.16419453e-01 9.93193987e-01 -3.49510520e-03 1.74368593e+00] [ 2.96572348e-02 4.11689451e-05 9.99560127e-01 2.85870627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:273.99, Y:1.75, Z:2.86 [[ 9.92190937e-01 -1.21201927e-01 -2.94488903e-02 2.73989959e+02] [ 1.21151140e-01 9.92627869e-01 -3.50940503e-03 1.75204757e+00] [ 2.96571359e-02 -8.57667574e-05 9.99560127e-01 2.86003337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:274.05, Y:1.76, Z:2.86 [[ 9.92054327e-01 -1.22315181e-01 -2.94484164e-02 2.74048104e+02] [ 1.22264765e-01 9.92491301e-01 -3.51337680e-03 1.75802686e+00] [ 2.96570365e-02 -1.15043078e-04 9.99560127e-01 2.86109478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters Centerline goodness : 0.997269 with order 1 Centerline is valid? [True, True] Translation: X:274.11, Y:1.76, Z:2.86 [[ 9.92207685e-01 -1.21064971e-01 -2.94479501e-02 2.74106499e+02] [ 1.21013889e-01 9.92644583e-01 -3.51728123e-03 1.76495149e+00] [ 2.96571677e-02 -7.37375037e-05 9.99560127e-01 2.86212094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters Centerline goodness : 0.990167 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:1.77, Z:2.89 [[ 9.92702372e-01 -1.16939796e-01 -2.94462939e-02 2.74164425e+02] [ 1.16886489e-01 9.93139003e-01 -3.53109215e-03 1.77076162e+00] [ 2.96571882e-02 6.34496346e-05 9.99560127e-01 2.88726491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters Centerline goodness : 0.990880 with order 1 Centerline is valid? [True, True] Translation: X:274.22, Y:1.78, Z:2.89 [[ 9.93181486e-01 -1.12798684e-01 -2.94447429e-02 2.74222458e+02] [ 1.12743175e-01 9.93617842e-01 -3.54397921e-03 1.77661238e+00] [ 2.96565781e-02 2.00120740e-04 9.99560127e-01 2.88738434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters Centerline goodness : 0.991009 with order 1 Centerline is valid? [True, True] Translation: X:274.28, Y:1.78, Z:2.89 [[ 9.93262677e-01 -1.12081659e-01 -2.94441287e-02 2.74280697e+02] [ 1.12025683e-01 9.93698974e-01 -3.54907414e-03 1.78241694e+00] [ 2.96563866e-02 2.26664235e-04 9.99560127e-01 2.89024655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters Centerline goodness : 0.989719 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:1.79, Z:2.89 [[ 9.93531138e-01 -1.09676909e-01 -2.94423853e-02 2.74339138e+02] [ 1.09619451e-01 9.93967242e-01 -3.56347896e-03 1.78947986e+00] [ 2.96555979e-02 3.12969200e-04 9.99560127e-01 2.89181184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters Centerline goodness : 0.991315 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:1.80, Z:2.89 [[ 9.94387643e-01 -1.01619202e-01 -2.94406655e-02 2.74396088e+02] [ 1.01557792e-01 9.94823208e-01 -3.57763106e-03 1.80214547e+00] [ 2.96518134e-02 5.67623138e-04 9.99560127e-01 2.89065944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters Centerline goodness : 0.821797 with order 3 Centerline is valid? [True, False] Translation: X:274.36, Y:1.83, Z:2.89 [[ 9.95172316e-01 -9.56809624e-02 -2.18452357e-02 2.74363279e+02] [ 9.50096362e-02 9.95025963e-01 -2.99416329e-02 1.82633458e+00] [ 2.46014210e-02 2.77215763e-02 9.99312906e-01 2.89342328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters Centerline goodness : 0.990619 with order 1 Centerline is valid? [False, True] Translation: X:274.32, Y:1.85, Z:2.90 [[ 9.95947377e-01 -8.88076466e-02 -1.42135183e-02 2.74323466e+02] [ 8.78389766e-02 9.94423888e-01 -5.83561953e-02 1.85446779e+00] [ 1.93167385e-02 5.68711988e-02 9.98194636e-01 2.89933970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters Centerline goodness : 0.995389 with order 1 Centerline is valid? [True, True] Translation: X:274.39, Y:1.82, Z:2.88 [[ 9.95834242e-01 -8.89002851e-02 -2.02706981e-02 2.74387315e+02] [ 8.88744500e-02 9.96040465e-01 -2.17361227e-03 1.81675337e+00] [ 2.03836703e-02 3.63010383e-04 9.99792166e-01 2.87847242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters Centerline goodness : 0.993692 with order 1 Centerline is valid? [True, True] Translation: X:274.44, Y:1.83, Z:2.89 [[ 9.96064828e-01 -8.62786125e-02 -2.02696665e-02 2.74444827e+02] [ 8.62520399e-02 9.96270957e-01 -2.18319048e-03 1.83019538e+00] [ 2.03824427e-02 4.26299164e-04 9.99792166e-01 2.88805538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters Centerline goodness : 0.988837 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:1.84, Z:2.90 [[ 9.95085765e-01 -9.69199333e-02 -2.02693718e-02 2.74502860e+02] [ 9.68955098e-02 9.95292159e-01 -2.18592309e-03 1.84083246e+00] [ 2.03858063e-02 2.11169835e-04 9.99792166e-01 2.89946165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters Centerline goodness : 0.915906 with order 1 Centerline is valid? [True, False] Translation: X:274.46, Y:1.87, Z:2.91 [[ 9.95093926e-01 -9.80152698e-02 -1.34568213e-02 2.74463475e+02] [ 9.74171873e-02 9.94456224e-01 -3.95816917e-02 1.87205051e+00] [ 1.72618299e-02 3.80765753e-02 9.99125720e-01 2.90625533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters Centerline goodness : 0.990710 with order 1 Centerline is valid? [False, True] Translation: X:274.46, Y:1.89, Z:2.91 [[ 9.95027782e-01 -9.85765641e-02 -1.42257898e-02 2.74457249e+02] [ 9.74818702e-02 9.93188654e-01 -6.38246305e-02 1.89239986e+00] [ 2.04205058e-02 6.21205240e-02 9.97859731e-01 2.91269706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters Centerline goodness : 0.991562 with order 1 Centerline is valid? [True, True] Translation: X:274.52, Y:1.84, Z:2.91 [[ 9.94644609e-01 -1.01281438e-01 -2.05954327e-02 2.74521389e+02] [ 1.01259408e-01 9.94857814e-01 -2.11238222e-03 1.84221998e+00] [ 2.07034722e-02 1.55882588e-05 9.99785660e-01 2.90789587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters Centerline goodness : 0.995980 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:1.85, Z:2.89 [[ 9.94783011e-01 -9.99131149e-02 -2.05944073e-02 2.74580391e+02] [ 9.98905860e-02 9.94996164e-01 -2.12233187e-03 1.84742086e+00] [ 2.07034051e-02 5.40722715e-05 9.99785660e-01 2.89111756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [True, True] Translation: X:274.64, Y:1.85, Z:2.91 [[ 9.94974487e-01 -9.79880234e-02 -2.05941201e-02 2.74638594e+02] [ 9.79650244e-02 9.95187589e-01 -2.12511545e-03 1.85378136e+00] [ 2.07032486e-02 9.69321722e-05 9.99785660e-01 2.91121184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:274.70, Y:1.86, Z:2.89 [[ 9.95837612e-01 -8.87882017e-02 -2.05938383e-02 2.74697048e+02] [ 8.87631778e-02 9.96050486e-01 -2.12784318e-03 1.86241601e+00] [ 2.07014300e-02 2.91011747e-04 9.99785660e-01 2.89498152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters Centerline goodness : 0.996477 with order 1 Centerline is valid? [True, True] Translation: X:274.76, Y:1.87, Z:2.90 [[ 9.96442238e-01 -8.17237503e-02 -2.05935547e-02 2.74755409e+02] [ 8.16971607e-02 9.96654922e-01 -2.13058423e-03 1.87366332e+00] [ 2.06987870e-02 4.40569178e-04 9.99785660e-01 2.89546732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters Centerline goodness : 0.993690 with order 1 Centerline is valid? [True, True] Translation: X:274.81, Y:1.88, Z:2.91 [[ 9.96442904e-01 -8.17157013e-02 -2.05932735e-02 2.74813350e+02] [ 8.16890539e-02 9.96655581e-01 -2.13329817e-03 1.88282177e+00] [ 2.06987249e-02 4.43464792e-04 9.99785660e-01 2.91192410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters Centerline goodness : 0.995721 with order 1 Centerline is valid? [True, True] Translation: X:274.87, Y:1.89, Z:2.92 [[ 9.96266151e-01 -8.38432197e-02 -2.05929884e-02 2.74871468e+02] [ 8.38169698e-02 9.96478877e-01 -2.13604665e-03 1.89235090e+00] [ 2.06995710e-02 4.02029085e-04 9.99785660e-01 2.91511069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters Centerline goodness : 0.997318 with order 1 Centerline is valid? [True, True] Translation: X:274.93, Y:1.90, Z:2.92 [[ 9.95962680e-01 -8.73743737e-02 -2.05927035e-02 2.74929698e+02] [ 8.73488213e-02 9.96175491e-01 -2.13878974e-03 1.89937779e+00] [ 2.07008220e-02 3.31406378e-04 9.99785660e-01 2.91886431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:274.99, Y:1.91, Z:2.91 [[ 9.95706079e-01 -9.02516263e-02 -2.05924100e-02 2.74988790e+02] [ 9.02266305e-02 9.95918957e-01 -2.14161230e-03 1.90581444e+00] [ 2.07016555e-02 2.74432620e-04 9.99785660e-01 2.91312753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:1.91, Z:2.90 [[ 9.95322477e-01 -9.43881764e-02 -2.05921915e-02 2.75047877e+02] [ 9.43640220e-02 9.95535452e-01 -2.14371079e-03 1.90660040e+00] [ 2.07025976e-02 1.90521520e-04 9.99785660e-01 2.89872432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:275.11, Y:1.91, Z:2.90 [[ 9.94875366e-01 -9.89897941e-02 -2.05919033e-02 2.75106657e+02] [ 9.89665675e-02 9.95088444e-01 -2.14647539e-03 1.90668504e+00] [ 2.07032442e-02 9.75654997e-05 9.99785660e-01 2.89928919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:275.17, Y:1.91, Z:2.92 [[ 9.94639385e-01 -1.01333509e-01 -2.05916180e-02 2.75165204e+02] [ 1.01310728e-01 9.94852510e-01 -2.14920924e-03 1.91039959e+00] [ 2.07034098e-02 5.15363489e-05 9.99785660e-01 2.91506358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:1.91, Z:2.92 [[ 9.94717257e-01 -1.00566281e-01 -2.05913160e-02 2.75223745e+02] [ 1.00543276e-01 9.94930358e-01 -2.15209855e-03 1.91293358e+00] [ 2.07033540e-02 7.04112010e-05 9.99785660e-01 2.91724464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:275.28, Y:1.91, Z:2.90 [[ 9.95280200e-01 -9.48331875e-02 -2.05910270e-02 2.75284353e+02] [ 9.48088977e-02 9.95493159e-01 -2.15486032e-03 1.91385495e+00] [ 2.07025788e-02 1.92477237e-04 9.99785660e-01 2.90342716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:275.34, Y:1.92, Z:2.92 [[ 9.95342698e-01 -9.41749796e-02 -2.05909550e-02 2.75342313e+02] [ 9.41505347e-02 9.95555639e-01 -2.15554805e-03 1.91718480e+00] [ 2.07024401e-02 2.06859591e-04 9.99785660e-01 2.92449645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters Centerline goodness : 0.996624 with order 1 Centerline is valid? [True, True] Translation: X:275.40, Y:1.92, Z:2.93 [[ 9.95658711e-01 -9.07731540e-02 -2.05904238e-02 2.75402369e+02] [ 9.07478769e-02 9.95871555e-01 -2.16061025e-03 1.92093399e+00] [ 2.07015428e-02 2.82693167e-04 9.99785660e-01 2.93103246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:275.46, Y:1.92, Z:2.92 [[ 9.96089240e-01 -8.59201032e-02 -2.05903518e-02 2.75463171e+02] [ 8.58937750e-02 9.96301956e-01 -2.16129688e-03 1.92421162e+00] [ 2.06999066e-02 3.84261526e-04 9.99785660e-01 2.92463002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:275.52, Y:1.93, Z:2.91 [[ 9.96851958e-01 -7.65650830e-02 -2.05903518e-02 2.75520652e+02] [ 7.65367590e-02 9.97064418e-01 -2.16129688e-03 1.93215097e+00] [ 2.06953870e-02 5.78574238e-04 9.99785660e-01 2.90814265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:1.94, Z:2.91 [[ 9.97422144e-01 -6.87395273e-02 -2.05899193e-02 2.75578240e+02] [ 6.87094521e-02 9.97634363e-01 -2.16540884e-03 1.94237174e+00] [ 2.06900602e-02 7.45104654e-04 9.99785660e-01 2.90820519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:275.63, Y:1.96, Z:2.93 [[ 9.97748462e-01 -6.38284646e-02 -2.05896341e-02 2.75634982e+02] [ 6.37972891e-02 9.97960523e-01 -2.16811758e-03 1.95810344e+00] [ 2.06860296e-02 8.49673147e-04 9.99785660e-01 2.92570740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters Centerline goodness : 0.998411 with order 1 Centerline is valid? [True, True] Translation: X:275.69, Y:1.97, Z:2.93 [[ 9.97767249e-01 -6.35342122e-02 -2.05893518e-02 2.75692599e+02] [ 6.35029191e-02 9.97979292e-01 -2.17079473e-03 1.96871564e+00] [ 2.06856665e-02 8.58463948e-04 9.99785660e-01 2.92838322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:275.75, Y:1.98, Z:2.93 [[ 9.97344354e-01 -6.98593583e-02 -2.05890745e-02 2.75750096e+02] [ 6.98293561e-02 9.97556583e-01 -2.17342168e-03 1.98274935e+00] [ 2.06906007e-02 7.29928028e-04 9.99785660e-01 2.93087057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:275.81, Y:1.99, Z:2.91 [[ 9.97067127e-01 -7.37105563e-02 -2.05887952e-02 2.75808461e+02] [ 7.36813194e-02 9.97279463e-01 -2.17606393e-03 1.99273351e+00] [ 2.06931816e-02 6.52672216e-04 9.99785660e-01 2.91428170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:275.87, Y:2.00, Z:2.93 [[ 9.96400313e-01 -8.22345977e-02 -2.05885088e-02 2.75866212e+02] [ 8.22071218e-02 9.96612885e-01 -2.17877043e-03 2.00113304e+00] [ 2.06979435e-02 4.78405485e-04 9.99785660e-01 2.93297515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:275.92, Y:2.01, Z:2.91 [[ 9.95972484e-01 -8.72636031e-02 -2.05882192e-02 2.75924802e+02] [ 8.72371442e-02 9.96185184e-01 -2.18150382e-03 2.01025146e+00] [ 2.07000448e-02 3.76660334e-04 9.99785660e-01 2.91399279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:275.98, Y:2.02, Z:2.93 [[ 9.95587581e-01 -9.15505647e-02 -2.05879269e-02 2.75983238e+02] [ 9.15249649e-02 9.95800387e-01 -2.18425865e-03 2.01538211e+00] [ 2.07014357e-02 2.90311496e-04 9.99785660e-01 2.93278359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:276.04, Y:2.02, Z:2.92 [[ 9.95418727e-01 -9.33686637e-02 -2.05876358e-02 2.76041831e+02] [ 9.33433959e-02 9.95631572e-01 -2.18699891e-03 2.02224194e+00] [ 2.07018974e-02 2.55259832e-04 9.99785660e-01 2.91565141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:276.10, Y:2.03, Z:2.92 [[ 9.95404481e-01 -9.35204825e-02 -2.05873373e-02 2.76099648e+02] [ 9.34951891e-02 9.95617323e-01 -2.18980554e-03 2.02732620e+00] [ 2.07019013e-02 2.54925251e-04 9.99785660e-01 2.91578522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:2.04, Z:2.94 [[ 9.95435572e-01 -9.31890681e-02 -2.05869022e-02 2.76157243e+02] [ 9.31636194e-02 9.95648395e-01 -2.19388819e-03 2.03528780e+00] [ 2.07017626e-02 2.65924016e-04 9.99785660e-01 2.93548051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:276.22, Y:2.05, Z:2.94 [[ 9.95896330e-01 -8.81288343e-02 -2.05866121e-02 2.76215746e+02] [ 8.81022482e-02 9.96109015e-01 -2.19660758e-03 2.04519026e+00] [ 2.07000943e-02 3.73866620e-04 9.99785660e-01 2.93536028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:276.27, Y:2.05, Z:2.92 [[ 9.96162782e-01 -8.50641780e-02 -2.05863220e-02 2.76274531e+02] [ 8.50368815e-02 9.96375377e-01 -2.19932271e-03 2.05261270e+00] [ 2.06987879e-02 4.40286801e-04 9.99785660e-01 2.91992504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:276.33, Y:2.06, Z:2.92 [[ 9.96132579e-01 -8.54172153e-02 -2.05860251e-02 2.76332572e+02] [ 8.53899367e-02 9.96345176e-01 -2.20209802e-03 2.06360920e+00] [ 2.06988839e-02 4.35742202e-04 9.99785660e-01 2.92080092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:2.08, Z:2.94 [[ 9.96047809e-01 -8.64001689e-02 -2.05857331e-02 2.76389382e+02] [ 8.63730439e-02 9.96260426e-01 -2.20482418e-03 2.07778327e+00] [ 2.06992484e-02 4.18057859e-04 9.99785660e-01 2.94400045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:276.45, Y:2.09, Z:2.93 [[ 9.96063646e-01 -8.62174723e-02 -2.05854415e-02 2.76447398e+02] [ 8.61902521e-02 9.96276250e-01 -2.20754392e-03 2.09117015e+00] [ 2.06991153e-02 4.24589858e-04 9.99785660e-01 2.92536709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:276.51, Y:2.10, Z:2.93 [[ 9.95902457e-01 -8.80599085e-02 -2.05851442e-02 2.76505802e+02] [ 8.80330244e-02 9.96115104e-01 -2.21031253e-03 2.10244941e+00] [ 2.06998130e-02 3.89083174e-04 9.99785660e-01 2.92742160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters Centerline goodness : 0.994090 with order 1 Centerline is valid? [True, True] Translation: X:276.56, Y:2.12, Z:2.95 [[ 9.95461091e-01 -9.29165107e-02 -2.05849249e-02 2.76564733e+02] [ 9.28906220e-02 9.95673861e-01 -2.21235338e-03 2.11628544e+00] [ 2.07014358e-02 2.90165234e-04 9.99785660e-01 2.95476872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters Centerline goodness : 0.996816 with order 1 Centerline is valid? [True, True] Translation: X:276.62, Y:2.13, Z:2.95 [[ 9.95198071e-01 -9.56925460e-02 -2.05848694e-02 2.76624089e+02] [ 9.56672401e-02 9.95410911e-01 -2.21286969e-03 2.12931999e+00] [ 2.07021587e-02 2.32946003e-04 9.99785660e-01 2.94831428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters Centerline goodness : 0.997815 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:2.14, Z:2.95 [[ 9.94605363e-01 -1.01668269e-01 -2.05848436e-02 2.76682160e+02] [ 1.01644237e-01 9.94818351e-01 -2.21310939e-03 2.13875932e+00] [ 2.07031832e-02 1.08839756e-04 9.99785660e-01 2.94854231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:2.15, Z:2.93 [[ 9.94155195e-01 -1.05979830e-01 -2.05845406e-02 2.76740676e+02] [ 1.05956664e-01 9.94368279e-01 -2.21592351e-03 2.14639854e+00] [ 2.07034575e-02 2.19026191e-05 9.99785660e-01 2.93098086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:276.80, Y:2.15, Z:2.93 [[ 9.93383282e-01 -1.12986473e-01 -2.05842402e-02 2.76800188e+02] [ 1.12964752e-01 9.93596519e-01 -2.21871072e-03 2.15424550e+00] [ 2.07031137e-02 -1.21263451e-04 9.99785660e-01 2.93239015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:276.86, Y:2.16, Z:2.93 [[ 9.92927698e-01 -1.16922548e-01 -2.05840951e-02 2.76860528e+02] [ 1.16901644e-01 9.93141016e-01 -2.22005657e-03 2.15971629e+00] [ 2.07024838e-02 -2.01958902e-04 9.99785660e-01 2.93254263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:276.92, Y:2.17, Z:2.93 [[ 9.92634611e-01 -1.19385194e-01 -2.05840951e-02 2.76921912e+02] [ 1.19364819e-01 9.92847980e-01 -2.22005657e-03 2.16642106e+00] [ 2.07019191e-02 -2.53311792e-04 9.99785660e-01 2.93434428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:276.98, Y:2.17, Z:2.94 [[ 9.92571727e-01 -1.19906867e-01 -2.05842343e-02 2.76983016e+02] [ 1.19886631e-01 9.92785109e-01 -2.21876514e-03 2.17194047e+00] [ 2.07017664e-02 -2.65490954e-04 9.99785660e-01 2.93591687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:277.04, Y:2.18, Z:2.94 [[ 9.92837200e-01 -1.17688481e-01 -2.05843743e-02 2.77043644e+02] [ 1.17667795e-01 9.93050539e-01 -2.21746533e-03 2.17527439e+00] [ 2.07022941e-02 -2.20535874e-04 9.99785660e-01 2.93619665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:277.10, Y:2.18, Z:2.94 [[ 9.93036458e-01 -1.15995155e-01 -2.05843743e-02 2.77104121e+02] [ 1.15974106e-01 9.93249762e-01 -2.21746533e-03 2.17850790e+00] [ 2.07026401e-02 -1.85230485e-04 9.99785660e-01 2.93725116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters Centerline goodness : 0.996123 with order 1 Centerline is valid? [True, True] Translation: X:277.16, Y:2.18, Z:2.96 [[ 9.92877686e-01 -1.17346427e-01 -2.05843743e-02 2.77164212e+02] [ 1.17325668e-01 9.93091018e-01 -2.21746533e-03 2.18454868e+00] [ 2.07023689e-02 -2.13403622e-04 9.99785660e-01 2.95809578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:2.19, Z:2.94 [[ 9.93145414e-01 -1.15058555e-01 -2.05843743e-02 2.77224468e+02] [ 1.15037305e-01 9.93358697e-01 -2.21746533e-03 2.18883220e+00] [ 2.07028056e-02 -1.65705415e-04 9.99785660e-01 2.93977977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters Centerline goodness : 0.996624 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:2.19, Z:2.96 [[ 9.93067199e-01 -1.15731693e-01 -2.05843033e-02 2.77284566e+02] [ 1.15710573e-01 9.93280496e-01 -2.21812377e-03 2.19348241e+00] [ 2.07026942e-02 -1.79075584e-04 9.99785660e-01 2.95840316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:2.20, Z:2.94 [[ 9.92880068e-01 -1.17326283e-01 -2.05843033e-02 2.77344444e+02] [ 1.17305506e-01 9.93093399e-01 -2.21812377e-03 2.19624045e+00] [ 2.07023800e-02 -2.12321246e-04 9.99785660e-01 2.94261171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters Centerline goodness : 0.996518 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:2.20, Z:2.96 [[ 9.92395134e-01 -1.21359754e-01 -2.05841620e-02 2.77403891e+02] [ 1.21339816e-01 9.92608545e-01 -2.21943462e-03 2.19710158e+00] [ 2.07013651e-02 -2.95122322e-04 9.99785660e-01 2.96234324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters Centerline goodness : 0.997763 with order 1 Centerline is valid? [True, True] Translation: X:277.46, Y:2.20, Z:2.96 [[ 9.92702833e-01 -1.18816597e-01 -2.05840200e-02 2.77464451e+02] [ 1.18796086e-01 9.92916189e-01 -2.22075111e-03 2.19735730e+00] [ 2.07020688e-02 -2.40755087e-04 9.99785660e-01 2.95588918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:2.19, Z:2.95 [[ 9.91241845e-01 -1.30445038e-01 -2.05838785e-02 2.77524974e+02] [ 1.30427002e-01 9.91455425e-01 -2.22206195e-03 2.19336714e+00] [ 2.06978549e-02 -4.82092770e-04 9.99785660e-01 2.94515982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:277.58, Y:2.19, Z:2.97 [[ 9.90615391e-01 -1.35120154e-01 -2.05837402e-02 2.77584689e+02] [ 1.35103099e-01 9.90829052e-01 -2.22334187e-03 2.19265724e+00] [ 2.06953861e-02 -5.78450411e-04 9.99785660e-01 2.96824570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:2.19, Z:2.95 [[ 9.90289755e-01 -1.37486421e-01 -2.05835999e-02 2.77644463e+02] [ 1.37469850e-01 9.90503454e-01 -2.22464029e-03 2.19090172e+00] [ 2.06939846e-02 -6.26585891e-04 9.99785660e-01 2.94783987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:277.70, Y:2.19, Z:2.97 [[ 9.90088769e-01 -1.38926440e-01 -2.05833244e-02 2.77704527e+02] [ 1.38910127e-01 9.90302487e-01 -2.22718588e-03 2.18959178e+00] [ 2.06931324e-02 -6.54120488e-04 9.99785660e-01 2.97006439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:277.76, Y:2.19, Z:2.95 [[ 9.90424762e-01 -1.36510523e-01 -2.05831867e-02 2.77763857e+02] [ 1.36493661e-01 9.90638438e-01 -2.22845857e-03 2.18948127e+00] [ 2.06947039e-02 -6.02353961e-04 9.99785660e-01 2.94885019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters Centerline goodness : 0.995930 with order 1 Centerline is valid? [True, True] Translation: X:277.82, Y:2.19, Z:2.97 [[ 9.90525233e-01 -1.35779625e-01 -2.05829076e-02 2.77822958e+02] [ 1.35762553e-01 9.90738892e-01 -2.23103262e-03 2.19300341e+00] [ 2.06952159e-02 -5.84493974e-04 9.99785660e-01 2.97157981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:2.20, Z:2.95 [[ 9.90785540e-01 -1.33866963e-01 -2.05827674e-02 2.77883182e+02] [ 1.33849451e-01 9.90999163e-01 -2.23232566e-03 2.19507397e+00] [ 2.06963399e-02 -5.43236131e-04 9.99785660e-01 2.95135820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:2.19, Z:2.98 [[ 9.90449084e-01 -1.36334028e-01 -2.05826277e-02 2.77941912e+02] [ 1.36317022e-01 9.90662748e-01 -2.23361353e-03 2.19137360e+00] [ 2.06949600e-02 -5.93482033e-04 9.99785660e-01 2.97832534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:278.00, Y:2.19, Z:2.95 [[ 9.90397900e-01 -1.36705400e-01 -2.05823421e-02 2.78001412e+02] [ 1.36688419e-01 9.90611566e-01 -2.23624207e-03 2.19254451e+00] [ 2.06948125e-02 -5.98598355e-04 9.99785660e-01 2.95480519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters Centerline goodness : 0.997814 with order 1 Centerline is valid? [True, True] Translation: X:278.06, Y:2.19, Z:2.96 [[ 9.90705644e-01 -1.34457076e-01 -2.05820603e-02 2.78060606e+02] [ 1.34439556e-01 9.90919267e-01 -2.23883267e-03 2.18958650e+00] [ 2.06961870e-02 -5.49018891e-04 9.99785660e-01 2.95536004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:278.12, Y:2.19, Z:2.96 [[ 9.91157918e-01 -1.31081544e-01 -2.05817816e-02 2.78119898e+02] [ 1.31063244e-01 9.91371475e-01 -2.24139201e-03 2.18931624e+00] [ 2.06979963e-02 -4.75941605e-04 9.99785660e-01 2.95647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters Centerline goodness : 0.998012 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:2.19, Z:2.96 [[ 9.91524042e-01 -1.28282796e-01 -2.05815003e-02 2.78179604e+02] [ 1.28263839e-01 9.91737542e-01 -2.24397205e-03 2.18845245e+00] [ 2.06993095e-02 -4.14909993e-04 9.99785660e-01 2.95830339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters Centerline goodness : 0.997516 with order 1 Centerline is valid? [True, True] Translation: X:278.24, Y:2.19, Z:2.96 [[ 9.92228675e-01 -1.22713774e-01 -2.05812182e-02 2.78238648e+02] [ 1.22693566e-01 9.92442060e-01 -2.24655633e-03 2.19353184e+00] [ 2.07013500e-02 -2.96085426e-04 9.99785660e-01 2.96046852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters Centerline goodness : 0.998162 with order 1 Centerline is valid? [True, True] Translation: X:278.30, Y:2.20, Z:2.96 [[ 9.92921082e-01 -1.16979271e-01 -2.05809296e-02 2.78297935e+02] [ 1.16957775e-01 9.93134341e-01 -2.24919709e-03 2.19695610e+00] [ 2.07027374e-02 -1.73824518e-04 9.99785660e-01 2.96063439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:278.36, Y:2.20, Z:2.96 [[ 9.92678848e-01 -1.19017403e-01 -2.05806370e-02 2.78356313e+02] [ 1.18996289e-01 9.92892145e-01 -2.25187057e-03 2.20146632e+00] [ 2.07023647e-02 -2.13635162e-04 9.99785660e-01 2.96223589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters Centerline goodness : 0.997761 with order 1 Centerline is valid? [True, True] Translation: X:278.42, Y:2.20, Z:2.96 [[ 9.92118314e-01 -1.23602997e-01 -2.05803436e-02 2.78415336e+02] [ 1.23582814e-01 9.92331701e-01 -2.25454909e-03 2.20434054e+00] [ 2.07011964e-02 -3.06597329e-04 9.99785660e-01 2.96393697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:278.47, Y:2.21, Z:2.97 [[ 9.91565778e-01 -1.27960032e-01 -2.05800492e-02 2.78474322e+02] [ 1.27940730e-01 9.91779247e-01 -2.25723376e-03 2.20501211e+00] [ 2.06997014e-02 -3.94830771e-04 9.99785660e-01 2.96555847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:278.53, Y:2.21, Z:2.97 [[ 9.91251650e-01 -1.30371163e-01 -2.05797573e-02 2.78533458e+02] [ 1.30352326e-01 9.91465160e-01 -2.25989190e-03 2.20632641e+00] [ 2.06987371e-02 -4.42497657e-04 9.99785660e-01 2.96639712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:278.59, Y:2.21, Z:2.99 [[ 9.91407975e-01 -1.29177059e-01 -2.05794695e-02 2.78591982e+02] [ 1.29157910e-01 9.91621458e-01 -2.26250928e-03 2.20538751e+00] [ 2.06993078e-02 -4.14931536e-04 9.99785660e-01 2.98622104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:2.20, Z:2.99 [[ 9.91178083e-01 -1.30929404e-01 -2.05790978e-02 2.78651795e+02] [ 1.30910563e-01 9.91391593e-01 -2.26588547e-03 2.20065648e+00] [ 2.06986156e-02 -4.48125255e-04 9.99785660e-01 2.98902982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:278.71, Y:2.20, Z:2.97 [[ 9.90287718e-01 -1.37501811e-01 -2.05788074e-02 2.78711020e+02] [ 1.37484332e-01 9.90501344e-01 -2.26851950e-03 2.20033398e+00] [ 2.06952619e-02 -5.82776585e-04 9.99785660e-01 2.97035331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:278.77, Y:2.20, Z:2.97 [[ 9.90657418e-01 -1.34812481e-01 -2.05785150e-02 2.78771219e+02] [ 1.34794366e-01 9.90870991e-01 -2.27116893e-03 2.19526537e+00] [ 2.06968355e-02 -5.23917542e-04 9.99785660e-01 2.97313941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:278.83, Y:2.20, Z:2.97 [[ 9.91945449e-01 -1.24983052e-01 -2.05782284e-02 2.78829934e+02] [ 1.24962768e-01 9.92158826e-01 -2.27376289e-03 2.19673283e+00] [ 2.07010527e-02 -3.16063617e-04 9.99785660e-01 2.97127836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters Centerline goodness : 0.996773 with order 1 Centerline is valid? [True, True] Translation: X:278.89, Y:2.20, Z:3.00 [[ 9.92635857e-01 -1.19376022e-01 -2.05772012e-02 2.78888299e+02] [ 1.19354340e-01 9.92849097e-01 -2.28302095e-03 2.20169183e+00] [ 2.07025936e-02 -1.89769803e-04 9.99785660e-01 2.99794668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:278.95, Y:2.21, Z:2.97 [[ 9.93530206e-01 -1.11688503e-01 -2.05768931e-02 2.78947346e+02] [ 1.11665113e-01 9.93743265e-01 -2.28579504e-03 2.20854897e+00] [ 2.07034459e-02 -2.67146804e-05 9.99785660e-01 2.97495953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:279.01, Y:2.22, Z:2.99 [[ 9.93917826e-01 -1.08184984e-01 -2.05758192e-02 2.79006577e+02] [ 1.08160644e-01 9.94130779e-01 -2.29542057e-03 2.21607928e+00] [ 2.07033852e-02 5.59655691e-05 9.99785660e-01 2.98534018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters Centerline goodness : 0.997613 with order 1 Centerline is valid? [True, True] Translation: X:279.07, Y:2.22, Z:3.00 [[ 9.93813234e-01 -1.09141623e-01 -2.05757418e-02 2.79066080e+02] [ 1.09117474e-01 9.94026209e-01 -2.29611480e-03 2.22369477e+00] [ 2.07034283e-02 3.67363112e-05 9.99785660e-01 2.99855381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:279.12, Y:2.23, Z:3.00 [[ 9.93349365e-01 -1.13285842e-01 -2.05756639e-02 2.79124845e+02] [ 1.13262566e-01 9.93562437e-01 -2.29681215e-03 2.23035589e+00] [ 2.07034031e-02 -4.89156117e-05 9.99785660e-01 3.00147349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:279.18, Y:2.24, Z:2.98 [[ 9.92530705e-01 -1.20247607e-01 -2.05745597e-02 2.79183282e+02] [ 1.20225622e-01 9.92743914e-01 -2.30666145e-03 2.23718909e+00] [ 2.07026394e-02 -1.84156926e-04 9.99785660e-01 2.97605927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:279.24, Y:2.24, Z:2.98 [[ 9.92086542e-01 -1.23858778e-01 -2.05741696e-02 2.79241832e+02] [ 1.23837497e-01 9.92299822e-01 -2.31013529e-03 2.24218764e+00] [ 2.07018754e-02 -2.55999535e-04 9.99785660e-01 2.97798560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:279.30, Y:2.25, Z:2.98 [[ 9.91475653e-01 -1.28657474e-01 -2.05738651e-02 2.79300472e+02] [ 1.28637169e-01 9.91689029e-01 -2.31284406e-03 2.24527449e+00] [ 2.07004410e-02 -3.53435185e-04 9.99785660e-01 2.97785452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:279.36, Y:2.25, Z:3.01 [[ 9.90908535e-01 -1.32954895e-01 -2.05735625e-02 2.79359196e+02] [ 1.32935460e-01 9.91121991e-01 -2.31553251e-03 2.24590563e+00] [ 2.06987717e-02 -4.40475070e-04 9.99785660e-01 3.00571707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters Centerline goodness : 0.992692 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:2.24, Z:3.01 [[ 9.90647608e-01 -1.34885353e-01 -2.05732510e-02 2.79420419e+02] [ 1.34866276e-01 9.90861097e-01 -2.31829686e-03 2.24141773e+00] [ 2.06979384e-02 -4.78022515e-04 9.99785660e-01 3.01332320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:279.48, Y:2.24, Z:2.98 [[ 9.90720495e-01 -1.34348961e-01 -2.05732243e-02 2.79481370e+02] [ 1.34329763e-01 9.90933973e-01 -2.31853398e-03 2.23889431e+00] [ 2.06981995e-02 -4.66577224e-04 9.99785660e-01 2.98102649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters Centerline goodness : 0.996372 with order 1 Centerline is valid? [True, True] Translation: X:279.54, Y:2.24, Z:3.01 [[ 9.91004883e-01 -1.32234892e-01 -2.05731877e-02 2.79541093e+02] [ 1.32215233e-01 9.91218319e-01 -2.31885923e-03 2.23832597e+00] [ 2.06991546e-02 -4.22087980e-04 9.99785660e-01 3.01051098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters Centerline goodness : 0.951209 with order 2 Centerline is valid? [True, True] Translation: X:279.61, Y:2.28, Z:2.98 [[ 9.99377027e-01 -2.86758507e-02 -2.05731121e-02 2.79611614e+02] [ 2.86341336e-02 9.99587268e-01 -2.31952979e-03 2.28120357e+00] [ 2.06311354e-02 1.72899154e-03 9.99785660e-01 2.98399445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters Centerline goodness : 0.918484 with order 1 Centerline is valid? [True, False] Translation: X:279.61, Y:2.28, Z:2.98 [[ 9.99814280e-01 -1.16491207e-02 -1.53526415e-02 2.79610662e+02] [ 1.15947471e-02 9.99926205e-01 -3.62590795e-03 2.27970352e+00] [ 1.53937472e-02 3.44722455e-03 9.99875567e-01 2.98213115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [False, True] Translation: X:279.60, Y:2.28, Z:2.98 [[ 9.99999265e-01 9.53647943e-04 -7.48067821e-04 2.79596130e+02] [-9.56180586e-04 9.99993788e-01 -3.39256005e-03 2.27783005e+00] [ 7.44827866e-04 3.39327284e-03 9.99993965e-01 2.98157404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.66, Y:2.27, Z:2.96 [[ 9.99989548e-01 4.51333013e-03 -7.30967599e-04 2.79656151e+02] [-4.51332864e-03 9.99989815e-01 3.68136081e-06 2.26971546e+00] [ 7.30976769e-04 -3.82225333e-07 9.99999733e-01 2.95817599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.72, Y:2.26, Z:2.96 [[ 9.99983193e-01 5.75147537e-03 -7.30967724e-04 2.79716805e+02] [-5.75147424e-03 9.99983460e-01 3.65640623e-06 2.26186219e+00] [ 7.30976664e-04 5.47797255e-07 9.99999733e-01 2.95858194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters Centerline goodness : 0.977552 with order 1 Centerline is valid? [True, True] Translation: X:279.78, Y:2.29, Z:2.96 [[ 9.96358082e-01 8.52645149e-02 -7.30967724e-04 2.79775568e+02] [-8.52645350e-02 9.96358349e-01 3.65640623e-06 2.29439388e+00] [ 7.28617556e-04 5.86825332e-05 9.99999733e-01 2.96220196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.84, Y:2.26, Z:2.96 [[ 9.99883031e-01 1.52770762e-02 -7.30969300e-04 2.79837685e+02] [-1.52770779e-02 9.99883299e-01 3.30807561e-06 2.26070129e+00] [ 7.30934533e-04 7.85938628e-06 9.99999733e-01 2.95988167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:2.26, Z:2.99 [[ 9.99822312e-01 1.88364011e-02 -7.30967564e-04 2.79897968e+02] [-1.88364035e-02 9.99822579e-01 3.65529263e-06 2.26183964e+00] [ 7.30906728e-04 1.01141568e-05 9.99999733e-01 2.98509636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.96, Y:2.26, Z:2.96 [[ 9.99859965e-01 1.67187590e-02 -7.30967576e-04 2.79958169e+02] [-1.67187608e-02 9.99860232e-01 3.65283600e-06 2.26242624e+00] [ 7.30926481e-04 8.56854759e-06 9.99999733e-01 2.95790015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:2.26, Z:2.99 [[ 9.99950082e-01 9.96485149e-03 -7.30967621e-04 2.80019229e+02] [-9.96485149e-03 9.99950350e-01 3.64388112e-06 2.26374364e+00] [ 7.30967639e-04 3.64028456e-06 9.99999733e-01 2.98663654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:2.26, Z:2.96 [[ 9.99989934e-01 4.42688632e-03 -7.30967611e-04 2.80080025e+02] [-4.42688484e-03 9.99990201e-01 3.64583070e-06 2.26174604e+00] [ 7.30976588e-04 -4.09884563e-07 9.99999733e-01 2.95960125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters Centerline goodness : 0.862491 with order 3 Centerline is valid? [True, False] Translation: X:280.09, Y:2.23, Z:2.97 [[ 9.99904348e-01 -5.21254246e-03 -1.28110620e-02 2.80087772e+02] [ 5.63405220e-03 9.99436522e-01 3.30892154e-02 2.23116359e+00] [ 1.26313643e-02 -3.31582285e-02 9.99370292e-01 2.96563772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters Centerline goodness : 0.929402 with order 1 Centerline is valid? [False, False] Translation: X:280.11, Y:2.22, Z:2.97 [[ 9.99602637e-01 -1.23071471e-02 -2.53594419e-02 2.80111130e+02] [ 1.35900546e-02 9.98603436e-01 5.10537682e-02 2.21694167e+00] [ 2.46956996e-02 -5.13781176e-02 9.98373884e-01 2.96800514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [False, True] Translation: X:280.11, Y:2.23, Z:2.97 [[ 9.99743576e-01 -7.36768092e-03 -2.14126220e-02 2.80112457e+02] [ 8.09643063e-03 9.99383969e-01 3.41486580e-02 2.22821261e+00] [ 2.11478347e-02 -3.43132673e-02 9.99187354e-01 2.96657509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:2.25, Z:2.95 [[ 9.99734952e-01 -7.90853825e-03 -2.16212895e-02 2.80172818e+02] [ 7.91308294e-03 9.99968683e-01 1.24646634e-04 2.25229419e+00] [ 2.16196266e-02 -2.95704654e-04 9.99766225e-01 2.94565094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:280.23, Y:2.25, Z:2.97 [[ 9.99754311e-01 -4.88229170e-03 -2.16212938e-02 2.80231924e+02] [ 4.88611285e-03 9.99988055e-01 1.23905657e-04 2.24559020e+00] [ 2.16204306e-02 -2.29519296e-04 9.99766225e-01 2.96556535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:280.29, Y:2.24, Z:2.97 [[ 9.99757087e-01 -4.27617068e-03 -2.16213021e-02 2.80291078e+02] [ 4.27981825e-03 9.99990834e-01 1.22431957e-04 2.24109976e+00] [ 2.16205804e-02 -2.14937460e-04 9.99766225e-01 2.96774528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:280.35, Y:2.23, Z:2.96 [[ 9.99765609e-01 1.11575260e-03 -2.16213535e-02 2.80349850e+02] [-1.11357911e-03 9.99999374e-01 1.12565028e-04 2.23359920e+00] [ 2.16214655e-02 -8.84615566e-05 9.99766225e-01 2.96489198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:280.41, Y:2.23, Z:2.97 [[ 9.99742815e-01 6.84243679e-03 -2.16214035e-02 2.80408811e+02] [-6.84183190e-03 9.99976589e-01 1.01951149e-04 2.22901524e+00] [ 2.16215949e-02 4.60050796e-05 9.99766225e-01 2.96793158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:280.47, Y:2.23, Z:2.97 [[ 9.99654787e-01 1.49272289e-02 -2.16214139e-02 2.80467225e+02] [-1.49285631e-02 9.99888558e-01 9.97087982e-05 2.22900063e+00] [ 2.16204927e-02 2.23102263e-04 9.99766225e-01 2.96689992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:280.53, Y:2.23, Z:2.97 [[ 9.99625346e-01 1.67833902e-02 -2.16214300e-02 2.80525761e+02] [-1.67852371e-02 9.99859113e-01 9.60703443e-05 2.22805063e+00] [ 2.16199962e-02 2.66886479e-04 9.99766225e-01 2.97207812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:280.58, Y:2.23, Z:2.98 [[ 9.99616564e-01 1.72984408e-02 -2.16214705e-02 2.80584597e+02] [-1.73006285e-02 9.99850329e-01 8.58793707e-05 2.22916119e+00] [ 2.16197200e-02 2.88218589e-04 9.99766225e-01 2.97563080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:280.64, Y:2.23, Z:2.97 [[ 9.99654283e-01 1.49608050e-02 -2.16215055e-02 2.80643818e+02] [-1.49626615e-02 9.99888050e-01 7.59189010e-05 2.23112788e+00] [ 2.16202208e-02 2.47622613e-04 9.99766225e-01 2.97272857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.70, Y:2.23, Z:2.96 [[ 9.99719199e-01 9.69706199e-03 -2.16215128e-02 2.80703346e+02] [-9.69773386e-03 9.99952973e-01 7.37799455e-05 2.22897602e+00] [ 2.16212114e-02 1.35920449e-04 9.99766225e-01 2.96375693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:2.23, Z:2.98 [[ 9.99747534e-01 6.11373958e-03 -2.16215222e-02 2.80762847e+02] [-6.11363564e-03 9.99981309e-01 7.09087006e-05 2.22634132e+00] [ 2.16215516e-02 6.12953102e-05 9.99766225e-01 2.98184961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters Centerline goodness : 0.986726 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:2.24, Z:2.98 [[ 9.99098941e-01 3.65214258e-02 -2.16215319e-02 2.80821927e+02] [-3.65284994e-02 9.99332609e-01 6.78317717e-05 2.24098672e+00] [ 2.16095792e-02 7.22031462e-04 9.99766225e-01 2.97737710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:2.22, Z:2.98 [[ 9.99754831e-01 4.77348655e-03 -2.16215599e-02 2.80880876e+02] [-4.77336531e-03 9.99988606e-01 5.72178155e-05 2.22136737e+00] [ 2.16215867e-02 4.60038166e-05 9.99766225e-01 2.98424915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:2.22, Z:2.98 [[ 9.99744420e-01 6.60321226e-03 -2.16215673e-02 2.80939311e+02] [-6.60358191e-03 9.99978195e-01 5.43028323e-05 2.22050754e+00] [ 2.16214544e-02 8.84908368e-05 9.99766225e-01 2.98132288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:281.00, Y:2.22, Z:2.98 [[ 9.99717020e-01 9.91903983e-03 -2.16215759e-02 2.80998218e+02] [-9.92026454e-03 9.99950792e-01 5.06176950e-05 2.21823910e+00] [ 2.16210140e-02 1.63888381e-04 9.99766225e-01 2.98342484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:281.06, Y:2.22, Z:2.97 [[ 9.99677497e-01 1.33194638e-02 -2.16215949e-02 2.81056856e+02] [-1.33217031e-02 9.99911261e-01 4.04702242e-05 2.22045442e+00] [ 2.16202153e-02 2.47579294e-04 9.99766225e-01 2.97125397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:281.11, Y:2.22, Z:2.99 [[ 9.99629514e-01 1.65330268e-02 -2.16216010e-02 2.81114994e+02] [-1.65360948e-02 9.99863269e-01 3.68967330e-05 2.22107555e+00] [ 2.16192547e-02 3.20653781e-04 9.99766225e-01 2.98756846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters Centerline goodness : 0.991073 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:2.22, Z:3.00 [[ 9.99607049e-01 1.78396808e-02 -2.16216134e-02 2.81174913e+02] [-1.78432688e-02 9.99840796e-01 2.69819326e-05 2.22114912e+00] [ 2.16186525e-02 3.58828928e-04 9.99766225e-01 3.00241116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters Centerline goodness : 0.994474 with order 1 Centerline is valid? [True, True] Translation: X:281.24, Y:2.22, Z:2.99 [[ 9.99636901e-01 1.60802040e-02 -2.16216135e-02 2.81235730e+02] [-1.60833833e-02 9.99870654e-01 2.68511922e-05 2.21948704e+00] [ 2.16192486e-02 3.20907256e-04 9.99766225e-01 2.99305032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:281.29, Y:2.22, Z:2.99 [[ 9.99613472e-01 1.74760626e-02 -2.16216141e-02 2.81294305e+02] [-1.74795791e-02 9.99847220e-01 2.63548049e-05 2.21881257e+00] [ 2.16187714e-02 3.51592096e-04 9.99766225e-01 2.99201712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:281.35, Y:2.22, Z:2.99 [[ 9.99586155e-01 1.89742972e-02 -2.16216217e-02 2.81353365e+02] [-1.89783779e-02 9.99819894e-01 1.64647436e-05 2.21632984e+00] [ 2.16180399e-02 3.93885377e-04 9.99766225e-01 2.99099997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters Centerline goodness : 0.992902 with order 1 Centerline is valid? [True, True] Translation: X:281.41, Y:2.22, Z:2.99 [[ 9.99543439e-01 2.11049603e-02 -2.16216247e-02 2.81412376e+02] [-2.11097509e-02 9.99777164e-01 6.67243000e-06 2.21662050e+00] [ 2.16169474e-02 4.49757728e-04 9.99766225e-01 2.99200720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters Centerline goodness : 0.993547 with order 1 Centerline is valid? [True, True] Translation: X:281.47, Y:2.22, Z:2.99 [[ 9.99395058e-01 2.72400962e-02 -2.16216233e-02 2.81470854e+02] [-2.72465306e-02 9.99628744e-01 -3.00038074e-06 2.21859663e+00] [ 2.16135145e-02 5.92112789e-04 9.99766225e-01 2.98871881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters Centerline goodness : 0.972839 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:2.26, Z:2.98 [[ 9.94959018e-01 9.79237308e-02 -2.16216214e-02 2.81529316e+02] [-9.79468030e-02 9.95191652e-01 -8.12067390e-06 2.26118734e+00] [ 2.15168619e-02 2.12584843e-03 9.99766225e-01 2.98390156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters Centerline goodness : 0.997416 with order 1 Centerline is valid? [True, True] Translation: X:281.59, Y:2.21, Z:2.97 [[ 9.99764957e-01 1.59257457e-03 -2.16216196e-02 2.81588988e+02] [-1.59319540e-03 9.99998731e-01 -1.14875323e-05 2.21054301e+00] [ 2.16215739e-02 4.59322972e-05 9.99766225e-01 2.96841643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters Centerline goodness : 0.996074 with order 1 Centerline is valid? [True, True] Translation: X:281.65, Y:2.25, Z:2.98 [[ 9.98389058e-01 5.24575463e-02 -2.16216179e-02 2.81647367e+02] [-5.24701173e-02 9.98622495e-01 -1.41180911e-05 2.24817271e+00] [ 2.15910934e-02 1.14858418e-03 9.99766225e-01 2.97991075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters Centerline goodness : 0.996027 with order 1 Centerline is valid? [True, True] Translation: X:281.71, Y:2.26, Z:2.98 [[ 9.98400639e-01 5.22366634e-02 -2.16216159e-02 2.81706096e+02] [-5.22492388e-02 9.98634076e-01 -1.67129271e-05 2.26379447e+00] [ 2.15912094e-02 1.14639917e-03 9.99766225e-01 2.98180703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters Centerline goodness : 0.995974 with order 1 Centerline is valid? [True, True] Translation: X:281.76, Y:2.27, Z:2.98 [[ 9.98441047e-01 5.14585403e-02 -2.16216051e-02 2.81764987e+02] [-5.14711296e-02 9.98674483e-01 -2.57808345e-05 2.27428036e+00] [ 2.15916186e-02 1.13862908e-03 9.99766225e-01 2.98369827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters Centerline goodness : 0.977051 with order 2 Centerline is valid? [True, True] Translation: X:281.80, Y:2.25, Z:2.98 [[ 9.98771763e-01 -4.45810698e-02 -2.16215904e-02 2.81797547e+02] [ 4.45907407e-02 9.99005338e-01 -3.48729800e-05 2.24988403e+00] [ 2.16016389e-02 -9.29292585e-04 9.99766225e-01 2.97778433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters Centerline goodness : 0.993141 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:2.32, Z:3.00 [[ 9.98167555e-01 5.65169827e-02 -2.16185972e-02 2.81881135e+02] [-5.65790118e-02 9.98395549e-01 -2.26795005e-03 2.31661619e+00] [ 2.14557335e-02 3.48695302e-03 9.99763718e-01 2.99632706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:2.33, Z:3.01 [[ 9.98677357e-01 4.66528051e-02 -2.16113730e-02 2.81939812e+02] [-4.66622481e-02 9.98910722e-01 6.73982514e-05 2.32616039e+00] [ 2.15909765e-02 9.41126141e-04 9.99766445e-01 3.00518873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:282.00, Y:2.33, Z:3.01 [[ 9.99013116e-01 3.88038891e-02 -2.16113808e-02 2.81997944e+02] [-3.88115547e-02 9.99246546e-01 6.47777230e-05 2.33248997e+00] [ 2.15976113e-02 7.74057494e-04 9.99766445e-01 3.00692160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters Centerline goodness : 0.992558 with order 1 Centerline is valid? [True, True] Translation: X:282.06, Y:2.34, Z:3.01 [[ 9.99327098e-01 2.96361037e-02 -2.16114079e-02 2.82057238e+02] [-2.96418612e-02 9.99560582e-01 5.39460951e-05 2.33703181e+00] [ 2.16035102e-02 5.86692559e-04 9.99766445e-01 3.00664401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters Centerline goodness : 0.993694 with order 1 Centerline is valid? [True, True] Translation: X:282.12, Y:2.34, Z:3.01 [[ 9.99431767e-01 2.58667512e-02 -2.16114277e-02 2.82116133e+02] [-2.58718372e-02 9.99665267e-01 4.42700376e-05 2.33974279e+00] [ 2.16053388e-02 5.14882457e-04 9.99766445e-01 3.00662829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters Centerline goodness : 0.996725 with order 1 Centerline is valid? [True, True] Translation: X:282.18, Y:2.34, Z:2.99 [[ 9.99521108e-01 2.21472540e-02 -2.16114434e-02 2.82175839e+02] [-2.21516851e-02 9.99754621e-01 3.43680934e-05 2.33884714e+00] [ 2.16069016e-02 4.44378254e-04 9.99766445e-01 2.98963069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters Centerline goodness : 0.996075 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:2.34, Z:3.01 [[ 9.99507508e-01 2.27527445e-02 -2.16114541e-02 2.82234109e+02] [-2.27575157e-02 9.99741014e-01 2.51750148e-05 2.33904576e+00] [ 2.16064299e-02 4.66660391e-04 9.99766445e-01 3.00764636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:2.34, Z:3.01 [[ 9.99458204e-01 2.48242625e-02 -2.16114612e-02 2.82292719e+02] [-2.48297330e-02 9.99691695e-01 1.52067487e-05 2.33947703e+00] [ 2.16051757e-02 5.21408301e-04 9.99766445e-01 3.00630846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:2.34, Z:2.99 [[ 9.99423007e-01 2.62030276e-02 -2.16114636e-02 2.82351746e+02] [-2.62090322e-02 9.99656484e-01 5.40282427e-06 2.34061283e+00] [ 2.16041813e-02 5.61015838e-04 9.99766445e-01 2.99232896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:2.34, Z:2.99 [[ 9.99405610e-01 2.68583558e-02 -2.16114616e-02 2.82409519e+02] [-2.68647269e-02 9.99639078e-01 -4.47851077e-06 2.34124378e+00] [ 2.16035412e-02 5.85061863e-04 9.99766445e-01 2.99220468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:282.47, Y:2.34, Z:3.01 [[ 9.99452822e-01 2.50399942e-02 -2.16114535e-02 2.82468225e+02] [-2.50461822e-02 9.99686295e-01 -1.56629300e-05 2.34444854e+00] [ 2.16042816e-02 5.56938761e-04 9.99766445e-01 3.01303988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:282.53, Y:2.34, Z:3.01 [[ 9.99571179e-01 1.97586564e-02 -2.16114419e-02 2.82526728e+02] [-1.97638229e-02 9.99804676e-01 -2.54829175e-05 2.34460762e+00] [ 2.16067171e-02 4.52596701e-04 9.99766445e-01 3.01444040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:282.59, Y:2.34, Z:3.02 [[ 9.99673810e-01 1.36095173e-02 -2.16114257e-02 2.82585152e+02] [-1.36134609e-02 9.99907332e-01 -3.53642362e-05 2.34332435e+00] [ 2.16089417e-02 3.29559000e-04 9.99766445e-01 3.01766403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters Centerline goodness : 0.854917 with order 3 Centerline is valid? [True, False] Translation: X:282.66, Y:2.32, Z:3.02 [[ 9.98431937e-01 -3.44525187e-03 -5.58730518e-02 2.82656893e+02] [ 5.11187646e-03 9.99545390e-01 2.97133419e-02 2.31596840e+00] [ 5.57452814e-02 -2.99523657e-02 9.97995651e-01 3.02261556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters Centerline goodness : 0.997721 with order 1 Centerline is valid? [False, True] Translation: X:282.65, Y:2.32, Z:3.02 [[ 9.98915361e-01 -3.90676130e-04 -4.65612479e-02 2.82649764e+02] [ 1.07647987e-03 9.99891298e-01 1.47049025e-02 2.32470691e+00] [ 4.65504417e-02 -1.47390753e-02 9.98807197e-01 3.02254112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:282.71, Y:2.33, Z:3.03 [[ 9.98916668e-01 -1.90365607e-03 -4.64958810e-02 2.82708726e+02] [ 1.89548736e-03 9.99998179e-01 -2.19776287e-04 2.33032574e+00] [ 4.64962147e-02 1.31405842e-04 9.98918458e-01 3.02527575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:282.77, Y:2.33, Z:3.03 [[ 9.98918389e-01 4.43142318e-04 -4.64957644e-02 2.82767524e+02] [-4.54893738e-04 9.99999867e-01 -2.42160991e-04 2.32589875e+00] [ 4.64956509e-02 2.63049699e-04 9.98918458e-01 3.02736305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters Centerline goodness : 0.997668 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:2.32, Z:3.03 [[ 9.98900856e-01 5.93595043e-03 -4.64956373e-02 2.82826337e+02] [-5.95468844e-03 9.99982236e-01 -2.64506376e-04 2.31932313e+00] [ 4.64932412e-02 5.41082679e-04 9.98918458e-01 3.02968174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:282.89, Y:2.32, Z:3.02 [[ 9.98790707e-01 1.59778781e-02 -4.64955007e-02 2.82886682e+02] [-1.60085177e-02 9.99871814e-01 -2.86667924e-04 2.31569199e+00] [ 4.64849603e-02 1.03064530e-03 9.98918458e-01 3.02431924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:2.32, Z:3.03 [[ 9.98403166e-01 3.20825181e-02 -4.64954814e-02 2.82945684e+02] [-3.21307320e-02 9.99483633e-01 -2.89764693e-04 2.31970208e+00] [ 4.64621762e-02 1.78323584e-03 9.98918458e-01 3.02971550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:2.33, Z:3.02 [[ 9.97803426e-01 4.71858743e-02 -4.64953409e-02 2.83004727e+02] [-4.72514078e-02 9.98882980e-01 -3.10779535e-04 2.33052541e+00] [ 4.64287403e-02 2.50706720e-03 9.98918458e-01 3.02071224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:283.06, Y:2.34, Z:3.02 [[ 9.97334789e-01 5.62272703e-02 -4.64953017e-02 2.83062733e+02] [-5.63028528e-02 9.98413686e-01 -3.16539914e-04 2.34032183e+00] [ 4.64037474e-02 2.93351440e-03 9.98918458e-01 3.02326451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:2.36, Z:3.03 [[ 9.97043647e-01 6.11732702e-02 -4.64951391e-02 2.83120081e+02] [-6.12552385e-02 9.98122077e-01 -3.38848888e-04 2.35648423e+00] [ 4.63870963e-02 3.18591797e-03 9.98918459e-01 3.02703896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters Centerline goodness : 0.970866 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:2.41, Z:3.01 [[ 9.87727456e-01 1.49106308e-01 -4.64949671e-02 2.83180315e+02] [-1.49284343e-01 9.88794243e-01 -3.61005657e-04 2.40806985e+00] [ 4.59201276e-02 7.29754580e-03 9.98918459e-01 3.01210289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:283.24, Y:2.39, Z:3.03 [[ 9.97122287e-01 5.98779155e-02 -4.64949457e-02 2.83239898e+02] [-5.99596382e-02 9.98200736e-01 -3.63742799e-04 2.39299794e+00] [ 4.63895088e-02 3.15051617e-03 9.98918459e-01 3.03143104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters Centerline goodness : 0.987728 with order 1 Centerline is valid? [True, True] Translation: X:283.30, Y:2.43, Z:3.03 [[ 9.90869781e-01 1.26551566e-01 -4.64949349e-02 2.83299468e+02] [-1.26705425e-01 9.91940322e-01 -3.65113124e-04 2.42609771e+00] [ 4.60739951e-02 6.25294006e-03 9.98918459e-01 3.03394917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:2.41, Z:3.04 [[ 9.97745019e-01 4.84055678e-02 -4.64949237e-02 2.83359685e+02] [-4.84750108e-02 9.98824328e-01 -3.66531029e-04 2.41499270e+00] [ 4.64225188e-02 2.61954644e-03 9.98918459e-01 3.03600580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters Centerline goodness : 0.995882 with order 1 Centerline is valid? [True, True] Translation: X:283.42, Y:2.42, Z:3.06 [[ 9.98257290e-01 3.63401249e-02 -4.64949189e-02 2.83417547e+02] [-3.63965433e-02 9.99337359e-01 -3.67142933e-04 2.42220432e+00] [ 4.64507674e-02 2.05875744e-03 9.98918459e-01 3.06396352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:283.48, Y:2.43, Z:3.04 [[ 9.98494643e-01 2.90978620e-02 -4.64947643e-02 2.83477096e+02] [-2.91473109e-02 9.99575052e-01 -3.85780338e-04 2.43136526e+00] [ 4.64637811e-02 1.74039695e-03 9.98918459e-01 3.04248695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters Centerline goodness : 0.996318 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:2.45, Z:3.06 [[ 9.97556552e-01 5.21457342e-02 -4.64945967e-02 2.83535157e+02] [-5.22210103e-02 9.98635470e-01 -4.05020229e-04 2.44833691e+00] [ 4.64100333e-02 2.83202540e-03 9.98918459e-01 3.05664820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:283.59, Y:2.44, Z:3.06 [[ 9.98685797e-01 2.15623565e-02 -4.64945576e-02 2.83594083e+02] [-2.16047523e-02 9.99766506e-01 -4.09455310e-04 2.43805840e+00] [ 4.64748726e-02 1.41342060e-03 9.98918459e-01 3.06462619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:283.65, Y:2.44, Z:3.07 [[ 9.98675275e-01 2.20447094e-02 -4.64943568e-02 2.83653729e+02] [-2.20886343e-02 9.99755923e-01 -4.31109940e-04 2.44314618e+00] [ 4.64735050e-02 1.45753568e-03 9.98918460e-01 3.07137555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:283.71, Y:2.45, Z:3.07 [[ 9.98584602e-01 2.58276710e-02 -4.64943428e-02 2.83713627e+02] [-2.58757592e-02 9.99665073e-01 -4.32614300e-04 2.44916420e+00] [ 4.64675972e-02 1.63507840e-03 9.98918460e-01 3.06986538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:2.43, Z:3.06 [[ 9.98594575e-01 -2.54391973e-02 -4.64943155e-02 2.83772854e+02] [ 2.54464706e-02 9.99676091e-01 -4.35533484e-04 2.43184748e+00] [ 4.64903352e-02 -7.48194857e-04 9.98918460e-01 3.05633104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:2.46, Z:3.07 [[ 9.98718530e-01 1.99896865e-02 -4.64942046e-02 2.83829903e+02] [-2.00321302e-02 9.99799237e-01 -4.47072266e-04 2.45893797e+00] [ 4.64759334e-02 1.37787731e-03 9.98918460e-01 3.07149800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters Centerline goodness : 0.995932 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:2.46, Z:3.08 [[ 9.98784226e-01 1.63818749e-02 -4.64941324e-02 2.83888394e+02] [-1.64207581e-02 9.99865067e-01 -4.54458918e-04 2.46456790e+00] [ 4.64804139e-02 1.21737530e-03 9.98918460e-01 3.07932857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters Centerline goodness : 0.996674 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:2.47, Z:3.08 [[ 9.98804475e-01 1.50975390e-02 -4.64939175e-02 2.83946801e+02] [-1.51360098e-02 9.99885331e-01 -4.75471814e-04 2.47096546e+00] [ 4.64814076e-02 1.17863576e-03 9.98918460e-01 3.08214173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:284.00, Y:2.47, Z:3.09 [[ 9.98810358e-01 1.47039231e-02 -4.64936848e-02 2.84004218e+02] [-1.47429800e-02 9.99891193e-01 -4.97227470e-04 2.47453029e+00] [ 4.64813148e-02 1.18209141e-03 9.98918460e-01 3.08669811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:284.06, Y:2.48, Z:3.07 [[ 9.98854478e-01 1.13179325e-02 -4.64934062e-02 2.84063274e+02] [-1.13544799e-02 9.99935400e-01 -5.22045035e-04 2.47923460e+00] [ 4.64844942e-02 1.04935547e-03 9.98918460e-01 3.06954633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters Centerline goodness : 0.996083 with order 1 Centerline is valid? [True, True] Translation: X:284.12, Y:2.48, Z:3.09 [[ 9.98905292e-01 5.15837554e-03 -4.64931127e-02 2.84121122e+02] [-5.18941745e-03 9.99986385e-01 -5.46989460e-04 2.48319747e+00] [ 4.64896581e-02 7.87662836e-04 9.98918461e-01 3.09418223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters Centerline goodness : 0.995787 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:2.49, Z:3.10 [[ 9.98914524e-01 2.86151960e-03 -4.64928447e-02 2.84179578e+02] [-2.89109486e-03 9.99995659e-01 -5.68893409e-04 2.48562847e+00] [ 4.64910150e-02 7.02691113e-04 9.98918461e-01 3.09642737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:284.24, Y:2.49, Z:3.10 [[ 9.98917125e-01 -1.73730697e-03 -4.64925612e-02 2.84238279e+02] [ 1.71167177e-03 9.99998360e-01 -5.91188561e-04 2.48818349e+00] [ 4.64935121e-02 5.10968374e-04 9.98918461e-01 3.09904656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters Centerline goodness : 0.996927 with order 1 Centerline is valid? [True, True] Translation: X:284.30, Y:2.49, Z:3.10 [[ 9.98885513e-01 -8.13634077e-03 -4.64922698e-02 2.84296928e+02] [ 8.11660421e-03 9.99966872e-01 -6.13281679e-04 2.49316376e+00] [ 4.64957195e-02 2.35238832e-04 9.98918462e-01 3.10091827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters Centerline goodness : 0.995983 with order 1 Centerline is valid? [True, True] Translation: X:284.36, Y:2.50, Z:3.11 [[ 9.98743077e-01 -1.87287045e-02 -4.64919643e-02 2.84356714e+02] [ 1.87193964e-02 9.99824575e-01 -6.35625298e-04 2.49642000e+00] [ 4.64957129e-02 -2.35475146e-04 9.98918462e-01 3.10924990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters Centerline goodness : 0.997422 with order 1 Centerline is valid? [True, True] Translation: X:284.42, Y:2.50, Z:3.11 [[ 9.98618343e-01 -2.44929192e-02 -4.64919456e-02 2.84417418e+02] [ 2.44897897e-02 9.99699877e-01 -6.36993522e-04 2.49762307e+00] [ 4.64935941e-02 -5.02464554e-04 9.98918462e-01 3.10717546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:284.48, Y:2.50, Z:3.11 [[ 9.98311509e-01 -3.48228643e-02 -4.64919236e-02 2.84476037e+02] [ 3.48308494e-02 9.99393018e-01 -6.38596540e-04 2.49637018e+00] [ 4.64859416e-02 -9.81834915e-04 9.98918462e-01 3.11137197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:284.54, Y:2.49, Z:3.11 [[ 9.98191689e-01 -3.81032909e-02 -4.64918406e-02 2.84535557e+02] [ 3.81145514e-02 9.99273169e-01 -6.44581799e-04 2.49390038e+00] [ 4.64826095e-02 -1.12859945e-03 9.98918462e-01 3.10869154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:284.60, Y:2.49, Z:3.09 [[ 9.98190144e-01 -3.81438096e-02 -4.64917784e-02 2.84595487e+02] [ 3.81549066e-02 9.99271626e-01 -6.49038243e-04 2.48805685e+00] [ 4.64826717e-02 -1.12602588e-03 9.98918462e-01 3.09393663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.65, Y:2.48, Z:3.10 [[ 9.98179567e-01 -3.84199535e-02 -4.64914857e-02 2.84652969e+02] [ 3.84304034e-02 9.99261055e-01 -6.69366713e-04 2.48123503e+00] [ 4.64828481e-02 -1.11853837e-03 9.98918462e-01 3.09656573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.71, Y:2.48, Z:3.10 [[ 9.98278321e-01 -3.57626558e-02 -4.64911404e-02 2.84710761e+02] [ 3.57691477e-02 9.99359839e-01 -6.92546494e-04 2.47670254e+00] [ 4.64861459e-02 -9.71594316e-04 9.98918462e-01 3.09956373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.77, Y:2.47, Z:3.10 [[ 9.98543451e-01 -2.73785413e-02 -4.64907806e-02 2.84769881e+02] [ 2.73748633e-02 9.99624982e-01 -7.15913119e-04 2.47184120e+00] [ 4.64929464e-02 -5.57808407e-04 9.98918463e-01 3.10246842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:284.83, Y:2.47, Z:3.13 [[ 9.98542307e-01 -2.74207753e-02 -4.64904555e-02 2.84827356e+02] [ 2.74161877e-02 9.99623834e-01 -7.36436813e-04 2.47018324e+00] [ 4.64931611e-02 -5.39227739e-04 9.98918463e-01 3.12529706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:284.89, Y:2.47, Z:3.13 [[ 9.98533721e-01 -2.77322528e-02 -4.64901127e-02 2.84886260e+02] [ 2.77270231e-02 9.99615245e-01 -7.57475003e-04 2.46799604e+00] [ 4.64932319e-02 -5.32668097e-04 9.98918463e-01 3.12895017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.95, Y:2.46, Z:3.11 [[ 9.98515088e-01 -2.83957655e-02 -4.64897686e-02 2.84946458e+02] [ 2.83902972e-02 9.99596611e-01 -7.78039698e-04 2.46494572e+00] [ 4.64931082e-02 -5.42973969e-04 9.98918463e-01 3.11002872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.00, Y:2.46, Z:3.11 [[ 9.98419662e-01 -3.15739455e-02 -4.64894094e-02 2.85004739e+02] [ 3.15709467e-02 9.99501194e-01 -7.98940357e-04 2.46071924e+00] [ 4.64914459e-02 -6.70036906e-04 9.98918463e-01 3.11334396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.06, Y:2.45, Z:3.11 [[ 9.98327635e-01 -3.43610109e-02 -4.64892808e-02 2.85063172e+02] [ 3.43606861e-02 9.99409172e-01 -8.06356659e-04 2.45484095e+00] [ 4.64895208e-02 -7.92395448e-04 9.98918463e-01 3.11493888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:285.12, Y:2.44, Z:3.13 [[ 9.97630735e-01 -5.07119058e-02 -4.64889098e-02 2.85120828e+02] [ 5.07283292e-02 9.98712147e-01 -8.27205997e-04 2.44114293e+00] [ 4.64709881e-02 -1.53305860e-03 9.98918464e-01 3.13312398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:285.18, Y:2.43, Z:3.13 [[ 9.96725238e-01 -6.61633891e-02 -4.64887810e-02 2.85179405e+02] [ 6.61962323e-02 9.97806275e-01 -8.34382954e-04 2.42593083e+00] [ 4.64420030e-02 -2.24573160e-03 9.98918464e-01 3.12730378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:2.43, Z:3.14 [[ 9.97877830e-01 -4.55921100e-02 -4.64886688e-02 2.85239210e+02] [ 4.56023612e-02 9.98959318e-01 -8.40588878e-04 2.42671985e+00] [ 4.64786131e-02 -1.28118806e-03 9.98918464e-01 3.14122846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:285.30, Y:2.42, Z:3.15 [[ 9.98117512e-01 -4.00029377e-02 -4.64886688e-02 2.85298171e+02] [ 4.00071320e-02 9.99199041e-01 -8.40588878e-04 2.41618845e+00] [ 4.64850593e-02 -1.02087183e-03 9.98918464e-01 3.14557757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:2.41, Z:3.14 [[ 9.98395896e-01 -3.23183365e-02 -4.64882841e-02 2.85357616e+02] [ 3.23132386e-02 9.99477420e-01 -8.61353194e-04 2.40876389e+00] [ 4.64918277e-02 -6.42215519e-04 9.98918464e-01 3.14238908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:2.40, Z:3.13 [[ 9.98548570e-01 -2.71961153e-02 -4.64878896e-02 2.85417980e+02] [ 2.71845015e-02 9.99630044e-01 -8.82140922e-04 2.40237428e+00] [ 4.64946819e-02 -3.82889546e-04 9.98918464e-01 3.12973330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:2.40, Z:3.15 [[ 9.98576142e-01 -2.61642726e-02 -4.64878324e-02 2.85476924e+02] [ 2.61514012e-02 9.99657602e-01 -8.85147832e-04 2.39859821e+00] [ 4.64950743e-02 -3.31834448e-04 9.98918464e-01 3.15401802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:2.39, Z:3.14 [[ 9.98759828e-01 -1.78239425e-02 -4.64877738e-02 2.85537530e+02] [ 1.78018973e-02 9.99841139e-01 -8.88212928e-04 2.39489667e+00] [ 4.64962202e-02 5.95408151e-05 9.98918464e-01 3.13553198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters Centerline goodness : 0.997664 with order 1 Centerline is valid? [True, True] Translation: X:285.60, Y:2.40, Z:3.16 [[ 9.98860045e-01 -1.08399062e-02 -4.64877138e-02 2.85596169e+02] [ 1.08101552e-02 9.99941171e-01 -8.91341577e-04 2.39525037e+00] [ 4.64946411e-02 3.87786088e-04 9.98918464e-01 3.15782703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:285.66, Y:2.40, Z:3.16 [[ 9.98899000e-01 -6.30049457e-03 -4.64875328e-02 2.85655018e+02] [ 6.26539597e-03 9.99979967e-01 -9.00684010e-04 2.39897257e+00] [ 4.64922763e-02 6.08429557e-04 9.98918464e-01 3.15932453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters Centerline goodness : 0.995335 with order 1 Centerline is valid? [True, True] Translation: X:285.71, Y:2.40, Z:3.16 [[ 9.98893519e-01 -7.11950081e-03 -4.64870912e-02 2.85713344e+02] [ 7.08425348e-03 9.99974480e-01 -9.22928005e-04 2.40128259e+00] [ 4.64924757e-02 5.92580466e-04 9.98918464e-01 3.16339584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters Centerline goodness : 0.997615 with order 1 Centerline is valid? [True, True] Translation: X:285.77, Y:2.41, Z:3.15 [[ 9.98855558e-01 -1.12502288e-02 -4.64866385e-02 2.85774067e+02] [ 1.12184158e-02 9.99936625e-01 -9.45191460e-04 2.40551986e+00] [ 4.64943261e-02 4.22603300e-04 9.98918465e-01 3.14718074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters Centerline goodness : 0.995085 with order 1 Centerline is valid? [True, True] Translation: X:285.83, Y:2.41, Z:3.17 [[ 9.98824066e-01 -1.37652001e-02 -4.64866067e-02 2.85832712e+02] [ 1.37360366e-02 9.99905208e-01 -9.46753424e-04 2.40981746e+00] [ 4.64952324e-02 3.07098373e-04 9.98918465e-01 3.16734056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters Centerline goodness : 0.997419 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:2.41, Z:3.15 [[ 9.98829738e-01 -1.33475130e-02 -4.64865416e-02 2.85893398e+02] [ 1.33177490e-02 9.99910864e-01 -9.49941214e-04 2.41027271e+00] [ 4.64950773e-02 3.29733442e-04 9.98918465e-01 3.15229995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:285.95, Y:2.41, Z:3.15 [[ 9.98743427e-01 -1.87235320e-02 -4.64865092e-02 2.85952249e+02] [ 1.86995140e-02 9.99824696e-01 -9.51523462e-04 2.40981086e+00] [ 4.64961758e-02 8.10526758e-05 9.98918465e-01 3.15382586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters Centerline goodness : 0.996823 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:2.41, Z:3.16 [[ 9.98660178e-01 -2.27353539e-02 -4.64860426e-02 2.86011508e+02] [ 2.27146428e-02 9.99741515e-01 -9.73796242e-04 2.40803070e+00] [ 4.64961663e-02 -8.34223254e-05 9.98918465e-01 3.15771692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters Centerline goodness : 0.994243 with order 1 Centerline is valid? [True, True] Translation: X:286.07, Y:2.40, Z:3.18 [[ 9.98552344e-01 -2.70605375e-02 -4.64859432e-02 2.86069936e+02] [ 2.70442903e-02 9.99633757e-01 -9.78517793e-04 2.40466265e+00] [ 4.64953973e-02 -2.80078106e-04 9.98918465e-01 3.17769295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:286.13, Y:2.40, Z:3.16 [[ 9.98474421e-01 -2.97981882e-02 -4.64854614e-02 2.86130174e+02] [ 2.97838641e-02 9.99555861e-01 -1.00089754e-03 2.39981749e+00] [ 4.64946403e-02 -3.85146075e-04 9.98918465e-01 3.16116220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters Centerline goodness : 0.992624 with order 1 Centerline is valid? [True, True] Translation: X:286.19, Y:2.40, Z:3.19 [[ 9.98470582e-01 -2.99272572e-02 -4.64850173e-02 2.86188344e+02] [ 2.99121316e-02 9.99552011e-01 -1.02111576e-03 2.39722489e+00] [ 4.64947517e-02 -3.70911904e-04 9.98918465e-01 3.18731879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:286.25, Y:2.39, Z:3.16 [[ 9.98506127e-01 -2.87172508e-02 -4.64847778e-02 2.86248155e+02] [ 2.87003125e-02 9.99587529e-01 -1.03190579e-03 2.39379436e+00] [ 4.64952376e-02 -3.03763397e-04 9.98918465e-01 3.16414944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters Centerline goodness : 0.997018 with order 1 Centerline is valid? [True, True] Translation: X:286.31, Y:2.39, Z:3.17 [[ 9.98586017e-01 -2.57910621e-02 -4.64842707e-02 2.86305984e+02] [ 2.57699140e-02 9.99667345e-01 -1.05426508e-03 2.38862194e+00] [ 4.64959980e-02 -1.45121294e-04 9.98918466e-01 3.16895259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:286.36, Y:2.39, Z:3.19 [[ 9.98648595e-01 -2.32432668e-02 -4.64836952e-02 2.86363807e+02] [ 2.32182061e-02 9.99729839e-01 -1.07905439e-03 2.38600547e+00] [ 4.64962179e-02 -1.67186713e-06 9.98918466e-01 3.19019722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters Centerline goodness : 0.995086 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:2.39, Z:3.19 [[ 9.98730781e-01 -1.93943966e-02 -4.64831733e-02 2.86422106e+02] [ 1.93641437e-02 9.99811891e-01 -1.10108611e-03 2.38653879e+00] [ 4.64957843e-02 1.99581742e-04 9.98918466e-01 3.19221046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters Centerline goodness : 0.899414 with order 3 Centerline is valid? [True, False] Translation: X:286.42, Y:2.39, Z:3.19 [[ 9.99300023e-01 -5.43647291e-03 -3.70122896e-02 2.86416124e+02] [ 5.29135442e-03 9.99977930e-01 -4.01764744e-03 2.38915562e+00] [ 3.70333145e-02 3.81899003e-03 9.99306734e-01 3.19170614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters Centerline goodness : 0.995084 with order 1 Centerline is valid? [False, True] Translation: X:286.39, Y:2.38, Z:3.19 [[ 9.99799046e-01 -5.64613408e-03 -1.92351135e-02 2.86394607e+02] [ 5.67751675e-03 9.99982639e-01 1.57731188e-03 2.38191983e+00] [ 1.92258739e-02 -1.68620259e-03 9.99813744e-01 3.18860361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters Centerline goodness : 0.994635 with order 1 Centerline is valid? [True, True] Translation: X:286.45, Y:2.38, Z:3.19 [[ 9.99793993e-01 -6.55885535e-03 -1.92081635e-02 2.86453667e+02] [ 6.55470197e-03 9.99978479e-01 -2.79180282e-04 2.38373423e+00] [ 1.92095812e-02 1.53218981e-04 9.99815467e-01 3.19217303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters Centerline goodness : 0.996671 with order 1 Centerline is valid? [True, True] Translation: X:286.51, Y:2.35, Z:3.17 [[ 9.97223427e-01 -7.19478147e-02 -1.92080273e-02 2.86513090e+02] [ 7.19555644e-02 9.97407797e-01 -2.88256607e-04 2.35343472e+00] [ 1.91789756e-02 -1.09466820e-03 9.99815467e-01 3.17353679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters Centerline goodness : 0.995676 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:2.38, Z:3.19 [[ 9.99776935e-01 -8.78251776e-03 -1.92079879e-02 2.86570965e+02] [ 8.77855037e-03 9.99961425e-01 -2.90857331e-04 2.38153541e+00] [ 1.92098015e-02 1.22174162e-04 9.99815467e-01 3.19203147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:286.63, Y:2.38, Z:3.19 [[ 9.99750218e-01 -1.14262918e-02 -1.92078449e-02 2.86629997e+02] [ 1.14226364e-02 9.99934715e-01 -3.00012180e-04 2.38232540e+00] [ 1.92100190e-02 8.05330143e-05 9.99815467e-01 3.19161233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:2.38, Z:3.19 [[ 9.99701786e-01 -1.50798703e-02 -1.92076984e-02 2.86687740e+02] [ 1.50767142e-02 9.99886292e-01 -3.09119593e-04 2.37995880e+00] [ 1.92101758e-02 1.94384295e-05 9.99815467e-01 3.19290157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:286.75, Y:2.38, Z:3.18 [[ 9.99630487e-01 -1.92343788e-02 -1.92075228e-02 2.86746758e+02] [ 1.92317868e-02 9.99815001e-01 -3.19670746e-04 2.37701676e+00] [ 1.92101181e-02 -4.98423590e-05 9.99815467e-01 3.17902929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters Centerline goodness : 0.997310 with order 1 Centerline is valid? [True, True] Translation: X:286.81, Y:2.37, Z:3.20 [[ 9.99490505e-01 -2.54913106e-02 -1.92073728e-02 2.86805592e+02] [ 2.54897051e-02 9.99675031e-01 -3.28440822e-04 2.36952476e+00] [ 1.92095034e-02 -1.61316786e-04 9.99815467e-01 3.20087716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters Centerline goodness : 0.995073 with order 1 Centerline is valid? [True, True] Translation: X:286.86, Y:2.36, Z:3.21 [[ 9.99380500e-01 -2.94906646e-02 -1.92072120e-02 2.86864967e+02] [ 2.94896217e-02 9.99565030e-01 -3.37591436e-04 2.36228151e+00] [ 1.92088132e-02 -2.29031117e-04 9.99815467e-01 3.20672884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters Centerline goodness : 0.997269 with order 1 Centerline is valid? [True, True] Translation: X:286.92, Y:2.36, Z:3.20 [[ 9.99407241e-01 -2.85701240e-02 -1.92071347e-02 2.86924470e+02] [ 2.85688276e-02 9.99591769e-01 -3.41934382e-04 2.35955355e+00] [ 1.92090628e-02 -2.06993621e-04 9.99815468e-01 3.20228524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters Centerline goodness : 0.993346 with order 1 Centerline is valid? [True, True] Translation: X:286.98, Y:2.35, Z:3.21 [[ 9.99556474e-01 -2.27583568e-02 -1.92071000e-02 2.86984729e+02] [ 2.27559503e-02 9.99740991e-01 -3.43870025e-04 2.35412498e+00] [ 1.92099511e-02 -9.33583034e-05 9.99815468e-01 3.21282493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:2.35, Z:3.21 [[ 9.99581508e-01 -2.16309063e-02 -1.92070966e-02 2.87045239e+02] [ 2.16282880e-02 9.99766022e-01 -3.44059357e-04 2.35443873e+00] [ 1.92100449e-02 -7.15012457e-05 9.99815468e-01 3.20616298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:2.35, Z:3.19 [[ 9.99503457e-01 -2.49785262e-02 -1.92071089e-02 2.87104261e+02] [ 2.49765392e-02 9.99687979e-01 -3.43370510e-04 2.35232904e+00] [ 1.92096928e-02 -1.36527096e-04 9.99815468e-01 3.18716326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters Centerline goodness : 0.997072 with order 1 Centerline is valid? [True, True] Translation: X:287.16, Y:2.35, Z:3.21 [[ 9.99415543e-01 -2.82783646e-02 -1.92069379e-02 2.87162586e+02] [ 2.82768078e-02 9.99600069e-01 -3.52682427e-04 2.35121341e+00] [ 1.92092298e-02 -1.90634594e-04 9.99815468e-01 3.21007744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters Centerline goodness : 0.996964 with order 1 Centerline is valid? [True, True] Translation: X:287.22, Y:2.35, Z:3.21 [[ 9.99227524e-01 -3.42849245e-02 -1.92067669e-02 2.87222080e+02] [ 3.42843023e-02 9.99412055e-01 -3.61765899e-04 2.34720460e+00] [ 1.92078775e-02 -2.97004158e-04 9.99815468e-01 3.21391133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:287.28, Y:2.34, Z:3.19 [[ 9.99066902e-01 -3.86837332e-02 -1.92066019e-02 2.87282251e+02] [ 3.86837590e-02 9.99251435e-01 -3.70320448e-04 2.34164665e+00] [ 1.92065499e-02 -3.73008656e-04 9.99815468e-01 3.19085325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:287.34, Y:2.33, Z:3.19 [[ 9.99071921e-01 -3.85539146e-02 -1.92065771e-02 2.87341377e+02] [ 3.85538918e-02 9.99256453e-01 -3.71604047e-04 2.33435145e+00] [ 1.92066229e-02 -3.69229125e-04 9.99815468e-01 3.19220535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:287.40, Y:2.33, Z:3.19 [[ 9.99116543e-01 -3.73797880e-02 -1.92064017e-02 2.87399940e+02] [ 3.73793781e-02 9.99301074e-01 -3.80458863e-04 2.32758090e+00] [ 1.92071993e-02 -3.37800606e-04 9.99815468e-01 3.19473001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [True, True] Translation: X:287.46, Y:2.32, Z:3.21 [[ 9.99244480e-01 -3.37874565e-02 -1.92061955e-02 2.87458363e+02] [ 3.37861884e-02 9.99429007e-01 -3.90598418e-04 2.31933426e+00] [ 1.92084262e-02 -2.58600825e-04 9.99815468e-01 3.21345665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters Centerline goodness : 0.998117 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:2.32, Z:3.22 [[ 9.99349616e-01 -3.05200655e-02 -1.92060066e-02 2.87516280e+02] [ 3.05180196e-02 9.99534137e-01 -3.99673789e-04 2.31604948e+00] [ 1.92092573e-02 -1.86715440e-04 9.99815468e-01 3.21561203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:2.31, Z:3.22 [[ 9.99475673e-01 -2.60675479e-02 -1.92057815e-02 2.87574843e+02] [ 2.60644775e-02 9.99660180e-01 -4.10211499e-04 2.31224272e+00] [ 1.92099482e-02 -9.05922467e-05 9.99815468e-01 3.21883353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:287.63, Y:2.31, Z:3.22 [[ 9.99629109e-01 -1.93078292e-02 -1.92055443e-02 2.87633552e+02] [ 1.93033032e-02 9.99813585e-01 -4.21032518e-04 2.31161198e+00] [ 1.92100933e-02 5.01459153e-05 9.99815468e-01 3.22182957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:2.31, Z:3.23 [[ 9.99714539e-01 -1.42125252e-02 -1.92053319e-02 2.87692704e+02] [ 1.42068770e-02 9.99898985e-01 -4.30510660e-04 2.31434013e+00] [ 1.92095105e-02 1.57539979e-04 9.99815468e-01 3.22544106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:287.75, Y:2.32, Z:3.20 [[ 9.99795039e-01 -6.40638236e-03 -1.92051379e-02 2.87753547e+02] [ 6.39913112e-03 9.99979429e-01 -4.38997923e-04 2.31954375e+00] [ 1.92075552e-02 3.16011750e-04 9.99815468e-01 3.20432325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:287.81, Y:2.32, Z:3.21 [[ 9.99800746e-01 -5.44342226e-03 -1.92051379e-02 2.87811107e+02] [ 5.43599343e-03 9.99985129e-01 -4.38997923e-04 2.32244884e+00] [ 1.92072419e-02 3.34511448e-04 9.99815468e-01 3.20573581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:287.87, Y:2.33, Z:3.23 [[ 9.99807810e-01 -3.93891608e-03 -1.92049039e-02 2.87869000e+02] [ 3.93101763e-03 9.99992173e-01 -4.49006067e-04 2.33172336e+00] [ 1.92065221e-02 3.73424957e-04 9.99815468e-01 3.22600858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:287.93, Y:2.34, Z:3.23 [[ 9.99784224e-01 -7.91744810e-03 -1.92046961e-02 2.87927844e+02] [ 7.91011599e-03 9.99968610e-01 -4.57721313e-04 2.34197583e+00] [ 1.92077173e-02 3.05711173e-04 9.99815468e-01 3.22679914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:287.99, Y:2.34, Z:3.23 [[ 9.99725623e-01 -1.34114094e-02 -1.92044819e-02 2.87986658e+02] [ 1.34049212e-02 9.99910041e-01 -4.66542052e-04 2.34461562e+00] [ 1.92090112e-02 2.08979478e-04 9.99815468e-01 3.22973582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:288.05, Y:2.35, Z:3.23 [[ 9.99593318e-01 -2.10806790e-02 -1.92042617e-02 2.88045716e+02] [ 2.10754349e-02 9.99777775e-01 -4.75436932e-04 2.34609085e+00] [ 1.92100165e-02 7.05054132e-05 9.99815468e-01 3.23103411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:288.10, Y:2.34, Z:3.23 [[ 9.99506661e-01 -2.48523398e-02 -1.92040330e-02 2.88104781e+02] [ 2.48476177e-02 9.99691133e-01 -4.84499592e-04 2.34446237e+00] [ 1.92101425e-02 7.08609866e-06 9.99815468e-01 3.23231934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:2.34, Z:3.23 [[ 9.99512738e-01 -2.46069229e-02 -1.92037978e-02 2.88163791e+02] [ 2.46019797e-02 9.99697204e-01 -4.93648579e-04 2.34005893e+00] [ 1.92101302e-02 2.09565990e-05 9.99815468e-01 3.23129803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:288.22, Y:2.34, Z:3.23 [[ 9.99531946e-01 -2.38141400e-02 -1.92035571e-02 2.88223054e+02] [ 2.38088739e-02 9.99716402e-01 -5.02841292e-04 2.33668236e+00] [ 1.92100858e-02 4.53908656e-05 9.99815468e-01 3.23108496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:288.28, Y:2.33, Z:3.22 [[ 9.99661335e-01 -1.75626843e-02 -1.92033117e-02 2.88281214e+02] [ 1.75560879e-02 9.99845749e-01 -5.12045809e-04 2.33439904e+00] [ 1.92093425e-02 1.74737369e-04 9.99815468e-01 3.21653448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters Centerline goodness : 0.952696 with order 3 Centerline is valid? [True, True] Translation: X:288.24, Y:2.28, Z:3.21 [[ 9.91259024e-01 -1.30525060e-01 -1.92030290e-02 2.88236156e+02] [ 1.30539167e-01 9.91443016e-01 -5.22435987e-04 2.27607858e+00] [ 1.91069000e-02 -1.98887802e-03 9.99815468e-01 3.21109635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:288.38, Y:2.36, Z:3.24 [[ 9.99820246e-01 6.31889497e-04 -1.89493173e-02 2.88377676e+02] [-7.60882272e-04 9.99976585e-01 -6.80081490e-03 2.35592571e+00] [ 1.89445762e-02 6.81401062e-03 9.99797316e-01 3.23694239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:288.44, Y:2.36, Z:3.24 [[ 9.99796338e-01 6.46659166e-03 -1.91171789e-02 2.88436713e+02] [-6.47750258e-03 9.99978891e-01 -5.08872232e-04 2.35608305e+00] [ 1.91134847e-02 6.32600169e-04 9.99817121e-01 3.23886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:2.36, Z:3.22 [[ 9.99806590e-01 4.61778548e-03 -1.91169496e-02 2.88496220e+02] [-4.62852065e-03 9.99989155e-01 -5.17344800e-04 2.36035642e+00] [ 1.91143533e-02 6.05727937e-04 9.99817121e-01 3.22151029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters Centerline goodness : 0.997272 with order 1 Centerline is valid? [True, True] Translation: X:288.56, Y:2.34, Z:3.23 [[ 9.98243225e-01 -5.60804374e-02 -1.91167184e-02 2.88555785e+02] [ 5.60806431e-02 9.98426104e-01 -5.25749574e-04 2.33747897e+00] [ 1.91161150e-02 -5.47251915e-04 9.99817121e-01 3.22720949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:288.61, Y:2.37, Z:3.22 [[ 9.99816636e-01 -1.11717201e-03 -1.91166515e-02 2.88613549e+02] [ 1.10727733e-03 9.99999247e-01 -5.28171316e-04 2.36753896e+00] [ 1.91172272e-02 5.06907033e-04 9.99817121e-01 3.22357506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:288.67, Y:2.37, Z:3.24 [[ 9.99805299e-01 -4.89085200e-03 -1.91165838e-02 2.88672193e+02] [ 4.88160000e-03 9.99987944e-01 -5.30612146e-04 2.36954712e+00] [ 1.91189485e-02 4.37189320e-04 9.99817121e-01 3.23973799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:2.37, Z:3.23 [[ 9.99766124e-01 -1.01125242e-02 -1.91163395e-02 2.88731194e+02] [ 1.01040607e-02 9.99948807e-01 -5.39272927e-04 2.36917687e+00] [ 1.91208142e-02 3.45994151e-04 9.99817121e-01 3.22589679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:2.37, Z:3.24 [[ 9.99647000e-01 -1.84512961e-02 -1.91160908e-02 2.88790589e+02] [ 1.84441908e-02 9.99829741e-01 -5.47947949e-04 2.36793818e+00] [ 1.91229465e-02 1.95173698e-04 9.99817121e-01 3.24161608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:288.85, Y:2.37, Z:3.25 [[ 9.99499359e-01 -2.52112505e-02 -1.91160549e-02 2.88850860e+02] [ 2.52053573e-02 9.99682144e-01 -5.49196807e-04 2.36577137e+00] [ 1.91238247e-02 6.70948622e-05 9.99817121e-01 3.24797096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:288.91, Y:2.36, Z:3.24 [[ 9.99434967e-01 -2.76464062e-02 -1.91160363e-02 2.88910257e+02] [ 2.76409460e-02 9.99617765e-01 -5.49842994e-04 2.36229862e+00] [ 1.91239307e-02 2.11469869e-05 9.99817121e-01 3.24367945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:288.97, Y:2.36, Z:3.25 [[ 9.99392171e-01 -2.91524994e-02 -1.91159539e-02 2.88969622e+02] [ 2.91472601e-02 9.99574976e-01 -5.52694261e-04 2.36083315e+00] [ 1.91239416e-02 -4.81936347e-06 9.99817121e-01 3.24844763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters Centerline goodness : 0.993704 with order 1 Centerline is valid? [True, True] Translation: X:289.03, Y:2.37, Z:3.22 [[ 9.98912310e-01 4.25298323e-02 -1.91157030e-02 2.89027493e+02] [-4.25483189e-02 9.99094253e-01 -5.61241033e-04 2.37493305e+00] [ 1.90745195e-02 1.37397160e-03 9.99817121e-01 3.22330283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:289.09, Y:2.35, Z:3.25 [[ 9.99415543e-01 -2.83401786e-02 -1.91156098e-02 2.89087286e+02] [ 2.83345670e-02 9.99598336e-01 -5.64395276e-04 2.35160558e+00] [ 1.91239268e-02 2.24328842e-05 9.99817121e-01 3.24879541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:289.15, Y:2.35, Z:3.25 [[ 9.99398770e-01 -2.89256465e-02 -1.91155713e-02 2.89145228e+02] [ 2.89201170e-02 9.99581566e-01 -5.65698120e-04 2.35009746e+00] [ 1.91239358e-02 1.25334475e-05 9.99817121e-01 3.25120059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters Centerline goodness : 0.879728 with order 3 Centerline is valid? [True, False] Translation: X:289.13, Y:2.35, Z:3.25 [[ 9.99822427e-01 -1.80136032e-02 -5.53389646e-03 2.89130559e+02] [ 1.79947319e-02 9.99832160e-01 -3.44121819e-03 2.34877012e+00] [ 5.59495639e-03 3.34102614e-03 9.99978767e-01 3.25102349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [False, True] Translation: X:289.16, Y:2.34, Z:3.25 [[ 9.99948547e-01 -6.94410290e-03 -7.39484867e-03 2.89156270e+02] [ 6.92554722e-03 9.99972813e-01 -2.53192839e-03 2.34245308e+00] [ 7.41222960e-03 2.48058474e-03 9.99969452e-01 3.25163761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:289.22, Y:2.33, Z:3.25 [[ 9.99852730e-01 -1.54865930e-02 -7.39487253e-03 2.89215239e+02] [ 1.54870164e-02 9.99880069e-01 -4.50083071e-10 2.33001802e+00] [ 7.39398566e-03 -1.14524062e-04 9.99972658e-01 3.25325099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:2.32, Z:3.24 [[ 9.99799487e-01 -1.86091923e-02 -7.39487239e-03 2.89274712e+02] [ 1.86096937e-02 9.99826825e-01 -1.00757959e-06 2.32096575e+00] [ 7.39361053e-03 -1.36608933e-04 9.99972658e-01 3.23668650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:289.33, Y:2.31, Z:3.24 [[ 9.99786661e-01 -1.92859598e-02 -7.39487221e-03 2.89332946e+02] [ 1.92864742e-02 9.99813999e-01 -1.75629584e-06 2.31000071e+00] [ 7.39353063e-03 -1.40865091e-04 9.99972658e-01 3.23761738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:289.39, Y:2.30, Z:3.26 [[ 9.99789953e-01 -1.91145688e-02 -7.39487155e-03 2.89391143e+02] [ 1.91150674e-02 9.99817290e-01 -3.25184171e-06 2.30049750e+00] [ 7.39358260e-03 -1.38102310e-04 9.99972658e-01 3.25503721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:289.45, Y:2.29, Z:3.26 [[ 9.99787023e-01 -1.92672124e-02 -7.39487080e-03 2.89449497e+02] [ 1.92677060e-02 9.99814361e-01 -4.49378591e-06 2.28799661e+00] [ 7.39358460e-03 -1.37989367e-04 9.99972658e-01 3.25557341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:289.51, Y:2.28, Z:3.24 [[ 9.99739958e-01 -2.15715560e-02 -7.39486958e-03 2.89508218e+02] [ 2.15721015e-02 9.99767295e-01 -5.99827583e-06 2.28114574e+00] [ 7.39327815e-03 -1.53526161e-04 9.99972658e-01 3.23981098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:289.57, Y:2.28, Z:3.26 [[ 9.99763509e-01 -2.04509692e-02 -7.39486865e-03 2.89567296e+02] [ 2.04514767e-02 9.99790847e-01 -6.98564979e-06 2.27873843e+00] [ 7.39346485e-03 -1.44251986e-04 9.99972658e-01 3.25798730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.63, Y:2.27, Z:3.24 [[ 9.99777919e-01 -1.97339504e-02 -7.39486757e-03 2.89626476e+02] [ 1.97344310e-02 9.99805257e-01 -7.97984805e-06 2.27045722e+00] [ 7.39358495e-03 -1.37955428e-04 9.99972658e-01 3.24133415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:2.26, Z:3.26 [[ 9.99894027e-01 -1.25399251e-02 -7.39486637e-03 2.89685971e+02] [ 1.25402016e-02 9.99921369e-01 -8.97149979e-06 2.26373702e+00] [ 7.39439740e-03 -8.37625664e-05 9.99972658e-01 3.25763047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters Centerline goodness : 0.931053 with order 3 Centerline is valid? [True, False] Translation: X:289.75, Y:2.23, Z:3.27 [[ 9.99042322e-01 -2.31909931e-02 -3.71027862e-02 2.89748523e+02] [ 2.46076034e-02 9.98967426e-01 3.81909466e-02 2.22857916e+00] [ 3.61787889e-02 -3.90673826e-02 9.98581411e-01 3.26770048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [False, True] Translation: X:289.75, Y:2.24, Z:3.27 [[ 9.99481648e-01 -1.21889149e-02 -2.97970678e-02 2.89747402e+02] [ 1.30695157e-02 9.99478170e-01 2.95393761e-02 2.23532379e+00] [ 2.94214659e-02 -2.99134976e-02 9.99119392e-01 3.26532093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:289.81, Y:2.27, Z:3.24 [[ 9.99537736e-01 -8.59877776e-03 -2.91612024e-02 2.89806813e+02] [ 8.58412848e-03 9.99962959e-01 -6.27508500e-04 2.26725522e+00] [ 2.91655181e-02 3.76894917e-04 9.99574525e-01 3.24319551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters Centerline goodness : 0.997623 with order 1 Centerline is valid? [True, True] Translation: X:289.87, Y:2.27, Z:3.26 [[ 9.99574033e-01 -1.17983986e-03 -2.91609375e-02 2.89865443e+02] [ 1.16168267e-03 9.99999121e-01 -6.39587927e-04 2.27162415e+00] [ 2.91616665e-02 6.05439728e-04 9.99574525e-01 3.26473658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:289.92, Y:2.28, Z:3.27 [[ 9.99574738e-01 1.27432028e-05 -2.91606412e-02 2.89922989e+02] [-3.17935002e-05 9.99999786e-01 -6.52824451e-04 2.27940182e+00] [ 2.91606266e-02 6.53473949e-04 9.99574525e-01 3.26714929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:289.98, Y:2.29, Z:3.25 [[ 9.99574060e-01 -1.17275747e-03 -2.91603026e-02 2.89982559e+02] [ 1.15378008e-03 9.99999112e-01 -6.67612833e-04 2.28655205e+00] [ 2.91610596e-02 6.33683893e-04 9.99574525e-01 3.24932278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:290.04, Y:2.30, Z:3.26 [[ 9.99567213e-01 3.88343943e-03 -2.91600025e-02 2.90041484e+02] [-3.90494150e-03 9.99992144e-01 -6.80472252e-04 2.29786397e+00] [ 2.91571309e-02 7.94045856e-04 9.99574525e-01 3.26395044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:290.10, Y:2.31, Z:3.26 [[ 9.99564252e-01 4.58296462e-03 -2.91599592e-02 2.90099878e+02] [-4.60481807e-03 9.99989165e-01 -6.82325117e-04 2.30577886e+00] [ 2.91565162e-02 8.16304102e-04 9.99574525e-01 3.26457802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:290.16, Y:2.31, Z:3.27 [[ 9.99567936e-01 3.69577788e-03 -2.91596111e-02 2.90158691e+02] [-3.71767872e-03 9.99992847e-01 -6.96888751e-04 2.31072715e+00] [ 2.91568270e-02 8.04993716e-04 9.99574525e-01 3.26911160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters Centerline goodness : 0.997819 with order 1 Centerline is valid? [True, True] Translation: X:290.22, Y:2.31, Z:3.27 [[ 9.99572532e-01 2.11864692e-03 -2.91593009e-02 2.90217994e+02] [-2.14024889e-03 9.99997458e-01 -7.09635353e-04 2.31315921e+00] [ 2.91577233e-02 7.71740168e-04 9.99574525e-01 3.27296489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters Centerline goodness : 0.903455 with order 1 Centerline is valid? [True, False] Translation: X:290.26, Y:2.30, Z:3.27 [[ 9.98973703e-01 -1.17399806e-02 -4.37460092e-02 2.90262711e+02] [ 1.24954457e-02 9.99776793e-01 1.70361021e-02 2.29630432e+00] [ 4.35362413e-02 -1.75652438e-02 9.98897421e-01 3.27485582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters Centerline goodness : 0.949888 with order 1 Centerline is valid? [False, False] Translation: X:290.29, Y:2.29, Z:3.28 [[ 9.98939825e-01 -1.31598790e-02 -4.41139743e-02 2.90286879e+02] [ 1.43037925e-02 9.99566943e-01 2.57162936e-02 2.29291913e+00] [ 4.37564471e-02 -2.63200270e-02 9.98695464e-01 3.27553870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters Centerline goodness : 0.997425 with order 1 Centerline is valid? [False, True] Translation: X:290.31, Y:2.30, Z:3.28 [[ 9.98993148e-01 -2.81530795e-03 -4.47745907e-02 2.90309825e+02] [ 3.92403143e-03 9.99687361e-01 2.46937543e-02 2.29815470e+00] [ 4.46910719e-02 -2.48445882e-02 9.98691872e-01 3.27605784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters Centerline goodness : 0.997571 with order 1 Centerline is valid? [True, True] Translation: X:290.37, Y:2.33, Z:3.27 [[ 9.99017626e-01 6.74006045e-03 -4.37990197e-02 2.90367788e+02] [-6.81875103e-03 9.99975395e-01 -1.64747663e-03 2.33280313e+00] [ 4.37868379e-02 1.94451281e-03 9.99039004e-01 3.27307564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:290.43, Y:2.35, Z:3.26 [[ 9.98903668e-01 1.65278687e-02 -4.37982948e-02 2.90426894e+02] [-1.66167723e-02 9.99860543e-01 -1.66652687e-03 2.34738951e+00] [ 4.37646427e-02 2.39248610e-03 9.99039004e-01 3.26235497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters Centerline goodness : 0.998212 with order 1 Centerline is valid? [True, True] Translation: X:290.48, Y:2.37, Z:3.27 [[ 9.98686179e-01 2.66015379e-02 -4.37980944e-02 2.90484973e+02] [-2.67003170e-02 9.99642085e-01 -1.67177774e-03 2.36758378e+00] [ 4.37379465e-02 2.83900433e-03 9.99039004e-01 3.27403397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:290.54, Y:2.38, Z:3.27 [[ 9.98700683e-01 2.60515872e-02 -4.37979467e-02 2.90544607e+02] [-2.61500084e-02 9.99656626e-01 -1.67563735e-03 2.37976043e+00] [ 4.37392546e-02 2.81877684e-03 9.99039004e-01 3.26904377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:290.60, Y:2.40, Z:3.29 [[ 9.98733308e-01 2.47695144e-02 -4.37978492e-02 2.90601892e+02] [-2.48668196e-02 9.99689364e-01 -1.67818328e-03 2.40263424e+00] [ 4.37426762e-02 2.76517075e-03 9.99039004e-01 3.28639796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:290.66, Y:2.42, Z:3.27 [[ 9.98903130e-01 1.65633789e-02 -4.37971553e-02 2.90660517e+02] [-1.66536092e-02 9.99859880e-01 -1.69609997e-03 2.42018128e+00] [ 4.37629253e-02 2.42362027e-03 9.99039004e-01 3.27301663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:2.44, Z:3.28 [[ 9.99026151e-01 5.34559943e-03 -4.37969544e-02 2.90718735e+02] [-5.42530700e-03 9.99983836e-01 -1.70127230e-03 2.43872450e+00] [ 4.37871522e-02 1.93722744e-03 9.99039004e-01 3.27556988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters Centerline goodness : 0.997271 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:2.45, Z:3.29 [[ 9.99032002e-01 -4.11709774e-03 -4.37962165e-02 2.90777506e+02] [ 4.04564194e-03 9.99990337e-01 -1.72006167e-03 2.44940969e+00] [ 4.38028749e-02 1.54121284e-03 9.99039005e-01 3.29114788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters Centerline goodness : 0.997215 with order 1 Centerline is valid? [True, True] Translation: X:290.84, Y:2.46, Z:3.29 [[ 9.98831734e-01 -2.04222659e-02 -4.37961090e-02 2.90835549e+02] [ 2.03663413e-02 9.99791100e-01 -1.72279350e-03 2.45814933e+00] [ 4.38221434e-02 8.28814308e-04 9.99039005e-01 3.29488152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters Centerline goodness : 0.996330 with order 1 Centerline is valid? [True, True] Translation: X:290.89, Y:2.47, Z:3.31 [[ 9.98555724e-01 -3.11196945e-02 -4.37953199e-02 2.90894509e+02] [ 3.10731792e-02 9.99515593e-01 -1.74262639e-03 2.46533765e+00] [ 4.38283351e-02 3.79249730e-04 9.99039005e-01 3.30556394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters Centerline goodness : 0.997667 with order 1 Centerline is valid? [True, True] Translation: X:290.95, Y:2.47, Z:3.30 [[ 9.98401566e-01 -3.57252487e-02 -4.37952030e-02 2.90954037e+02] [ 3.56830328e-02 9.99361633e-01 -1.74555853e-03 2.46937352e+00] [ 4.38296061e-02 1.80022700e-04 9.99039005e-01 3.30418612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:291.01, Y:2.47, Z:3.31 [[ 9.98127132e-01 -4.27108827e-02 -4.37950837e-02 2.91012394e+02] [ 4.26752550e-02 9.99087466e-01 -1.74854634e-03 2.47427886e+00] [ 4.38298012e-02 -1.23694826e-04 9.99039005e-01 3.30605023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:291.07, Y:2.48, Z:3.31 [[ 9.97941569e-01 -4.68475368e-02 -4.37942204e-02 2.91071493e+02] [ 4.68149523e-02 9.98902011e-01 -1.76990819e-03 2.47622605e+00] [ 4.38290507e-02 -2.83959388e-04 9.99039005e-01 3.30881375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:291.13, Y:2.48, Z:3.31 [[ 9.97902483e-01 -4.76736534e-02 -4.37933479e-02 2.91130855e+02] [ 4.76409279e-02 9.98862920e-01 -1.79124101e-03 2.48139819e+00] [ 4.38289463e-02 -2.98871877e-04 9.99039005e-01 3.30985609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:2.48, Z:3.31 [[ 9.98107326e-01 -4.31731193e-02 -4.37932256e-02 2.91189955e+02] [ 4.31359320e-02 9.99067601e-01 -1.79422629e-03 2.48356881e+00] [ 4.38298552e-02 -9.82311923e-05 9.99039005e-01 3.30953308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.25, Y:2.49, Z:3.29 [[ 9.98084876e-01 -4.36899197e-02 -4.37923536e-02 2.91249666e+02] [ 4.36523067e-02 9.99045135e-01 -1.81526086e-03 2.48652291e+00] [ 4.38298464e-02 -9.98528456e-05 9.99039006e-01 3.29451841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:291.31, Y:2.49, Z:3.32 [[ 9.98257605e-01 -3.95474942e-02 -4.37921143e-02 2.91306914e+02] [ 3.95056439e-02 9.99217688e-01 -1.82101639e-03 2.49073502e+00] [ 4.38298719e-02 8.78077864e-05 9.99039006e-01 3.31949234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters Centerline goodness : 0.975691 with order 1 Centerline is valid? [True, True] Translation: X:291.37, Y:2.46, Z:3.30 [[ 9.92590746e-01 -1.13339706e-01 -4.37918054e-02 2.91368522e+02] [ 1.13368720e-01 9.93551302e-01 -1.82841593e-03 2.46042202e+00] [ 4.37166374e-02 -3.14975220e-03 9.99039006e-01 3.30113327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:291.42, Y:2.50, Z:3.32 [[ 9.98452136e-01 -3.42873312e-02 -4.37916806e-02 2.91424920e+02] [ 3.42399676e-02 9.99411962e-01 -1.83140053e-03 2.49952611e+00] [ 4.38287232e-02 3.29140049e-04 9.99039006e-01 3.32293364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:2.50, Z:3.33 [[ 9.98450032e-01 -3.43488515e-02 -4.37914320e-02 2.91483592e+02] [ 3.43012874e-02 9.99409849e-01 -1.83732397e-03 2.50181113e+00] [ 4.38286984e-02 3.32373681e-04 9.99039006e-01 3.32724756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.54, Y:2.50, Z:3.31 [[ 9.98454465e-01 -3.42208949e-02 -4.37905507e-02 2.91543562e+02] [ 3.41722968e-02 9.99414229e-01 -1.85809470e-03 2.50306522e+00] [ 4.38284851e-02 3.58799255e-04 9.99039006e-01 3.31091714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.60, Y:2.52, Z:3.30 [[ 9.99008883e-01 -7.98237972e-03 -4.37896548e-02 2.91603200e+02] [ 7.90767391e-03 9.99966969e-01 -1.87897299e-03 2.51506402e+00] [ 4.38032071e-02 1.53083639e-03 9.99039006e-01 3.30004481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:291.66, Y:2.50, Z:3.33 [[ 9.98659198e-01 -2.76094646e-02 -4.37895283e-02 2.91662165e+02] [ 2.75534687e-02 9.99618560e-01 -1.88191680e-03 2.50346766e+00] [ 4.38247840e-02 6.72840120e-04 9.99039006e-01 3.33312509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.72, Y:2.50, Z:3.32 [[ 9.98762781e-01 -2.35668396e-02 -4.37893982e-02 2.91721649e+02] [ 2.35068283e-02 9.99721899e-01 -1.88494057e-03 2.50485239e+00] [ 4.38216424e-02 8.53258618e-04 9.99039006e-01 3.31818557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:2.51, Z:3.32 [[ 9.98872151e-01 -1.83573715e-02 -4.37885078e-02 2.91780120e+02] [ 1.82914622e-02 9.99830882e-01 -1.90540162e-03 2.50672009e+00] [ 4.38160806e-02 1.10229677e-03 9.99039006e-01 3.32108882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:2.51, Z:3.34 [[ 9.98968062e-01 -1.20604559e-02 -4.37876235e-02 2.91838009e+02] [ 1.19876238e-02 9.99926292e-01 -1.92551211e-03 2.51275857e+00] [ 4.38076186e-02 1.39861554e-03 9.99039006e-01 3.33791995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:2.52, Z:3.34 [[ 9.99006641e-01 -8.27359090e-03 -4.37867337e-02 2.91895255e+02] [ 8.19625035e-03 9.99964518e-01 -1.94553889e-03 2.51892395e+00] [ 4.38012766e-02 1.58471924e-03 9.99039007e-01 3.34307325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:2.53, Z:3.33 [[ 9.99037581e-01 -2.59256151e-03 -4.37857337e-02 2.91954730e+02] [ 2.50880170e-03 9.99994917e-01 -1.96779049e-03 2.52871196e+00] [ 4.37906127e-02 1.85604693e-03 9.99039007e-01 3.32868355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:292.01, Y:2.54, Z:3.35 [[ 9.99039551e-01 -1.68965729e-03 -4.37849259e-02 2.92011866e+02] [ 1.60425307e-03 9.99996742e-01 -1.98560400e-03 2.53933558e+00] [ 4.37881382e-02 1.91345483e-03 9.99039007e-01 3.34772010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:2.55, Z:3.33 [[ 9.99039924e-01 -1.46190573e-03 -4.37846149e-02 2.92070807e+02] [ 1.37598435e-03 9.99997068e-01 -1.99243822e-03 2.54833314e+00] [ 4.37873993e-02 1.93027839e-03 9.99039007e-01 3.33225025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters Centerline goodness : 0.997717 with order 1 Centerline is valid? [True, True] Translation: X:292.13, Y:2.56, Z:3.35 [[ 9.99028585e-01 -4.98148040e-03 -4.37843639e-02 2.92128824e+02] [ 4.89869085e-03 9.99986005e-01 -1.99793913e-03 2.55732047e+00] [ 4.37937038e-02 1.78151224e-03 9.99039007e-01 3.35046387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:2.56, Z:3.34 [[ 9.98985935e-01 -1.04903643e-02 -4.37841761e-02 2.92187954e+02] [ 1.04126758e-02 9.99943782e-01 -2.00204542e-03 2.56139015e+00] [ 4.38027168e-02 1.54410478e-03 9.99039007e-01 3.33900920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters Centerline goodness : 0.975770 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:2.53, Z:3.35 [[ 9.94832758e-01 -9.16010529e-02 -4.37839197e-02 2.92247795e+02] [ 9.16011793e-02 9.95793750e-01 -2.00763697e-03 2.53015459e+00] [ 4.37836553e-02 -2.01339566e-03 9.99039007e-01 3.34709654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters Centerline goodness : 0.997026 with order 1 Centerline is valid? [True, True] Translation: X:292.30, Y:2.57, Z:3.36 [[ 9.98821635e-01 -2.09377640e-02 -4.37830136e-02 2.92303573e+02] [ 2.08689952e-02 9.99780164e-01 -2.02720635e-03 2.57159503e+00] [ 4.38158337e-02 1.11111006e-03 9.99039007e-01 3.36057046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters Centerline goodness : 0.997370 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:2.58, Z:3.36 [[ 9.98696306e-01 -2.62455488e-02 -4.37819520e-02 2.92362230e+02] [ 2.61808813e-02 9.99655120e-01 -2.04988101e-03 2.57569538e+00] [ 4.38206528e-02 9.00958505e-04 9.99039008e-01 3.36468547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:2.58, Z:3.35 [[ 9.98678057e-01 -2.69325594e-02 -4.37810053e-02 2.92421313e+02] [ 2.68676740e-02 9.99636856e-01 -2.06990517e-03 2.57994366e+00] [ 4.38208543e-02 8.90875094e-04 9.99039008e-01 3.34785975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters Centerline goodness : 0.998410 with order 1 Centerline is valid? [True, True] Translation: X:292.48, Y:2.59, Z:3.35 [[ 9.98671137e-01 -2.71894766e-02 -4.37800373e-02 2.92479419e+02] [ 2.71239494e-02 9.99629893e-01 -2.09018168e-03 2.58521532e+00] [ 4.38206649e-02 8.99916605e-04 9.99039008e-01 3.35112159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters Centerline goodness : 0.961835 with order 1 Centerline is valid? [True, True] Translation: X:292.54, Y:2.56, Z:3.33 [[ 9.91478317e-01 -1.22695365e-01 -4.37789207e-02 2.92540138e+02] [ 1.22720932e-01 9.92438969e-01 -2.11331191e-03 2.55984427e+00] [ 4.37072005e-02 -3.27728703e-03 9.99039008e-01 3.33425316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:292.60, Y:2.59, Z:3.36 [[ 9.98569794e-01 -3.06886228e-02 -4.37787148e-02 2.92597188e+02] [ 3.06252550e-02 9.99528694e-01 -2.11757009e-03 2.59270230e+00] [ 4.38230669e-02 7.73807230e-04 9.99039008e-01 3.35521295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:292.66, Y:2.60, Z:3.37 [[ 9.98494470e-01 -3.30489076e-02 -4.37785745e-02 2.92655371e+02] [ 3.29876797e-02 9.99453509e-01 -2.12046575e-03 2.59646313e+00] [ 4.38247290e-02 6.73119728e-04 9.99039008e-01 3.37271003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters Centerline goodness : 0.993947 with order 1 Centerline is valid? [True, True] Translation: X:292.72, Y:2.57, Z:3.36 [[ 9.94106945e-01 -9.91707908e-02 -4.37782700e-02 2.92715995e+02] [ 9.91730011e-02 9.95067934e-01 -2.12673394e-03 2.57421963e+00] [ 4.37732626e-02 -2.22742144e-03 9.99039008e-01 3.35937450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:292.77, Y:2.60, Z:3.36 [[ 9.98266683e-01 -3.93342333e-02 -4.37772483e-02 2.92774550e+02] [ 3.92778560e-02 9.99226019e-01 -2.14756112e-03 2.60180637e+00] [ 4.38278382e-02 4.24362263e-04 9.99039009e-01 3.36382625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters Centerline goodness : 0.997274 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:2.60, Z:3.38 [[ 9.98103692e-01 -4.32732955e-02 -4.37771748e-02 2.92832732e+02] [ 4.32206388e-02 9.99063240e-01 -2.14905755e-03 2.60481964e+00] [ 4.38291629e-02 2.52904812e-04 9.99039009e-01 3.38424428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:292.89, Y:2.61, Z:3.39 [[ 9.97934270e-01 -4.70188347e-02 -4.37769552e-02 2.92890592e+02] [ 4.69695836e-02 9.98893999e-01 -2.15352206e-03 2.60622063e+00] [ 4.38297939e-02 9.28881087e-05 9.99039009e-01 3.38693859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters Centerline goodness : 0.997663 with order 1 Centerline is valid? [True, True] Translation: X:292.95, Y:2.61, Z:3.39 [[ 9.97742435e-01 -5.09285415e-02 -4.37757563e-02 2.92949792e+02] [ 5.08819937e-02 9.98702298e-01 -2.17762247e-03 2.60702802e+00] [ 4.38298516e-02 -5.46914124e-05 9.99039009e-01 3.38879804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:293.01, Y:2.61, Z:3.37 [[ 9.97470211e-01 -5.60085117e-02 -4.37747127e-02 2.93009354e+02] [ 5.59659404e-02 9.98430258e-01 -2.19840346e-03 2.60532795e+00] [ 4.38291270e-02 -2.57051001e-04 9.99039009e-01 3.37324237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:2.60, Z:3.40 [[ 9.97113650e-01 -6.20341377e-02 -4.37736728e-02 2.93066937e+02] [ 6.19964672e-02 9.98073902e-01 -2.21891848e-03 2.60432621e+00] [ 4.38270091e-02 -5.01299168e-04 9.99039009e-01 3.39628244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.13, Y:2.61, Z:3.38 [[ 9.97100829e-01 -6.22406232e-02 -4.37726233e-02 2.93127048e+02] [ 6.22022510e-02 9.98061053e-01 -2.23943300e-03 2.60665875e+00] [ 4.38271342e-02 -4.89815196e-04 9.99039009e-01 3.37843972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.19, Y:2.60, Z:3.38 [[ 9.96917676e-01 -6.51090601e-02 -4.37716494e-02 2.93185642e+02] [ 6.50726220e-02 9.97877975e-01 -2.25830931e-03 2.60489291e+00] [ 4.38258013e-02 -5.96987525e-04 9.99039010e-01 3.38187801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.24, Y:2.60, Z:3.38 [[ 9.96755102e-01 -6.75529400e-02 -4.37706109e-02 2.93244711e+02] [ 6.75179804e-02 9.97715456e-01 -2.27826211e-03 2.60299862e+00] [ 4.38245183e-02 -6.84433859e-04 9.99039010e-01 3.38369040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:293.30, Y:2.60, Z:3.41 [[ 9.96950967e-01 -6.45987247e-02 -4.37695580e-02 2.93303378e+02] [ 6.45600389e-02 9.97911178e-01 -2.29831410e-03 2.60076956e+00] [ 4.38265993e-02 -5.34457899e-04 9.99039010e-01 3.40673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters Centerline goodness : 0.814796 with order 3 Centerline is valid? [True, False] Translation: X:293.30, Y:2.60, Z:3.41 [[ 9.98173031e-01 -4.62638193e-02 -3.88620601e-02 2.93301329e+02] [ 4.62202860e-02 9.98929232e-01 -2.01838450e-03 2.59934216e+00] [ 3.89138260e-02 2.18481446e-04 9.99242546e-01 3.40582462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [False, True] Translation: X:293.30, Y:2.60, Z:3.40 [[ 9.98947643e-01 -3.16900193e-02 -3.31564286e-02 2.93298452e+02] [ 3.15377813e-02 9.99489525e-01 -5.10458970e-03 2.59783738e+00] [ 3.33012676e-02 4.05353765e-03 9.99437139e-01 3.40482757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:293.36, Y:2.59, Z:3.38 [[ 9.99053632e-01 -2.80009894e-02 -3.32834176e-02 2.93359286e+02] [ 2.79819833e-02 9.99607890e-01 -1.03678759e-03 2.59145132e+00] [ 3.32993980e-02 1.04470371e-04 9.99445416e-01 3.38410309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters Centerline goodness : 0.998364 with order 1 Centerline is valid? [True, True] Translation: X:293.42, Y:2.59, Z:3.41 [[ 9.99138649e-01 -2.47826557e-02 -3.32833169e-02 2.93417709e+02] [ 2.47617569e-02 9.99692840e-01 -1.04001306e-03 2.58882461e+00] [ 3.32988678e-02 2.14963846e-04 9.99445416e-01 3.40788603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters Centerline goodness : 0.997565 with order 1 Centerline is valid? [True, True] Translation: X:293.48, Y:2.59, Z:3.41 [[ 9.99108420e-01 -2.59729188e-02 -3.32832108e-02 2.93477127e+02] [ 2.59525675e-02 9.99662631e-01 -1.04339723e-03 2.58735424e+00] [ 3.32990821e-02 1.78682185e-04 9.99445416e-01 3.40550098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters Centerline goodness : 0.995435 with order 1 Centerline is valid? [True, True] Translation: X:293.54, Y:2.58, Z:3.41 [[ 9.99077291e-01 -2.71445766e-02 -3.32827064e-02 2.93536181e+02] [ 2.71243473e-02 9.99631506e-01 -1.05924588e-03 2.58038979e+00] [ 3.32991947e-02 1.55496820e-04 9.99445416e-01 3.41096162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters Centerline goodness : 0.996283 with order 1 Centerline is valid? [True, True] Translation: X:293.60, Y:2.58, Z:3.38 [[ 9.99118764e-01 -2.55732301e-02 -3.32821942e-02 2.93596795e+02] [ 2.55516010e-02 9.99672926e-01 -1.07510109e-03 2.57587432e+00] [ 3.32988023e-02 2.23740329e-04 9.99445416e-01 3.38455253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:2.57, Z:3.39 [[ 9.99062717e-01 -2.76764923e-02 -3.32821204e-02 2.93655940e+02] [ 2.76559540e-02 9.99616920e-01 -1.07738036e-03 2.56746182e+00] [ 3.32991888e-02 1.55921755e-04 9.99445416e-01 3.38690412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters Centerline goodness : 0.938876 with order 3 Centerline is valid? [True, False] Translation: X:293.64, Y:2.56, Z:3.38 [[ 9.99659124e-01 -1.78331026e-02 -1.90687045e-02 2.93640665e+02] [ 1.77850072e-02 9.99838219e-01 -2.68884270e-03 2.55856741e+00] [ 1.91135700e-02 2.34878909e-03 9.99814560e-01 3.38449561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters Centerline goodness : 0.994689 with order 1 Centerline is valid? [False, True] Translation: X:293.62, Y:2.55, Z:3.38 [[ 9.99961865e-01 -7.72449142e-03 -4.07452214e-03 2.93623026e+02] [ 7.70783736e-03 9.99961941e-01 -4.08735210e-03 2.55117234e+00] [ 4.10593978e-03 4.05579047e-03 9.99983346e-01 3.38297427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters Centerline goodness : 0.994589 with order 1 Centerline is valid? [True, True] Translation: X:293.68, Y:2.54, Z:3.38 [[ 9.99923036e-01 -1.17115025e-02 -4.09433515e-03 2.93681980e+02] [ 1.17115191e-02 9.99931418e-01 -1.99099117e-05 2.53993965e+00] [ 4.09428752e-03 -2.80425049e-05 9.99991618e-01 3.38272939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters Centerline goodness : 0.990878 with order 1 Centerline is valid? [True, True] Translation: X:293.74, Y:2.55, Z:3.37 [[ 9.99013998e-01 4.42071079e-02 -4.09433237e-03 2.93740938e+02] [-4.42075622e-02 9.99022368e-01 -2.04651849e-05 2.54893988e+00] [ 4.08942491e-03 2.01445459e-04 9.99991618e-01 3.36632933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters Centerline goodness : 0.887520 with order 1 Centerline is valid? [True, False] Translation: X:293.75, Y:2.51, Z:3.38 [[ 9.98960473e-01 4.31956957e-02 -1.45638569e-02 2.93745464e+02] [-4.24850938e-02 9.98037413e-01 4.60036801e-02 2.50530146e+00] [ 1.65224351e-02 -4.53371112e-02 9.98835099e-01 3.37671959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [False, True] Translation: X:293.78, Y:2.48, Z:3.38 [[ 9.99076680e-01 3.41444561e-02 -2.60757117e-02 2.93778900e+02] [-3.22381873e-02 9.97003226e-01 7.03225946e-02 2.48078588e+00] [ 2.83986954e-02 -6.94170306e-02 9.97183428e-01 3.38354923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters Centerline goodness : 0.974802 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:2.57, Z:3.39 [[ 9.87188813e-01 1.56631548e-01 -3.04106229e-02 2.93844367e+02] [-1.56646813e-01 9.87652867e-01 1.89458235e-03 2.56622727e+00] [ 3.03318903e-02 2.89341667e-03 9.99535694e-01 3.38928136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters Centerline goodness : 0.995286 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:2.54, Z:3.41 [[ 9.96909646e-01 7.24316865e-02 -3.04106558e-02 2.93902388e+02] [-7.24075978e-02 9.97373326e-01 1.89405528e-03 2.54110026e+00] [ 3.04679665e-02 3.13760550e-04 9.99535694e-01 3.40543607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:293.96, Y:2.54, Z:3.42 [[ 9.96192578e-01 8.17039267e-02 -3.04107799e-02 2.93960618e+02] [-8.16842140e-02 9.96656465e-01 1.89205955e-03 2.53955424e+00] [ 3.04636891e-02 5.99224973e-04 9.99535694e-01 3.42264903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters Centerline goodness : 0.994447 with order 1 Centerline is valid? [True, True] Translation: X:294.02, Y:2.54, Z:3.42 [[ 9.95563844e-01 8.90382266e-02 -3.04109601e-02 2.94018364e+02] [-8.90220193e-02 9.96027867e-01 1.88915994e-03 2.53765800e+00] [ 3.04583711e-02 8.26465743e-04 9.99535695e-01 3.42487355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters Centerline goodness : 0.997070 with order 1 Centerline is valid? [True, True] Translation: X:294.08, Y:2.51, Z:3.41 [[ 9.99254623e-01 2.37771844e-02 -3.04112376e-02 2.94076224e+02] [-2.37308190e-02 9.99716608e-01 1.88468222e-03 2.50942363e+00] [ 3.04474317e-02 -1.16159385e-03 9.99535695e-01 3.41196955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters Centerline goodness : 0.994548 with order 1 Centerline is valid? [True, True] Translation: X:294.14, Y:2.54, Z:3.41 [[ 9.91490866e-01 1.26574110e-01 -3.04114549e-02 2.94136953e+02] [-1.26575683e-01 9.91955169e-01 1.88116912e-03 2.53635166e+00] [ 3.04049072e-02 1.98418868e-03 9.99535695e-01 3.40737677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters Centerline goodness : 0.995630 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:2.52, Z:3.42 [[ 9.96381558e-01 7.93657817e-02 -3.04115612e-02 2.94194736e+02] [-7.93453651e-02 9.96845415e-01 1.87944917e-03 2.52167879e+00] [ 3.04647893e-02 5.40367934e-04 9.99535695e-01 3.41766235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters Centerline goodness : 0.995780 with order 1 Centerline is valid? [True, True] Translation: X:294.25, Y:2.53, Z:3.41 [[ 9.95791440e-01 8.64551616e-02 -3.04123984e-02 2.94252769e+02] [-8.64384634e-02 9.96255445e-01 1.86580170e-03 2.52627543e+00] [ 3.04598257e-02 7.70851633e-04 9.99535695e-01 3.41116612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters Centerline goodness : 0.996629 with order 1 Centerline is valid? [True, True] Translation: X:294.31, Y:2.52, Z:3.42 [[ 9.96421034e-01 7.88681379e-02 -3.04128330e-02 2.94310776e+02] [-7.88481231e-02 9.96884907e-01 1.85869052e-03 2.52031316e+00] [ 3.04646857e-02 5.45956473e-04 9.99535695e-01 3.42244674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters Centerline goodness : 0.963222 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:2.52, Z:3.40 [[ 9.86662392e-01 1.59913515e-01 -3.04136671e-02 2.94371620e+02] [-1.59931839e-01 9.87126336e-01 1.84494152e-03 2.52359022e+00] [ 3.03171628e-02 3.04377929e-03 9.99535695e-01 3.39557905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:2.52, Z:3.43 [[ 9.96912614e-01 7.23895373e-02 -3.04137451e-02 2.94431244e+02] [-7.23669663e-02 9.97376370e-01 1.84365442e-03 2.51582411e+00] [ 3.04674120e-02 3.62988119e-04 9.99535695e-01 3.42625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:294.49, Y:2.51, Z:3.43 [[ 9.97012635e-01 7.09986572e-02 -3.04137624e-02 2.94490379e+02] [-7.09754479e-02 9.97476360e-01 1.84336824e-03 2.51112116e+00] [ 3.04678857e-02 3.20768983e-04 9.99535695e-01 3.42758591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:294.55, Y:2.51, Z:3.45 [[ 9.96772983e-01 7.42870913e-02 -3.04146033e-02 2.94549397e+02] [-7.42658383e-02 9.97236802e-01 1.82938893e-03 2.50892875e+00] [ 3.04664617e-02 4.35280554e-04 9.99535695e-01 3.44770114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:294.61, Y:2.51, Z:3.43 [[ 9.96663478e-01 7.57420394e-02 -3.04147232e-02 2.94609485e+02] [-7.57215244e-02 9.97127330e-01 1.82739331e-03 2.50892934e+00] [ 3.04657622e-02 4.81753029e-04 9.99535695e-01 3.42952128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters Centerline goodness : 0.882790 with order 1 Centerline is valid? [True, False] Translation: X:294.62, Y:2.50, Z:3.43 [[ 9.97207141e-01 6.68130691e-02 -3.33756221e-02 2.94615669e+02] [-6.63898657e-02 9.97700627e-01 1.36324902e-02 2.50054818e+00] [ 3.42097076e-02 -1.13786135e-02 9.99349900e-01 3.42781693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [False, True] Translation: X:294.62, Y:2.50, Z:3.43 [[ 9.97772504e-01 5.66089081e-02 -3.52911083e-02 2.94621657e+02] [-5.58323564e-02 9.98184001e-01 2.26152255e-02 2.50006592e+00] [ 3.65072429e-02 -2.05944644e-02 9.99121158e-01 3.42544422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:294.68, Y:2.52, Z:3.44 [[ 9.97825127e-01 5.51638437e-02 -3.60827618e-02 2.94682619e+02] [-5.51518652e-02 9.98477094e-01 1.32798882e-03 2.52294503e+00] [ 3.61010681e-02 6.64930993e-04 9.99347923e-01 3.44262302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters Centerline goodness : 0.996577 with order 1 Centerline is valid? [True, True] Translation: X:294.74, Y:2.53, Z:3.44 [[ 9.98052749e-01 5.08797003e-02 -3.60827618e-02 2.94741374e+02] [-5.08649230e-02 9.98704659e-01 1.32798882e-03 2.52696987e+00] [ 3.61035900e-02 5.09944002e-04 9.99347923e-01 3.44424037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:294.80, Y:2.53, Z:3.44 [[ 9.98048280e-01 5.09668682e-02 -3.60833646e-02 2.94800202e+02] [-5.09527474e-02 9.98700204e-01 1.31140088e-03 2.53273485e+00] [ 3.61033016e-02 5.29705169e-04 9.99347923e-01 3.44328437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters Centerline goodness : 0.896099 with order 3 Centerline is valid? [True, False] Translation: X:294.87, Y:2.51, Z:3.45 [[ 9.97346779e-01 3.31699354e-02 -6.48009100e-02 2.94866199e+02] [-3.13252827e-02 9.99080331e-01 2.92782951e-02 2.51169041e+00] [ 6.57124738e-02 -2.71707065e-02 9.97468608e-01 3.44779692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [False, True] Translation: X:294.87, Y:2.52, Z:3.45 [[ 9.98030233e-01 1.98336611e-02 -5.95170560e-02 2.94866314e+02] [-1.78973025e-02 9.99298619e-01 3.28931116e-02 2.51789898e+00] [ 6.01277027e-02 -3.17631251e-02 9.97685202e-01 3.44542007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:294.93, Y:2.55, Z:3.45 [[ 9.98066247e-01 1.72387110e-02 -5.97209576e-02 2.94925235e+02] [-1.72506508e-02 9.99851147e-01 3.15677955e-04 2.55369168e+00] [ 5.97175098e-02 7.15157875e-04 9.98215061e-01 3.44544122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:294.98, Y:2.55, Z:3.43 [[ 9.98104336e-01 -1.48702977e-02 -5.97210917e-02 2.94984575e+02] [ 1.49141064e-02 9.99888737e-01 2.87855083e-04 2.55040768e+00] [ 5.97101665e-02 -1.17799612e-03 9.98215061e-01 3.43115893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:295.04, Y:2.57, Z:3.45 [[ 9.98145741e-01 1.17671070e-02 -5.97211381e-02 2.95042454e+02] [-1.17715231e-02 9.99930675e-01 2.77884215e-04 2.57113952e+00] [ 5.97202678e-02 4.25639811e-04 9.98215061e-01 3.44648077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:295.10, Y:2.58, Z:3.41 [[ 9.97971628e-01 2.20454202e-02 -5.97212556e-02 2.95103573e+02] [-2.20698968e-02 9.99756399e-01 2.49812215e-04 2.58174431e+00] [ 5.97122146e-02 1.06873644e-03 9.98215062e-01 3.41173417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters Centerline goodness : 0.994943 with order 1 Centerline is valid? [True, True] Translation: X:295.16, Y:2.60, Z:3.44 [[ 9.96206813e-01 6.32877974e-02 -5.97213614e-02 2.95159851e+02] [-6.33877498e-02 9.97988950e-01 2.21264740e-04 2.59510295e+00] [ 5.96152621e-02 3.56517727e-03 9.98215062e-01 3.43518133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters Centerline goodness : 0.997671 with order 1 Centerline is valid? [True, True] Translation: X:295.22, Y:2.57, Z:3.44 [[ 9.98178292e-01 -8.57036961e-03 -5.97213964e-02 2.95218877e+02] [ 8.59834000e-03 9.99963011e-01 2.11377135e-04 2.57368206e+00] [ 5.97173758e-02 -7.24496938e-04 9.98215062e-01 3.44155652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters Centerline goodness : 0.996873 with order 1 Centerline is valid? [True, True] Translation: X:295.28, Y:2.56, Z:3.44 [[ 9.96781205e-01 -5.34843424e-02 -5.97214763e-02 2.95277365e+02] [ 5.35910696e-02 9.98562949e-01 1.85666382e-04 2.56410993e+00] [ 5.96257232e-02 -3.38560655e-03 9.98215062e-01 3.44089495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters Centerline goodness : 0.996223 with order 1 Centerline is valid? [True, True] Translation: X:295.34, Y:2.57, Z:3.44 [[ 9.96307149e-01 -6.16879319e-02 -5.97215472e-02 2.95335824e+02] [ 6.18077338e-02 9.98088062e-01 1.59048066e-04 2.56559739e+00] [ 5.95975520e-02 -3.84971422e-03 9.98215063e-01 3.44196421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters Centerline goodness : 0.996124 with order 1 Centerline is valid? [True, True] Translation: X:295.39, Y:2.57, Z:3.47 [[ 9.98184021e-01 -7.87346400e-03 -5.97215964e-02 2.95394894e+02] [ 7.89578193e-03 9.99968818e-01 1.37720113e-04 2.56959135e+00] [ 5.97186499e-02 -6.09018718e-04 9.98215063e-01 3.46827195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters Centerline goodness : 0.989513 with order 1 Centerline is valid? [True, True] Translation: X:295.46, Y:2.56, Z:3.44 [[ 9.95446041e-01 -7.43001360e-02 -5.97215964e-02 2.95455248e+02] [ 7.44412095e-02 9.97225394e-01 1.37720113e-04 2.55975145e+00] [ 5.95456599e-02 -4.58284081e-03 9.98215063e-01 3.44327918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters Centerline goodness : 0.993699 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:2.56, Z:3.48 [[ 9.98214335e-01 -1.21272728e-03 -5.97216077e-02 2.95513133e+02] [ 1.22283087e-03 9.99999244e-01 1.32631039e-04 2.56139986e+00] [ 5.97214017e-02 -2.05423630e-04 9.98215063e-01 3.48491313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:2.56, Z:3.48 [[ 9.98210028e-01 3.17331800e-03 -5.97216081e-02 2.95572337e+02] [-3.17106762e-03 9.99994963e-01 1.32456552e-04 2.55988391e+00] [ 5.97217276e-02 5.71617990e-05 9.98215063e-01 3.48466239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:295.63, Y:2.55, Z:3.46 [[ 9.97718883e-01 -3.14698873e-02 -5.97216590e-02 2.95633672e+02] [ 3.15323154e-02 9.99502728e-01 1.02948826e-04 2.54523561e+00] [ 5.96887213e-02 -1.98587617e-03 9.98215063e-01 3.46258344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters Centerline goodness : 0.997028 with order 1 Centerline is valid? [True, True] Translation: X:295.69, Y:2.56, Z:3.48 [[ 9.98154429e-01 1.10026616e-02 -5.97216658e-02 2.95692085e+02] [-1.10164209e-02 9.99939313e-01 9.88678229e-05 2.55679477e+00] [ 5.97191292e-02 5.59233651e-04 9.98215063e-01 3.47540436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters Centerline goodness : 0.997322 with order 1 Centerline is valid? [True, True] Translation: X:295.75, Y:2.56, Z:3.48 [[ 9.98139839e-01 1.22547962e-02 -5.97216998e-02 2.95750825e+02] [-1.22725364e-02 9.99924687e-01 6.97518950e-05 2.55568327e+00] [ 5.97180568e-02 6.63314591e-04 9.98215064e-01 3.47884867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:295.81, Y:2.56, Z:3.50 [[ 9.98101182e-01 1.50780535e-02 -5.97217195e-02 2.95809278e+02] [-1.51025397e-02 9.99885949e-01 4.13770507e-05 2.55582351e+00] [ 5.97155320e-02 8.60651155e-04 9.98215064e-01 3.49681170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters Centerline goodness : 0.995729 with order 1 Centerline is valid? [True, True] Translation: X:295.87, Y:2.56, Z:3.50 [[ 9.97990423e-01 2.11762048e-02 -5.97217261e-02 2.95867494e+02] [-2.12131698e-02 9.99774975e-01 1.50577012e-05 2.55808828e+00] [ 5.97086061e-02 1.25185968e-03 9.98215065e-01 3.49877083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:295.93, Y:2.56, Z:3.48 [[ 9.97992667e-01 2.10701880e-02 -5.97217270e-02 2.95928172e+02] [-2.11075518e-02 9.99777211e-01 5.22238333e-06 2.55797581e+00] [ 5.97085317e-02 1.25536755e-03 9.98215065e-01 3.48454621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:2.56, Z:3.49 [[ 9.97977213e-01 2.17898472e-02 -5.97217271e-02 2.95985796e+02] [-2.18287309e-02 9.99761725e-01 1.32720005e-06 2.56012621e+00] [ 5.97075258e-02 1.30232499e-03 9.98215065e-01 3.48718535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters Centerline goodness : 0.993890 with order 1 Centerline is valid? [True, True] Translation: X:296.04, Y:2.56, Z:3.51 [[ 9.97906652e-01 2.48119005e-02 -5.97217115e-02 2.96043458e+02] [-2.48580515e-02 9.99690990e-01 -2.98309693e-05 2.55902089e+00] [ 5.97025168e-02 1.51433390e-03 9.98215065e-01 3.51398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters Centerline goodness : 0.996524 with order 1 Centerline is valid? [True, True] Translation: X:296.10, Y:2.56, Z:3.50 [[ 9.97996377e-01 2.08937655e-02 -5.97217081e-02 2.96103081e+02] [-2.09332600e-02 9.99780875e-01 -3.56735700e-05 2.56134438e+00] [ 5.97078762e-02 1.28577213e-03 9.98215065e-01 3.49689994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:296.16, Y:2.57, Z:3.50 [[ 9.97882570e-01 2.57623103e-02 -5.97216794e-02 2.96161907e+02] [-2.58121369e-02 9.99666809e-01 -6.28754193e-05 2.56545441e+00] [ 5.97001609e-02 1.60428645e-03 9.98215066e-01 3.49941234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:296.22, Y:2.58, Z:3.48 [[ 9.97465702e-01 3.86716901e-02 -5.97216389e-02 2.96222629e+02] [-3.87462108e-02 9.99249080e-01 -8.98427981e-05 2.57563349e+00] [ 5.96733183e-02 2.40360232e-03 9.98215066e-01 3.48481234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters Centerline goodness : 0.996412 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:2.58, Z:3.51 [[ 9.97806516e-01 2.85566678e-02 -5.97216360e-02 2.96281359e+02] [-2.86132162e-02 9.99590554e-01 -9.17279465e-05 2.57692959e+00] [ 5.96945638e-02 1.80035482e-03 9.98215066e-01 3.50713696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters Centerline goodness : 0.996479 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:2.59, Z:3.51 [[ 9.97841982e-01 2.72893093e-02 -5.97216330e-02 2.96339620e+02] [-2.73437048e-02 9.99626087e-01 -9.36196079e-05 2.58652178e+00] [ 5.96967475e-02 1.72642828e-03 9.98215066e-01 3.51152844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:2.60, Z:3.50 [[ 9.97028110e-01 4.86649797e-02 -5.97215788e-02 2.96399808e+02] [-4.87591994e-02 9.98810556e-01 -1.20509880e-04 2.59560824e+00] [ 5.96446787e-02 3.03212811e-03 9.98215066e-01 3.49826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters Centerline goodness : 0.996479 with order 1 Centerline is valid? [True, True] Translation: X:296.46, Y:2.60, Z:3.52 [[ 9.97943669e-01 2.32758988e-02 -5.97215709e-02 2.96458969e+02] [-2.33249521e-02 9.99727929e-01 -1.24280140e-04 2.59630324e+00] [ 5.97024297e-02 1.51702736e-03 9.98215066e-01 3.51748433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters Centerline goodness : 0.996826 with order 1 Centerline is valid? [True, True] Translation: X:296.52, Y:2.61, Z:3.51 [[ 9.95151898e-01 7.81411170e-02 -5.97215669e-02 2.96517131e+02] [-7.82883686e-02 9.96930748e-01 -1.26192040e-04 2.60994208e+00] [ 5.95284056e-02 4.80108429e-03 9.98215066e-01 3.50799978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters Centerline goodness : 0.966579 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:2.63, Z:3.52 [[ 9.93483699e-01 9.70746008e-02 -5.97215344e-02 2.96576807e+02] [-9.72565192e-02 9.95259338e-01 -1.40042814e-04 2.63231850e+00] [ 5.94248202e-02 5.94743881e-03 9.98215066e-01 3.52101221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters Centerline goodness : 0.985570 with order 1 Centerline is valid? [True, True] Translation: X:296.64, Y:2.59, Z:3.50 [[ 9.95512584e-01 -7.34032301e-02 -5.97215344e-02 2.96637149e+02] [ 7.35261270e-02 9.97293281e-01 -1.40042814e-04 2.59223630e+00] [ 5.95701646e-02 -4.25167874e-03 9.98215066e-01 3.50449663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters Centerline goodness : 0.994639 with order 1 Centerline is valid? [True, True] Translation: X:296.70, Y:2.58, Z:3.52 [[ 9.96151965e-01 -6.41451582e-02 -5.97215258e-02 2.96696572e+02] [ 6.42512805e-02 9.97933741e-01 -1.43640186e-04 2.58187318e+00] [ 5.96073395e-02 -3.69409705e-03 9.98215066e-01 3.52027302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:2.59, Z:3.55 [[ 9.98211737e-01 2.58235364e-03 -5.97215219e-02 2.96754749e+02] [-2.59566010e-03 9.99996621e-01 -1.45231777e-04 2.58969885e+00] [ 5.97209451e-02 2.99988836e-04 9.98215066e-01 3.54809229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:2.58, Z:3.55 [[ 9.98151798e-01 -1.12396030e-02 -5.97215115e-02 2.96813548e+02] [ 1.12507643e-02 9.99936697e-01 -1.49374203e-04 2.58059317e+00] [ 5.97194099e-02 -5.22814520e-04 9.98215066e-01 3.54540578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters Centerline goodness : 0.997123 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:2.57, Z:3.55 [[ 9.98098662e-01 -1.52450994e-02 -5.97214264e-02 2.96872445e+02] [ 1.52617126e-02 9.99883517e-01 -1.77970942e-04 2.57489990e+00] [ 5.97171830e-02 -7.33818688e-04 9.98215067e-01 3.54628170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters Centerline goodness : 0.997868 with order 1 Centerline is valid? [True, True] Translation: X:296.93, Y:2.57, Z:3.55 [[ 9.98089592e-01 -1.58280925e-02 -5.97213298e-02 2.96931258e+02] [ 1.58440731e-02 9.99874454e-01 -2.05971282e-04 2.56966134e+00] [ 5.97170921e-02 -7.40651320e-04 9.98215067e-01 3.54934834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:296.99, Y:2.56, Z:3.57 [[ 9.98121830e-01 -1.36451107e-02 -5.97212211e-02 2.96989493e+02] [ 1.36555251e-02 9.99906732e-01 -2.33758667e-04 2.56289070e+00] [ 5.97188406e-02 -5.82205002e-04 9.98215068e-01 3.56680906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:2.56, Z:3.57 [[ 9.98156471e-01 -1.08184527e-02 -5.97211971e-02 2.97047665e+02] [ 1.08234547e-02 9.99941396e-01 -2.39734984e-04 2.56017210e+00] [ 5.97202907e-02 -4.07096649e-04 9.98215068e-01 3.57483200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.11, Y:2.56, Z:3.56 [[ 9.98202857e-01 -4.94457638e-03 -5.97210731e-02 2.97108409e+02] [ 4.93741873e-03 9.99987775e-01 -2.67417342e-04 2.55829722e+00] [ 5.97216653e-02 -2.79311901e-05 9.98215068e-01 3.55719151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:297.17, Y:2.56, Z:3.58 [[ 9.98212757e-01 2.16516389e-03 -5.97210552e-02 2.97166739e+02] [-2.18527020e-03 9.99997575e-01 -2.71360786e-04 2.55737021e+00] [ 5.97203229e-02 4.01382440e-04 9.98215068e-01 3.58009115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:297.23, Y:2.55, Z:3.58 [[ 9.98202108e-01 5.09403977e-03 -5.97210367e-02 2.97225450e+02] [-5.11962388e-03 9.99986857e-01 -2.75389262e-04 2.55485363e+00] [ 5.97188489e-02 5.80643387e-04 9.98215068e-01 3.58003663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:297.29, Y:2.55, Z:3.57 [[ 9.98187914e-01 7.36910969e-03 -5.97208954e-02 2.97285571e+02] [-7.40042587e-03 9.99972571e-01 -3.03212042e-04 2.55474455e+00] [ 5.97170229e-02 7.44622655e-04 9.98215068e-01 3.56846129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:2.55, Z:3.57 [[ 9.98169960e-01 9.49539317e-03 -5.97207519e-02 2.97344511e+02] [-9.53206847e-03 9.99954515e-01 -3.29251296e-04 2.55275837e+00] [ 5.97149091e-02 8.97911049e-04 9.98215069e-01 3.57006365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:2.56, Z:3.57 [[ 9.98142709e-01 1.20243492e-02 -5.97205840e-02 2.97403667e+02] [-1.20672241e-02 9.99927125e-01 -3.57311103e-04 2.55517068e+00] [ 5.97119354e-02 1.07730914e-03 9.98215069e-01 3.57433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.46, Y:2.56, Z:3.58 [[ 9.98114221e-01 1.41938047e-02 -5.97205027e-02 2.97461503e+02] [-1.42413425e-02 9.99898518e-01 -3.70428350e-04 2.55762562e+00] [ 5.97091843e-02 1.22022994e-03 9.98215069e-01 3.57847999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:297.52, Y:2.56, Z:3.58 [[ 9.98095724e-01 1.54406119e-02 -5.97202939e-02 2.97519786e+02] [-1.54922356e-02 9.99879908e-01 -4.01480336e-04 2.56281748e+00] [ 5.97069229e-02 1.32591667e-03 9.98215070e-01 3.58380889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:297.58, Y:2.57, Z:3.60 [[ 9.98090780e-01 1.57576980e-02 -5.97200984e-02 2.97578834e+02] [-1.58115179e-02 9.99874898e-01 -4.28726170e-04 2.57101193e+00] [ 5.97058715e-02 1.37217304e-03 9.98215070e-01 3.60419067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:297.64, Y:2.58, Z:3.61 [[ 9.98122259e-01 1.36186134e-02 -5.97200849e-02 2.97637164e+02] [-1.36687215e-02 9.99906486e-01 -4.30596191e-04 2.57870927e+00] [ 5.97086361e-02 1.24608485e-03 9.98215070e-01 3.60697984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:297.70, Y:2.58, Z:3.61 [[ 9.98159180e-01 1.05731422e-02 -5.97198441e-02 2.97695763e+02] [-1.06196688e-02 9.99943503e-01 -4.61739232e-04 2.58388184e+00] [ 5.97115881e-02 1.09509422e-03 9.98215071e-01 3.60634173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:2.59, Z:3.61 [[ 9.98192842e-01 6.67955774e-03 -5.97196206e-02 2.97754223e+02] [-6.72075692e-03 9.99977296e-01 -4.89041481e-04 2.59227525e+00] [ 5.97149981e-02 8.89518759e-04 9.98215071e-01 3.60805345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:297.81, Y:2.60, Z:3.61 [[ 9.98210401e-01 3.09679862e-03 -5.97193803e-02 2.97813427e+02] [-3.13325353e-03 9.99994958e-01 -5.16804744e-04 2.60208721e+00] [ 5.97174788e-02 7.02995830e-04 9.98215071e-01 3.60812581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters Centerline goodness : 0.997368 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:2.61, Z:3.63 [[ 9.98208867e-01 -3.56133708e-03 -5.97191250e-02 2.97869851e+02] [ 3.53511164e-03 9.99993603e-01 -5.44792234e-04 2.60901201e+00] [ 5.97206832e-02 3.32702665e-04 9.98215072e-01 3.62886556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters Centerline goodness : 0.968024 with order 1 Centerline is valid? [True, True] Translation: X:297.93, Y:2.65, Z:3.61 [[ 9.95131769e-01 7.83991408e-02 -5.97188107e-02 2.97929280e+02] [-7.85737327e-02 9.96908138e-01 -5.77308713e-04 2.65251554e+00] [ 5.94889079e-02 5.26682811e-03 9.98215072e-01 3.60615066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters Centerline goodness : 0.997816 with order 1 Centerline is valid? [True, True] Translation: X:297.99, Y:2.61, Z:3.61 [[ 9.98014569e-01 -2.00148669e-02 -5.97187101e-02 2.97987934e+02] [ 2.00155066e-02 9.99799497e-01 -5.87531472e-04 2.61457861e+00] [ 5.97184957e-02 -6.08935269e-04 9.98215072e-01 3.61461900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters Centerline goodness : 0.991755 with order 1 Centerline is valid? [True, True] Translation: X:298.05, Y:2.61, Z:3.64 [[ 9.97813590e-01 -2.83147581e-02 -5.97186296e-02 2.98045711e+02] [ 2.83297603e-02 9.99598454e-01 -5.95603107e-04 2.61137586e+00] [ 5.97115143e-02 -1.09751359e-03 9.98215072e-01 3.64208741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters Centerline goodness : 0.988997 with order 1 Centerline is valid? [True, True] Translation: X:298.10, Y:2.61, Z:3.65 [[ 9.97765593e-01 -2.99589479e-02 -5.97183670e-02 2.98104788e+02] [ 2.99753798e-02 9.99550445e-01 -6.20865909e-04 2.61044869e+00] [ 5.97101208e-02 -1.17060209e-03 9.98215073e-01 3.65026738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters Centerline goodness : 0.996764 with order 1 Centerline is valid? [True, True] Translation: X:298.17, Y:2.61, Z:3.62 [[ 9.97714666e-01 -3.16096068e-02 -5.97183268e-02 2.98165437e+02] [ 3.16287618e-02 9.99499490e-01 -6.24706507e-04 2.60518604e+00] [ 5.97081840e-02 -1.26553789e-03 9.98215073e-01 3.61992049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters Centerline goodness : 0.992447 with order 1 Centerline is valid? [True, True] Translation: X:298.22, Y:2.60, Z:3.64 [[ 9.97723163e-01 -3.13407967e-02 -5.97180357e-02 2.98224027e+02] [ 3.13578738e-02 9.99508009e-01 -6.51398779e-04 2.60344428e+00] [ 5.97090703e-02 -1.22271498e-03 9.98215073e-01 3.64436120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters Centerline goodness : 0.996319 with order 1 Centerline is valid? [True, True] Translation: X:298.29, Y:2.59, Z:3.63 [[ 9.97502532e-01 -3.77154798e-02 -5.97180067e-02 2.98285056e+02] [ 3.77438028e-02 9.99287235e-01 -6.54050665e-04 2.59352022e+00] [ 5.97001096e-02 -1.60156747e-03 9.98215073e-01 3.62661392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters Centerline goodness : 0.988421 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:2.58, Z:3.66 [[ 9.97432483e-01 -3.95247315e-02 -5.97179865e-02 2.98343379e+02] [ 3.95561816e-02 9.99217133e-01 -6.55890420e-04 2.58395331e+00] [ 5.96971591e-02 -1.70800911e-03 9.98215073e-01 3.65623746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters Centerline goodness : 0.994793 with order 1 Centerline is valid? [True, True] Translation: X:298.40, Y:2.57, Z:3.64 [[ 9.96084481e-01 -6.51879749e-02 -5.97179655e-02 2.98402429e+02] [ 6.52652421e-02 9.97867734e-01 -6.57793781e-04 2.56667671e+00] [ 5.96335112e-02 -3.24228930e-03 9.98215073e-01 3.63985214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters Centerline goodness : 0.990061 with order 1 Centerline is valid? [True, True] Translation: X:298.46, Y:2.57, Z:3.66 [[ 9.97597814e-01 -3.51052425e-02 -5.97178627e-02 2.98460367e+02] [ 3.51281209e-02 9.99382595e-01 -6.66997857e-04 2.56821764e+00] [ 5.97044077e-02 -1.43238070e-03 9.98215073e-01 3.66018484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters Centerline goodness : 0.996280 with order 1 Centerline is valid? [True, True] Translation: X:298.52, Y:2.56, Z:3.64 [[ 9.97741651e-01 -3.07475390e-02 -5.97175511e-02 2.98520357e+02] [ 3.07610167e-02 9.99526527e-01 -6.93820528e-04 2.56301640e+00] [ 5.97106097e-02 -1.14471895e-03 9.98215073e-01 3.63919964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters Centerline goodness : 0.997569 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:2.55, Z:3.64 [[ 9.95702202e-01 -7.07880605e-02 -5.97174615e-02 2.98577739e+02] [ 7.08727450e-02 9.97485119e-01 -7.01447544e-04 2.55358663e+00] [ 5.96169333e-02 -3.53390756e-03 9.98215073e-01 3.63745969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters Centerline goodness : 0.882318 with order 1 Centerline is valid? [True, False] Translation: X:298.58, Y:2.55, Z:3.64 [[ 9.97079335e-01 -5.41910783e-02 -5.38156771e-02 2.98575840e+02] [ 5.41831554e-02 9.98529720e-01 -1.60729705e-03 2.55225141e+00] [ 5.38236542e-02 -1.31330053e-03 9.98549593e-01 3.63587336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters Centerline goodness : 0.994886 with order 1 Centerline is valid? [False, True] Translation: X:298.57, Y:2.56, Z:3.63 [[ 9.98244999e-01 -3.79544148e-02 -4.54574935e-02 2.98570787e+02] [ 3.78620013e-02 9.99278791e-01 -2.89255317e-03 2.55566635e+00] [ 4.55344943e-02 1.16636506e-03 9.98962086e-01 3.63434467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters Centerline goodness : 0.972782 with order 3 Centerline is valid? [True, True] Translation: X:298.54, Y:2.51, Z:3.62 [[ 9.90117931e-01 -1.32650615e-01 -4.55005249e-02 2.98542495e+02] [ 1.32706047e-01 9.91153780e-01 -1.81366209e-03 2.51040307e+00] [ 4.53386006e-02 -4.24245542e-03 9.98962668e-01 3.61760432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters Centerline goodness : 0.854807 with order 1 Centerline is valid? [True, False] Translation: X:298.53, Y:2.51, Z:3.62 [[ 9.92581324e-01 -1.17745553e-01 -3.03034651e-02 2.98525800e+02] [ 1.17892668e-01 9.93021478e-01 3.10844152e-03 2.50792283e+00] [ 2.97259865e-02 -6.65793734e-03 9.99535911e-01 3.61627761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters Centerline goodness : 0.990901 with order 1 Centerline is valid? [False, True] Translation: X:298.52, Y:2.51, Z:3.61 [[ 9.94586327e-01 -1.01507426e-01 -2.22324273e-02 2.98521273e+02] [ 1.01584590e-01 9.94824091e-01 2.36642229e-03 2.51157180e+00] [ 2.18771448e-02 -4.61208326e-03 9.99750028e-01 3.61470007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters Centerline goodness : 0.908073 with order 1 Centerline is valid? [True, False] Translation: X:298.52, Y:2.51, Z:3.61 [[ 9.96308635e-01 -8.44517008e-02 -1.53952884e-02 2.98515779e+02] [ 8.44873332e-02 9.96423141e-01 1.67782593e-03 2.51300604e+00] [ 1.51985264e-02 -2.97233933e-03 9.99880078e-01 3.61488139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [False, True] Translation: X:298.52, Y:2.52, Z:3.61 [[ 9.97567234e-01 -6.82009600e-02 -1.44306498e-02 2.98519024e+02] [ 6.81777713e-02 9.97670993e-01 -2.09337265e-03 2.51634819e+00] [ 1.45398107e-02 1.10443042e-03 9.99893681e-01 3.61238213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters Centerline goodness : 0.995576 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:2.52, Z:3.62 [[ 9.97648355e-01 -6.69875763e-02 -1.45060132e-02 2.98576700e+02] [ 6.69787200e-02 9.97753802e-01 -1.09603777e-03 2.51915863e+00] [ 1.45468507e-02 1.21866088e-04 9.99894182e-01 3.61553023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters Centerline goodness : 0.960687 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:2.56, Z:3.61 [[ 9.99512563e-01 2.76444958e-02 -1.45058316e-02 2.98633523e+02] [-2.76633174e-02 9.99616694e-01 -1.09843536e-03 2.55637416e+00] [ 1.44699058e-02 1.49917936e-03 9.99894182e-01 3.61139284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters Centerline goodness : 0.993285 with order 1 Centerline is valid? [True, True] Translation: X:298.69, Y:2.52, Z:3.64 [[ 9.97270738e-01 -7.23924637e-02 -1.45053559e-02 2.98693711e+02] [ 7.23840532e-02 9.97376222e-01 -1.10468197e-03 2.52335207e+00] [ 1.45472677e-02 5.17105549e-05 9.99894182e-01 3.63543353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:298.75, Y:2.53, Z:3.60 [[ 9.91764224e-01 -1.27252993e-01 -1.45051317e-02 2.98753443e+02] [ 1.27250367e-01 9.91870010e-01 -1.10761807e-03 2.52501915e+00] [ 1.45281528e-02 -7.47287354e-04 9.99894182e-01 3.59639437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:298.81, Y:2.53, Z:3.61 [[ 9.97269054e-01 -7.24157243e-02 -1.45050758e-02 2.98813216e+02] [ 7.24072629e-02 9.97374533e-01 -1.10835015e-03 2.52881451e+00] [ 1.45472552e-02 5.50504696e-05 9.99894182e-01 3.61461807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters Centerline goodness : 0.998359 with order 1 Centerline is valid? [True, True] Translation: X:298.87, Y:2.53, Z:3.61 [[ 9.99384876e-01 -3.19291864e-02 -1.45050628e-02 2.98871380e+02] [ 3.19164536e-02 9.99489925e-01 -1.10851963e-03 2.53454764e+00] [ 1.45330583e-02 6.44887592e-04 9.99894182e-01 3.60561188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:298.93, Y:2.54, Z:3.60 [[ 9.98931982e-01 -4.38692745e-02 -1.45045733e-02 2.98930057e+02] [ 4.38577055e-02 9.99037166e-01 -1.11488846e-03 2.53629153e+00] [ 1.45395171e-02 4.77560437e-04 9.99894182e-01 3.60395468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:2.54, Z:3.61 [[ 9.98128896e-01 -5.93998109e-02 -1.45041476e-02 2.98987958e+02] [ 5.93897991e-02 9.98234239e-01 -1.12039894e-03 2.53882415e+00] [ 1.45450882e-02 2.56904143e-04 9.99894182e-01 3.60543667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters Centerline goodness : 0.996070 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:2.54, Z:3.61 [[ 9.92958950e-01 -1.17567672e-01 -1.45040004e-02 2.99047553e+02] [ 1.17563799e-01 9.93064698e-01 -1.12230139e-03 2.53766305e+00] [ 1.45353571e-02 -5.90746185e-04 9.99894182e-01 3.60851420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:299.11, Y:2.55, Z:3.64 [[ 9.98782178e-01 -4.71571326e-02 -1.45039569e-02 2.99106774e+02] [ 4.71457942e-02 9.98887388e-01 -1.12286315e-03 2.55170778e+00] [ 1.45407706e-02 4.37695138e-04 9.99894182e-01 3.63530735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:299.16, Y:2.57, Z:3.61 [[ 9.99831683e-01 1.12356859e-02 -1.45039325e-02 2.99163944e+02] [-1.12531520e-02 9.99936050e-01 -1.12317847e-03 2.57452500e+00] [ 1.44903853e-02 1.28620438e-03 9.99894182e-01 3.61245986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:299.22, Y:2.59, Z:3.63 [[ 9.99832677e-01 -1.11470654e-02 -1.45037934e-02 2.99221798e+02] [ 1.11319139e-02 9.99937406e-01 -1.12497231e-03 2.58532326e+00] [ 1.45154256e-02 9.63329095e-04 9.99894182e-01 3.62969871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:299.28, Y:2.59, Z:3.63 [[ 9.99493551e-01 -2.83246199e-02 -1.45036771e-02 2.99280317e+02] [ 2.83112484e-02 9.99598522e-01 -1.12646914e-03 2.59310079e+00] [ 1.45297610e-02 7.15281436e-04 9.99894182e-01 3.63499154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:2.61, Z:3.65 [[ 9.99380511e-01 -3.20662095e-02 -1.45035289e-02 2.99338508e+02] [ 3.20532035e-02 9.99485527e-01 -1.12837398e-03 2.61127953e+00] [ 1.45322499e-02 6.62790403e-04 9.99894182e-01 3.64879738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:299.40, Y:2.63, Z:3.65 [[ 9.99403362e-01 -3.13459867e-02 -1.45034508e-02 2.99395746e+02] [ 3.13328905e-02 9.99508366e-01 -1.12937727e-03 2.63162921e+00] [ 1.45317218e-02 6.74268405e-04 9.99894182e-01 3.64705617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:299.45, Y:2.65, Z:3.63 [[ 9.99362849e-01 -3.26121344e-02 -1.45032956e-02 2.99453054e+02] [ 3.25991424e-02 9.99467866e-01 -1.13136604e-03 2.65088276e+00] [ 1.45324742e-02 6.57850191e-04 9.99894182e-01 3.63109556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters Centerline goodness : 0.997466 with order 1 Centerline is valid? [True, True] Translation: X:299.51, Y:2.67, Z:3.65 [[ 9.98978639e-01 -4.27941193e-02 -1.45031539e-02 2.99510687e+02] [ 4.27821719e-02 9.99083781e-01 -1.13317958e-03 2.66763331e+00] [ 1.45383593e-02 5.11545769e-04 9.99894182e-01 3.65314260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:299.57, Y:2.68, Z:3.63 [[ 9.98869432e-01 -4.52716321e-02 -1.45029990e-02 2.99567756e+02] [ 4.52599168e-02 9.98974600e-01 -1.13515850e-03 2.67903837e+00] [ 1.45395181e-02 4.77470596e-04 9.99894182e-01 3.63128189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:299.63, Y:2.69, Z:3.66 [[ 9.98632123e-01 -5.02349727e-02 -1.45028071e-02 2.99626073e+02] [ 5.02237447e-02 9.98737344e-01 -1.13760501e-03 2.68959753e+00] [ 1.45416426e-02 4.07663622e-04 9.99894182e-01 3.65615535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:299.68, Y:2.70, Z:3.63 [[ 9.98373100e-01 -5.51436825e-02 -1.45026967e-02 2.99684903e+02] [ 5.51329514e-02 9.98478372e-01 -1.13901183e-03 2.69981990e+00] [ 1.45434383e-02 3.37582301e-04 9.99894182e-01 3.63264209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:299.74, Y:2.71, Z:3.65 [[ 9.97974788e-01 -6.19354362e-02 -1.45025830e-02 2.99744187e+02] [ 6.19254006e-02 9.98080129e-01 -1.14045699e-03 2.70553235e+00] [ 1.45453746e-02 2.40069063e-04 9.99894182e-01 3.65084791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:299.80, Y:2.71, Z:3.65 [[ 9.97205804e-01 -7.32820736e-02 -1.45025070e-02 2.99803515e+02] [ 7.32732228e-02 9.97311251e-01 -1.14142273e-03 2.70568473e+00] [ 1.45471592e-02 7.55879420e-05 9.99894182e-01 3.65226597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:299.86, Y:2.71, Z:3.66 [[ 9.97078142e-01 -7.49990661e-02 -1.45023493e-02 2.99862128e+02] [ 7.49903678e-02 9.97183603e-01 -1.14342240e-03 2.70768757e+00] [ 1.45472606e-02 5.25449748e-05 9.99894182e-01 3.65561105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters Centerline goodness : 0.841975 with order 3 Centerline is valid? [True, False] Translation: X:299.84, Y:2.73, Z:3.66 [[ 9.97542579e-01 -6.90186727e-02 -1.20509511e-02 2.99838015e+02] [ 6.86631601e-02 9.97253286e-01 -2.77714492e-02 2.72896687e+00] [ 1.39345992e-02 2.68757466e-02 9.99541656e-01 3.65721286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [False, True] Translation: X:299.83, Y:2.74, Z:3.66 [[ 9.97883872e-01 -6.42953021e-02 -9.68983840e-03 2.99828617e+02] [ 6.37806495e-02 9.96885739e-01 -4.63772762e-02 2.74216160e+00] [ 1.26415027e-02 4.56611118e-02 9.98876997e-01 3.66159234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:299.89, Y:2.70, Z:3.66 [[ 9.97908315e-01 -6.33258032e-02 -1.29937404e-02 2.99890811e+02] [ 6.33189186e-02 9.97992900e-01 -9.40961756e-04 2.70251113e+00] [ 1.30272478e-02 1.16243970e-04 9.99915135e-01 3.66047874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:299.95, Y:2.71, Z:3.68 [[ 9.98126454e-01 -5.97892712e-02 -1.29932927e-02 2.99949671e+02] [ 5.97820070e-02 9.98211007e-01 -9.47103453e-04 2.70875496e+00] [ 1.30266744e-02 1.68563895e-04 9.99915135e-01 3.68411507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters Centerline goodness : 0.964979 with order 1 Centerline is valid? [True, True] Translation: X:300.01, Y:2.68, Z:3.66 [[ 9.91422507e-01 -1.30048414e-01 -1.29931980e-02 3.00012612e+02] [ 1.30047116e-01 9.91507362e-01 -9.48401283e-04 2.68337182e+00] [ 1.30061895e-02 -7.49461542e-04 9.99915135e-01 3.65873302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters Centerline goodness : 0.995379 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:2.73, Z:3.68 [[ 9.98854829e-01 -4.60457204e-02 -1.29931980e-02 3.00068374e+02] [ 4.60372762e-02 9.98939272e-01 -9.48401283e-04 2.72861899e+00] [ 1.30230856e-02 3.49143756e-04 9.99915135e-01 3.68350531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters Centerline goodness : 0.995028 with order 1 Centerline is valid? [True, True] Translation: X:300.13, Y:2.74, Z:3.68 [[ 9.98820443e-01 -4.67857948e-02 -1.29927784e-02 3.00126765e+02] [ 4.67773389e-02 9.98904885e-01 -9.54115182e-04 2.74206153e+00] [ 1.30231888e-02 3.45222150e-04 9.99915135e-01 3.68386314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters Centerline goodness : 0.994041 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:2.75, Z:3.69 [[ 9.98758071e-01 -4.80989143e-02 -1.29926832e-02 3.00184970e+02] [ 4.80905526e-02 9.98842523e-01 -9.55409685e-04 2.75452022e+00] [ 1.30235986e-02 3.29397819e-04 9.99915135e-01 3.68764454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters Centerline goodness : 0.992847 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:2.77, Z:3.69 [[ 9.98527468e-01 -5.26696131e-02 -1.29925564e-02 3.00243073e+02] [ 5.26616157e-02 9.98611956e-01 -9.57131398e-04 2.76776236e+00] [ 1.30249339e-02 2.71512982e-04 9.99915135e-01 3.69004230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:2.78, Z:3.66 [[ 9.98101297e-01 -6.02079568e-02 -1.29924287e-02 3.00302239e+02] [ 6.02005750e-02 9.98185840e-01 -9.58861854e-04 2.77631253e+00] [ 1.30265894e-02 1.74889584e-04 9.99915135e-01 3.66455830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters Centerline goodness : 0.990472 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:2.79, Z:3.70 [[ 9.97597217e-01 -6.80513935e-02 -1.29922969e-02 3.00361703e+02] [ 6.80446532e-02 9.97681814e-01 -9.60643352e-04 2.78577235e+00] [ 1.30275515e-02 7.42787950e-05 9.99915135e-01 3.69894798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:300.42, Y:2.80, Z:3.67 [[ 9.97627196e-01 -6.76104886e-02 -1.29922965e-02 3.00421683e+02] [ 6.76037109e-02 9.97711790e-01 -9.60648542e-04 2.79597308e+00] [ 1.30275174e-02 8.00416512e-05 9.99915135e-01 3.66630690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:300.48, Y:2.80, Z:3.70 [[ 9.97595319e-01 -6.80792172e-02 -1.29922787e-02 3.00481797e+02] [ 6.80724762e-02 9.97679916e-01 -9.60889637e-04 2.80400129e+00] [ 1.30275522e-02 7.41624208e-05 9.99915135e-01 3.69595464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:300.54, Y:2.81, Z:3.67 [[ 9.97530449e-01 -6.90232093e-02 -1.29923018e-02 3.00542061e+02] [ 6.90165523e-02 9.97615052e-01 -9.60577311e-04 2.81307312e+00] [ 1.30276180e-02 6.15212392e-05 9.99915135e-01 3.67072672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:2.82, Z:3.67 [[ 9.97340960e-01 -7.17092094e-02 -1.29922744e-02 3.00601871e+02] [ 7.17027754e-02 9.97425580e-01 -9.60948383e-04 2.82088368e+00] [ 1.30277356e-02 2.68110516e-05 9.99915135e-01 3.66658607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters Centerline goodness : 0.992650 with order 1 Centerline is valid? [True, True] Translation: X:300.66, Y:2.83, Z:3.70 [[ 9.97521470e-01 -6.91528563e-02 -1.29922421e-02 3.00660953e+02] [ 6.91461999e-02 9.97606074e-01 -9.61384919e-04 2.83213570e+00] [ 1.30276221e-02 6.06379324e-05 9.99915135e-01 3.69950995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters Centerline goodness : 0.994941 with order 1 Centerline is valid? [True, True] Translation: X:300.72, Y:2.84, Z:3.70 [[ 9.97882737e-01 -6.37278993e-02 -1.29922364e-02 3.00720607e+02] [ 6.37207819e-02 9.97967303e-01 -9.61461370e-04 2.84193441e+00] [ 1.30270990e-02 1.31550241e-04 9.99915135e-01 3.69673929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters Centerline goodness : 0.992358 with order 1 Centerline is valid? [True, True] Translation: X:300.78, Y:2.86, Z:3.70 [[ 9.98373579e-01 -5.55103587e-02 -1.29922033e-02 3.00779969e+02] [ 5.55025395e-02 9.98458083e-01 -9.61908811e-04 2.85598748e+00] [ 1.30255663e-02 2.39244067e-04 9.99915135e-01 3.70335604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:300.84, Y:2.87, Z:3.69 [[ 9.98618067e-01 -5.09230928e-02 -1.29921286e-02 3.00838996e+02] [ 5.09148724e-02 9.98702533e-01 -9.62916435e-04 2.87136273e+00] [ 1.30243064e-02 3.00093180e-04 9.99915135e-01 3.69453830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters Centerline goodness : 0.943225 with order 3 Centerline is valid? [True, False] Translation: X:300.80, Y:2.91, Z:3.71 [[ 9.98523665e-01 -5.38060344e-02 -7.44319292e-03 3.00795827e+02] [ 5.34143047e-02 9.97538491e-01 -4.54298381e-02 2.91384314e+00] [ 9.86927087e-03 4.49651954e-02 9.98939802e-01 3.70766732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters Centerline goodness : 0.996624 with order 1 Centerline is valid? [False, True] Translation: X:300.76, Y:2.94, Z:3.72 [[ 9.98593148e-01 -5.30018746e-02 -1.58925103e-03 3.00758582e+02] [ 5.26951931e-02 9.95264309e-01 -8.16833683e-02 2.94349775e+00] [ 5.91109648e-03 8.14847060e-02 9.96657063e-01 3.71818099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters Centerline goodness : 0.995388 with order 1 Centerline is valid? [True, True] Translation: X:300.82, Y:2.87, Z:3.71 [[ 9.98102248e-01 -6.12127882e-02 -6.70052639e-03 3.00824249e+02] [ 6.12113507e-02 9.98124739e-01 -4.19603638e-04 2.87237190e+00] [ 6.71364627e-03 8.65906361e-06 9.99977463e-01 3.70894371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters Centerline goodness : 0.997122 with order 1 Centerline is valid? [True, True] Translation: X:300.88, Y:2.87, Z:3.70 [[ 9.97297878e-01 -7.31576709e-02 -6.70054086e-03 3.00884504e+02] [ 7.31565043e-02 9.97320385e-01 -4.19372476e-04 2.87383941e+00] [ 6.71326630e-03 -7.19488656e-05 9.99977463e-01 3.70235388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:300.95, Y:2.87, Z:3.70 [[ 9.96792080e-01 -7.97536967e-02 -6.70058645e-03 3.00946913e+02] [ 7.97526839e-02 9.96814594e-01 -4.18642878e-04 2.87069006e+00] [ 6.71263067e-03 -1.17089848e-04 9.99977463e-01 3.70456693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:301.01, Y:2.87, Z:3.70 [[ 9.96592591e-01 -8.22089210e-02 -6.70077475e-03 3.01009695e+02] [ 8.22079840e-02 9.96615109e-01 -4.15606796e-04 2.86740374e+00] [ 6.71225995e-03 -1.36666531e-04 9.99977463e-01 3.69759102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:301.07, Y:2.86, Z:3.71 [[ 9.96556225e-01 -8.26485895e-02 -6.70086626e-03 3.01071005e+02] [ 8.26476724e-02 9.96578743e-01 -4.14126225e-04 2.86176400e+00] [ 6.71216782e-03 -1.41110932e-04 9.99977463e-01 3.71143275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:301.13, Y:2.86, Z:3.69 [[ 9.96743039e-01 -8.03642486e-02 -6.70087051e-03 3.01132081e+02] [ 8.03632804e-02 9.96765555e-01 -4.14057443e-04 2.85906654e+00] [ 6.71247233e-03 -1.25795061e-04 9.99977463e-01 3.68709517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters Centerline goodness : 0.996376 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:2.86, Z:3.71 [[ 9.96962667e-01 -7.75921342e-02 -6.70089984e-03 3.01192882e+02] [ 7.75911066e-02 9.96985180e-01 -4.13582156e-04 2.85997179e+00] [ 6.71278856e-03 -1.07604264e-04 9.99977463e-01 3.70845897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:301.25, Y:2.86, Z:3.69 [[ 9.97084658e-01 -7.60084317e-02 -6.70091298e-03 3.01254267e+02] [ 7.60073698e-02 9.97107170e-01 -4.13369123e-04 2.85596465e+00] [ 6.71294792e-03 -9.71547605e-05 9.99977463e-01 3.68862137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters Centerline goodness : 0.997519 with order 1 Centerline is valid? [True, True] Translation: X:301.32, Y:2.85, Z:3.71 [[ 9.97522766e-01 -7.00244812e-02 -6.70092632e-03 3.01315920e+02] [ 7.00232857e-02 9.97545272e-01 -4.13152838e-04 2.85102069e+00] [ 6.71340818e-03 -5.70915158e-05 9.99977463e-01 3.70660825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters Centerline goodness : 0.986160 with order 1 Centerline is valid? [True, True] Translation: X:301.38, Y:2.83, Z:3.69 [[ 9.90753195e-01 -1.35510899e-01 -6.70095334e-03 3.01377638e+02] [ 1.35511190e-01 9.90775730e-01 -4.12714191e-04 2.83026741e+00] [ 6.69506920e-03 -4.99156258e-04 9.99977463e-01 3.68747643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:301.44, Y:2.86, Z:3.71 [[ 9.98292839e-01 -5.80215859e-02 -6.70095334e-03 3.01436872e+02] [ 5.80201227e-02 9.98315328e-01 -4.12714191e-04 2.85608318e+00] [ 6.71361076e-03 2.32194867e-05 9.99977463e-01 3.70761068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:301.50, Y:2.86, Z:3.69 [[ 9.98607295e-01 -5.23313168e-02 -6.70096703e-03 3.01496740e+02] [ 5.23297269e-02 9.98629776e-01 -4.12491659e-04 2.86223405e+00] [ 6.71337144e-03 6.12574046e-05 9.99977463e-01 3.69027081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:301.56, Y:2.87, Z:3.69 [[ 9.98604916e-01 -5.23767001e-02 -6.70093949e-03 3.01556536e+02] [ 5.23751083e-02 9.98627397e-01 -4.12938629e-04 2.86868167e+00] [ 6.71337012e-03 6.14001136e-05 9.99977463e-01 3.68884199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:301.62, Y:2.87, Z:3.71 [[ 9.98488597e-01 -5.45492379e-02 -6.70091215e-03 3.01616092e+02] [ 5.45476920e-02 9.98511081e-01 -4.13381861e-04 2.87332505e+00] [ 6.71348470e-03 4.72377829e-05 9.99977463e-01 3.71110528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:301.68, Y:2.88, Z:3.71 [[ 9.98227766e-01 -5.91305819e-02 -6.70089818e-03 3.01676120e+02] [ 5.91291376e-02 9.98250256e-01 -4.13608114e-04 2.88074386e+00] [ 6.71363021e-03 1.66567730e-05 9.99977463e-01 3.71017374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:301.74, Y:2.88, Z:3.71 [[ 9.98158946e-01 -6.02811423e-02 -6.70089818e-03 3.01736395e+02] [ 6.02797240e-02 9.98181438e-01 -4.13608114e-04 2.88471929e+00] [ 6.71364495e-03 8.91834655e-06 9.99977463e-01 3.71171275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:301.80, Y:2.89, Z:3.71 [[ 9.97831113e-01 -6.54841031e-02 -6.70089818e-03 3.01796836e+02] [ 6.54828021e-02 9.97853612e-01 -4.13608114e-04 2.88907874e+00] [ 6.71360021e-03 -2.60825444e-05 9.99977463e-01 3.71164434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:301.86, Y:2.89, Z:3.71 [[ 9.97258941e-01 -7.36865170e-02 -6.70089818e-03 3.01858001e+02] [ 7.36854010e-02 9.97281450e-01 -4.13608114e-04 2.88820318e+00] [ 6.71315880e-03 -8.12839794e-05 9.99977463e-01 3.71354512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:301.92, Y:2.89, Z:3.71 [[ 9.96720667e-01 -8.06412345e-02 -6.70092524e-03 3.01919358e+02] [ 8.06402786e-02 9.96743184e-01 -4.13169264e-04 2.88652880e+00] [ 6.71242004e-03 -1.28550133e-04 9.99977463e-01 3.71406895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:301.98, Y:2.88, Z:3.72 [[ 9.96296773e-01 -8.57195257e-02 -6.70095183e-03 3.01981529e+02] [ 8.57186874e-02 9.96319294e-01 -4.12737638e-04 2.88438260e+00] [ 6.71166727e-03 -1.63187618e-04 9.99977463e-01 3.72039117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:302.04, Y:2.88, Z:3.72 [[ 9.96262071e-01 -8.61219071e-02 -6.70099040e-03 3.02043182e+02] [ 8.61210820e-02 9.96284593e-01 -4.12110375e-04 2.87964616e+00] [ 6.71158522e-03 -1.66526608e-04 9.99977463e-01 3.72434309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters Centerline goodness : 0.988860 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:2.90, Z:3.69 [[ 9.99814309e-01 -1.80677644e-02 -6.70100331e-03 3.02102298e+02] [ 1.80654088e-02 9.99836722e-01 -4.11900398e-04 2.90305983e+00] [ 6.70735130e-03 2.90767548e-04 9.99977463e-01 3.69403931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters Centerline goodness : 0.949898 with order 3 Centerline is valid? [True, False] Translation: X:302.15, Y:2.91, Z:3.70 [[ 9.99700508e-01 -7.96938100e-03 -2.31383510e-02 3.02145635e+02] [ 7.51361732e-03 9.99777350e-01 -1.97178947e-02 2.91107696e+00] [ 2.32903387e-02 1.95381367e-02 9.99537804e-01 3.69653638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:302.18, Y:2.90, Z:3.69 [[ 9.99630388e-01 -3.87951371e-04 -2.71833982e-02 3.02177658e+02] [-1.83439756e-04 9.99779160e-01 -2.10142104e-02 2.90168085e+00] [ 2.71855475e-02 2.10114298e-02 9.99409559e-01 3.69401208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:302.24, Y:2.88, Z:3.71 [[ 9.99633358e-01 3.21714799e-03 -2.68849401e-02 3.02235326e+02] [-3.20801733e-03 9.99994781e-01 3.82744722e-04 2.87646824e+00] [ 2.68860312e-02 -2.96357038e-04 9.99638461e-01 3.71343174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:302.30, Y:2.88, Z:3.72 [[ 9.99538809e-01 1.41195219e-02 -2.68851107e-02 3.02295333e+02] [-1.41146667e-02 9.99900315e-01 3.70363006e-04 2.87867981e+00] [ 2.68876600e-02 9.28217813e-06 9.99638461e-01 3.71811595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:302.35, Y:2.88, Z:3.72 [[ 9.99471266e-01 1.82860460e-02 -2.68851230e-02 3.02354438e+02] [-1.82827218e-02 9.99832789e-01 3.69471736e-04 2.88090768e+00] [ 2.68873836e-02 1.22256840e-04 9.99638461e-01 3.71999152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:302.41, Y:2.89, Z:3.72 [[ 9.99402872e-01 2.17043691e-02 -2.68852921e-02 3.02413124e+02] [-2.17026243e-02 9.99764407e-01 3.56727152e-04 2.88935708e+00] [ 2.68867006e-02 2.26967251e-04 9.99638462e-01 3.71961606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:302.47, Y:2.89, Z:3.72 [[ 9.99486525e-01 1.74315473e-02 -2.68854539e-02 3.02472193e+02] [-1.74285968e-02 9.99848051e-01 3.44085962e-04 2.89122713e+00] [ 2.68873666e-02 1.24666453e-04 9.99638462e-01 3.72105344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:302.53, Y:2.89, Z:3.72 [[ 9.99602344e-01 8.50397084e-03 -2.68856116e-02 3.02531349e+02] [-8.49813581e-03 9.99963835e-01 3.31285970e-04 2.89247048e+00] [ 2.68874565e-02 -1.02676654e-04 9.99638462e-01 3.71605380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters Centerline goodness : 0.989733 with order 1 Centerline is valid? [True, True] Translation: X:302.59, Y:2.87, Z:3.71 [[ 9.97644341e-01 -6.31104159e-02 -2.68857641e-02 3.02591210e+02] [ 6.31417812e-02 9.98004516e-01 3.18407958e-04 2.86540964e+00] [ 2.68120191e-02 -2.01527293e-03 9.99638462e-01 3.71154199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.65, Y:2.89, Z:3.71 [[ 9.99634645e-01 -2.78078185e-03 -2.68857668e-02 3.02651974e+02] [ 2.79034482e-03 9.99996056e-01 3.18178363e-04 2.88581969e+00] [ 2.68847760e-02 -3.93082675e-04 9.99638462e-01 3.71348488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:302.71, Y:2.89, Z:3.71 [[ 9.99406597e-01 2.15316116e-02 -2.68857669e-02 3.02709921e+02] [-2.15308414e-02 9.99768134e-01 3.18167994e-04 2.89096721e+00] [ 2.68863837e-02 2.60893993e-04 9.99638462e-01 3.70627014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:2.87, Z:3.72 [[ 9.99590444e-01 -9.80260493e-03 -2.68859280e-02 3.02767666e+02] [ 9.81432304e-03 9.99951792e-01 3.03919421e-04 2.87171678e+00] [ 2.68816527e-02 -5.67662132e-04 9.99638462e-01 3.71577110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:302.83, Y:2.86, Z:3.74 [[ 9.99611880e-01 -7.29569570e-03 -2.68860786e-02 3.02827551e+02] [ 7.30613203e-03 9.99973268e-01 2.89953396e-04 2.86397194e+00] [ 2.68832445e-02 -4.86274099e-04 9.99638462e-01 3.73958804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:2.86, Z:3.74 [[ 9.99616614e-01 -6.61535913e-03 -2.68860868e-02 3.02887380e+02] [ 6.62552918e-03 9.99978009e-01 2.89197658e-04 2.85608294e+00] [ 2.68835824e-02 -4.67221336e-04 9.99638462e-01 3.74026459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:2.85, Z:3.72 [[ 9.99637791e-01 -1.19327471e-03 -2.68861054e-02 3.02947747e+02] [ 1.20143740e-03 9.99999237e-01 2.87450927e-04 2.84943358e+00] [ 2.68857419e-02 -3.19648783e-04 9.99638462e-01 3.71683713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:303.01, Y:2.84, Z:3.74 [[ 9.99634727e-01 2.74768516e-03 -2.68861146e-02 3.03006780e+02] [-2.74097075e-03 9.99996202e-01 2.86585996e-04 2.84459771e+00] [ 2.68868000e-02 -2.12787260e-04 9.99638462e-01 3.74403629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:2.84, Z:3.72 [[ 9.99623027e-01 5.56228474e-03 -2.68861297e-02 3.03068289e+02] [-5.55662631e-03 9.99984521e-01 2.85166384e-04 2.84228198e+00] [ 2.68872997e-02 -1.35662708e-04 9.99638462e-01 3.71822156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters Centerline goodness : 0.997767 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:2.84, Z:3.75 [[ 9.99595584e-01 9.26301569e-03 -2.68861344e-02 3.03127972e+02] [-9.25870744e-03 9.99957097e-01 2.84726904e-04 2.83775082e+00] [ 2.68876183e-02 -3.56809039e-05 9.99638462e-01 3.74527408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:2.83, Z:3.72 [[ 9.99599395e-01 8.84215048e-03 -2.68861743e-02 3.03188709e+02] [-8.83779274e-03 9.99960906e-01 2.80907819e-04 2.83488606e+00] [ 2.68876070e-02 -4.31808499e-05 9.99638462e-01 3.71967627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters Centerline goodness : 0.996081 with order 1 Centerline is valid? [True, True] Translation: X:303.25, Y:2.83, Z:3.75 [[ 9.99610809e-01 7.44061953e-03 -2.68861835e-02 3.03247958e+02] [-7.43577884e-03 9.99972315e-01 2.80018355e-04 2.83096258e+00] [ 2.68875227e-02 -7.99896599e-05 9.99638462e-01 3.75202325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.31, Y:2.82, Z:3.72 [[ 9.99628213e-01 4.53511905e-03 -2.68862029e-02 3.03309003e+02] [-4.52927806e-03 9.99989704e-01 2.78143655e-04 2.82402568e+00] [ 2.68871875e-02 -1.56265156e-04 9.99638462e-01 3.72256112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:303.37, Y:2.82, Z:3.75 [[ 9.99632990e-01 3.31939607e-03 -2.68862025e-02 3.03367571e+02] [-3.31311433e-03 9.99994473e-01 2.78185101e-04 2.81727534e+00] [ 2.68869773e-02 -1.89005941e-04 9.99638462e-01 3.74517744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:303.43, Y:2.81, Z:3.76 [[ 9.99633651e-01 3.11270234e-03 -2.68863185e-02 3.03427609e+02] [-3.10666069e-03 9.99995139e-01 2.66478905e-04 2.81208477e+00] [ 2.68870173e-02 -1.82854612e-04 9.99638462e-01 3.75546973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.49, Y:2.81, Z:3.73 [[ 9.99636139e-01 2.17126135e-03 -2.68863210e-02 3.03487997e+02] [-2.16488614e-03 9.99997621e-01 2.66223372e-04 2.80564755e+00] [ 2.68868351e-02 -2.07920680e-04 9.99638462e-01 3.72784538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters Centerline goodness : 0.993732 with order 1 Centerline is valid? [True, True] Translation: X:303.55, Y:2.80, Z:3.72 [[ 9.97664521e-01 -6.27903544e-02 -2.68863300e-02 3.03547218e+02] [ 6.28201812e-02 9.98024827e-01 2.65320742e-04 2.79509294e+00] [ 2.68165652e-02 -1.95370521e-03 9.99638462e-01 3.72311812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:303.61, Y:2.79, Z:3.76 [[ 9.99614613e-01 6.91010920e-03 -2.68863408e-02 3.03606794e+02] [-6.90550158e-03 9.99976122e-01 2.64219743e-04 2.79277271e+00] [ 2.68875246e-02 -7.84542474e-05 9.99638462e-01 3.75528086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters Centerline goodness : 0.990812 with order 1 Centerline is valid? [True, True] Translation: X:303.67, Y:2.79, Z:3.72 [[ 9.96704059e-01 7.65385070e-02 -2.68863508e-02 3.03667110e+02] [-7.65591252e-02 9.97065008e-01 2.63192327e-04 2.78547045e+00] [ 2.68275840e-02 1.79607064e-03 9.99638462e-01 3.72108603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters Centerline goodness : 0.996421 with order 1 Centerline is valid? [True, True] Translation: X:303.73, Y:2.78, Z:3.76 [[ 9.99470177e-01 1.83436197e-02 -2.68863650e-02 3.03726346e+02] [-1.83432142e-02 9.99831715e-01 2.61736321e-04 2.77599747e+00] [ 2.68866416e-02 2.31584706e-04 9.99638462e-01 3.75533157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:303.79, Y:2.77, Z:3.74 [[ 9.99631830e-01 3.65065046e-03 -2.68863732e-02 3.03785141e+02] [-3.64495362e-03 9.99993323e-01 2.60891670e-04 2.76733985e+00] [ 2.68871461e-02 -1.62796034e-04 9.99638462e-01 3.73696088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters Centerline goodness : 0.993937 with order 1 Centerline is valid? [True, True] Translation: X:303.84, Y:2.77, Z:3.76 [[ 9.99041938e-01 3.45300956e-02 -2.68864126e-02 3.03844628e+02] [-3.45356798e-02 9.99403432e-01 2.56768356e-04 2.77425096e+00] [ 2.68792393e-02 6.72018181e-04 9.99638462e-01 3.76072968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.90, Y:2.78, Z:3.72 [[ 9.98457943e-01 4.85680615e-02 -2.68864211e-02 3.03903729e+02] [-4.85787499e-02 9.98819323e-01 2.55877042e-04 2.78247248e+00] [ 2.68671043e-02 1.05062626e-03 9.99638462e-01 3.72294047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters Centerline goodness : 0.995774 with order 1 Centerline is valid? [True, True] Translation: X:303.96, Y:2.78, Z:3.76 [[ 9.98244437e-01 5.27746420e-02 -2.68864604e-02 3.03962344e+02] [-5.27869659e-02 9.98605765e-01 2.51676750e-04 2.78481705e+00] [ 2.68622565e-02 1.16801975e-03 9.99638462e-01 3.76051981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:304.02, Y:2.80, Z:3.74 [[ 9.97815573e-01 6.03423527e-02 -2.68864759e-02 3.04022402e+02] [-6.03574609e-02 9.98176795e-01 2.50006183e-04 2.79568681e+00] [ 2.68525423e-02 1.37333936e-03 9.99638462e-01 3.74204840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:304.08, Y:2.81, Z:3.76 [[ 9.97621054e-01 6.34771231e-02 -2.68865722e-02 3.04080914e+02] [-6.34936570e-02 9.97982213e-01 2.39185550e-04 2.80996897e+00] [ 2.68475036e-02 1.46851025e-03 9.99638462e-01 3.76231395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:304.14, Y:2.82, Z:3.75 [[ 9.97745865e-01 6.14841105e-02 -2.68866697e-02 3.04140765e+02] [-6.15002324e-02 9.98107043e-01 2.27666510e-04 2.82084879e+00] [ 2.68497723e-02 1.42638312e-03 9.99638462e-01 3.74766136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:304.20, Y:2.83, Z:3.75 [[ 9.97884705e-01 5.91879874e-02 -2.68867555e-02 3.04199585e+02] [-5.92035636e-02 9.98245907e-01 2.17042865e-04 2.83273255e+00] [ 2.68524399e-02 1.37520798e-03 9.99638462e-01 3.74857900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:304.26, Y:2.85, Z:3.76 [[ 9.97980333e-01 5.75530463e-02 -2.68868446e-02 3.04259454e+02] [-5.75683442e-02 9.98341547e-01 2.05378429e-04 2.84601250e+00] [ 2.68540742e-02 1.34286749e-03 9.99638462e-01 3.76093454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters Centerline goodness : 0.997464 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:2.85, Z:3.77 [[ 9.98432819e-01 4.90816002e-02 -2.68868509e-02 3.04318637e+02] [-4.90938542e-02 9.98794149e-01 2.04554138e-04 2.85266302e+00] [ 2.68644692e-02 1.11574557e-03 9.99638462e-01 3.76902257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:304.38, Y:2.86, Z:3.77 [[ 9.99059829e-01 3.40081057e-02 -2.68869292e-02 3.04377576e+02] [-3.40151979e-02 9.99421297e-01 1.93673970e-04 2.85788604e+00] [ 2.68779562e-02 7.21072337e-04 9.99638462e-01 3.77324589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:304.44, Y:2.86, Z:3.78 [[ 9.99459980e-01 1.88901610e-02 -2.68870061e-02 3.04435356e+02] [-1.88920890e-02 9.99821512e-01 1.82335543e-04 2.85926816e+00] [ 2.68856515e-02 3.25714635e-04 9.99638462e-01 3.77656005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters Centerline goodness : 0.996627 with order 1 Centerline is valid? [True, True] Translation: X:304.49, Y:2.86, Z:3.78 [[ 9.99569334e-01 1.17571081e-02 -2.68870972e-02 3.04494322e+02] [-1.17568485e-02 9.99930872e-01 1.67740584e-04 2.86021246e+00] [ 2.68872107e-02 1.48439185e-04 9.99638463e-01 3.78034188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters Centerline goodness : 0.912426 with order 3 Centerline is valid? [True, False] Translation: X:304.49, Y:2.85, Z:3.78 [[ 9.99868100e-01 -1.32644346e-03 -1.61871131e-02 3.04488875e+02] [ 1.38481674e-03 9.99992577e-01 3.59548198e-03 2.85416321e+00] [ 1.61822237e-02 -3.61742392e-03 9.99862515e-01 3.77924551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [False, True] Translation: X:304.46, Y:2.88, Z:3.78 [[ 9.99925771e-01 5.96956195e-04 -1.21694909e-02 3.04459202e+02] [-9.65952160e-04 9.99539227e-01 -3.03381076e-02 2.88495107e+00] [ 1.21457730e-02 3.03476108e-02 9.99465609e-01 3.78303142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:304.52, Y:2.86, Z:3.78 [[ 9.99924401e-01 6.90831506e-04 -1.22766439e-02 3.04517678e+02] [-6.91388619e-04 9.99999760e-01 -4.11358129e-05 2.85655842e+00] [ 1.22766126e-02 4.96206349e-05 9.99924638e-01 3.78126773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.58, Y:2.86, Z:3.78 [[ 9.99923783e-01 1.30880667e-03 -1.22766221e-02 3.04576441e+02] [-1.30948057e-03 9.99999142e-01 -4.68550666e-05 2.85818378e+00] [ 1.22765502e-02 6.29274935e-05 9.99924638e-01 3.78230229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:2.86, Z:3.78 [[ 9.99924640e-01 4.07913091e-06 -1.22765976e-02 3.04633975e+02] [-4.72486164e-06 9.99999999e-01 -5.25695057e-05 2.85822494e+00] [ 1.22765974e-02 5.26235493e-05 9.99924638e-01 3.78394621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.69, Y:2.86, Z:3.78 [[ 9.99922884e-01 -1.87414271e-03 -1.22765662e-02 3.04692662e+02] [ 1.87355836e-03 9.99998243e-01 -5.90993554e-05 2.85886156e+00] [ 1.22766554e-02 3.60939346e-05 9.99924638e-01 3.78353183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.75, Y:2.86, Z:3.78 [[ 9.99922207e-01 -2.20607127e-03 -1.22765580e-02 3.04750940e+02] [ 2.20549155e-03 9.99997566e-01 -6.07601111e-05 2.85839987e+00] [ 1.22766621e-02 3.36795396e-05 9.99924638e-01 3.78401251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:304.81, Y:2.86, Z:3.81 [[ 9.99920218e-01 -2.97378433e-03 -1.22765453e-02 3.04809290e+02] [ 2.97323225e-03 9.99995578e-01 -6.32216084e-05 2.86077822e+00] [ 1.22766790e-02 2.67155441e-05 9.99924638e-01 3.80647114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters Centerline goodness : 0.928476 with order 1 Centerline is valid? [True, False] Translation: X:304.83, Y:2.89, Z:3.81 [[ 9.99631950e-01 4.76667239e-03 -2.67066023e-02 3.04826979e+02] [-5.72814058e-03 9.99333892e-01 -3.60410904e-02 2.89088515e+00] [ 2.65170168e-02 3.61808046e-02 9.98993392e-01 3.81177892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:304.83, Y:2.88, Z:3.81 [[ 9.99778074e-01 1.53973260e-03 -2.10102731e-02 3.04825046e+02] [-1.92805341e-03 9.99827469e-01 -1.84747041e-02 2.87815559e+00] [ 2.09782021e-02 1.85111131e-02 9.99608550e-01 3.81060073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters Centerline goodness : 0.961554 with order 1 Centerline is valid? [True, True] Translation: X:304.88, Y:2.89, Z:3.80 [[ 9.95224481e-01 9.53586468e-02 -2.08557012e-02 3.04882994e+02] [-9.53757174e-02 9.95441330e-01 1.76895347e-04 2.89345121e+00] [ 2.07774954e-02 1.81307688e-03 9.99782481e-01 3.80112782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters Centerline goodness : 0.962899 with order 1 Centerline is valid? [True, True] Translation: X:304.94, Y:2.84, Z:3.80 [[ 9.94510887e-01 -1.02533579e-01 -2.08557290e-02 3.04941991e+02] [ 1.02559485e-01 9.94726858e-01 1.73554900e-04 2.83618528e+00] [ 2.07279586e-02 -2.31155507e-03 9.99782481e-01 3.79947988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters Centerline goodness : 0.956112 with order 1 Centerline is valid? [True, True] Translation: X:305.00, Y:2.90, Z:3.81 [[ 9.96874064e-01 7.62045884e-02 -2.08557394e-02 3.05002535e+02] [-7.62175821e-02 9.97091195e-01 1.72294887e-04 2.90474823e+00] [ 2.08082038e-02 1.41781773e-03 9.99782481e-01 3.81268520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:305.06, Y:2.86, Z:3.81 [[ 9.99459143e-01 -2.54255794e-02 -2.08557444e-02 3.05061634e+02] [ 2.54346907e-02 9.99676471e-01 1.71690360e-04 2.85808759e+00] [ 2.08446316e-02 -7.02056908e-04 9.99782481e-01 3.81473374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:305.12, Y:2.85, Z:3.82 [[ 9.99388991e-01 -2.80478552e-02 -2.08557550e-02 3.05120149e+02] [ 2.80575095e-02 9.99606296e-01 1.70384209e-04 2.85133322e+00] [ 2.08427651e-02 -7.55440648e-04 9.99782481e-01 3.81517892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:305.18, Y:2.85, Z:3.82 [[ 9.99312436e-01 -3.06543569e-02 -2.08558243e-02 3.05179292e+02] [ 3.06643916e-02 9.99529724e-01 1.61443337e-04 2.84810990e+00] [ 2.08410673e-02 -8.00863497e-04 9.99782481e-01 3.81651529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:305.24, Y:2.84, Z:3.82 [[ 9.99277669e-01 -3.17674807e-02 -2.08558899e-02 3.05237806e+02] [ 3.17775705e-02 9.99494954e-01 1.52467392e-04 2.83941907e+00] [ 2.08405132e-02 -8.15106770e-04 9.99782481e-01 3.81830414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters Centerline goodness : 0.998361 with order 1 Centerline is valid? [True, True] Translation: X:305.30, Y:2.84, Z:3.82 [[ 9.99317308e-01 -3.04950341e-02 -2.08559514e-02 3.05295414e+02] [ 3.05046609e-02 9.99534614e-01 1.43533376e-04 2.83810983e+00] [ 2.08418682e-02 -7.79639112e-04 9.99782481e-01 3.82020507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters Centerline goodness : 0.950430 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:2.88, Z:3.82 [[ 9.97454336e-01 6.81899837e-02 -2.08560163e-02 3.05354823e+02] [-6.82020425e-02 9.97671521e-01 1.33380891e-04 2.87764550e+00] [ 2.08165487e-02 1.28938156e-03 9.99782481e-01 3.82239836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters Centerline goodness : 0.937317 with order 3 Centerline is valid? [True, False] Translation: X:305.35, Y:2.87, Z:3.82 [[ 9.98420882e-01 5.46941018e-02 -1.28178768e-02 3.05347974e+02] [-5.46358439e-02 9.98494557e-01 4.85224479e-03 2.87146613e+00] [ 1.30639693e-02 -4.14426700e-03 9.99906074e-01 3.82362996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [False, True] Translation: X:305.34, Y:2.86, Z:3.82 [[ 9.99181872e-01 4.02167744e-02 -4.26584495e-03 3.05343530e+02] [-4.01792669e-02 9.99155981e-01 8.54122973e-03 2.86265835e+00] [ 4.60574520e-03 -8.36284339e-03 9.99954424e-01 3.82274467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:2.88, Z:3.81 [[ 9.97376695e-01 7.22256367e-02 -4.81524372e-03 3.05404825e+02] [-7.22249250e-02 9.97388318e-01 3.21760275e-04 2.88069599e+00] [ 4.82590718e-03 2.68644175e-05 9.99988355e-01 3.80625839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters Centerline goodness : 0.954891 with order 1 Centerline is valid? [True, True] Translation: X:305.46, Y:2.90, Z:3.81 [[ 9.89821890e-01 1.42230236e-01 -4.81525388e-03 3.05464664e+02] [-1.42230345e-01 9.89833534e-01 3.21608182e-04 2.90497806e+00] [ 4.81204218e-03 3.66540401e-04 9.99988355e-01 3.81400970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:305.52, Y:2.86, Z:3.82 [[ 9.98864510e-01 4.73972920e-02 -4.81542349e-03 3.05520730e+02] [-4.73963045e-02 9.98876113e-01 3.19048231e-04 2.85746787e+00] [ 4.82513352e-03 -9.04526767e-05 9.99988355e-01 3.82441231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters Centerline goodness : 0.987555 with order 1 Centerline is valid? [True, True] Translation: X:305.58, Y:2.84, Z:3.80 [[ 9.99588240e-01 -2.82871243e-02 -4.81544409e-03 3.05578324e+02] [ 2.82889851e-02 9.99599736e-01 3.18737036e-04 2.83868947e+00] [ 4.80450049e-03 -4.54829819e-04 9.99988355e-01 3.80197667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:2.86, Z:3.80 [[ 9.97161700e-01 7.51355776e-02 -4.81547352e-03 3.05638998e+02] [-7.51349166e-02 9.97173326e-01 3.18291814e-04 2.85957989e+00] [ 4.82577679e-03 4.44217947e-05 9.99988355e-01 3.80332206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters Centerline goodness : 0.831189 with order 3 Centerline is valid? [True, False] Translation: X:305.64, Y:2.85, Z:3.80 [[ 9.98263092e-01 5.87181420e-02 -4.79353567e-03 3.05641308e+02] [-5.86959868e-02 9.98265127e-01 4.63876591e-03 2.85275785e+00] [ 5.05759920e-03 -4.34934749e-03 9.99977752e-01 3.80254637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters Centerline goodness : 0.991703 with order 1 Centerline is valid? [False, True] Translation: X:305.64, Y:2.85, Z:3.80 [[ 9.99086830e-01 4.26449850e-02 -2.62880614e-03 3.05641946e+02] [-4.26196196e-02 9.99050390e-01 9.04905119e-03 2.84524554e+00] [ 3.01220645e-03 -8.92874915e-03 9.99955601e-01 3.80157903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters Centerline goodness : 0.992627 with order 1 Centerline is valid? [True, True] Translation: X:305.70, Y:2.87, Z:3.82 [[ 9.94606970e-01 1.03648286e-01 -3.74265230e-03 3.05703547e+02] [-1.03647188e-01 9.94614007e-01 4.86812882e-04 2.86619207e+00] [ 3.77295172e-03 -9.62720999e-05 9.99992878e-01 3.82102244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters Centerline goodness : 0.991811 with order 1 Centerline is valid? [True, True] Translation: X:305.76, Y:2.85, Z:3.82 [[ 9.94868660e-01 1.01105592e-01 -3.74286929e-03 3.05761844e+02] [-1.01104482e-01 9.94875695e-01 4.85138823e-04 2.85446383e+00] [ 3.77273993e-03 -1.04228551e-04 9.99992878e-01 3.81874487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters Centerline goodness : 0.922859 with order 3 Centerline is valid? [True, False] Translation: X:305.76, Y:2.84, Z:3.82 [[ 9.96614234e-01 8.22175173e-02 5.89729891e-04 3.05759379e+02] [-8.22183677e-02 9.96613051e-01 1.60213234e-03 2.84474642e+00] [-4.56009162e-04 -1.64519453e-03 9.99998543e-01 3.81845918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [False, True] Translation: X:305.76, Y:2.83, Z:3.82 [[ 9.97977053e-01 6.34756611e-02 3.55568773e-03 3.05755706e+02] [-6.34914960e-02 9.97972084e-01 4.53309498e-03 2.82943292e+00] [-3.26073590e-03 -4.74968071e-03 9.99983404e-01 3.82044522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters Centerline goodness : 0.960654 with order 1 Centerline is valid? [True, True] Translation: X:305.82, Y:2.85, Z:3.80 [[ 9.80814145e-01 1.94923551e-01 2.90198582e-03 3.05818366e+02] [-1.94923260e-01 9.80818421e-01 -3.85692452e-04 2.85187339e+00] [-2.92150169e-03 -1.87371923e-04 9.99995715e-01 3.80283710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters Centerline goodness : 0.995732 with order 1 Centerline is valid? [True, True] Translation: X:305.87, Y:2.79, Z:3.82 [[ 9.96515526e-01 8.33569712e-02 2.90214280e-03 3.05873692e+02] [-8.33562040e-02 9.96519742e-01 -3.84507648e-04 2.79486614e+00] [-2.92409399e-03 1.41256234e-04 9.99995715e-01 3.82321057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters Centerline goodness : 0.998166 with order 1 Centerline is valid? [True, True] Translation: X:305.93, Y:2.78, Z:3.81 [[ 9.97596550e-01 6.92293380e-02 2.90197222e-03 3.05933933e+02] [-6.92285074e-02 9.97600754e-01 -3.85790765e-04 2.77531671e+00] [-2.92171772e-03 1.83964331e-04 9.99995715e-01 3.80819128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:306.00, Y:2.76, Z:3.80 [[ 9.97248409e-01 7.40755632e-02 2.90192232e-03 3.05995553e+02] [-7.40747521e-02 9.97252617e-01 -3.86165724e-04 2.76409568e+00] [-2.92255508e-03 1.70143977e-04 9.99995715e-01 3.80446586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:306.06, Y:2.76, Z:3.80 [[ 9.96422497e-01 8.44617475e-02 2.90187163e-03 3.06057087e+02] [-8.44609791e-02 9.96426713e-01 -3.86546311e-04 2.76204240e+00] [-2.92415078e-03 1.40068521e-04 9.99995715e-01 3.80334594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters Centerline goodness : 0.993742 with order 1 Centerline is valid? [True, True] Translation: X:306.12, Y:2.77, Z:3.80 [[ 9.96675764e-01 8.14186734e-02 2.90178802e-03 3.06119314e+02] [-8.14178903e-02 9.96679977e-01 -3.87172969e-04 2.76850498e+00] [-2.92367712e-03 1.49628457e-04 9.99995715e-01 3.80140512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters Centerline goodness : 0.991349 with order 1 Centerline is valid? [True, True] Translation: X:306.18, Y:2.76, Z:3.81 [[ 9.97032077e-01 7.69325539e-02 2.90175179e-03 3.06179477e+02] [-7.69317511e-02 9.97036286e-01 -3.87444305e-04 2.76419849e+00] [-2.92295890e-03 1.63057554e-04 9.99995715e-01 3.81135724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters Centerline goodness : 0.996972 with order 1 Centerline is valid? [True, True] Translation: X:306.24, Y:2.77, Z:3.80 [[ 9.88005533e-01 1.54391215e-01 2.90175128e-03 3.06239862e+02] [-1.54390743e-01 9.88009792e-01 -3.87448111e-04 2.77014841e+00] [-2.92677726e-03 -6.52026589e-05 9.99995715e-01 3.79576405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:306.30, Y:2.77, Z:3.82 [[ 9.90187687e-01 1.39713726e-01 2.90175334e-03 3.06301045e+02] [-1.39713190e-01 9.90191938e-01 -3.87432689e-04 2.76574345e+00] [-2.92742243e-03 -2.17821380e-05 9.99995715e-01 3.81554525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters Centerline goodness : 0.954767 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:2.76, Z:3.80 [[ 9.98836502e-01 4.81375441e-02 2.90174036e-03 3.06361094e+02] [-4.81366199e-02 9.98840686e-01 -3.87529879e-04 2.76176311e+00] [-2.91703107e-03 2.47399015e-04 9.99995715e-01 3.79896589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters Centerline goodness : 0.994088 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:2.75, Z:3.83 [[ 9.91778414e-01 1.27934195e-01 2.90166439e-03 3.06421118e+02] [-1.27933607e-01 9.91782658e-01 -3.88097858e-04 2.75248728e+00] [-2.92747141e-03 1.36866864e-05 9.99995715e-01 3.83422086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters Centerline goodness : 0.997960 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:2.74, Z:3.80 [[ 9.93264056e-01 1.15836501e-01 2.90167190e-03 3.06479135e+02] [-1.15835862e-01 9.93268293e-01 -3.88041734e-04 2.73929800e+00] [-2.92708809e-03 4.93102421e-05 9.99995715e-01 3.80092275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters Centerline goodness : 0.993388 with order 1 Centerline is valid? [True, True] Translation: X:306.54, Y:2.72, Z:3.80 [[ 9.98740858e-01 5.00827179e-02 2.90168499e-03 3.06540505e+02] [-5.00818007e-02 9.98745044e-01 -3.87943774e-04 2.72314916e+00] [-2.91747278e-03 2.42133688e-04 9.99995715e-01 3.80365284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:306.60, Y:2.71, Z:3.81 [[ 9.98150181e-01 6.07272383e-02 2.90152689e-03 3.06601729e+02] [-6.07263623e-02 9.98154376e-01 -3.89122648e-04 2.70969529e+00] [-2.91980211e-03 2.12203668e-04 9.99995715e-01 3.80982305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:306.66, Y:2.70, Z:3.83 [[ 9.93328355e-01 1.15283828e-01 2.90148636e-03 3.06662441e+02] [-1.15283182e-01 9.93332591e-01 -3.89424673e-04 2.70492945e+00] [-2.92703533e-03 5.23339903e-05 9.99995715e-01 3.83126707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:306.72, Y:2.69, Z:3.83 [[ 9.92857079e-01 1.19274482e-01 2.90148374e-03 3.06723695e+02] [-1.19273853e-01 9.92861318e-01 -3.89444176e-04 2.69421381e+00] [-2.92722172e-03 4.05912603e-05 9.99995715e-01 3.83189021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:306.78, Y:2.68, Z:3.84 [[ 9.92061810e-01 1.25717726e-01 2.90143206e-03 3.06784396e+02] [-1.25717123e-01 9.92066053e-01 -3.89828854e-04 2.68281853e+00] [-2.92742064e-03 2.19746273e-05 9.99995715e-01 3.83537880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:306.85, Y:2.67, Z:3.83 [[ 9.91213314e-01 1.32241253e-01 2.90138043e-03 3.06845115e+02] [-1.32240677e-01 9.91217560e-01 -3.90212674e-04 2.67217899e+00] [-2.92750145e-03 3.10348417e-06 9.99995715e-01 3.83268223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:306.91, Y:2.67, Z:3.84 [[ 9.90064440e-01 1.40584447e-01 2.90134045e-03 3.06907264e+02] [-1.40583906e-01 9.90068691e-01 -3.90509709e-04 2.66741299e+00] [-2.92742594e-03 -2.12519968e-05 9.99995715e-01 3.83768632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.97, Y:2.67, Z:3.82 [[ 9.88449302e-01 1.51524121e-01 2.90128659e-03 3.06969792e+02] [-1.51523626e-01 9.88453559e-01 -3.90909466e-04 2.66693851e+00] [-2.92701927e-03 -5.32192755e-05 9.99995715e-01 3.81633117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.03, Y:2.67, Z:3.81 [[ 9.87583909e-01 1.57065611e-01 2.90123290e-03 3.07031480e+02] [-1.57065139e-01 9.87588168e-01 -3.91307529e-04 2.66988417e+00] [-2.92668424e-03 -6.92335293e-05 9.99995715e-01 3.81371539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:2.67, Z:3.84 [[ 9.87522707e-01 1.57449949e-01 2.90122005e-03 3.07092914e+02] [-1.57449478e-01 9.87526966e-01 -3.91402770e-04 2.67025074e+00] [-2.92665938e-03 -7.02764600e-05 9.99995715e-01 3.83929351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:307.16, Y:2.68, Z:3.83 [[ 9.87241900e-01 1.59201173e-01 2.90118692e-03 3.07155541e+02] [-1.59200709e-01 9.87246160e-01 -3.91648249e-04 2.67793324e+00] [-2.92653650e-03 -7.52194537e-05 9.99995715e-01 3.82761997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.22, Y:2.68, Z:3.81 [[ 9.88427128e-01 1.51668704e-01 2.90116196e-03 3.07216840e+02] [-1.51668207e-01 9.88431384e-01 -3.91833018e-04 2.68115734e+00] [-2.92702834e-03 -5.27156489e-05 9.99995715e-01 3.81434938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:307.28, Y:2.68, Z:3.84 [[ 9.89753334e-01 1.42758259e-01 2.90116288e-03 3.07277756e+02] [-1.42757724e-01 9.89757586e-01 -3.91826194e-04 2.68240335e+00] [-2.92738440e-03 -2.63521273e-05 9.99995715e-01 3.83705017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:307.34, Y:2.68, Z:3.83 [[ 9.91411895e-01 1.30744170e-01 2.90117617e-03 3.07338652e+02] [-1.30743584e-01 9.91416140e-01 -3.91727822e-04 2.67812768e+00] [-2.92748900e-03 9.05345319e-06 9.99995715e-01 3.83305404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:307.40, Y:2.67, Z:3.81 [[ 9.92837471e-01 1.19437600e-01 2.90117617e-03 3.07397683e+02] [-1.19436965e-01 9.92841708e-01 -3.91727822e-04 2.67157734e+00] [-2.92719573e-03 4.24143837e-05 9.99995715e-01 3.81000154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.46, Y:2.66, Z:3.81 [[ 9.93180463e-01 1.16551064e-01 2.90120187e-03 3.07457598e+02] [-1.16550418e-01 9.93184699e-01 -3.91537369e-04 2.66104452e+00] [-2.92706340e-03 5.07309760e-05 9.99995715e-01 3.80876488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.52, Y:2.65, Z:3.81 [[ 9.93756970e-01 1.11528778e-01 2.90120187e-03 3.07517253e+02] [-1.11528110e-01 9.93761202e-01 -3.91537369e-04 2.64697790e+00] [-2.92676954e-03 6.55274272e-05 9.99995715e-01 3.80778490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:307.58, Y:2.63, Z:3.83 [[ 9.93830647e-01 1.10870325e-01 2.90117724e-03 3.07576723e+02] [-1.10869654e-01 9.93834879e-01 -3.91719783e-04 2.62852699e+00] [-2.92672123e-03 6.76506100e-05 9.99995715e-01 3.83239421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.64, Y:2.61, Z:3.81 [[ 9.93870259e-01 1.10514669e-01 2.90115256e-03 3.07636345e+02] [-1.10513996e-01 9.93874491e-01 -3.91902499e-04 2.61464679e+00] [-2.92669249e-03 6.88822764e-05 9.99995715e-01 3.80815368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:2.60, Z:3.83 [[ 9.93172847e-01 1.16615952e-01 2.90112755e-03 3.07696818e+02] [-1.16615304e-01 9.93177082e-01 -3.92087544e-04 2.60047150e+00] [-2.92705706e-03 5.10948306e-05 9.99995715e-01 3.83341555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:307.76, Y:2.59, Z:3.84 [[ 9.92541866e-01 1.21869717e-01 2.90110242e-03 3.07757311e+02] [-1.21869091e-01 9.92546105e-01 -3.92273387e-04 2.59132431e+00] [-2.92728415e-03 3.57930453e-05 9.99995715e-01 3.83715497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:307.82, Y:2.59, Z:3.83 [[ 9.91349785e-01 1.31214277e-01 2.90107630e-03 3.07818673e+02] [-1.31213691e-01 9.91354030e-01 -3.92466477e-04 2.58538660e+00] [-2.92749088e-03 8.41063024e-06 9.99995715e-01 3.83166116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:2.58, Z:3.81 [[ 9.90200555e-01 1.39622507e-01 2.90105077e-03 3.07879610e+02] [-1.39621956e-01 9.90204805e-01 -3.92655051e-04 2.58177002e+00] [-2.92745790e-03 -1.62431346e-05 9.99995715e-01 3.80729661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.94, Y:2.58, Z:3.81 [[ 9.89228190e-01 1.46352904e-01 2.90102457e-03 3.07941114e+02] [-1.46352381e-01 9.89232443e-01 -3.92848577e-04 2.57987460e+00] [-2.92728215e-03 -3.59549656e-05 9.99995715e-01 3.80935425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:308.00, Y:2.58, Z:3.83 [[ 9.88653008e-01 1.50189261e-01 2.90099868e-03 3.08001741e+02] [-1.50188754e-01 9.88657263e-01 -3.93039666e-04 2.57802785e+00] [-2.92712375e-03 -4.71175284e-05 9.99995715e-01 3.82558811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:2.56, Z:3.83 [[ 9.92998906e-01 1.18087919e-01 2.90101183e-03 3.08061319e+02] [-1.18087274e-01 9.93003143e-01 -3.92942557e-04 2.55956253e+00] [-2.92711563e-03 4.76189492e-05 9.99995715e-01 3.82730115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:2.57, Z:3.83 [[ 9.88887670e-01 1.48636339e-01 2.90098538e-03 3.08122954e+02] [-1.48635825e-01 9.88891924e-01 -3.93137763e-04 2.57022904e+00] [-2.92719557e-03 -4.24212695e-05 9.99995715e-01 3.82839033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:2.57, Z:3.83 [[ 9.89284317e-01 1.45973025e-01 2.90101161e-03 3.08183327e+02] [-1.45972500e-01 9.89288570e-01 -3.92944109e-04 2.56822247e+00] [-2.92729686e-03 -3.47344727e-05 9.99995715e-01 3.82641351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:308.24, Y:2.56, Z:3.83 [[ 9.89619747e-01 1.43681383e-01 2.90103810e-03 3.08243424e+02] [-1.43680849e-01 9.89623999e-01 -3.92748421e-04 2.56452972e+00] [-2.92736756e-03 -2.81520250e-05 9.99995715e-01 3.82775866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters Centerline goodness : 0.892875 with order 3 Centerline is valid? [True, False] Translation: X:308.24, Y:2.57, Z:3.83 [[ 9.92098476e-01 1.25385676e-01 4.36427014e-03 3.08243546e+02] [-1.25386312e-01 9.92107986e-01 -1.28711990e-04 2.56699892e+00] [-4.34596590e-03 -4.19524769e-04 9.99990468e-01 3.82801558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [False, True] Translation: X:308.24, Y:2.57, Z:3.83 [[ 9.94242471e-01 1.06682142e-01 1.00413623e-02 3.08241268e+02] [-1.06667524e-01 9.94292770e-01 -1.98177074e-03 2.57050769e+00] [-1.01954734e-02 8.99273390e-04 9.99947620e-01 3.82658854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters Centerline goodness : 0.796596 with order 3 Centerline is valid? [True, False] Translation: X:308.24, Y:2.57, Z:3.83 [[ 9.96087042e-01 8.70800170e-02 1.50889494e-02 3.08238146e+02] [-8.70327505e-02 9.96198345e-01 -3.76261104e-03 2.57119617e+00] [-1.53592346e-02 2.43465533e-03 9.99879076e-01 3.82677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:308.23, Y:2.57, Z:3.83 [[ 9.97236996e-01 7.08554689e-02 2.23131349e-02 3.08234092e+02] [-7.08385824e-02 9.97486592e-01 -1.54729773e-03 2.56616745e+00] [-2.23666874e-02 -3.76083073e-05 9.99749834e-01 3.82564936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:308.30, Y:2.55, Z:3.84 [[ 9.97697636e-01 6.40504230e-02 2.22928271e-02 3.08295104e+02] [-6.40262093e-02 9.97946596e-01 -1.79896232e-03 2.55498085e+00] [-2.23622752e-02 3.67495244e-04 9.99749866e-01 3.84307921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:2.55, Z:3.82 [[ 9.97921955e-01 6.04549929e-02 2.22927094e-02 3.08355327e+02] [-6.04298497e-02 9.98170823e-01 -1.80041925e-03 2.54565218e+00] [-2.23607764e-02 4.49532821e-04 9.99749866e-01 3.82189736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:308.42, Y:2.53, Z:3.84 [[ 9.97904957e-01 6.07349691e-02 2.22925933e-02 3.08417300e+02] [-6.07098637e-02 9.98153829e-01 -1.80185623e-03 2.53355953e+00] [-2.23608730e-02 4.44700961e-04 9.99749866e-01 3.84205791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:308.48, Y:2.52, Z:3.84 [[ 9.97372857e-01 6.89235820e-02 2.22917855e-02 3.08478916e+02] [-6.89002980e-02 9.97621906e-01 -1.81179508e-03 2.52386793e+00] [-2.23636489e-02 2.71124576e-04 9.99749866e-01 3.84061436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:308.54, Y:2.52, Z:3.84 [[ 9.96678010e-01 7.83329898e-02 2.22909689e-02 3.08539907e+02] [-7.83118337e-02 9.96927248e-01 -1.82178621e-03 2.51689036e+00] [-2.23651803e-02 7.00875971e-05 9.99749866e-01 3.84390149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters Centerline goodness : 0.998409 with order 1 Centerline is valid? [True, True] Translation: X:308.60, Y:2.51, Z:3.84 [[ 9.96052361e-01 8.59232914e-02 2.22908469e-02 3.08600196e+02] [-8.59040012e-02 9.96301751e-01 -1.82327815e-03 2.51122402e+00] [-2.23650718e-02 -9.87924336e-05 9.99749866e-01 3.83867809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters Centerline goodness : 0.998109 with order 1 Centerline is valid? [True, True] Translation: X:308.66, Y:2.51, Z:3.84 [[ 9.95752351e-01 8.93329545e-02 2.22907862e-02 3.08662045e+02] [-8.93145016e-02 9.96001804e-01 -1.82401973e-03 2.50738340e+00] [-2.23646083e-02 -1.74618526e-04 9.99749866e-01 3.83760189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:308.72, Y:2.51, Z:3.83 [[ 9.95190035e-01 9.53936788e-02 2.22899239e-02 3.08724010e+02] [-9.53765104e-02 9.95439579e-01 -1.83449718e-03 2.50667570e+00] [-2.23632719e-02 -3.00261843e-04 9.99749866e-01 3.83262391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.79, Y:2.50, Z:3.81 [[ 9.94863045e-01 9.87455876e-02 2.22896773e-02 3.08785230e+02] [-9.87291929e-02 9.95112642e-01 -1.83748868e-03 2.50485552e+00] [-2.23621836e-02 -3.72592261e-04 9.99749866e-01 3.80899919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters Centerline goodness : 0.996522 with order 1 Centerline is valid? [True, True] Translation: X:308.85, Y:2.50, Z:3.84 [[ 9.94989912e-01 9.74589824e-02 2.22894906e-02 3.08848024e+02] [-9.74422143e-02 9.95239484e-01 -1.83975023e-03 2.50484041e+00] [-2.23626813e-02 -3.41404400e-04 9.99749866e-01 3.83655214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:308.91, Y:2.51, Z:3.83 [[ 9.94384972e-01 1.03449104e-01 2.22892456e-02 3.08910849e+02] [-1.03433773e-01 9.94634636e-01 -1.84271362e-03 2.50965473e+00] [-2.23602828e-02 -4.73094041e-04 9.99749866e-01 3.82971052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:308.97, Y:2.51, Z:3.83 [[ 9.94263879e-01 1.04606590e-01 2.22889943e-02 3.08973937e+02] [-1.04591482e-01 9.94513557e-01 -1.84574867e-03 2.51486359e+00] [-2.23597845e-02 -4.96077711e-04 9.99749866e-01 3.82698789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters Centerline goodness : 0.998016 with order 1 Centerline is valid? [True, True] Translation: X:309.04, Y:2.52, Z:3.83 [[ 9.94831068e-01 9.90674368e-02 2.22887445e-02 3.09035516e+02] [-9.90508704e-02 9.95080654e-01 -1.84876019e-03 2.51690732e+00] [-2.23622504e-02 -3.68515470e-04 9.99749866e-01 3.82927372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:309.10, Y:2.52, Z:3.83 [[ 9.95586814e-01 9.11598089e-02 2.22886827e-02 3.09097522e+02] [-9.11412433e-02 9.95836258e-01 -1.84950513e-03 2.51726048e+00] [-2.23644789e-02 -1.90075328e-04 9.99749866e-01 3.82747587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters Centerline goodness : 0.997769 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:2.52, Z:3.83 [[ 9.95849215e-01 8.82471747e-02 2.22884902e-02 3.09159997e+02] [-8.82278276e-02 9.96098600e-01 -1.85182197e-03 2.51529636e+00] [-2.23649519e-02 -1.22329621e-04 9.99749866e-01 3.82637778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:2.51, Z:3.82 [[ 9.95833116e-01 8.84287276e-02 2.22882380e-02 3.09221977e+02] [-8.84093582e-02 9.96082499e-01 -1.85485210e-03 2.51374377e+00] [-2.23649461e-02 -1.23365674e-04 9.99749866e-01 3.82135249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters Centerline goodness : 0.997220 with order 1 Centerline is valid? [True, True] Translation: X:309.28, Y:2.51, Z:3.82 [[ 9.95741033e-01 8.94597218e-02 2.22879860e-02 3.09283568e+02] [-8.94405429e-02 9.95990430e-01 -1.85787608e-03 2.51411636e+00] [-2.23648258e-02 -1.43486116e-04 9.99749866e-01 3.82380028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters Centerline goodness : 0.998164 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:2.51, Z:3.82 [[ 9.96026288e-01 8.62257748e-02 2.22878585e-02 3.09344304e+02] [-8.62057520e-02 9.96275620e-01 -1.85940415e-03 2.51133427e+00] [-2.23651786e-02 -6.93261845e-05 9.99749866e-01 3.81895006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:309.41, Y:2.51, Z:3.82 [[ 9.96527308e-01 8.02283252e-02 2.22876841e-02 3.09406933e+02] [-8.02067550e-02 9.96776510e-01 -1.86149215e-03 2.50877302e+00] [-2.23651844e-02 6.74049468e-05 9.99749866e-01 3.81768684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters Centerline goodness : 0.996626 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:2.50, Z:3.82 [[ 9.97074758e-01 7.31108580e-02 2.22874313e-02 3.09467555e+02] [-7.30874415e-02 9.97323794e-01 -1.86451433e-03 2.50270686e+00] [-2.23641017e-02 2.30128849e-04 9.99749866e-01 3.81759244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters Centerline goodness : 0.996530 with order 1 Centerline is valid? [True, True] Translation: X:309.53, Y:2.50, Z:3.81 [[ 9.97248139e-01 7.07065933e-02 2.22873605e-02 3.09528495e+02] [-7.06825575e-02 9.97497116e-01 -1.86535941e-03 2.49659834e+00] [-2.23634711e-02 2.84898563e-04 9.99749866e-01 3.81450452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:309.59, Y:2.49, Z:3.79 [[ 9.97715416e-01 6.37748012e-02 2.22872998e-02 3.09589438e+02] [-6.37490196e-02 9.97964218e-01 -1.86608430e-03 2.48937117e+00] [-2.23609369e-02 4.41027562e-04 9.99749866e-01 3.78753803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:309.65, Y:2.48, Z:3.79 [[ 9.97942942e-01 6.01096678e-02 2.22870579e-02 3.09650363e+02] [-6.00829082e-02 9.98191640e-01 -1.86896908e-03 2.47579699e+00] [-2.23590980e-02 5.26053247e-04 9.99749866e-01 3.78684517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters Centerline goodness : 0.994590 with order 1 Centerline is valid? [True, True] Translation: X:309.71, Y:2.46, Z:3.82 [[ 9.98161473e-01 5.63646241e-02 2.22868223e-02 3.09710869e+02] [-5.63368688e-02 9.98410063e-01 -1.87177485e-03 2.45783818e+00] [-2.23568895e-02 6.12763754e-04 9.99749866e-01 3.81508461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters Centerline goodness : 0.995220 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:2.44, Z:3.81 [[ 9.98226106e-01 5.52081643e-02 2.22867636e-02 3.09772055e+02] [-5.51801055e-02 9.98474662e-01 -1.87247324e-03 2.44011418e+00] [-2.23561446e-02 6.39365705e-04 9.99749866e-01 3.81421137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters Centerline goodness : 0.997766 with order 1 Centerline is valid? [True, True] Translation: X:309.83, Y:2.42, Z:3.80 [[ 9.98168151e-01 5.62463654e-02 2.22865223e-02 3.09831233e+02] [-5.62185011e-02 9.98416728e-01 -1.87534101e-03 2.42428220e+00] [-2.23567178e-02 6.18990790e-04 9.99749866e-01 3.80299126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:309.89, Y:2.41, Z:3.78 [[ 9.97703434e-01 6.39622463e-02 2.22865100e-02 3.09892096e+02] [-6.39363015e-02 9.97952219e-01 -1.87548677e-03 2.41291868e+00] [-2.23608325e-02 4.46262567e-04 9.99749866e-01 3.78467613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:2.40, Z:3.78 [[ 9.96568326e-01 7.97177565e-02 2.22856667e-02 3.09953383e+02] [-7.96955228e-02 9.96817470e-01 -1.88545518e-03 2.40015243e+00] [-2.23650461e-02 1.02917054e-04 9.99749866e-01 3.78460074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:310.02, Y:2.40, Z:3.78 [[ 9.95315057e-01 9.40814808e-02 2.22848055e-02 3.10015694e+02] [-9.40626158e-02 9.95564479e-01 -1.89557962e-03 2.39673766e+00] [-2.23642997e-02 -2.09468152e-04 9.99749866e-01 3.78436440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:310.08, Y:2.40, Z:3.78 [[ 9.93871518e-01 1.08271896e-01 2.22845528e-02 3.10078469e+02] [-1.08256525e-01 9.94121180e-01 -1.89854468e-03 2.39589414e+00] [-2.23591050e-02 -5.25538767e-04 9.99749866e-01 3.78357349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters Centerline goodness : 0.996822 with order 1 Centerline is valid? [True, True] Translation: X:310.14, Y:2.40, Z:3.80 [[ 9.92597792e-01 1.19386078e-01 2.22842346e-02 3.10141486e+02] [-1.19373418e-01 9.92847606e-01 -1.90227268e-03 2.40101858e+00] [-2.23519539e-02 -7.71953591e-04 9.99749866e-01 3.79805563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:310.20, Y:2.41, Z:3.78 [[ 9.91867590e-01 1.25308050e-01 2.22839807e-02 3.10204115e+02] [-1.25296814e-01 9.92117472e-01 -1.90524291e-03 2.40722376e+00] [-2.23470688e-02 -9.02363092e-04 9.99749866e-01 3.78352682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:310.27, Y:2.42, Z:3.78 [[ 9.91504447e-01 1.28149785e-01 2.22837334e-02 3.10267241e+02] [-1.28139201e-01 9.91754357e-01 -1.90813003e-03 2.41642200e+00] [-2.23445162e-02 -9.63500389e-04 9.99749866e-01 3.78200953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters Centerline goodness : 0.993252 with order 1 Centerline is valid? [True, True] Translation: X:310.33, Y:2.41, Z:3.79 [[ 9.96359773e-01 8.22839510e-02 2.22834877e-02 3.10328825e+02] [-8.22617877e-02 9.96608923e-01 -1.91099585e-03 2.40568661e+00] [-2.23651669e-02 7.09598590e-05 9.99749866e-01 3.78689262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:2.43, Z:3.78 [[ 9.92433726e-01 1.20742632e-01 2.22826238e-02 3.10392948e+02] [-1.20729893e-01 9.92683536e-01 -1.92101585e-03 2.42553681e+00] [-2.23515423e-02 -7.83697881e-04 9.99749866e-01 3.78014469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters Centerline goodness : 0.995089 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:2.43, Z:3.80 [[ 9.93534424e-01 1.11323155e-01 2.22823744e-02 3.10455872e+02] [-1.11307982e-01 9.93784097e-01 -1.92390498e-03 2.43168485e+00] [-2.23580445e-02 -5.68740308e-04 9.99749866e-01 3.79504243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters Centerline goodness : 0.992759 with order 1 Centerline is valid? [True, True] Translation: X:310.52, Y:2.43, Z:3.80 [[ 9.94852813e-01 9.88503117e-02 2.22821825e-02 3.10517101e+02] [-9.88319581e-02 9.95102273e-01 -1.92612486e-03 2.43137241e+00] [-2.23634485e-02 -2.85980989e-04 9.99749866e-01 3.80260828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters Centerline goodness : 0.995675 with order 1 Centerline is valid? [True, True] Translation: X:310.58, Y:2.43, Z:3.80 [[ 9.95754284e-01 8.93135467e-02 2.22821765e-02 3.10578093e+02] [-8.92928022e-02 9.96003557e-01 -1.92619364e-03 2.42938279e+00] [-2.23651623e-02 -7.16224122e-05 9.99749866e-01 3.79695653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters Centerline goodness : 0.996125 with order 1 Centerline is valid? [True, True] Translation: X:310.64, Y:2.42, Z:3.80 [[ 9.96258976e-01 8.34958755e-02 2.22821102e-02 3.10640097e+02] [-8.34736582e-02 9.96508121e-01 -1.92696088e-03 2.42301066e+00] [-2.23651970e-02 5.97828240e-05 9.99749866e-01 3.79737980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters Centerline goodness : 0.997570 with order 1 Centerline is valid? [True, True] Translation: X:310.70, Y:2.42, Z:3.79 [[ 9.96217930e-01 8.39842595e-02 2.22818462e-02 3.10702073e+02] [-8.39620963e-02 9.96467080e-01 -1.93000838e-03 2.41732578e+00] [-2.23652166e-02 5.18784398e-05 9.99749866e-01 3.79359013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters Centerline goodness : 0.998358 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:2.41, Z:3.79 [[ 9.95989913e-01 8.66465499e-02 2.22815869e-02 3.10763974e+02] [-8.66249857e-02 9.96239116e-01 -1.93299816e-03 2.41373475e+00] [-2.23652760e-02 -4.89547774e-06 9.99749866e-01 3.79375813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters Centerline goodness : 0.998313 with order 1 Centerline is valid? [True, True] Translation: X:310.83, Y:2.41, Z:3.79 [[ 9.95801753e-01 8.87829468e-02 2.22813273e-02 3.10825934e+02] [-8.87618504e-02 9.96050996e-01 -1.93598556e-03 2.41198815e+00] [-2.23652207e-02 -4.98740297e-05 9.99749866e-01 3.78821222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters Centerline goodness : 0.997916 with order 1 Centerline is valid? [True, True] Translation: X:310.89, Y:2.41, Z:3.79 [[ 9.95555661e-01 9.15012577e-02 2.22810639e-02 3.10888104e+02] [-9.14807741e-02 9.95804955e-01 -1.93901166e-03 2.41152102e+00] [-2.23650159e-02 -1.07894947e-04 9.99749866e-01 3.79309301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:310.95, Y:2.41, Z:3.79 [[ 9.95707373e-01 8.98353460e-02 2.22808675e-02 3.10950544e+02] [-8.98143949e-02 9.95956629e-01 -1.94126650e-03 2.40925388e+00] [-2.23651720e-02 -6.82092594e-05 9.99749866e-01 3.79173240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters Centerline goodness : 0.997967 with order 1 Centerline is valid? [True, True] Translation: X:311.01, Y:2.41, Z:3.79 [[ 9.95951063e-01 8.70922149e-02 2.22806020e-02 3.11013464e+02] [-8.70705093e-02 9.96200254e-01 -1.94430832e-03 2.41391984e+00] [-2.23652755e-02 -3.54742987e-06 9.99749866e-01 3.78869494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters Centerline goodness : 0.997223 with order 1 Centerline is valid? [True, True] Translation: X:311.08, Y:2.41, Z:3.79 [[ 9.96153931e-01 8.47403855e-02 2.22803387e-02 3.11075126e+02] [-8.47180241e-02 9.96403063e-01 -1.94732108e-03 2.41015994e+00] [-2.23652145e-02 5.22852733e-05 9.99749866e-01 3.78531628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters Centerline goodness : 0.995735 with order 1 Centerline is valid? [True, True] Translation: X:311.14, Y:2.41, Z:3.79 [[ 9.96636866e-01 7.88578142e-02 2.22800795e-02 3.11137234e+02] [-7.88339162e-02 9.96885856e-01 -1.95028261e-03 2.40738821e+00] [-2.23644911e-02 1.87297631e-04 9.99749866e-01 3.78991793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters Centerline goodness : 0.996233 with order 1 Centerline is valid? [True, True] Translation: X:311.20, Y:2.40, Z:3.79 [[ 9.97326202e-01 6.95992290e-02 2.22798861e-02 3.11198671e+02] [-6.95729705e-02 9.97574954e-01 -1.95248964e-03 2.39753719e+00] [-2.23617481e-02 3.97191226e-04 9.99749866e-01 3.78550298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:311.26, Y:2.39, Z:3.76 [[ 9.97828702e-01 6.19798278e-02 2.22796362e-02 3.11259751e+02] [-6.19516066e-02 9.98077239e-01 -1.95533689e-03 2.38660410e+00] [-2.23579892e-02 5.70832018e-04 9.99749866e-01 3.76134185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters Centerline goodness : 0.995678 with order 1 Centerline is valid? [True, True] Translation: X:311.32, Y:2.38, Z:3.79 [[ 9.97781384e-01 6.27370601e-02 2.22793908e-02 3.11321821e+02] [-6.27089652e-02 9.98029935e-01 -1.95812886e-03 2.37617548e+00] [-2.23583462e-02 5.56666985e-04 9.99749866e-01 3.78519683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:2.37, Z:3.76 [[ 9.97244876e-01 7.07551951e-02 2.22791484e-02 3.11383203e+02] [-7.07290375e-02 9.97493638e-01 -1.96088327e-03 2.36819416e+00] [-2.23620514e-02 3.79698074e-04 9.99749866e-01 3.75947732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:311.45, Y:2.36, Z:3.76 [[ 9.96853464e-01 7.60711678e-02 2.22789023e-02 3.11445664e+02] [-7.60462745e-02 9.97102356e-01 -1.96367462e-03 2.36360336e+00] [-2.23637250e-02 2.63268325e-04 9.99749866e-01 3.75881435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters Centerline goodness : 0.923065 with order 3 Centerline is valid? [True, False] Translation: X:311.43, Y:2.37, Z:3.76 [[ 9.97503552e-01 6.15472132e-02 3.46208716e-02 3.11431730e+02] [-6.14958177e-02 9.98104088e-01 -2.54842072e-03 2.36623001e+00] [-3.47120816e-02 4.13019910e-04 9.99397269e-01 3.75917186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters Centerline goodness : 0.996778 with order 1 Centerline is valid? [False, True] Translation: X:311.42, Y:2.37, Z:3.76 [[ 9.97732370e-01 4.95889742e-02 4.55088050e-02 3.11420259e+02] [-4.97045485e-02 9.98762969e-01 1.41084565e-03 2.36727433e+00] [-4.53825468e-02 -3.66964098e-03 9.98962941e-01 3.75921386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters Centerline goodness : 0.998463 with order 1 Centerline is valid? [True, True] Translation: X:311.48, Y:2.37, Z:3.74 [[ 9.97656785e-01 5.12697898e-02 4.53028491e-02 3.11482270e+02] [-5.12121874e-02 9.98684834e-01 -2.43197254e-03 2.37317097e+00] [-4.53679551e-02 1.06215908e-04 9.98970339e-01 3.73971638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters Centerline goodness : 0.997620 with order 1 Centerline is valid? [True, True] Translation: X:311.54, Y:2.37, Z:3.75 [[ 9.97586182e-01 5.26266380e-02 4.53017321e-02 3.11544525e+02] [-5.25694970e-02 9.98614256e-01 -2.45260432e-03 2.37442606e+00] [-4.53680279e-02 6.51949068e-05 9.98970339e-01 3.75109025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:311.61, Y:2.38, Z:3.74 [[ 9.97667483e-01 5.10623227e-02 4.53015734e-02 3.11605559e+02] [-5.10034367e-02 9.98695459e-01 -2.45553246e-03 2.37595099e+00] [-4.53678608e-02 1.39268955e-04 9.98970339e-01 3.73549531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:2.38, Z:3.73 [[ 9.97712170e-01 5.01817412e-02 4.53014108e-02 3.11668697e+02] [-5.01218120e-02 9.98740086e-01 -2.45852789e-03 2.37717224e+00] [-4.53677082e-02 1.82314401e-04 9.98970339e-01 3.73284410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:2.38, Z:3.73 [[ 9.97836294e-01 4.76511064e-02 4.53001293e-02 3.11731028e+02] [-4.75875083e-02 9.98863989e-01 -2.48191867e-03 2.37919829e+00] [-4.53669341e-02 3.20828247e-04 9.98970339e-01 3.73249935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters Centerline goodness : 0.998315 with order 1 Centerline is valid? [True, True] Translation: X:311.79, Y:2.38, Z:3.73 [[ 9.97995272e-01 4.41977079e-02 4.52990083e-02 3.11793321e+02] [-4.41296327e-02 9.99022680e-01 -2.50221319e-03 2.37639897e+00] [-4.53653288e-02 4.98168329e-04 9.98970339e-01 3.72993849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:311.86, Y:2.38, Z:3.73 [[ 9.98061337e-01 4.26810369e-02 4.52978717e-02 3.11856075e+02] [-4.26104743e-02 9.99088577e-01 -2.52262373e-03 2.37824344e+00] [-4.53642543e-02 5.87569412e-04 9.98970339e-01 3.72667459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters Centerline goodness : 0.998266 with order 1 Centerline is valid? [True, True] Translation: X:311.92, Y:2.38, Z:3.72 [[ 9.98103458e-01 4.16856277e-02 4.52967472e-02 3.11918870e+02] [-4.16131316e-02 9.99130563e-01 -2.54265639e-03 2.37532864e+00] [-4.53633567e-02 6.52894638e-04 9.98970340e-01 3.72428018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:311.98, Y:2.37, Z:3.72 [[ 9.98272737e-01 3.74147454e-02 4.52954625e-02 3.11981221e+02] [-3.73368266e-02 9.99299445e-01 -2.56533891e-03 2.37195644e+00] [-4.53597121e-02 8.69719066e-04 9.98970340e-01 3.72205473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:312.04, Y:2.37, Z:3.72 [[ 9.98333549e-01 3.57568193e-02 4.52943117e-02 3.12043609e+02] [-3.56762812e-02 9.99360054e-01 -2.58550023e-03 2.36587471e+00] [-4.53577751e-02 9.65259021e-04 9.98970340e-01 3.71959729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:2.36, Z:3.71 [[ 9.98294568e-01 3.68306606e-02 4.52930253e-02 3.12106697e+02] [-3.67502135e-02 9.99321080e-01 -2.60784183e-03 2.35989481e+00] [-4.53583235e-02 9.38865988e-04 9.98970340e-01 3.71477559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:312.17, Y:2.35, Z:3.71 [[ 9.98317767e-01 3.61980351e-02 4.52917121e-02 3.12168646e+02] [-3.61159121e-02 9.99344146e-01 -2.63045397e-03 2.34973049e+00] [-4.53572246e-02 9.90277433e-04 9.98970341e-01 3.71090023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:312.23, Y:2.34, Z:3.71 [[ 9.98361342e-01 3.49770660e-02 4.52905758e-02 3.12231730e+02] [-3.48928072e-02 9.99387548e-01 -2.64987520e-03 2.34256648e+00] [-4.53555223e-02 1.06521763e-03 9.98970341e-01 3.70788022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.29, Y:2.34, Z:3.71 [[ 9.98290159e-01 3.69545745e-02 4.52892664e-02 3.12294284e+02] [-3.68713423e-02 9.99316448e-01 -2.67206784e-03 2.33606091e+00] [-4.53570540e-02 9.97622985e-04 9.98970341e-01 3.70567275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:2.33, Z:3.72 [[ 9.98093958e-01 4.19220068e-02 4.52879325e-02 3.12356400e+02] [-4.18428658e-02 9.99120570e-01 -2.69448859e-03 2.33010467e+00] [-4.53610633e-02 7.94375906e-04 9.98970341e-01 3.72496407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:312.42, Y:2.33, Z:3.70 [[ 9.97862901e-01 4.71025508e-02 4.52877627e-02 3.12416384e+02] [-4.70286107e-02 9.98889901e-01 -2.69733993e-03 2.32782535e+00] [-4.53645403e-02 5.61754884e-04 9.98970341e-01 3.69935975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:2.33, Z:3.70 [[ 9.97908134e-01 4.61344804e-02 4.52875900e-02 3.12478887e+02] [-4.60594125e-02 9.98935053e-01 -2.70023638e-03 2.32520984e+00] [-4.53639351e-02 6.08668065e-04 9.98970341e-01 3.69785248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:2.32, Z:3.70 [[ 9.98185884e-01 3.96747321e-02 4.52863879e-02 3.12541554e+02] [-3.95921117e-02 9.99212222e-01 -2.72024849e-03 2.31976492e+00] [-4.53586374e-02 9.22329918e-04 9.98970342e-01 3.69500382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.60, Y:2.31, Z:3.69 [[ 9.98403632e-01 3.37558255e-02 4.52849988e-02 3.12603462e+02] [-3.36660820e-02 9.99429372e-01 -2.74317963e-03 2.31170678e+00] [-4.53517562e-02 1.21423202e-03 9.98970342e-01 3.69278341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:312.67, Y:2.30, Z:3.69 [[ 9.98488186e-01 3.11563611e-02 4.52838053e-02 3.12665310e+02] [-3.10630609e-02 9.99513608e-01 -2.76274273e-03 2.30164899e+00] [-4.53478566e-02 1.35191237e-03 9.98970342e-01 3.68986407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:312.73, Y:2.29, Z:3.69 [[ 9.98506492e-01 3.05658480e-02 4.52826146e-02 3.12728138e+02] [-3.04710634e-02 9.99531777e-01 -2.78212275e-03 2.29322208e+00] [-4.53464502e-02 1.39815821e-03 9.98970342e-01 3.68770160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:312.79, Y:2.28, Z:3.68 [[ 9.98485206e-01 3.12554183e-02 4.52812585e-02 3.12790698e+02] [-3.11603495e-02 9.99510465e-01 -2.80402304e-03 2.28212153e+00] [-4.53467326e-02 1.38879568e-03 9.98970342e-01 3.68376362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:312.85, Y:2.27, Z:3.68 [[ 9.98396589e-01 3.39703458e-02 4.52798795e-02 3.12852160e+02] [-3.38770640e-02 9.99422012e-01 -2.82611723e-03 2.27126608e+00] [-4.53497124e-02 1.28763642e-03 9.98970343e-01 3.67993990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:312.91, Y:2.26, Z:3.68 [[ 9.98178066e-01 3.98797378e-02 4.52786487e-02 3.12913992e+02] [-3.97916397e-02 9.99203947e-01 -2.84570131e-03 2.26037116e+00] [-4.53560903e-02 1.03880496e-03 9.98970343e-01 3.67813837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:312.98, Y:2.25, Z:3.68 [[ 9.97966449e-01 4.48656173e-02 4.52774104e-02 3.12975356e+02] [-4.47817575e-02 9.98992685e-01 -2.86526928e-03 2.25035057e+00] [-4.53603538e-02 8.31840596e-04 9.98970343e-01 3.67654793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:313.04, Y:2.24, Z:3.67 [[ 9.97612250e-01 5.21523569e-02 4.52761461e-02 3.13037480e+02] [-5.20750934e-02 9.98639004e-01 -2.88510943e-03 2.24068930e+00] [-4.53649907e-02 5.20460968e-04 9.98970343e-01 3.67469975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters Centerline goodness : 0.996528 with order 1 Centerline is valid? [True, True] Translation: X:313.10, Y:2.23, Z:3.70 [[ 9.97417834e-01 5.57482723e-02 4.52746480e-02 3.13099974e+02] [-5.56736521e-02 9.98444783e-01 -2.90842961e-03 2.23135105e+00] [-4.53663761e-02 3.80314560e-04 9.98970344e-01 3.69620857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:313.16, Y:2.22, Z:3.69 [[ 9.97338506e-01 5.71501191e-02 4.52743611e-02 3.13161741e+02] [-5.70767400e-02 9.98365545e-01 -2.91288863e-03 2.22257968e+00] [-4.53668342e-02 3.21023057e-04 9.98970344e-01 3.68991131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters Centerline goodness : 0.996272 with order 1 Centerline is valid? [True, True] Translation: X:313.22, Y:2.22, Z:3.69 [[ 9.97232169e-01 5.89775987e-02 4.52729868e-02 3.13224045e+02] [-5.89051390e-02 9.98259273e-01 -2.93409519e-03 2.21958167e+00] [-4.53672247e-02 2.59162537e-04 9.98970344e-01 3.68686035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters Centerline goodness : 0.998461 with order 1 Centerline is valid? [True, True] Translation: X:313.28, Y:2.21, Z:3.66 [[ 9.96721225e-01 6.70617563e-02 4.52716270e-02 3.13284073e+02] [-6.69966810e-02 9.97748823e-01 -2.95492872e-03 2.21379249e+00] [-4.53678752e-02 -8.78085731e-05 9.98970344e-01 3.66313874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:2.21, Z:3.66 [[ 9.96746414e-01 6.66864538e-02 4.52714319e-02 3.13346428e+02] [-6.66208560e-02 9.97773979e-01 -2.95791382e-03 2.21002434e+00] [-4.53679095e-02 -6.77315530e-05 9.98970344e-01 3.65858704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:313.41, Y:2.20, Z:3.66 [[ 9.97026785e-01 6.23555507e-02 4.52700341e-02 3.13408652e+02] [-6.22845249e-02 9.98053988e-01 -2.97915528e-03 2.20197283e+00] [-4.53677049e-02 1.50675048e-04 9.98970344e-01 3.65681631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters Centerline goodness : 0.998459 with order 1 Centerline is valid? [True, True] Translation: X:313.47, Y:2.20, Z:3.65 [[ 9.97267912e-01 5.83736215e-02 4.52684420e-02 3.13470141e+02] [-5.82974050e-02 9.98294743e-01 -3.00315313e-03 2.19619928e+00] [-4.53665526e-02 3.55915553e-04 9.98970345e-01 3.65483335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:2.19, Z:3.65 [[ 9.97335800e-01 5.72031120e-02 4.52670620e-02 3.13533100e+02] [-5.71247529e-02 9.98362469e-01 -3.02381192e-03 2.18859831e+00] [-4.53659073e-02 4.29886145e-04 9.98970345e-01 3.65221339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:313.60, Y:2.18, Z:3.65 [[ 9.97324752e-01 5.73966619e-02 4.52654739e-02 3.13595877e+02] [-5.73174314e-02 9.98351354e-01 -3.04740154e-03 2.18150430e+00] [-4.53657579e-02 4.44748292e-04 9.98970345e-01 3.64967017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:313.66, Y:2.17, Z:3.65 [[ 9.97328988e-01 5.73242496e-02 4.52638830e-02 3.13657529e+02] [-5.72438804e-02 9.98355502e-01 -3.07085246e-03 2.17231154e+00] [-4.53654809e-02 4.71569876e-04 9.98970345e-01 3.64631926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:2.16, Z:3.64 [[ 9.97299973e-01 5.78279514e-02 4.52624715e-02 3.13719108e+02] [-5.77471628e-02 9.98326453e-01 -3.09151766e-03 2.16254654e+00] [-4.53654988e-02 4.69391174e-04 9.98970346e-01 3.64369826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:313.78, Y:2.15, Z:3.64 [[ 9.97313488e-01 5.75955181e-02 4.52610530e-02 3.13780968e+02] [-5.75135541e-02 9.98339875e-01 -3.11214788e-03 2.14968085e+00] [-4.53651597e-02 5.00663036e-04 9.98970346e-01 3.64128731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:2.14, Z:3.64 [[ 9.97143849e-01 6.04626179e-02 4.52594251e-02 3.13842628e+02] [-6.03825388e-02 9.98170385e-01 -3.13564395e-03 2.13967999e+00] [-4.53662070e-02 3.93809080e-04 9.98970346e-01 3.63753780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:313.90, Y:2.13, Z:3.64 [[ 9.96770707e-01 6.63315315e-02 4.52579829e-02 3.13904396e+02] [-6.62565577e-02 9.97797628e-01 -3.15632414e-03 2.12955444e+00] [-4.53676718e-02 1.47493293e-04 9.98970346e-01 3.63645496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:313.97, Y:2.12, Z:3.66 [[ 9.96262987e-01 7.35656819e-02 4.52565152e-02 3.13967533e+02] [-7.34972152e-02 9.97290361e-01 -3.17722956e-03 2.11888931e+00] [-4.53676215e-02 -1.60871629e-04 9.98970346e-01 3.65601172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:2.11, Z:3.63 [[ 9.95575479e-01 8.23490171e-02 4.52559843e-02 3.14028148e+02] [-8.22892708e-02 9.96603398e-01 -3.18477382e-03 2.11338617e+00] [-4.53645308e-02 -5.53399225e-04 9.98970346e-01 3.63422430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.09, Y:2.11, Z:3.63 [[ 9.94971306e-01 8.93539261e-02 4.52545728e-02 3.14090775e+02] [-8.93005096e-02 9.95999573e-01 -3.20470719e-03 2.11191182e+00] [-4.53598883e-02 -8.52664712e-04 9.98970347e-01 3.63113465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:2.11, Z:3.65 [[ 9.94654387e-01 9.28161192e-02 4.52528309e-02 3.14153884e+02] [-9.27651715e-02 9.95682779e-01 -3.22911757e-03 2.11327411e+00] [-4.53571786e-02 -9.86030669e-04 9.98970347e-01 3.64582025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:314.22, Y:2.12, Z:3.64 [[ 9.94673756e-01 9.26090554e-02 4.52513136e-02 3.14217067e+02] [-9.25569330e-02 9.95702089e-01 -3.25024217e-03 2.11508287e+00] [-4.53578294e-02 -9.55392210e-04 9.98970347e-01 3.64363471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:314.28, Y:2.12, Z:3.64 [[ 9.94595407e-01 9.34476120e-02 4.52495397e-02 3.14279833e+02] [-9.33952419e-02 9.95623727e-01 -3.27475389e-03 2.11910376e+00] [-4.53575333e-02 -9.69036534e-04 9.98970347e-01 3.63839951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:314.34, Y:2.12, Z:3.64 [[ 9.94776608e-01 9.14992910e-02 4.52479838e-02 3.14343578e+02] [-9.14439356e-02 9.95804771e-01 -3.29611236e-03 2.12349938e+00] [-4.53597501e-02 -8.58758248e-04 9.98970348e-01 3.63500063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:314.41, Y:2.12, Z:3.63 [[ 9.94926669e-01 8.98537893e-02 4.52462036e-02 3.14405618e+02] [-8.97956305e-02 9.95954678e-01 -3.32037154e-03 2.12225899e+00] [-4.53615161e-02 -7.59385186e-04 9.98970348e-01 3.63114658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.47, Y:2.12, Z:3.61 [[ 9.95899557e-01 7.83389747e-02 4.52446316e-02 3.14466674e+02] [-7.82679613e-02 9.96926757e-01 -3.34165552e-03 2.12151759e+00] [-4.53673658e-02 -2.13251827e-04 9.98970348e-01 3.60930608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:314.53, Y:2.11, Z:3.63 [[ 9.96259673e-01 7.36181519e-02 4.52441353e-02 3.14529677e+02] [-7.35419664e-02 9.97286502e-01 -3.34836288e-03 2.11418133e+00] [-4.53678657e-02 8.49623781e-06 9.98970348e-01 3.62663539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:314.59, Y:2.11, Z:3.60 [[ 9.96220535e-01 7.41468632e-02 4.52425535e-02 3.14590781e+02] [-7.40702582e-02 9.97247333e-01 -3.36960044e-03 2.10740692e+00] [-4.53678611e-02 5.73753639e-06 9.98970348e-01 3.60163856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:314.65, Y:2.10, Z:3.60 [[ 9.95860326e-01 7.88382282e-02 4.52409740e-02 3.14652891e+02] [-7.87655028e-02 9.96887405e-01 -3.39067547e-03 2.10099548e+00] [-4.53674721e-02 -1.86788887e-04 9.98970349e-01 3.59699424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:314.71, Y:2.10, Z:3.61 [[ 9.95946160e-01 7.77473002e-02 4.52394048e-02 3.14713804e+02] [-7.76725045e-02 9.96973091e-01 -3.41148553e-03 2.09504293e+00] [-4.53677030e-02 -1.16201958e-04 9.98970349e-01 3.61087710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters Centerline goodness : 0.995691 with order 1 Centerline is valid? [True, True] Translation: X:314.77, Y:2.09, Z:3.62 [[ 9.95755749e-01 8.01491965e-02 4.52392944e-02 3.14774386e+02] [-8.00768114e-02 9.96782853e-01 -3.41294829e-03 2.09064402e+00] [-4.53672980e-02 -2.24155561e-04 9.98970349e-01 3.61968676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:2.09, Z:3.59 [[ 9.95786836e-01 7.97620187e-02 4.52393319e-02 3.14834928e+02] [-7.96892569e-02 9.96813913e-01 -3.41245134e-03 2.08596507e+00] [-4.53673795e-02 -2.07014619e-04 9.98970349e-01 3.58708323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:314.90, Y:2.08, Z:3.61 [[ 9.95659417e-01 8.13380320e-02 4.52376983e-02 3.14896160e+02] [-8.12659182e-02 9.96686540e-01 -3.43397108e-03 2.07938734e+00] [-4.53671175e-02 -2.57217445e-04 9.98970349e-01 3.60576737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters Centerline goodness : 0.995923 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:2.08, Z:3.60 [[ 9.95374274e-01 8.47562183e-02 4.52375847e-02 3.14958408e+02] [-8.46875636e-02 9.96401633e-01 -3.43546702e-03 2.07573659e+00] [-4.53659805e-02 -4.11485351e-04 9.98970349e-01 3.60215615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:315.02, Y:2.07, Z:3.60 [[ 9.95070689e-01 8.82498263e-02 4.52359586e-02 3.15020472e+02] [-8.81838112e-02 9.96098221e-01 -3.45674692e-03 2.07207665e+00] [-4.53645152e-02 -5.49371693e-04 9.98970349e-01 3.59689357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:315.08, Y:2.07, Z:3.57 [[ 9.94967864e-01 8.94024972e-02 4.52343104e-02 3.15079918e+02] [-8.93366981e-02 9.95995410e-01 -3.47818186e-03 2.06978164e+00] [-4.53641237e-02 -5.80404757e-04 9.98970350e-01 3.56895269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters Centerline goodness : 0.995675 with order 1 Centerline is valid? [True, True] Translation: X:315.14, Y:2.07, Z:3.59 [[ 9.94931541e-01 8.98058863e-02 4.52341931e-02 3.15141735e+02] [-8.97404344e-02 9.95959109e-01 -3.47970777e-03 2.06722847e+00] [-4.53639048e-02 -5.97265123e-04 9.98970350e-01 3.58827550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters Centerline goodness : 0.997370 with order 1 Centerline is valid? [True, True] Translation: X:315.20, Y:2.06, Z:3.58 [[ 9.94954386e-01 8.95525767e-02 4.52338946e-02 3.15203415e+02] [-8.94866870e-02 9.95981926e-01 -3.48358328e-03 2.06361440e+00] [-4.53641053e-02 -5.81824902e-04 9.98970350e-01 3.58050099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters Centerline goodness : 0.996778 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:2.06, Z:3.58 [[ 9.94870087e-01 9.04851028e-02 4.52322437e-02 3.15266791e+02] [-9.04192078e-02 9.95897627e-01 -3.50488858e-03 2.06230913e+00] [-4.53638244e-02 -6.02954841e-04 9.98970350e-01 3.57809609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters Centerline goodness : 0.891896 with order 3 Centerline is valid? [True, False] Translation: X:315.27, Y:2.06, Z:3.58 [[ 9.96235338e-01 7.46832802e-02 4.40177199e-02 3.15270484e+02] [-7.47553952e-02 9.97201901e-01 -7.78379492e-06 2.06283778e+00] [-4.38951352e-02 -3.28280755e-03 9.99030750e-01 3.57597053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [False, True] Translation: X:315.27, Y:2.06, Z:3.57 [[ 9.97323772e-01 5.78152163e-02 4.47514816e-02 3.15272027e+02] [-5.80122155e-02 9.98311014e-01 3.11485471e-03 2.06044265e+00] [-4.44958110e-02 -5.70265124e-03 9.98993295e-01 3.57422091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:315.33, Y:2.04, Z:3.56 [[ 9.98989638e-01 6.78271674e-03 4.44263115e-02 3.15333833e+02] [-6.67582489e-03 9.99974455e-01 -2.55397270e-03 2.04358248e+00] [-4.44424995e-02 2.25480999e-03 9.99009399e-01 3.56264592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters Centerline goodness : 0.942401 with order 1 Centerline is valid? [True, False] Translation: X:315.32, Y:2.08, Z:3.57 [[ 9.99408107e-01 3.48996488e-03 3.42236172e-02 3.15324257e+02] [-1.94903278e-03 9.98987075e-01 -4.49558164e-02 2.07537939e+00] [-3.43458455e-02 4.48625044e-02 9.98402583e-01 3.56973116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters Centerline goodness : 0.998264 with order 1 Centerline is valid? [False, True] Translation: X:315.40, Y:2.09, Z:3.57 [[ 9.99968454e-01 7.86735965e-03 1.09321631e-03 3.15399401e+02] [-7.78593389e-03 9.98103693e-01 -6.10605999e-02 2.08631652e+00] [-1.57152893e-03 6.10501620e-02 9.98133462e-01 3.57171692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:315.46, Y:2.03, Z:3.55 [[ 9.99963722e-01 8.32174083e-03 1.81750040e-03 3.15458856e+02] [-8.32171556e-03 9.99965374e-01 -2.14653350e-05 2.02920204e+00] [-1.81761610e-03 6.33983492e-06 9.99998348e-01 3.54567159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters Centerline goodness : 0.996576 with order 1 Centerline is valid? [True, True] Translation: X:315.52, Y:2.03, Z:3.57 [[ 9.99963699e-01 8.32452582e-03 1.81750052e-03 3.15519658e+02] [-8.32450058e-03 9.99965351e-01 -2.14551395e-05 2.02708197e+00] [-1.81761615e-03 6.32457647e-06 9.99998348e-01 3.56796514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters Centerline goodness : 0.995485 with order 1 Centerline is valid? [True, True] Translation: X:315.58, Y:2.03, Z:3.57 [[ 9.99965030e-01 8.16307304e-03 1.81750034e-03 3.15580905e+02] [-8.16304750e-03 9.99966682e-01 -2.14705070e-05 2.02633666e+00] [-1.81761505e-03 6.63341450e-06 9.99998348e-01 3.56625230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters Centerline goodness : 0.994044 with order 1 Centerline is valid? [True, True] Translation: X:315.64, Y:2.03, Z:3.57 [[ 9.99989124e-01 4.29511022e-03 1.81749893e-03 3.15642524e+02] [-4.29507808e-03 9.99990776e-01 -2.15895564e-05 2.02501692e+00] [-1.81757489e-03 1.37830218e-05 9.99998348e-01 3.56722072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters Centerline goodness : 0.994145 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:2.02, Z:3.54 [[ 9.99990841e-01 3.87482312e-03 1.81749750e-03 3.15703022e+02] [-3.87479006e-03 9.99992493e-01 -2.17092749e-05 2.02140200e+00] [-1.81756797e-03 1.46666549e-05 9.99998348e-01 3.54077345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters Centerline goodness : 0.994091 with order 1 Centerline is valid? [True, True] Translation: X:315.76, Y:2.03, Z:3.53 [[ 9.99493473e-01 3.17725276e-02 1.81749753e-03 3.15763419e+02] [-3.17725406e-02 9.99495125e-01 -2.17063154e-05 2.02727915e+00] [-1.81726959e-03 -3.60511937e-05 9.99998348e-01 3.52543072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters Centerline goodness : 0.993055 with order 1 Centerline is valid? [True, True] Translation: X:315.82, Y:2.01, Z:3.54 [[ 9.99996004e-01 -2.16547182e-03 1.81749812e-03 3.15823582e+02] [ 2.16551476e-03 9.99997655e-01 -2.16572953e-05 2.01155077e+00] [-1.81744696e-03 2.55930278e-05 9.99998348e-01 3.53828040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters Centerline goodness : 0.993148 with order 1 Centerline is valid? [True, True] Translation: X:315.89, Y:2.01, Z:3.54 [[ 9.99995182e-01 -2.51639680e-03 1.81749819e-03 3.15886115e+02] [ 2.51644030e-03 9.99996834e-01 -2.16512678e-05 2.00911827e+00] [-1.81743795e-03 2.62247892e-05 9.99998348e-01 3.53705652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters Centerline goodness : 0.993006 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:2.00, Z:3.54 [[ 9.99996753e-01 -1.78637001e-03 1.81748819e-03 3.15948281e+02] [ 1.78641378e-03 9.99998404e-01 -2.24600830e-05 1.99990699e+00] [-1.81744517e-03 2.57067960e-05 9.99998348e-01 3.53618276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters Centerline goodness : 0.993001 with order 1 Centerline is valid? [True, True] Translation: X:316.01, Y:2.00, Z:3.54 [[ 9.99993791e-01 3.01900974e-03 1.81748531e-03 3.16009890e+02] [-3.01897349e-03 9.99995443e-01 -2.26907148e-05 1.99644023e+00] [-1.81754553e-03 1.72036339e-05 9.99998348e-01 3.53633402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters Centerline goodness : 0.992309 with order 1 Centerline is valid? [True, True] Translation: X:316.07, Y:1.99, Z:3.56 [[ 9.99941223e-01 1.06886569e-02 1.81748061e-03 3.16070958e+02] [-1.06886327e-02 9.99942875e-01 -2.30612008e-05 1.99346276e+00] [-1.81762328e-03 3.63346264e-06 9.99998348e-01 3.56166978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters Centerline goodness : 0.992610 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:2.00, Z:3.56 [[ 9.99759343e-01 2.18621244e-02 1.81747951e-03 3.16132710e+02] [-2.18621185e-02 9.99760995e-01 -2.31480163e-05 1.99558173e+00] [-1.81755119e-03 -1.65915067e-05 9.99998348e-01 3.55655619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters Centerline goodness : 0.992181 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:2.00, Z:3.56 [[ 9.99628841e-01 2.71822880e-02 1.81747800e-03 3.16193517e+02] [-2.71822906e-02 9.99630493e-01 -2.32657730e-05 1.99989580e+00] [-1.81743885e-03 -2.61460775e-05 9.99998348e-01 3.56203595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters Centerline goodness : 0.992407 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:2.00, Z:3.55 [[ 9.99525927e-01 3.07346368e-02 1.81747723e-03 3.16253985e+02] [-3.07346452e-02 9.99527579e-01 -2.33257260e-05 2.00498616e+00] [-1.81733552e-03 -3.25448498e-05 9.99998348e-01 3.55415215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters Centerline goodness : 0.992550 with order 1 Centerline is valid? [True, True] Translation: X:316.31, Y:2.01, Z:3.55 [[ 9.99424871e-01 3.38618462e-02 1.81747723e-03 3.16313994e+02] [-3.38618598e-02 9.99426523e-01 -2.33257260e-05 2.01022844e+00] [-1.81722480e-03 -3.82308485e-05 9.99998348e-01 3.55321040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:2.02, Z:3.55 [[ 9.98684675e-01 5.12407693e-02 1.81747649e-03 3.16372748e+02] [-5.12408115e-02 9.98686326e-01 -2.33831135e-05 2.01835823e+00] [-1.81628709e-03 -6.97766132e-05 9.99998348e-01 3.54573445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters Centerline goodness : 0.943151 with order 2 Centerline is valid? [True, False] Translation: X:316.37, Y:2.02, Z:3.54 [[ 9.99347729e-01 3.52586315e-02 7.80678881e-03 3.16371192e+02] [-3.52764236e-02 9.99375274e-01 2.15317562e-03 2.01839574e+00] [-7.72599368e-03 -2.42716675e-03 9.99967208e-01 3.54341459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters Centerline goodness : 0.993346 with order 1 Centerline is valid? [False, True] Translation: X:316.37, Y:2.02, Z:3.54 [[ 9.99786938e-01 1.95763616e-02 6.54559795e-03 3.16374031e+02] [-1.96153278e-02 9.99789939e-01 5.94279340e-03 2.01820317e+00] [-6.42788470e-03 -6.06992126e-03 9.99960918e-01 3.54245970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters Centerline goodness : 0.968922 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:2.03, Z:3.52 [[ 9.97698217e-01 6.74791257e-02 6.69591314e-03 3.16433026e+02] [-6.74818023e-02 9.97720490e-01 1.74354004e-04 2.02984210e+00] [-6.66888449e-03 -6.25804966e-04 9.99977567e-01 3.51756501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters Centerline goodness : 0.995432 with order 1 Centerline is valid? [True, True] Translation: X:316.49, Y:2.03, Z:3.53 [[ 9.98490575e-01 -5.45136373e-02 6.69590803e-03 3.16494333e+02] [ 5.45136915e-02 9.98513008e-01 1.74550349e-04 2.03175944e+00] [-6.69546664e-03 1.90731786e-04 9.99977567e-01 3.53123840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters Centerline goodness : 0.996429 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:2.04, Z:3.55 [[ 9.99968348e-01 -4.29743527e-03 6.69591506e-03 3.16555503e+02] [ 4.29636456e-03 9.99990755e-01 1.74280213e-04 2.04428826e+00] [-6.69660211e-03 -1.45506604e-04 9.99977567e-01 3.54611995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters Centerline goodness : 0.996922 with order 1 Centerline is valid? [True, True] Translation: X:316.62, Y:2.06, Z:3.55 [[ 9.99965966e-01 -4.81989728e-03 6.69592665e-03 3.16617172e+02] [ 4.81884127e-03 9.99988374e-01 1.73833789e-04 2.05712189e+00] [-6.69668666e-03 -1.41561265e-04 9.99977567e-01 3.54776328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:316.68, Y:2.07, Z:3.55 [[ 9.99956839e-01 -6.44072798e-03 6.69600470e-03 3.16679203e+02] [ 6.43972878e-03 9.99979250e-01 1.70773359e-04 2.06778140e+00] [-6.69696566e-03 -1.27645535e-04 9.99977567e-01 3.54785904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters Centerline goodness : 0.998413 with order 1 Centerline is valid? [True, True] Translation: X:316.74, Y:2.08, Z:3.54 [[ 9.99913561e-01 -1.13151718e-02 6.69608305e-03 3.16741411e+02] [ 1.13143028e-02 9.99935977e-01 1.67643939e-04 2.07710627e+00] [-6.69755126e-03 -9.18679373e-05 9.99977567e-01 3.54199512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:316.80, Y:2.09, Z:3.54 [[ 9.99816150e-01 -1.79674141e-02 6.69615942e-03 3.16802290e+02] [ 1.79667151e-02 9.99838572e-01 1.64535641e-04 2.08594531e+00] [-6.69803476e-03 -4.41974019e-05 9.99977567e-01 3.54147878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:316.86, Y:2.09, Z:3.54 [[ 9.99662212e-01 -2.51122050e-02 6.69617036e-03 3.16864083e+02] [ 2.51116692e-02 9.99684639e-01 1.64089156e-04 2.09227069e+00] [-6.69817929e-03 4.11828674e-06 9.99977567e-01 3.54251689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:316.93, Y:2.10, Z:3.54 [[ 9.99583976e-01 -2.80541480e-02 6.69624402e-03 3.16925883e+02] [ 2.80536987e-02 9.99606405e-01 1.61026087e-04 2.09707049e+00] [-6.69812586e-03 2.68953164e-05 9.99977567e-01 3.53668114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:316.99, Y:2.10, Z:3.54 [[ 9.99361570e-01 -3.50943167e-02 6.69631570e-03 3.16989200e+02] [ 3.50940458e-02 9.99384002e-01 1.57988245e-04 2.10109218e+00] [-6.69773527e-03 7.71134288e-05 9.99977567e-01 3.53585479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:317.05, Y:2.10, Z:3.52 [[ 9.99267133e-01 -3.76875986e-02 6.69639378e-03 3.17049640e+02] [ 3.76874085e-02 9.99289565e-01 1.54605968e-04 2.10438707e+00] [-6.69746316e-03 9.78770663e-05 9.99977567e-01 3.52114341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:317.11, Y:2.11, Z:3.53 [[ 9.99491827e-01 -3.11647995e-02 6.69642213e-03 3.17110533e+02] [ 3.11644714e-02 9.99514258e-01 1.53368195e-04 2.10973001e+00] [-6.69794909e-03 5.54001984e-05 9.99977567e-01 3.53099871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:317.17, Y:2.12, Z:3.51 [[ 9.99760556e-01 2.08324067e-02 6.69642703e-03 3.17169653e+02] [-2.08338989e-02 9.99782939e-01 1.53154006e-04 2.12251260e+00] [-6.69178293e-03 -2.92630018e-04 9.99977567e-01 3.51321997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:317.23, Y:2.12, Z:3.51 [[ 9.99649411e-01 2.56166376e-02 6.69642225e-03 3.17231759e+02] [-2.56182383e-02 9.99671787e-01 1.53362844e-04 2.12434417e+00] [-6.69029576e-03 -3.24859617e-04 9.99977567e-01 3.50847717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters Centerline goodness : 0.998203 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:2.12, Z:3.53 [[ 9.99652376e-01 -2.55006834e-02 6.69643750e-03 3.17293707e+02] [ 2.55002327e-02 9.99674805e-01 1.52694000e-04 2.12043328e+00] [-6.69815365e-03 1.81197951e-05 9.99977567e-01 3.53355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:317.36, Y:2.12, Z:3.53 [[ 9.99641443e-01 -2.59257098e-02 6.69647481e-03 3.17355837e+02] [ 2.59252797e-02 9.99663872e-01 1.51039689e-04 2.12195871e+00] [-6.69813975e-03 2.26224496e-05 9.99977567e-01 3.52811613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:2.13, Z:3.50 [[ 9.99699615e-01 -2.35761721e-02 6.69649447e-03 3.17416591e+02] [ 2.35756952e-02 9.99722043e-01 1.50162938e-04 2.12866450e+00] [-6.69817341e-03 7.75668133e-06 9.99977567e-01 3.50196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:2.14, Z:3.53 [[ 9.99773382e-01 -2.02074822e-02 6.69649539e-03 3.17477984e+02] [ 2.02069300e-02 9.99795808e-01 1.50122197e-04 2.13714724e+00] [-6.69816161e-03 -1.47725635e-05 9.99977567e-01 3.52739127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.54, Y:2.14, Z:3.50 [[ 9.99740086e-01 -2.17926128e-02 6.69650538e-03 3.17539731e+02] [ 2.17920991e-02 9.99762513e-01 1.49675032e-04 2.14239387e+00] [-6.69817686e-03 -3.70522064e-06 9.99977567e-01 3.49836851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.60, Y:2.15, Z:3.50 [[ 9.99684880e-01 -2.41929069e-02 6.69652000e-03 3.17602172e+02] [ 2.41924515e-02 9.99707309e-01 1.49018311e-04 2.14536815e+00] [-6.69816517e-03 1.30338832e-05 9.99977567e-01 3.49606048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:317.66, Y:2.15, Z:3.52 [[ 9.99518421e-01 -3.02998759e-02 6.69658488e-03 3.17664065e+02] [ 3.02995774e-02 9.99540852e-01 1.46042980e-04 2.14647761e+00] [-6.69793524e-03 5.69310436e-05 9.99977567e-01 3.52487946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:317.73, Y:2.15, Z:3.52 [[ 9.99415414e-01 -3.35258887e-02 6.69664396e-03 3.17726036e+02] [ 3.35256811e-02 9.99437846e-01 1.43281906e-04 2.14799200e+00] [-6.69768307e-03 8.13114048e-05 9.99977567e-01 3.52102191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:317.79, Y:2.15, Z:3.52 [[ 9.99210841e-01 -3.91516306e-02 6.69666246e-03 3.17787277e+02] [ 3.91515551e-02 9.99233274e-01 1.42411842e-04 2.14626030e+00] [-6.69710361e-03 1.19885293e-04 9.99977567e-01 3.52362809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.85, Y:2.15, Z:3.49 [[ 9.99272421e-01 -3.75470923e-02 6.69666740e-03 3.17849154e+02] [ 3.75469824e-02 9.99294853e-01 1.42179279e-04 2.14614772e+00] [-6.69728369e-03 1.09363821e-04 9.99977567e-01 3.49257483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters Centerline goodness : 0.997712 with order 1 Centerline is valid? [True, True] Translation: X:317.91, Y:2.15, Z:3.52 [[ 9.99322586e-01 -3.61873248e-02 6.69672737e-03 3.17911949e+02] [ 3.61872037e-02 9.99345019e-01 1.39296222e-04 2.14657141e+00] [-6.69738190e-03 1.03133977e-04 9.99977567e-01 3.51750239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:317.97, Y:2.15, Z:3.49 [[ 9.99530808e-01 -2.98884225e-02 6.69678676e-03 3.17974026e+02] [ 2.98881795e-02 9.99553239e-01 1.36379713e-04 2.14827721e+00] [-6.69787108e-03 6.38390401e-05 9.99977567e-01 3.49044523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters Centerline goodness : 0.996423 with order 1 Centerline is valid? [True, True] Translation: X:318.03, Y:2.15, Z:3.52 [[ 9.99640319e-01 -2.59689078e-02 6.69684525e-03 3.18034860e+02] [ 2.59685965e-02 9.99662750e-01 1.33444563e-04 2.14873324e+00] [-6.69805215e-03 4.05111069e-05 9.99977567e-01 3.51552278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters Centerline goodness : 0.996775 with order 1 Centerline is valid? [True, True] Translation: X:318.10, Y:2.16, Z:3.51 [[ 9.99844128e-01 -1.63362090e-02 6.69685108e-03 3.18096971e+02] [ 1.63356836e-02 9.99866555e-01 1.33151540e-04 2.15716321e+00] [-6.69813261e-03 -2.37331451e-05 9.99977567e-01 3.51499023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:318.16, Y:2.17, Z:3.49 [[ 9.99957322e-01 -6.36434877e-03 6.69690896e-03 3.18157432e+02] [ 6.36361968e-03 9.99979743e-01 1.30173627e-04 2.16738876e+00] [-6.69760178e-03 -8.75514898e-05 9.99977567e-01 3.48821948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters Centerline goodness : 0.995471 with order 1 Centerline is valid? [True, True] Translation: X:318.22, Y:2.18, Z:3.51 [[ 9.99976305e-01 1.59429316e-03 6.69691056e-03 3.18217750e+02] [-1.59520013e-03 9.99998719e-01 1.30091523e-04 2.18114540e+00] [-6.69669458e-03 -1.40771353e-04 9.99977567e-01 3.51432434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters Centerline goodness : 0.935578 with order 3 Centerline is valid? [True, False] Translation: X:318.18, Y:2.23, Z:3.53 [[ 9.99942493e-01 3.06250714e-03 1.02777279e-02 3.18182497e+02] [-2.63514906e-03 9.99141663e-01 -4.13399689e-02 2.23255045e+00] [-1.03955101e-02 4.13105082e-02 9.99092276e-01 3.52729369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [False, True] Translation: X:318.17, Y:2.27, Z:3.54 [[ 9.99978658e-01 -3.08189953e-03 5.76062692e-03 3.18168149e+02] [ 3.48747592e-03 9.97414746e-01 -7.17750787e-02 2.27277552e+00] [-5.52453066e-03 7.17936370e-02 9.97404208e-01 3.53983483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters Centerline goodness : 0.994279 with order 1 Centerline is valid? [True, True] Translation: X:318.23, Y:2.22, Z:3.54 [[ 9.99889288e-01 -1.44481211e-02 3.55870502e-03 3.18230183e+02] [ 1.44478230e-02 9.99895619e-01 1.09464639e-04 2.21673444e+00] [-3.55991512e-03 -5.80369799e-05 9.99993662e-01 3.54270534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters Centerline goodness : 0.995782 with order 1 Centerline is valid? [True, True] Translation: X:318.29, Y:2.23, Z:3.54 [[ 9.99829497e-01 -1.81193972e-02 3.55870670e-03 3.18291847e+02] [ 1.81191225e-02 9.99835829e-01 1.09410067e-04 2.22622313e+00] [-3.56010491e-03 -4.49107695e-05 9.99993662e-01 3.53842990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:318.35, Y:2.24, Z:3.51 [[ 9.99676153e-01 -2.51977006e-02 3.55875586e-03 3.18352102e+02] [ 2.51974766e-02 9.99682487e-01 1.07786931e-04 2.23742800e+00] [-3.56034189e-03 -1.80803569e-05 9.99993662e-01 3.51055170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters Centerline goodness : 0.993750 with order 1 Centerline is valid? [True, True] Translation: X:318.41, Y:2.24, Z:3.54 [[ 9.99506601e-01 -3.12072037e-02 3.55875797e-03 3.18412638e+02] [ 3.12070180e-02 9.99512937e-01 1.07717193e-04 2.24329909e+00] [-3.56038618e-03 3.39417820e-06 9.99993662e-01 3.54093522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:318.47, Y:2.25, Z:3.51 [[ 9.99292153e-01 -3.74503457e-02 3.55876108e-03 3.18473303e+02] [ 3.74501999e-02 9.99298489e-01 1.07614266e-04 2.24882982e+00] [-3.56029477e-03 2.57382225e-05 9.99993662e-01 3.51035044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:318.54, Y:2.25, Z:3.51 [[ 9.99047999e-01 -4.34790858e-02 3.55876303e-03 3.18535051e+02] [ 4.34789785e-02 9.99054336e-01 1.07549717e-04 2.25063758e+00] [-3.56007380e-03 4.72840524e-05 9.99993662e-01 3.50822081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:318.60, Y:2.25, Z:3.51 [[ 9.99007750e-01 -4.43942494e-02 3.55880568e-03 3.18597363e+02] [ 4.43941530e-02 9.99014088e-01 1.06119468e-04 2.25483135e+00] [-3.56000811e-03 5.19759927e-05 9.99993662e-01 3.50873569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:318.66, Y:2.27, Z:3.51 [[ 9.99162100e-01 -4.07729401e-02 3.55885057e-03 3.18659077e+02] [ 4.07728262e-02 9.99168437e-01 1.04591965e-04 2.26573454e+00] [-3.56015569e-03 4.06000680e-05 9.99993662e-01 3.51084029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:318.72, Y:2.27, Z:3.51 [[ 9.99237322e-01 -3.88858424e-02 3.55889464e-03 3.18721905e+02] [ 3.88857219e-02 9.99243659e-01 1.03070391e-04 2.26922665e+00] [-3.56021088e-03 3.53984058e-05 9.99993662e-01 3.50920068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:318.79, Y:2.27, Z:3.51 [[ 9.99157859e-01 -4.08767373e-02 3.55894470e-03 3.18785209e+02] [ 4.08766357e-02 9.99164196e-01 1.01311780e-04 2.26908430e+00] [-3.56011142e-03 4.42512249e-05 9.99993662e-01 3.50806546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:318.85, Y:2.26, Z:3.52 [[ 9.98590273e-01 -5.29603623e-02 3.55899436e-03 3.18848126e+02] [ 5.29603437e-02 9.98596611e-01 9.95363889e-05 2.26240265e+00] [-3.55927119e-03 8.90894945e-05 9.99993662e-01 3.52157628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:2.26, Z:3.52 [[ 9.98455613e-01 -5.54411570e-02 3.55904149e-03 3.18911461e+02] [ 5.54411603e-02 9.98461951e-01 9.78216576e-05 2.25893860e+00] [-3.55899085e-03 9.96468065e-05 9.99993662e-01 3.52044704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters Centerline goodness : 0.997866 with order 1 Centerline is valid? [True, True] Translation: X:318.97, Y:2.25, Z:3.53 [[ 9.98435259e-01 -5.58065140e-02 3.55909003e-03 3.18972224e+02] [ 5.58065260e-02 9.98441597e-01 9.60224427e-05 2.25330570e+00] [-3.55890221e-03 1.02748258e-04 9.99993662e-01 3.53318380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:319.03, Y:2.24, Z:3.53 [[ 9.98025996e-01 -6.27012371e-02 3.55909151e-03 3.19033520e+02] [ 6.27012931e-02 9.98032333e-01 9.59674740e-05 2.24141740e+00] [-3.55810568e-03 1.27381606e-04 9.99993662e-01 3.53375670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:319.09, Y:2.24, Z:3.51 [[ 9.98878856e-01 -4.72055594e-02 3.55909361e-03 3.19093731e+02] [ 4.72055173e-02 9.98885194e-01 9.58895525e-05 2.23620835e+00] [-3.55965243e-03 7.22268084e-05 9.99993662e-01 3.51105326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:319.16, Y:2.24, Z:3.51 [[ 9.99458354e-01 -3.27159070e-02 3.55909431e-03 3.19156990e+02] [ 3.27157730e-02 9.99464691e-01 9.58636280e-05 2.23650075e+00] [-3.56032536e-03 2.06268176e-05 9.99993662e-01 3.51096726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:319.22, Y:2.24, Z:3.51 [[ 9.99771902e-01 -2.10588725e-02 3.55911538e-03 3.19219538e+02] [ 2.10586675e-02 9.99778237e-01 9.50748012e-05 2.24097849e+00] [-3.56032827e-03 -2.01028875e-05 9.99993662e-01 3.50678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:319.28, Y:2.25, Z:3.51 [[ 9.99916169e-01 -1.24493996e-02 3.55915739e-03 3.19282984e+02] [ 1.24491458e-02 9.99922502e-01 9.34753674e-05 2.24809545e+00] [-3.56004527e-03 -4.91590622e-05 9.99993662e-01 3.50707833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.35, Y:2.25, Z:3.50 [[ 9.99943210e-01 -1.00453809e-02 3.55920426e-03 3.19345931e+02] [ 1.00451183e-02 9.99949542e-01 9.16550287e-05 2.25486616e+00] [-3.55994538e-03 -5.58971958e-05 9.99993662e-01 3.50450237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:319.41, Y:2.26, Z:3.53 [[ 9.99896831e-01 -1.39161798e-02 3.55925116e-03 3.19406204e+02] [ 1.39159483e-02 9.99903164e-01 8.97961944e-05 2.26114305e+00] [-3.56015612e-03 -4.02565751e-05 9.99993662e-01 3.53314301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:319.47, Y:2.27, Z:3.51 [[ 9.99945152e-01 -9.85012215e-03 3.55925296e-03 3.19466777e+02] [ 9.84986516e-03 9.99951485e-01 8.97246446e-05 2.26770585e+00] [-3.55996408e-03 -5.46615616e-05 9.99993662e-01 3.50681919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:2.27, Z:3.51 [[ 9.99894679e-01 -1.40699536e-02 3.55925508e-03 3.19529743e+02] [ 1.40697236e-02 9.99901013e-01 8.96406660e-05 2.27055891e+00] [-3.56016400e-03 -3.95534896e-05 9.99993662e-01 3.50885978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters Centerline goodness : 0.997169 with order 1 Centerline is valid? [True, True] Translation: X:319.59, Y:2.27, Z:3.54 [[ 9.99770640e-01 -2.11186737e-02 3.55930098e-03 3.19590454e+02] [ 2.11184951e-02 9.99776976e-01 8.77792629e-05 2.26864387e+00] [-3.56036096e-03 -1.25920497e-05 9.99993662e-01 3.53728207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:2.27, Z:3.52 [[ 9.99661117e-01 -2.57872568e-02 3.55930160e-03 3.19650632e+02] [ 2.57871078e-02 9.99667453e-01 8.77544674e-05 2.26539088e+00] [-3.56038091e-03 4.05936507e-06 9.99993662e-01 3.51936630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:319.71, Y:2.26, Z:3.52 [[ 9.99671953e-01 -2.53637016e-02 3.55930239e-03 3.19713204e+02] [ 2.53635500e-02 9.99678290e-01 8.77222203e-05 2.26077838e+00] [-3.56038229e-03 2.58310081e-06 9.99993662e-01 3.51852137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:319.77, Y:2.26, Z:3.53 [[ 9.99787209e-01 -2.03191248e-02 3.55934134e-03 3.19773697e+02] [ 2.03189470e-02 9.99793545e-01 8.61121661e-05 2.26140727e+00] [-3.56035622e-03 -1.37717742e-05 9.99993662e-01 3.53428045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters Centerline goodness : 0.997518 with order 1 Centerline is valid? [True, True] Translation: X:319.83, Y:2.26, Z:3.54 [[ 9.99926183e-01 -1.16172146e-02 3.55934107e-03 3.19834526e+02] [ 1.16169816e-02 9.99932517e-01 8.61232479e-05 2.26151748e+00] [-3.56010139e-03 -4.47680908e-05 9.99993662e-01 3.54032681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters Centerline goodness : 0.997762 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:2.26, Z:3.54 [[ 9.99970371e-01 -6.82558852e-03 3.55934386e-03 3.19897701e+02] [ 6.82532560e-03 9.99976703e-01 8.60081347e-05 2.26412447e+00] [-3.55984799e-03 -6.17119056e-05 9.99993662e-01 3.53983640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters Centerline goodness : 0.998213 with order 1 Centerline is valid? [True, True] Translation: X:319.96, Y:2.27, Z:3.54 [[ 9.99982334e-01 -4.76059957e-03 3.55938765e-03 3.19958743e+02] [ 4.76033017e-03 9.99988666e-01 8.41559364e-05 2.26692522e+00] [-3.55974794e-03 -6.72105893e-05 9.99993662e-01 3.53693205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:2.27, Z:3.53 [[ 9.99993017e-01 1.13834346e-03 3.55939042e-03 3.20019303e+02] [-1.13864979e-03 9.99999348e-01 8.40387406e-05 2.27436493e+00] [-3.55929243e-03 -8.80910530e-05 9.99993662e-01 3.52552802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:320.08, Y:2.28, Z:3.54 [[ 9.99993620e-01 3.02502184e-04 3.55939239e-03 3.20080106e+02] [-3.02802930e-04 9.99999951e-01 8.39548886e-05 2.27922272e+00] [-3.55936682e-03 -8.50321474e-05 9.99993662e-01 3.53581750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:320.14, Y:2.28, Z:3.53 [[ 9.99991906e-01 -1.87571646e-03 3.55939500e-03 3.20140225e+02] [ 1.87542990e-03 9.99998238e-01 8.38442047e-05 2.28375710e+00] [-3.55954600e-03 -7.71681303e-05 9.99993662e-01 3.52673814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:320.20, Y:2.29, Z:3.53 [[ 9.99957540e-01 -8.49991611e-03 3.55939548e-03 3.20203028e+02] [ 8.49967157e-03 9.99963874e-01 8.38239977e-05 2.28744621e+00] [-3.55997939e-03 -5.35667460e-05 9.99993662e-01 3.52618054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:2.29, Z:3.53 [[ 9.99938940e-01 -1.04616831e-02 3.55943896e-03 3.20264738e+02] [ 1.04614578e-02 9.99945274e-01 8.19350834e-05 2.29323806e+00] [-3.56010134e-03 -4.46931601e-05 9.99993662e-01 3.52645889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:320.33, Y:2.29, Z:3.53 [[ 9.99940709e-01 -1.02911738e-02 3.55947330e-03 3.20327374e+02] [ 1.02909528e-02 9.99947044e-01 8.04148003e-05 2.29304221e+00] [-3.56011237e-03 -4.37796608e-05 9.99993662e-01 3.52758555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:320.39, Y:2.29, Z:3.52 [[ 9.99964030e-01 -7.69858746e-03 3.55950907e-03 3.20389874e+02] [ 7.69835572e-03 9.99970364e-01 7.87993621e-05 2.29293457e+00] [-3.56001022e-03 -5.13941607e-05 9.99993662e-01 3.51936214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:320.45, Y:2.29, Z:3.52 [[ 9.99942266e-01 -1.01387911e-02 3.55954408e-03 3.20453279e+02] [ 1.01385806e-02 9.99948600e-01 7.71845702e-05 2.29152785e+00] [-3.56014368e-03 -4.10913896e-05 9.99993662e-01 3.52236255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:2.29, Z:3.54 [[ 9.99946781e-01 -9.68318210e-03 3.55958317e-03 3.20513516e+02] [ 9.68297526e-03 9.99953116e-01 7.53376970e-05 2.29291512e+00] [-3.56014579e-03 -4.08663319e-05 9.99993662e-01 3.53880997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters Centerline goodness : 0.914394 with order 1 Centerline is valid? [True, False] Translation: X:320.50, Y:2.32, Z:3.55 [[ 9.99994317e-01 -2.50148308e-03 -2.26026538e-03 3.20502093e+02] [ 2.42540793e-03 9.99450570e-01 -3.30556491e-02 2.32437703e+00] [ 2.34171167e-03 3.30499792e-02 9.99450957e-01 3.54976248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters Centerline goodness : 0.996977 with order 1 Centerline is valid? [False, True] Translation: X:320.51, Y:2.34, Z:3.56 [[ 9.99928616e-01 1.20708907e-03 -1.18872487e-02 3.20514000e+02] [-1.84622192e-03 9.98544471e-01 -5.39029698e-02 2.34147309e+00] [ 1.18048808e-02 5.39210685e-02 9.98475419e-01 3.55804197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.58, Y:2.29, Z:3.52 [[ 9.99912623e-01 2.56010215e-03 -1.29688984e-02 3.20575645e+02] [-2.56365027e-03 9.99996681e-01 -2.56970088e-04 2.29441881e+00] [ 1.29681975e-02 2.90195355e-04 9.99915867e-01 3.51987071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.63, Y:2.30, Z:3.52 [[ 9.99915772e-01 5.06787211e-04 -1.29688940e-02 3.20633635e+02] [-5.10165586e-04 9.99999837e-01 -2.57191306e-04 2.29636984e+00] [ 1.29687615e-02 2.63785926e-04 9.99915867e-01 3.52141858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:320.69, Y:2.30, Z:3.55 [[ 9.99863636e-01 -1.02235684e-02 -1.29687563e-02 3.20693632e+02] [ 1.02210046e-02 9.99947729e-01 -2.63956564e-04 2.29696257e+00] [ 1.29707770e-02 1.31366853e-04 9.99915867e-01 3.54561365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters Centerline goodness : 0.995634 with order 1 Centerline is valid? [True, True] Translation: X:320.75, Y:2.30, Z:3.55 [[ 9.99814193e-01 -1.42615381e-02 -1.29687557e-02 3.20754351e+02] [ 1.42593135e-02 9.99898296e-01 -2.63987543e-04 2.29580641e+00] [ 1.29712016e-02 7.90129395e-05 9.99915867e-01 3.55494424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.81, Y:2.30, Z:3.53 [[ 9.99807871e-01 -1.46980273e-02 -1.29687515e-02 3.20814885e+02] [ 1.46958368e-02 9.99891975e-01 -2.64191868e-04 2.29691628e+00] [ 1.29712337e-02 7.35544531e-05 9.99915867e-01 3.52526927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters Centerline goodness : 0.976843 with order 1 Centerline is valid? [True, True] Translation: X:320.87, Y:2.33, Z:3.53 [[ 9.98807923e-01 4.70589430e-02 -1.29687512e-02 3.20873655e+02] [-4.70663222e-02 9.98891732e-01 -2.64204529e-04 2.32911931e+00] [ 1.29419452e-02 8.74281001e-04 9.99915867e-01 3.52669407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters Centerline goodness : 0.996824 with order 1 Centerline is valid? [True, True] Translation: X:320.93, Y:2.29, Z:3.56 [[ 9.99346841e-01 -3.37298507e-02 -1.29687340e-02 3.20934339e+02] [ 3.37292507e-02 9.99430972e-01 -2.65046201e-04 2.29066471e+00] [ 1.29702944e-02 -1.72552599e-04 9.99915867e-01 3.55618109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:320.99, Y:2.28, Z:3.56 [[ 9.99109704e-01 -4.01448777e-02 -1.29687282e-02 3.20993896e+02] [ 4.01448141e-02 9.99193837e-01 -2.65333319e-04 2.28453564e+00] [ 1.29689250e-02 -2.55530088e-04 9.99915867e-01 3.55966944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:321.05, Y:2.28, Z:3.54 [[ 9.98941059e-01 -4.41426513e-02 -1.29687114e-02 3.21054656e+02] [ 4.41429138e-02 9.99025191e-01 -2.66150528e-04 2.27639681e+00] [ 1.29678180e-02 -3.06608018e-04 9.99915867e-01 3.53856927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters Centerline goodness : 0.916882 with order 1 Centerline is valid? [True, False] Translation: X:321.06, Y:2.28, Z:3.54 [[ 9.99239252e-01 -3.52223667e-02 -1.67422447e-02 3.21059579e+02] [ 3.50524676e-02 9.99332029e-01 -1.03353911e-02 2.27672755e+00] [ 1.70950983e-02 9.74067145e-03 9.99806420e-01 3.53844573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters Centerline goodness : 0.998262 with order 1 Centerline is valid? [False, True] Translation: X:321.06, Y:2.27, Z:3.54 [[ 9.99439499e-01 -2.61098017e-02 -2.09515067e-02 3.21063723e+02] [ 2.57121738e-02 9.99488267e-01 -1.90286224e-02 2.27225091e+00] [ 2.14376187e-02 1.84792480e-02 9.99599393e-01 3.53902435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters Centerline goodness : 0.994381 with order 1 Centerline is valid? [True, True] Translation: X:321.12, Y:2.24, Z:3.56 [[ 9.99469207e-01 -2.48740217e-02 -2.10377460e-02 3.21124060e+02] [ 2.48776007e-02 9.99690500e-01 -9.16149820e-05 2.24473687e+00] [ 2.10335137e-02 -4.31802292e-04 9.99778678e-01 3.56153609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters Centerline goodness : 0.946004 with order 1 Centerline is valid? [True, False] Translation: X:321.14, Y:2.25, Z:3.57 [[ 9.99414435e-01 -1.50518245e-02 -3.07283171e-02 3.21144842e+02] [ 1.46475016e-02 9.99803715e-01 -1.33409703e-02 2.24704328e+00] [ 3.09230915e-02 1.28830652e-02 9.99438737e-01 3.56506353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters Centerline goodness : 0.970493 with order 1 Centerline is valid? [False, True] Translation: X:321.18, Y:2.25, Z:3.57 [[ 9.99067832e-01 7.33605025e-04 -4.31616654e-02 3.21183596e+02] [-1.84718308e-03 9.99666296e-01 -2.57659422e-02 2.25004821e+00] [ 4.31283602e-02 2.58216515e-02 9.98735794e-01 3.56786485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:321.24, Y:2.24, Z:3.58 [[ 9.93822748e-01 1.03400251e-01 -4.03079735e-02 3.21241291e+02] [-1.03327010e-01 9.94639787e-01 3.90172552e-03 2.23504951e+00] [ 4.04953536e-02 2.87278804e-04 9.99179685e-01 3.57912294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters Centerline goodness : 0.993349 with order 1 Centerline is valid? [True, True] Translation: X:321.30, Y:2.23, Z:3.60 [[ 9.93257916e-01 1.08691707e-01 -4.03091092e-02 3.21299672e+02] [-1.08623296e-01 9.94075373e-01 3.88995697e-03 2.22984737e+00] [ 4.04930989e-02 5.14777754e-04 9.99179686e-01 3.60477010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters Centerline goodness : 0.992494 with order 1 Centerline is valid? [True, True] Translation: X:321.36, Y:2.22, Z:3.61 [[ 9.93432395e-01 1.07085190e-01 -4.03092945e-02 3.21359444e+02] [-1.07015534e-01 9.94249747e-01 3.88803636e-03 2.22352622e+00] [ 4.04938569e-02 4.51219414e-04 9.99179686e-01 3.61167899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:321.42, Y:2.22, Z:3.60 [[ 9.93531768e-01 1.06159206e-01 -4.03094245e-02 3.21419935e+02] [-1.06088844e-01 9.94349059e-01 3.88668816e-03 2.21546835e+00] [ 4.04942460e-02 4.14832100e-04 9.99179686e-01 3.60284215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters Centerline goodness : 0.992700 with order 1 Centerline is valid? [True, True] Translation: X:321.48, Y:2.21, Z:3.61 [[ 9.93572771e-01 1.05774723e-01 -4.03095146e-02 3.21479747e+02] [-1.05704083e-01 9.94390038e-01 3.88575363e-03 2.20930773e+00] [ 4.04943942e-02 4.00101262e-04 9.99179686e-01 3.61308173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters Centerline goodness : 0.996379 with order 1 Centerline is valid? [True, True] Translation: X:321.54, Y:2.20, Z:3.60 [[ 9.93307368e-01 1.08238639e-01 -4.03096727e-02 3.21540948e+02] [-1.08170092e-01 9.94124814e-01 3.88411294e-03 2.20475821e+00] [ 4.04932569e-02 5.02182998e-04 9.99179686e-01 3.59831909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:321.60, Y:2.20, Z:3.60 [[ 9.93562243e-01 1.05873500e-01 -4.03096870e-02 3.21599439e+02] [-1.05803013e-01 9.94379524e-01 3.88396461e-03 2.19863204e+00] [ 4.04943362e-02 4.05925751e-04 9.99179686e-01 3.59527433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:321.66, Y:2.17, Z:3.60 [[ 9.98386311e-01 3.99969784e-02 -4.03114769e-02 3.21656068e+02] [-3.98733988e-02 9.99197264e-01 3.86529718e-03 2.17329594e+00] [ 4.04337176e-02 -2.25170420e-03 9.99179686e-01 3.60047880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters Centerline goodness : 0.995437 with order 1 Centerline is valid? [True, True] Translation: X:321.72, Y:2.18, Z:3.62 [[ 9.95444503e-01 8.64013939e-02 -4.03117870e-02 3.21715593e+02] [-8.63158069e-02 9.96260340e-01 3.86206073e-03 2.18414009e+00] [ 4.04947220e-02 -3.64922702e-04 9.99179686e-01 3.62401643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:321.78, Y:2.18, Z:3.60 [[ 9.95732640e-01 8.30140211e-02 -4.03135461e-02 3.21776190e+02] [-8.29264057e-02 9.96548262e-01 3.84360987e-03 2.17671105e+00] [ 4.04934678e-02 -4.84150320e-04 9.99179686e-01 3.60372708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters Centerline goodness : 0.994149 with order 1 Centerline is valid? [True, True] Translation: X:321.83, Y:2.17, Z:3.64 [[ 9.96177621e-01 7.74916988e-02 -4.03135815e-02 3.21834101e+02] [-7.73995773e-02 9.96992746e-01 3.84323910e-03 2.16788219e+00] [ 4.04901674e-02 -7.08294611e-04 9.99179686e-01 3.63714663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:321.89, Y:2.15, Z:3.63 [[ 9.96185311e-01 7.73926771e-02 -4.03137719e-02 3.21892401e+02] [-7.73005555e-02 9.97000436e-01 3.84124077e-03 2.15445333e+00] [ 4.04901320e-02 -7.10310667e-04 9.99179686e-01 3.63023592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters Centerline goodness : 0.996922 with order 1 Centerline is valid? [True, True] Translation: X:321.95, Y:2.14, Z:3.61 [[ 9.96104153e-01 7.84301399e-02 -4.03141295e-02 3.21952344e+02] [-7.83390193e-02 9.96919391e-01 3.83748391e-03 2.14390025e+00] [ 4.04909118e-02 -6.64364292e-04 9.99179686e-01 3.61335077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:322.01, Y:2.13, Z:3.62 [[ 9.95776276e-01 8.24885968e-02 -4.03142538e-02 3.22010178e+02] [-8.24008519e-02 9.96591884e-01 3.83617781e-03 2.13156875e+00] [ 4.04932991e-02 -4.98045996e-04 9.99179686e-01 3.61607758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters Centerline goodness : 0.995682 with order 1 Centerline is valid? [True, True] Translation: X:322.07, Y:2.12, Z:3.63 [[ 9.93571943e-01 1.05780044e-01 -4.03159512e-02 3.22068124e+02] [-1.05712146e-01 9.94389442e-01 3.81825518e-03 2.12297827e+00] [ 4.04936514e-02 4.68174491e-04 9.99179686e-01 3.62594587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:322.13, Y:2.10, Z:3.62 [[ 9.97455991e-01 5.87889963e-02 -4.03162601e-02 3.22125620e+02] [-5.86827390e-02 9.98269393e-01 3.81499055e-03 2.09742920e+00] [ 4.04707680e-02 -1.43941661e-03 9.99179686e-01 3.62407525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters Centerline goodness : 0.996623 with order 1 Centerline is valid? [True, True] Translation: X:322.19, Y:2.10, Z:3.64 [[ 9.94847200e-01 9.30249022e-02 -4.03164608e-02 3.22185665e+02] [-9.29467405e-02 9.95663781e-01 3.81286857e-03 2.09748421e+00] [ 4.04963316e-02 -4.59379979e-05 9.99179686e-01 3.64290050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters Centerline goodness : 0.997024 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:2.09, Z:3.65 [[ 9.94532329e-01 9.63329106e-02 -4.03164608e-02 3.22243822e+02] [-9.62574650e-02 9.95349166e-01 3.81286857e-03 2.08783609e+00] [ 4.04962604e-02 8.87392592e-05 9.99179686e-01 3.64785246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:322.30, Y:2.07, Z:3.63 [[ 9.94253124e-01 9.91729160e-02 -4.03169684e-02 3.22303556e+02] [-9.91000215e-02 9.95070193e-01 3.80749380e-03 2.07440808e+00] [ 4.04958138e-02 2.09799834e-04 9.99179686e-01 3.63101555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:322.36, Y:2.06, Z:3.65 [[ 9.94230221e-01 9.94022203e-02 -4.03170735e-02 3.22361550e+02] [-9.93295595e-02 9.95047310e-01 3.80638049e-03 2.06278439e+00] [ 4.04957582e-02 2.20258635e-04 9.99179686e-01 3.65211778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:2.05, Z:3.66 [[ 9.93889185e-01 1.02756024e-01 -4.03173256e-02 3.22420815e+02] [-1.02686228e-01 9.94706525e-01 3.80370899e-03 2.05396394e+00] [ 4.04947608e-02 3.59568878e-04 9.99179686e-01 3.66016301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:322.48, Y:2.05, Z:3.66 [[ 9.93488105e-01 1.06564028e-01 -4.03174067e-02 3.22481112e+02] [-1.06497400e-01 9.94305709e-01 3.80284888e-03 2.04876115e+00] [ 4.04930745e-02 5.15613860e-04 9.99179686e-01 3.65681262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:322.54, Y:2.04, Z:3.66 [[ 9.93452781e-01 1.06892788e-01 -4.03175334e-02 3.22539021e+02] [-1.06826486e-01 9.94270411e-01 3.80150531e-03 2.04370507e+00] [ 4.04928840e-02 5.30364384e-04 9.99179686e-01 3.65916712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:2.04, Z:3.64 [[ 9.93889872e-01 1.02748496e-01 -4.03195893e-02 3.22600545e+02] [-1.02679673e-01 9.94707293e-01 3.77957276e-03 2.04171035e+00] [ 4.04945350e-02 3.83523179e-04 9.99179686e-01 3.64270768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:322.66, Y:2.04, Z:3.64 [[ 9.94844427e-01 9.30531973e-02 -4.03195893e-02 3.22658857e+02] [-9.29764082e-02 9.95661138e-01 3.77957276e-03 2.03609500e+00] [ 4.04963496e-02 -1.13163011e-05 9.99179686e-01 3.64309431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters Centerline goodness : 0.997915 with order 1 Centerline is valid? [True, True] Translation: X:322.72, Y:2.03, Z:3.67 [[ 9.95262930e-01 8.84640288e-02 -4.03213960e-02 3.22717858e+02] [-8.83842588e-02 9.96079356e-01 3.76019973e-03 2.03066632e+00] [ 4.04959526e-02 -1.78610706e-04 9.99179687e-01 3.66854736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters Centerline goodness : 0.997270 with order 1 Centerline is valid? [True, True] Translation: X:322.78, Y:2.02, Z:3.67 [[ 9.95596553e-01 8.46267232e-02 -4.03214874e-02 3.22776032e+02] [-8.45438462e-02 9.96412669e-01 3.75921953e-03 2.02404725e+00] [ 4.04949713e-02 -3.33732375e-04 9.99179687e-01 3.67129493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:322.84, Y:2.02, Z:3.65 [[ 9.95787063e-01 8.23538785e-02 -4.03232305e-02 3.22835675e+02] [-8.22698996e-02 9.96603067e-01 3.74042822e-03 2.01629387e+00] [ 4.04942939e-02 -4.07281913e-04 9.99179687e-01 3.65133696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:322.89, Y:2.01, Z:3.65 [[ 9.96105188e-01 7.84121358e-02 -4.03235908e-02 3.22893747e+02] [-7.83250853e-02 9.96920869e-01 3.73653984e-03 2.00530162e+00] [ 4.04924193e-02 -5.63638031e-04 9.99179687e-01 3.65265149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:322.95, Y:1.99, Z:3.66 [[ 9.96084259e-01 7.86766945e-02 -4.03252580e-02 3.22952024e+02] [-7.85905925e-02 9.96900041e-01 3.71845951e-03 1.99308754e+00] [ 4.04928075e-02 -5.34713063e-04 9.99179687e-01 3.66331071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters Centerline goodness : 0.998461 with order 1 Centerline is valid? [True, True] Translation: X:323.01, Y:1.99, Z:3.68 [[ 9.95436263e-01 8.64898895e-02 -4.03254958e-02 3.23011362e+02] [-8.64102957e-02 9.96252705e-01 3.71587884e-03 1.98683411e+00] [ 4.04957703e-02 -2.14382526e-04 9.99179687e-01 3.67572537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:323.07, Y:1.97, Z:3.65 [[ 9.98944584e-01 2.19900763e-02 -4.03256185e-02 3.23070382e+02] [-2.18579487e-02 9.99754186e-01 3.71454709e-03 1.97108892e+00] [ 4.03973891e-02 -2.82919140e-03 9.99179687e-01 3.65191554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:323.13, Y:1.97, Z:3.69 [[ 9.95532976e-01 8.53693659e-02 -4.03257373e-02 3.23129462e+02] [-8.52889593e-02 9.96349339e-01 3.71325698e-03 1.96721272e+00] [ 4.04955201e-02 -2.57329609e-04 9.99179687e-01 3.68520178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:323.19, Y:1.96, Z:3.67 [[ 9.95610414e-01 8.44614168e-02 -4.03258371e-02 3.23189483e+02] [-8.43803096e-02 9.96426707e-01 3.71217315e-03 1.96085351e+00] [ 4.04952765e-02 -2.93171625e-04 9.99179687e-01 3.66807934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters Centerline goodness : 0.997618 with order 1 Centerline is valid? [True, True] Translation: X:323.25, Y:1.95, Z:3.69 [[ 9.95622248e-01 8.43216775e-02 -4.03260854e-02 3.23247345e+02] [-8.42405651e-02 9.96438542e-01 3.70947375e-03 1.95276358e+00] [ 4.04952548e-02 -2.96142377e-04 9.99179687e-01 3.68754980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:323.31, Y:1.94, Z:3.67 [[ 9.96373984e-01 7.49169745e-02 -4.03277838e-02 3.23306210e+02] [-7.48289089e-02 9.97189556e-01 3.69091610e-03 1.94399505e+00] [ 4.04909571e-02 -6.59848714e-04 9.99179687e-01 3.67093926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:323.36, Y:1.93, Z:3.67 [[ 9.96946335e-01 6.68695649e-02 -4.03294695e-02 3.23363990e+02] [-6.67756654e-02 9.97761256e-01 3.67240412e-03 1.92946054e+00] [ 4.04847543e-02 -9.68162659e-04 9.99179687e-01 3.67364278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:323.42, Y:1.92, Z:3.68 [[ 9.97243832e-01 6.22747385e-02 -4.03310929e-02 3.23421611e+02] [-6.21778087e-02 9.98058397e-01 3.65448911e-03 1.91972167e+00] [ 4.04803683e-02 -1.13671775e-03 9.99179687e-01 3.67628153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters Centerline goodness : 0.996673 with order 1 Centerline is valid? [True, True] Translation: X:323.48, Y:1.91, Z:3.70 [[ 9.97353466e-01 6.04923059e-02 -4.03329182e-02 3.23479670e+02] [-6.03947389e-02 9.98167956e-01 3.63423166e-03 1.90727038e+00] [ 4.04788696e-02 -1.18871748e-03 9.99179688e-01 3.70088463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters Centerline goodness : 0.996673 with order 1 Centerline is valid? [True, True] Translation: X:323.54, Y:1.89, Z:3.70 [[ 9.97087804e-01 6.47237037e-02 -4.03330325e-02 3.23537832e+02] [-6.46296449e-02 9.97902706e-01 3.63296243e-03 1.89111440e+00] [ 4.04835811e-02 -1.01567297e-03 9.99179688e-01 3.70126686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:323.60, Y:1.88, Z:3.68 [[ 9.96911804e-01 6.73800687e-02 -4.03333832e-02 3.23596968e+02] [-6.72883390e-02 9.97726971e-01 3.62906516e-03 1.87907185e+00] [ 4.04862309e-02 -9.03891530e-04 9.99179688e-01 3.68435925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:323.65, Y:1.87, Z:3.69 [[ 9.96700076e-01 7.04425313e-02 -4.03337224e-02 3.23654355e+02] [-7.03534591e-02 9.97515538e-01 3.62529134e-03 1.86903778e+00] [ 4.04888895e-02 -7.75711262e-04 9.99179688e-01 3.68655309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:323.71, Y:1.86, Z:3.69 [[ 9.96414774e-01 7.43682741e-02 -4.03355662e-02 3.23711840e+02] [-7.42832499e-02 9.97230668e-01 3.60465936e-03 1.86097449e+00] [ 4.04919359e-02 -5.95478899e-04 9.99179688e-01 3.68898450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:323.77, Y:1.85, Z:3.69 [[ 9.96290982e-01 7.60077072e-02 -4.03374141e-02 3.23770055e+02] [-7.59248676e-02 9.97107101e-01 3.58386053e-03 1.85029164e+00] [ 4.04931231e-02 -5.07955097e-04 9.99179688e-01 3.69121596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:323.83, Y:1.84, Z:3.69 [[ 9.96239387e-01 7.66801557e-02 -4.03390352e-02 3.23828057e+02] [-7.65986095e-02 9.97055635e-01 3.56552018e-03 1.84493474e+00] [ 4.04936670e-02 -4.62197629e-04 9.99179688e-01 3.69317155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:323.89, Y:1.84, Z:3.70 [[ 9.96024411e-01 7.94228338e-02 -4.03408856e-02 3.23885507e+02] [-7.93443882e-02 9.96840963e-01 3.54446052e-03 1.83795772e+00] [ 4.04949583e-02 -3.29546311e-04 9.99179688e-01 3.69681406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:323.94, Y:1.83, Z:3.70 [[ 9.95568965e-01 8.49405759e-02 -4.03427229e-02 3.23943801e+02] [-8.48675084e-02 9.96386015e-01 3.52342356e-03 1.83446985e+00] [ 4.04962066e-02 -8.40247709e-05 9.99179689e-01 3.69861338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:324.00, Y:1.83, Z:3.72 [[ 9.95262245e-01 8.84612777e-02 -4.03443445e-02 3.24001292e+02] [-8.83918571e-02 9.96079613e-01 3.50475687e-03 1.82750895e+00] [ 4.04962144e-02 7.79593441e-05 9.99179689e-01 3.72358852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters Centerline goodness : 0.997813 with order 1 Centerline is valid? [True, True] Translation: X:324.06, Y:1.82, Z:3.72 [[ 9.95126396e-01 8.99763990e-02 -4.03448166e-02 3.24059973e+02] [-8.99084435e-02 9.95943887e-01 3.49931446e-03 1.82472933e+00] [ 4.04960291e-02 1.45079478e-04 9.99179689e-01 3.72296542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:324.12, Y:1.83, Z:3.73 [[ 9.94660659e-01 9.49859746e-02 -4.03464813e-02 3.24119351e+02] [-9.49229192e-02 9.95478543e-01 3.48001378e-03 1.82589428e+00] [ 4.04946089e-02 3.68372983e-04 9.99179689e-01 3.72587244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:324.18, Y:1.83, Z:3.71 [[ 9.94487210e-01 9.67843947e-02 -4.03481115e-02 3.24179423e+02] [-9.67235891e-02 9.95305264e-01 3.46100974e-03 1.83136619e+00] [ 4.04936595e-02 4.60684234e-04 9.99179689e-01 3.70812492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:1.83, Z:3.71 [[ 9.95590202e-01 8.46879687e-02 -4.03496897e-02 3.24237610e+02] [-8.46179729e-02 9.96407521e-01 3.44251144e-03 1.82543727e+00] [ 4.04962736e-02 -1.30217136e-05 9.99179689e-01 3.70819459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:324.30, Y:1.82, Z:3.71 [[ 9.96425993e-01 7.42092547e-02 -4.03513043e-02 3.24295969e+02] [-7.41314347e-02 9.97242603e-01 3.42348126e-03 1.81879823e+00] [ 4.04940937e-02 -4.19945639e-04 9.99179690e-01 3.70890828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters Centerline goodness : 0.997461 with order 1 Centerline is valid? [True, True] Translation: X:324.35, Y:1.81, Z:3.73 [[ 9.96993507e-01 6.61482549e-02 -4.03528829e-02 3.24353368e+02] [-6.60645901e-02 9.97809540e-01 3.40477122e-03 1.80808652e+00] [ 4.04897112e-02 -7.28638130e-04 9.99179690e-01 3.73097361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:324.41, Y:1.80, Z:3.71 [[ 9.97175174e-01 6.33497575e-02 -4.03544283e-02 3.24412467e+02] [-6.32645477e-02 9.97991047e-01 3.38635521e-03 1.79924626e+00] [ 4.04878829e-02 -8.23784689e-04 9.99179690e-01 3.71281709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:324.47, Y:1.79, Z:3.72 [[ 9.97051217e-01 6.52707269e-02 -4.03559515e-02 3.24470722e+02] [-6.51878274e-02 9.97867327e-01 3.36810513e-03 1.79178934e+00] [ 4.04897241e-02 -7.27456520e-04 9.99179690e-01 3.71513441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.53, Y:1.77, Z:3.73 [[ 9.98385292e-01 3.99760514e-02 -4.03574450e-02 3.24527955e+02] [-3.98732173e-02 9.99199131e-01 3.35011323e-03 1.77430277e+00] [ 4.04590483e-02 -1.73552260e-03 9.99179690e-01 3.72896639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:324.59, Y:1.77, Z:3.74 [[ 9.96549079e-01 7.25340828e-02 -4.03576517e-02 3.24587009e+02] [-7.24579617e-02 9.97365849e-01 3.34762107e-03 1.77087511e+00] [ 4.04941602e-02 -4.11835506e-04 9.99179690e-01 3.74082642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:324.65, Y:1.76, Z:3.72 [[ 9.96623268e-01 7.15073756e-02 -4.03578723e-02 3.24645645e+02] [-7.14305207e-02 9.97439969e-01 3.34496033e-03 1.75909143e+00] [ 4.04937442e-02 -4.50881465e-04 9.99179690e-01 3.72411350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:324.70, Y:1.74, Z:3.72 [[ 9.98990863e-01 1.97072165e-02 -4.03593897e-02 3.24703186e+02] [-1.95888363e-02 9.99802586e-01 3.32654963e-03 1.74070631e+00] [ 4.04169793e-02 -2.53259921e-03 9.99179690e-01 3.72162752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:324.76, Y:1.74, Z:3.75 [[ 9.96084946e-01 7.86503658e-02 -4.03596456e-02 3.24762891e+02] [-7.85802397e-02 9.96902252e-01 3.32344207e-03 1.73834994e+00] [ 4.04960116e-02 -1.38959982e-04 9.99179690e-01 3.74927908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters Centerline goodness : 0.989616 with order 1 Centerline is valid? [True, True] Translation: X:324.82, Y:1.73, Z:3.72 [[ 9.99030446e-01 1.75858681e-02 -4.03596882e-02 3.24822864e+02] [-1.74659104e-02 9.99841938e-01 3.32292463e-03 1.72887450e+00] [ 4.04117454e-02 -2.61478418e-03 9.99179690e-01 3.71683329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:324.88, Y:1.72, Z:3.75 [[ 9.95182869e-01 8.93428520e-02 -4.03597842e-02 3.24881628e+02] [-8.92815754e-02 9.96000887e-01 3.32175897e-03 1.72013985e+00] [ 4.04951562e-02 2.97627496e-04 9.99179690e-01 3.75448353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:324.94, Y:1.71, Z:3.76 [[ 9.94975713e-01 9.16210407e-02 -4.03598222e-02 3.24940201e+02] [-9.15616558e-02 9.95793870e-01 3.32129694e-03 1.71421383e+00] [ 4.04943642e-02 3.90802357e-04 9.99179690e-01 3.75633702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:325.00, Y:1.71, Z:3.76 [[ 9.94819495e-01 9.33012829e-02 -4.03614045e-02 3.24998390e+02] [-9.32440645e-02 9.95637806e-01 3.30195535e-03 1.70774512e+00] [ 4.04934169e-02 4.78611847e-04 9.99179691e-01 3.75741855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.06, Y:1.70, Z:3.74 [[ 9.94644455e-01 9.51485016e-02 -4.03629789e-02 3.25057450e+02] [-9.50935882e-02 9.95462924e-01 3.28259629e-03 1.70350954e+00] [ 4.04921832e-02 5.73244297e-04 9.99179691e-01 3.74393837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters Centerline goodness : 0.978551 with order 1 Centerline is valid? [True, True] Translation: X:325.11, Y:1.68, Z:3.73 [[ 9.98988780e-01 1.98020663e-02 -4.03645300e-02 3.25114624e+02] [-1.96863044e-02 9.99800880e-01 3.26341188e-03 1.67936826e+00] [ 4.04211149e-02 -2.46548343e-03 9.99179691e-01 3.72987188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters Centerline goodness : 0.999900 with order 1 Centerline is valid? [True, True] Translation: X:325.17, Y:1.71, Z:3.76 [[ 9.93598247e-01 1.05513906e-01 -4.03650736e-02 3.25174996e+02] [-1.05468582e-01 9.94417303e-01 3.25667386e-03 1.70744520e+00] [ 4.04833520e-02 1.02142164e-03 9.99179691e-01 3.76312267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters Centerline goodness : 0.933752 with order 1 Centerline is valid? [True, False] Translation: X:325.16, Y:1.72, Z:3.76 [[ 9.95644780e-01 8.97675518e-02 -2.51646294e-02 3.25157509e+02] [-8.98915093e-02 9.95944174e-01 -3.83640421e-03 1.72130518e+00] [ 2.47181815e-02 6.08178234e-03 9.99675959e-01 3.76053318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [False, True] Translation: X:325.16, Y:1.73, Z:3.76 [[ 9.96936227e-01 7.46992158e-02 -2.31988617e-02 3.25158337e+02] [-7.47481182e-02 9.97201667e-01 -1.24680509e-03 1.72620811e+00] [ 2.30408081e-02 2.97705642e-03 9.99730093e-01 3.75866696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:325.22, Y:1.73, Z:3.76 [[ 9.97340468e-01 6.91279165e-02 -2.30937838e-02 3.25217486e+02] [-6.91220094e-02 9.97607656e-01 1.05489872e-03 1.73112305e+00] [ 2.31114584e-02 5.44195552e-04 9.99732746e-01 3.76323117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:325.28, Y:1.73, Z:3.77 [[ 9.97724305e-01 6.33471838e-02 -2.30942661e-02 3.25276302e+02] [-6.33399753e-02 9.97991461e-01 1.04423263e-03 1.73242748e+00] [ 2.31140295e-02 4.20933967e-04 9.99732747e-01 3.76504132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.33, Y:1.73, Z:3.74 [[ 9.98347575e-01 5.26189209e-02 -2.30947548e-02 3.25334800e+02] [-5.26090937e-02 9.98614648e-01 1.03330950e-03 1.73292636e+00] [ 2.31171321e-02 1.83392082e-04 9.99732747e-01 3.74395731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:325.39, Y:1.73, Z:3.75 [[ 9.98638925e-01 4.67643398e-02 -2.30953114e-02 3.25393404e+02] [-4.67532381e-02 9.98905948e-01 1.02071470e-03 1.73099304e+00] [ 2.31177770e-02 6.04551654e-05 9.99732747e-01 3.74653165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:325.45, Y:1.73, Z:3.77 [[ 9.98745828e-01 4.44224573e-02 -2.30957872e-02 3.25451428e+02] [-4.44109811e-02 9.99012835e-01 1.00983309e-03 1.73405667e+00] [ 2.31178471e-02 1.71399872e-05 9.99732747e-01 3.77394350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.51, Y:1.74, Z:3.75 [[ 9.98619262e-01 4.71819042e-02 -2.30962525e-02 3.25511093e+02] [-4.71714146e-02 9.98886310e-01 9.99075796e-04 1.73576726e+00] [ 2.31176688e-02 9.17865701e-05 9.99732747e-01 3.74805945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:325.57, Y:1.74, Z:3.77 [[ 9.98704971e-01 4.53312481e-02 -2.30967146e-02 3.25569967e+02] [-4.53205133e-02 9.98972009e-01 9.88277020e-04 1.73711256e+00] [ 2.31177712e-02 5.97577892e-05 9.99732747e-01 3.77465068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:325.63, Y:1.74, Z:3.78 [[ 9.98912370e-01 4.05043086e-02 -2.30971394e-02 3.25628371e+02] [-4.04925154e-02 9.99179363e-01 9.78247221e-04 1.73690309e+00] [ 2.31178083e-02 -4.19219764e-05 9.99732747e-01 3.77851197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:325.69, Y:1.74, Z:3.75 [[ 9.98939765e-01 3.98227044e-02 -2.30975977e-02 3.25689493e+02] [-3.98109821e-02 9.99206760e-01 9.67303849e-04 1.73960444e+00] [ 2.31177964e-02 -4.67402313e-05 9.99732747e-01 3.75074693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:325.75, Y:1.74, Z:3.75 [[ 9.98855124e-01 4.18920160e-02 -2.30976300e-02 3.25748184e+02] [-4.18808646e-02 9.99122144e-01 9.66533197e-04 1.73789488e+00] [ 2.31178436e-02 1.92207721e-06 9.99732747e-01 3.75206471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters Centerline goodness : 0.997617 with order 1 Centerline is valid? [True, True] Translation: X:325.81, Y:1.74, Z:3.78 [[ 9.98772630e-01 4.38145277e-02 -2.30980707e-02 3.25807407e+02] [-4.38041366e-02 9.99039681e-01 9.55883305e-04 1.73863496e+00] [ 2.31177707e-02 5.70809614e-05 9.99732747e-01 3.77772491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters Centerline goodness : 0.997812 with order 1 Centerline is valid? [True, True] Translation: X:325.87, Y:1.74, Z:3.76 [[ 9.98832011e-01 4.24392618e-02 -2.30981016e-02 3.25868641e+02] [-4.24285203e-02 9.99099048e-01 9.55135846e-04 1.73949175e+00] [ 2.31178266e-02 2.59980137e-05 9.99732747e-01 3.75660912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters Centerline goodness : 0.998210 with order 1 Centerline is valid? [True, True] Translation: X:325.93, Y:1.74, Z:3.76 [[ 9.98902128e-01 4.07555653e-02 -2.30981165e-02 3.25926906e+02] [-4.07443820e-02 9.99169147e-01 9.54776113e-04 1.73848932e+00] [ 2.31178378e-02 -1.26094099e-05 9.99732747e-01 3.75696480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters Centerline goodness : 0.996322 with order 1 Centerline is valid? [True, True] Translation: X:325.99, Y:1.74, Z:3.78 [[ 9.98810059e-01 4.29525227e-02 -2.30986149e-02 3.25986229e+02] [-4.29422093e-02 9.99077113e-01 9.42561086e-04 1.73818489e+00] [ 2.31177829e-02 5.04660607e-05 9.99732747e-01 3.78309886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters Centerline goodness : 0.997762 with order 1 Centerline is valid? [True, True] Translation: X:326.05, Y:1.74, Z:3.76 [[ 9.98541564e-01 4.87975100e-02 -2.30986460e-02 3.26047656e+02] [-4.87887773e-02 9.98808674e-01 9.41797942e-04 1.74389699e+00] [ 2.31170854e-02 1.86530307e-04 9.99732747e-01 3.76223004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters Centerline goodness : 0.994982 with order 1 Centerline is valid? [True, True] Translation: X:326.11, Y:1.74, Z:3.79 [[ 9.98451198e-01 5.06128132e-02 -2.30986656e-02 3.26106893e+02] [-5.06045773e-02 9.98718324e-01 9.41316418e-04 1.74372475e+00] [ 2.31167033e-02 2.29039707e-04 9.99732747e-01 3.79158148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:326.17, Y:1.75, Z:3.78 [[ 9.98349968e-01 5.25717641e-02 -2.30987192e-02 3.26167409e+02] [-5.25640828e-02 9.98617111e-01 9.40001311e-04 1.74608467e+00] [ 2.31161937e-02 2.75712707e-04 9.99732747e-01 3.78439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters Centerline goodness : 0.996377 with order 1 Centerline is valid? [True, True] Translation: X:326.23, Y:1.74, Z:3.79 [[ 9.98594774e-01 4.76961806e-02 -2.30987319e-02 3.26225177e+02] [-4.76872021e-02 9.98861876e-01 9.39689264e-04 1.74340737e+00] [ 2.31172622e-02 1.63145107e-04 9.99732747e-01 3.78500733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:326.28, Y:1.74, Z:3.79 [[ 9.98714420e-01 4.51213139e-02 -2.30992432e-02 3.26283856e+02] [-4.51119414e-02 9.98981508e-01 9.26947514e-04 1.74082576e+00] [ 2.31175419e-02 1.16295857e-04 9.99732747e-01 3.78712339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters Centerline goodness : 0.995434 with order 1 Centerline is valid? [True, True] Translation: X:326.34, Y:1.74, Z:3.79 [[ 9.98626755e-01 4.70213745e-02 -2.30996733e-02 3.26342543e+02] [-4.70127611e-02 9.98893869e-01 9.16101395e-04 1.73856594e+00] [ 2.31171984e-02 1.71136059e-04 9.99732747e-01 3.79226464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:326.40, Y:1.74, Z:3.77 [[ 9.98381245e-01 5.19737947e-02 -2.31001038e-02 3.26403210e+02] [-5.19667604e-02 9.98648405e-01 9.05114354e-04 1.73870721e+00] [ 2.31159241e-02 2.96788364e-04 9.99732747e-01 3.77252346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:1.74, Z:3.79 [[ 9.98105644e-01 5.70219854e-02 -2.31001385e-02 3.26462262e+02] [-5.70163228e-02 9.98372837e-01 9.04228402e-04 1.73824515e+00] [ 2.31141117e-02 4.14569481e-04 9.99732747e-01 3.79219657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [True, True] Translation: X:326.52, Y:1.74, Z:3.79 [[ 9.97972012e-01 5.93147931e-02 -2.31001987e-02 3.26521398e+02] [-5.93097799e-02 9.98239217e-01 9.02687181e-04 1.73609255e+00] [ 2.31130670e-02 4.69211161e-04 9.99732747e-01 3.79349325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters Centerline goodness : 0.997467 with order 1 Centerline is valid? [True, True] Translation: X:326.58, Y:1.74, Z:3.77 [[ 9.92926354e-01 1.16462939e-01 -2.31006283e-02 3.26580982e+02] [-1.16473519e-01 9.93193397e-01 8.91555466e-04 1.74050475e+00] [ 2.30472247e-02 1.80536256e-03 9.99732747e-01 3.76505768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters Centerline goodness : 0.996331 with order 1 Centerline is valid? [True, True] Translation: X:326.64, Y:1.73, Z:3.80 [[ 9.98084536e-01 5.73900337e-02 -2.31007042e-02 3.26640815e+02] [-5.73848084e-02 9.98351738e-01 8.89584425e-04 1.73446817e+00] [ 2.31136815e-02 4.37749029e-04 9.99732747e-01 3.79511649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters Centerline goodness : 0.909524 with order 3 Centerline is valid? [True, False] Translation: X:326.64, Y:1.74, Z:3.80 [[ 9.98773060e-01 4.78180564e-02 -1.28766239e-02 3.26643939e+02] [-4.78551637e-02 9.98850930e-01 -2.58904670e-03 1.73696230e+00] [ 1.27380246e-02 3.20208304e-03 9.99913741e-01 3.79668649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters Centerline goodness : 0.995476 with order 1 Centerline is valid? [False, True] Translation: X:326.63, Y:1.74, Z:3.79 [[ 9.99256606e-01 3.84478705e-02 2.82765897e-03 3.26627015e+02] [-3.84452527e-02 9.99260233e-01 -9.74389384e-04 1.73987518e+00] [-2.86303036e-03 8.64954965e-04 9.99995527e-01 3.79495705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:1.74, Z:3.79 [[ 9.99375855e-01 3.52114029e-02 2.83854217e-03 3.26686129e+02] [-3.52114516e-02 9.99379884e-01 -3.28051915e-05 1.74381222e+00] [-2.83793706e-03 -6.71644741e-05 9.99995971e-01 3.79226873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters Centerline goodness : 0.996722 with order 1 Centerline is valid? [True, True] Translation: X:326.75, Y:1.74, Z:3.80 [[ 9.99627480e-01 2.71448660e-02 2.83854541e-03 3.26745787e+02] [-2.71448831e-02 9.99631509e-01 -3.25228047e-05 1.74306449e+00] [-2.83838225e-03 -4.45412939e-05 9.99995971e-01 3.79582160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters Centerline goodness : 0.996920 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:1.74, Z:3.80 [[ 9.99821420e-01 1.86834463e-02 2.83854759e-03 3.26806391e+02] [-1.86834298e-02 9.99825449e-01 -3.23309895e-05 1.74140788e+00] [-2.83865617e-03 -2.07085889e-05 9.99995971e-01 3.80080964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:1.74, Z:3.80 [[ 9.99896078e-01 1.41341905e-02 2.83854759e-03 3.26867183e+02] [-1.41341557e-02 9.99900107e-01 -3.23309895e-05 1.74046910e+00] [-2.83872101e-03 -7.79284399e-06 9.99995971e-01 3.79649850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:326.93, Y:1.74, Z:3.80 [[ 9.99889933e-01 1.45624311e-02 2.83854650e-03 3.26928601e+02] [-1.45623977e-02 9.99893962e-01 -3.24267101e-05 1.73810558e+00] [-2.83871771e-03 -8.91290195e-06 9.99995971e-01 3.79829050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:326.99, Y:1.74, Z:3.80 [[ 9.99873071e-01 1.56775173e-02 2.83854429e-03 3.26989467e+02] [-1.56774878e-02 9.99877100e-01 -3.26189107e-05 1.73537392e+00] [-2.83870681e-03 -1.18864731e-05 9.99995971e-01 3.79500320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:1.73, Z:3.80 [[ 9.99889147e-01 1.46163221e-02 2.83854322e-03 3.27050643e+02] [-1.46162881e-02 9.99893176e-01 -3.27115119e-05 1.72960743e+00] [-2.83871812e-03 -8.78107982e-06 9.99995971e-01 3.79607636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.11, Y:1.73, Z:3.78 [[ 9.99910330e-01 1.30872258e-02 2.83854101e-03 3.27111514e+02] [-1.30871851e-02 9.99914359e-01 -3.29022784e-05 1.72509355e+00] [-2.83872851e-03 -4.24918369e-06 9.99995971e-01 3.77529922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.17, Y:1.72, Z:3.77 [[ 9.99914900e-01 1.27332498e-02 2.83853991e-03 3.27173238e+02] [-1.27332074e-02 9.99918929e-01 -3.29972646e-05 1.71946623e+00] [-2.83872994e-03 -3.14926082e-06 9.99995971e-01 3.77410845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.23, Y:1.72, Z:3.79 [[ 9.99944148e-01 1.01805369e-02 2.83853771e-03 3.27234818e+02] [-1.01804837e-02 9.99948177e-01 -3.31853675e-05 1.71535876e+00] [-2.83872845e-03 4.28582720e-06 9.99995971e-01 3.79136807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.30, Y:1.71, Z:3.77 [[ 9.99954526e-01 9.10435801e-03 2.83853549e-03 3.27297310e+02] [-9.10429996e-03 9.99958554e-01 -3.33737644e-05 1.71023995e+00] [-2.83872169e-03 7.52936815e-06 9.99995971e-01 3.77371384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.36, Y:1.71, Z:3.77 [[ 9.99974899e-01 6.49181533e-03 2.83853104e-03 3.27359455e+02] [-6.49174568e-03 9.99978928e-01 -3.37481270e-05 1.70658425e+00] [-2.83869031e-03 1.53202582e-05 9.99995971e-01 3.77298742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:327.42, Y:1.70, Z:3.79 [[ 9.99967373e-01 7.56271848e-03 2.83852654e-03 3.27421525e+02] [-7.56265209e-03 9.99971402e-01 -3.41228567e-05 1.70457722e+00] [-2.83870342e-03 1.26549548e-05 9.99995971e-01 3.79259257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:327.48, Y:1.70, Z:3.79 [[ 9.99912683e-01 1.29061345e-02 2.83852196e-03 3.27483270e+02] [-1.29060886e-02 9.99916712e-01 -3.44991939e-05 1.70471470e+00] [-2.83873080e-03 -2.13803440e-06 9.99995971e-01 3.79292287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:327.54, Y:1.71, Z:3.79 [[ 9.99859738e-01 1.65059659e-02 2.83851618e-03 3.27544989e+02] [-1.65059331e-02 9.99863767e-01 -3.49684107e-05 1.70651286e+00] [-2.83870667e-03 -1.18888522e-05 9.99995971e-01 3.79322280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:327.61, Y:1.70, Z:3.79 [[ 9.99912504e-01 1.29200250e-02 2.83851379e-03 3.27606054e+02] [-1.29199773e-02 9.99916533e-01 -3.51610513e-05 1.70414975e+00] [-2.83873115e-03 -1.51555891e-06 9.99995971e-01 3.79323052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.67, Y:1.70, Z:3.77 [[ 9.99928963e-01 1.15763397e-02 2.83851144e-03 3.27668349e+02] [-1.15762860e-02 9.99932992e-01 -3.53502581e-05 1.70252499e+00] [-2.83873046e-03 2.48832672e-06 9.99995971e-01 3.77301697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:327.73, Y:1.70, Z:3.80 [[ 9.99963249e-01 8.08966972e-03 2.83850662e-03 3.27729661e+02] [-8.08960088e-03 9.99967278e-01 -3.57329999e-05 1.70003704e+00] [-2.83870281e-03 1.27693011e-05 9.99995971e-01 3.79506050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:327.79, Y:1.70, Z:3.79 [[ 9.99944838e-01 1.01125947e-02 2.83850542e-03 3.27791020e+02] [-1.01125338e-02 9.99948866e-01 -3.58279964e-05 1.69578374e+00] [-2.83872259e-03 7.12153807e-06 9.99995971e-01 3.79449897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:327.85, Y:1.69, Z:3.80 [[ 9.99912672e-01 1.29070072e-02 2.83850304e-03 3.27851704e+02] [-1.29069570e-02 9.99916701e-01 -3.60152950e-05 1.69455912e+00] [-2.83873145e-03 -6.24286865e-07 9.99995971e-01 3.79845595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.91, Y:1.69, Z:3.77 [[ 9.99863361e-01 1.62850608e-02 2.83850185e-03 3.27912524e+02] [-1.62850239e-02 9.99867390e-01 -3.61090922e-05 1.69415705e+00] [-2.83871348e-03 -1.01209123e-05 9.99995971e-01 3.77330187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:327.97, Y:1.70, Z:3.80 [[ 9.99830943e-01 1.81666924e-02 2.83850140e-03 3.27973549e+02] [-1.81666630e-02 9.99834972e-01 -3.61444659e-05 1.69580773e+00] [-2.83868959e-03 -1.54277429e-05 9.99995971e-01 3.79655937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.03, Y:1.70, Z:3.77 [[ 9.99724427e-01 2.33026295e-02 2.83850078e-03 3.28034583e+02] [-2.33026206e-02 9.99728456e-01 -3.61931920e-05 1.69899365e+00] [-2.83857340e-03 -2.99612888e-05 9.99995971e-01 3.77346772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.10, Y:1.70, Z:3.77 [[ 9.99688435e-01 2.47987253e-02 2.83850055e-03 3.28096158e+02] [-2.47987225e-02 9.99692464e-01 -3.62113860e-05 1.70063442e+00] [-2.83852560e-03 -3.41910835e-05 9.99995971e-01 3.77436188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:328.16, Y:1.70, Z:3.79 [[ 9.99775665e-01 2.09895860e-02 2.83849814e-03 3.28157334e+02] [-2.09895673e-02 9.99779694e-01 -3.63988653e-05 1.70115492e+00] [-2.83863680e-03 -2.31881481e-05 9.99995971e-01 3.79331159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:328.22, Y:1.69, Z:3.77 [[ 9.99894656e-01 1.42344466e-02 2.83849692e-03 3.28218562e+02] [-1.42344004e-02 9.99898685e-01 -3.64941803e-05 1.69387235e+00] [-2.83872881e-03 -3.91396564e-06 9.99995971e-01 3.77346888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.28, Y:1.69, Z:3.77 [[ 9.99920455e-01 1.22892563e-02 2.83849443e-03 3.28280908e+02] [-1.22892017e-02 9.99924484e-01 -3.66864748e-05 1.69029822e+00] [-2.83873093e-03 1.80072609e-06 9.99995971e-01 3.77354068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:328.34, Y:1.69, Z:3.80 [[ 9.99926817e-01 1.17602899e-02 2.83848947e-03 3.28341199e+02] [-1.17602321e-02 9.99930845e-01 -3.70666584e-05 1.68769673e+00] [-2.83872909e-03 3.68265091e-06 9.99995971e-01 3.79625673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:328.40, Y:1.69, Z:3.80 [[ 9.99803939e-01 1.95966076e-02 2.83848947e-03 3.28402391e+02] [-1.95965813e-02 9.99807968e-01 -3.70666584e-05 1.68598856e+00] [-2.83867077e-03 -1.85652986e-05 9.99995971e-01 3.79740920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:328.46, Y:1.68, Z:3.80 [[ 9.99783530e-01 2.06115722e-02 2.83848702e-03 3.28462961e+02] [-2.06115495e-02 9.99787559e-01 -3.72533403e-05 1.67804411e+00] [-2.83865186e-03 -2.12603397e-05 9.99995971e-01 3.79657753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:328.52, Y:1.67, Z:3.80 [[ 9.99888585e-01 1.46547049e-02 2.83848419e-03 3.28524631e+02] [-1.46546576e-02 9.99892614e-01 -3.74675384e-05 1.67200492e+00] [-2.83872845e-03 -4.13364996e-06 9.99995971e-01 3.79534040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:328.59, Y:1.66, Z:3.79 [[ 9.99933705e-01 1.11592245e-02 2.83848162e-03 3.28585790e+02] [-1.11591625e-02 9.99937734e-01 -3.76610253e-05 1.66343480e+00] [-2.83872515e-03 5.98345085e-06 9.99995971e-01 3.79376916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:328.65, Y:1.66, Z:3.77 [[ 9.99842384e-01 1.75257227e-02 2.83847902e-03 3.28647346e+02] [-1.75256858e-02 9.99846413e-01 -3.78562506e-05 1.66144190e+00] [-2.83870652e-03 -1.18960077e-05 9.99995971e-01 3.76975712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:328.71, Y:1.66, Z:3.77 [[ 9.99748704e-01 2.22367273e-02 2.83847651e-03 3.28708703e+02] [-2.22367089e-02 9.99752733e-01 -3.80436931e-05 1.66317290e+00] [-2.83862061e-03 -2.50842431e-05 9.99995971e-01 3.77101497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:328.77, Y:1.67, Z:3.79 [[ 9.99749645e-01 2.21943637e-02 2.83847400e-03 3.28769863e+02] [-2.21943447e-02 9.99753674e-01 -3.82302295e-05 1.66598548e+00] [-2.83862330e-03 -2.47774118e-05 9.99995971e-01 3.79422944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:328.83, Y:1.67, Z:3.80 [[ 9.99812959e-01 1.91308843e-02 2.83847142e-03 3.28831363e+02] [-1.91308523e-02 9.99816988e-01 -3.84204021e-05 1.66865717e+00] [-2.83868696e-03 -1.58891617e-05 9.99995971e-01 3.79585759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.89, Y:1.67, Z:3.77 [[ 9.99886161e-01 1.48191606e-02 2.83846884e-03 3.28892768e+02] [-1.48191107e-02 9.99890190e-01 -3.86101251e-05 1.66846397e+00] [-2.83872932e-03 -3.45785414e-06 9.99995971e-01 3.76795775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:328.96, Y:1.67, Z:3.80 [[ 9.99837193e-01 1.78194051e-02 2.83846623e-03 3.28955075e+02] [-1.78193668e-02 9.99841222e-01 -3.88012758e-05 1.66900651e+00] [-2.83870696e-03 -1.17847121e-05 9.99995971e-01 3.79619437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:1.67, Z:3.77 [[ 9.99780633e-01 2.07515790e-02 2.83846102e-03 3.29016606e+02] [-2.07515514e-02 9.99784663e-01 -3.91785602e-05 1.66579010e+00] [-2.83866281e-03 -1.97325040e-05 9.99995971e-01 3.77237400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters Centerline goodness : 0.998311 with order 1 Centerline is valid? [True, True] Translation: X:329.08, Y:1.66, Z:3.80 [[ 9.99716644e-01 2.36341763e-02 2.83845837e-03 3.29077335e+02] [-2.36341598e-02 9.99720673e-01 -3.93694075e-05 1.66409171e+00] [-2.83859598e-03 -2.77263268e-05 9.99995971e-01 3.79544386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:1.67, Z:3.76 [[ 9.99554976e-01 2.96950051e-02 2.83845704e-03 3.29138215e+02] [-2.96950127e-02 9.99559005e-01 -3.94649847e-05 1.66602424e+00] [-2.83837721e-03 -4.48405962e-05 9.99995971e-01 3.76204827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.20, Y:1.67, Z:3.77 [[ 9.99514085e-01 3.10409003e-02 2.83845438e-03 3.29199089e+02] [-3.10409128e-02 9.99518114e-01 -3.96557951e-05 1.66731255e+00] [-2.83831752e-03 -4.84716892e-05 9.99995971e-01 3.76817953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.26, Y:1.67, Z:3.77 [[ 9.99467061e-01 3.25197972e-02 2.83845305e-03 3.29260623e+02] [-3.25198154e-02 9.99471090e-01 -3.97505362e-05 1.67006615e+00] [-2.83824445e-03 -5.25766177e-05 9.99995971e-01 3.76911286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:329.32, Y:1.68, Z:3.79 [[ 9.99525122e-01 3.06834552e-02 2.83845040e-03 3.29321173e+02] [-3.06834655e-02 9.99529151e-01 -3.99388158e-05 1.67762331e+00] [-2.83833938e-03 -4.71736452e-05 9.99995971e-01 3.78980497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.38, Y:1.69, Z:3.77 [[ 9.99495301e-01 3.16399492e-02 2.83845040e-03 3.29381582e+02] [-3.16399633e-02 9.99499330e-01 -3.99388158e-05 1.68525166e+00] [-2.83829294e-03 -4.98898080e-05 9.99995971e-01 3.76688894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:329.44, Y:1.69, Z:3.79 [[ 9.99595213e-01 2.83081858e-02 2.83845040e-03 3.29441853e+02] [-2.83081865e-02 9.99599242e-01 -3.99388158e-05 1.69039517e+00] [-2.83844347e-03 -4.04287343e-05 9.99995971e-01 3.79044673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters Centerline goodness : 0.998263 with order 1 Centerline is valid? [True, True] Translation: X:329.50, Y:1.70, Z:3.79 [[ 9.99742274e-01 2.25239395e-02 2.83845040e-03 3.29502184e+02] [-2.25239169e-02 9.99746304e-01 -3.99388158e-05 1.69807323e+00] [-2.83862988e-03 -2.40044984e-05 9.99995971e-01 3.79305313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:329.56, Y:1.70, Z:3.79 [[ 9.99902652e-01 1.36612131e-02 2.83845175e-03 3.29562641e+02] [-1.36611550e-02 9.99906681e-01 -3.98424813e-05 1.70195825e+00] [-2.83873117e-03 1.06207332e-06 9.99995971e-01 3.79363479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:329.62, Y:1.70, Z:3.79 [[ 9.99928427e-01 1.16225413e-02 2.83845175e-03 3.29624396e+02] [-1.16224750e-02 9.99932456e-01 -3.98424813e-05 1.70311026e+00] [-2.83872310e-03 6.84979521e-06 9.99995971e-01 3.79338312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters Centerline goodness : 0.996825 with order 1 Centerline is valid? [True, True] Translation: X:329.69, Y:1.71, Z:3.79 [[ 9.99927620e-01 1.16918147e-02 2.83844908e-03 3.29686169e+02] [-1.16917482e-02 9.99931648e-01 -4.00323164e-05 1.70717787e+00] [-2.83872311e-03 6.84298702e-06 9.99995971e-01 3.79423793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters Centerline goodness : 0.991369 with order 1 Centerline is valid? [True, True] Translation: X:329.75, Y:1.71, Z:3.80 [[ 9.99909614e-01 1.31417743e-02 2.83844488e-03 3.29746360e+02] [-1.31417128e-02 9.99913643e-01 -4.03280755e-05 1.70733739e+00] [-2.83872974e-03 3.02240318e-06 9.99995971e-01 3.80182089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.81, Y:1.71, Z:3.77 [[ 9.99919187e-01 1.23920253e-02 2.83844429e-03 3.29807257e+02] [-1.23919607e-02 9.99923216e-01 -4.03690029e-05 1.70700419e+00] [-2.83872660e-03 5.19185052e-06 9.99995971e-01 3.76819681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:1.71, Z:3.79 [[ 9.99941165e-01 1.04695089e-02 2.83844397e-03 3.29867532e+02] [-1.04694364e-02 9.99945193e-01 -4.03918600e-05 1.70586087e+00] [-2.83871128e-03 1.06725750e-05 9.99995971e-01 3.79440095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters Centerline goodness : 0.995670 with order 1 Centerline is valid? [True, True] Translation: X:329.93, Y:1.71, Z:3.80 [[ 9.99944599e-01 1.01362196e-02 2.83844360e-03 3.29929415e+02] [-1.01361457e-02 9.99948627e-01 -4.04178401e-05 1.70581610e+00] [-2.83870746e-03 1.16447231e-05 9.99995971e-01 3.79600109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:329.99, Y:1.71, Z:3.77 [[ 9.99926153e-01 1.18165506e-02 2.83843948e-03 3.29989945e+02] [-1.18164827e-02 9.99930182e-01 -4.07050225e-05 1.70694938e+00] [-2.83872230e-03 7.16164560e-06 9.99995971e-01 3.76849014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:330.05, Y:1.71, Z:3.77 [[ 9.99912564e-01 1.29154208e-02 2.83843926e-03 3.30051051e+02] [-1.29153573e-02 9.99916592e-01 -4.07205096e-05 1.70753412e+00] [-2.83872843e-03 4.05749204e-06 9.99995971e-01 3.76963631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters Centerline goodness : 0.996229 with order 1 Centerline is valid? [True, True] Translation: X:330.11, Y:1.71, Z:3.79 [[ 9.99916437e-01 1.26119566e-02 2.83843662e-03 3.30112379e+02] [-1.26118913e-02 9.99920466e-01 -4.09032323e-05 1.70972358e+00] [-2.83872674e-03 5.10176014e-06 9.99995971e-01 3.79363942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:330.17, Y:1.71, Z:3.77 [[ 9.99889549e-01 1.45887932e-02 2.83843528e-03 3.30173211e+02] [-1.45887356e-02 9.99893578e-01 -4.09961613e-05 1.71079945e+00] [-2.83873129e-03 -4.17548473e-07 9.99995971e-01 3.76821422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters Centerline goodness : 0.995389 with order 1 Centerline is valid? [True, True] Translation: X:330.23, Y:1.72, Z:3.79 [[ 9.99915272e-01 1.27040573e-02 2.83843395e-03 3.30234531e+02] [-1.27039919e-02 9.99919300e-01 -4.10884580e-05 1.71529008e+00] [-2.83872687e-03 5.02553482e-06 9.99995971e-01 3.79436432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:330.30, Y:1.72, Z:3.77 [[ 9.99891585e-01 1.44485906e-02 2.83843261e-03 3.30295813e+02] [-1.44485319e-02 9.99895614e-01 -4.11806947e-05 1.71710269e+00] [-2.83873132e-03 1.65046130e-07 9.99995971e-01 3.76981050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:330.36, Y:1.72, Z:3.77 [[ 9.99904525e-01 1.35234462e-02 2.83842995e-03 3.30356921e+02] [-1.35233833e-02 9.99908554e-01 -4.13632452e-05 1.72021629e+00] [-2.83872976e-03 2.97412003e-06 9.99995971e-01 3.76928505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:330.42, Y:1.72, Z:3.77 [[ 9.99908047e-01 1.32604916e-02 2.83842727e-03 3.30418104e+02] [-1.32604271e-02 9.99912076e-01 -4.15464178e-05 1.72061761e+00] [-2.83872863e-03 3.90383963e-06 9.99995971e-01 3.76988631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:330.48, Y:1.72, Z:3.77 [[ 9.99894060e-01 1.42762581e-02 2.83842459e-03 3.30479537e+02] [-1.42761972e-02 9.99898089e-01 -4.17282124e-05 1.72099911e+00] [-2.83873105e-03 1.20188246e-06 9.99995971e-01 3.76942257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:330.54, Y:1.72, Z:3.79 [[ 9.99889079e-01 1.46210115e-02 2.83842187e-03 3.30540861e+02] [-1.46209515e-02 9.99893107e-01 -4.19123989e-05 1.71841242e+00] [-2.83873127e-03 4.07321468e-07 9.99995971e-01 3.79447976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters Centerline goodness : 0.990617 with order 1 Centerline is valid? [True, True] Translation: X:330.60, Y:1.72, Z:3.80 [[ 9.99878240e-01 1.53443593e-02 2.83841916e-03 3.30601306e+02] [-1.53443016e-02 9.99882268e-01 -4.20950871e-05 1.71933726e+00] [-2.83873092e-03 -1.46359824e-06 9.99995971e-01 3.80254927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:330.66, Y:1.72, Z:3.77 [[ 9.99849012e-01 1.71434389e-02 2.83841910e-03 3.30662084e+02] [-1.71433884e-02 9.99853040e-01 -4.20993105e-05 1.72106867e+00] [-2.83872370e-03 -6.56716724e-06 9.99995971e-01 3.77041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters Centerline goodness : 0.862196 with order 2 Centerline is valid? [True, False] Translation: X:330.69, Y:1.72, Z:3.77 [[ 9.99986029e-01 5.22672177e-03 -7.89492760e-04 3.30691218e+02] [-5.22599865e-03 9.99985926e-01 9.15239275e-04 1.71998115e+00] [ 7.94265350e-04 -9.11100600e-04 9.99999270e-01 3.77194922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [False, True] Translation: X:330.74, Y:1.74, Z:3.78 [[ 9.99739287e-01 8.03886592e-03 -2.13713726e-02 3.30738240e+02] [-8.58268887e-03 9.99638550e-01 -2.54775857e-02 1.73889565e+00] [ 2.11588370e-02 2.56543672e-02 9.99446926e-01 3.77684003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:330.80, Y:1.71, Z:3.77 [[ 9.99776335e-01 2.61944375e-03 -2.09861375e-02 3.30796300e+02] [-2.61332290e-03 9.99996534e-01 3.19081131e-04 1.71050109e+00] [ 2.09869006e-02 -2.64166211e-04 9.99779716e-01 3.77225260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters Centerline goodness : 0.993921 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:1.70, Z:3.78 [[ 9.99779175e-01 1.08505163e-03 -2.09862815e-02 3.30855705e+02] [-1.07879788e-03 9.99999370e-01 3.09311143e-04 1.70355072e+00] [ 2.09866039e-02 -2.86602884e-04 9.99779716e-01 3.77618460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters Centerline goodness : 0.995975 with order 1 Centerline is valid? [True, True] Translation: X:330.91, Y:1.70, Z:3.78 [[ 9.99779565e-01 -6.29642372e-04 -2.09862915e-02 3.30914980e+02] [ 6.36259464e-04 9.99999750e-01 3.08629855e-04 1.70082444e+00] [ 2.09860919e-02 -3.21914549e-04 9.99779716e-01 3.77821309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters Centerline goodness : 0.993892 with order 1 Centerline is valid? [True, True] Translation: X:330.97, Y:1.70, Z:3.77 [[ 9.99596856e-01 1.91232912e-02 -2.09863213e-02 3.30973797e+02] [-1.91210684e-02 9.99817129e-01 3.06593918e-04 1.69863974e+00] [ 2.09883465e-02 9.48105683e-05 9.99779716e-01 3.76927597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters Centerline goodness : 0.995871 with order 1 Centerline is valid? [True, True] Translation: X:331.03, Y:1.68, Z:3.78 [[ 9.99774491e-01 -3.24578451e-03 -2.09864554e-02 3.31032044e+02] [ 3.25273622e-03 9.99994666e-01 2.97120544e-04 1.68127897e+00] [ 2.09853790e-02 -3.65316945e-04 9.99779716e-01 3.78017833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters Centerline goodness : 0.996964 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:1.68, Z:3.78 [[ 9.99775112e-01 3.04788086e-03 -2.09865836e-02 3.31090523e+02] [-3.04251154e-03 9.99995330e-01 2.87770053e-04 1.67591999e+00] [ 2.09873627e-02 -2.23853414e-04 9.99779716e-01 3.77972929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters Centerline goodness : 0.991785 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:1.66, Z:3.79 [[ 9.99779706e-01 -3.17225241e-04 -2.09866207e-02 3.31150121e+02] [ 3.23278436e-04 9.99999907e-01 2.85039138e-04 1.66296147e+00] [ 2.09865283e-02 -2.91760867e-04 9.99779716e-01 3.79258630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters Centerline goodness : 0.991589 with order 1 Centerline is valid? [True, True] Translation: X:331.21, Y:1.66, Z:3.79 [[ 9.99773983e-01 3.39765341e-03 -2.09866300e-02 3.31208688e+02] [-3.39243289e-03 9.99994205e-01 2.84351013e-04 1.66005813e+00] [ 2.09874745e-02 -2.13091011e-04 9.99779716e-01 3.79045316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:331.27, Y:1.66, Z:3.79 [[ 9.99765016e-01 5.42878763e-03 -2.09866666e-02 3.31268408e+02] [-5.42407172e-03 9.99985250e-01 2.81626861e-04 1.65860620e+00] [ 2.09878859e-02 -1.67727499e-04 9.99779716e-01 3.79243899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters Centerline goodness : 0.996452 with order 1 Centerline is valid? [True, True] Translation: X:331.33, Y:1.66, Z:3.79 [[ 9.99716276e-01 1.12662064e-02 -2.09866853e-02 3.31328193e+02] [-1.12628058e-02 9.99936533e-01 2.80226452e-04 1.65996542e+00] [ 2.09885104e-02 -4.37779834e-05 9.99779716e-01 3.78927017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters Centerline goodness : 0.993745 with order 1 Centerline is valid? [True, True] Translation: X:331.39, Y:1.67, Z:3.79 [[ 9.99647242e-01 1.62772682e-02 -2.09867038e-02 3.31386633e+02] [-1.62750010e-02 9.99867515e-01 2.78833405e-04 1.66592120e+00] [ 2.09884620e-02 6.28235812e-05 9.99779716e-01 3.79316213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters Centerline goodness : 0.993184 with order 1 Centerline is valid? [True, True] Translation: X:331.45, Y:1.67, Z:3.80 [[ 9.99661183e-01 1.53971233e-02 -2.09868293e-02 3.31445361e+02] [-1.53948677e-02 9.99881456e-01 2.69042405e-04 1.66953520e+00] [ 2.09884839e-02 5.41382121e-05 9.99779716e-01 3.79634662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters Centerline goodness : 0.993877 with order 1 Centerline is valid? [True, True] Translation: X:331.50, Y:1.67, Z:3.80 [[ 9.99711064e-01 1.17190801e-02 -2.09869525e-02 3.31504558e+02] [-1.17162236e-02 9.99931329e-01 2.59065184e-04 1.66900810e+00] [ 2.09885473e-02 -1.31025044e-05 9.99779716e-01 3.79621062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters Centerline goodness : 0.759823 with order 3 Centerline is valid? [True, False] Translation: X:331.49, Y:1.67, Z:3.79 [[ 9.99983670e-01 -1.65707135e-03 -5.46933481e-03 3.31489789e+02] [ 1.65148285e-03 9.99998110e-01 -1.02614572e-03 1.66876056e+00] [ 5.47102487e-03 1.01709645e-03 9.99984517e-01 3.79423891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters Centerline goodness : 0.926234 with order 3 Centerline is valid? [False, False] Translation: X:331.53, Y:1.69, Z:3.80 [[ 9.99723035e-01 4.09838652e-03 -2.31744730e-02 3.31530592e+02] [-4.66720020e-03 9.99687849e-01 -2.45442625e-02 1.68639251e+00] [ 2.30666472e-02 2.46456245e-02 9.99430099e-01 3.79859102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters Centerline goodness : 0.980321 with order 1 Centerline is valid? [False, True] Translation: X:331.58, Y:1.70, Z:3.80 [[ 9.98943810e-01 1.12951691e-02 -4.45385645e-02 3.31582013e+02] [-1.33775742e-02 9.98817614e-01 -4.67377229e-02 1.70133900e+00] [ 4.39579922e-02 4.72841769e-02 9.97913775e-01 3.80433598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters Centerline goodness : 0.997961 with order 1 Centerline is valid? [True, True] Translation: X:331.65, Y:1.63, Z:3.81 [[ 9.97873334e-01 -4.57315460e-02 -4.64482046e-02 3.31645013e+02] [ 4.56911742e-02 9.98953746e-01 -1.93107294e-03 1.63381950e+00] [ 4.64879190e-02 -1.95306820e-04 9.98918833e-01 3.80863188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters Centerline goodness : 0.899603 with order 1 Centerline is valid? [True, False] Translation: X:331.70, Y:1.66, Z:3.82 [[ 9.96957390e-01 -2.90526210e-02 -7.23319255e-02 3.31701854e+02] [ 2.67263453e-02 9.99100450e-01 -3.29240400e-02 1.65928119e+00] [ 7.32233890e-02 3.08906969e-02 9.96837048e-01 3.81739707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters Centerline goodness : 0.993838 with order 1 Centerline is valid? [False, True] Translation: X:331.74, Y:1.67, Z:3.82 [[ 9.96285278e-01 -1.80007996e-02 -8.42117393e-02 3.31740522e+02] [ 1.36487107e-02 9.98555188e-01 -5.19735414e-02 1.67175429e+00] [ 8.50256345e-02 5.06310925e-02 9.95091520e-01 3.82285979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters Centerline goodness : 0.993785 with order 1 Centerline is valid? [True, True] Translation: X:331.80, Y:1.62, Z:3.82 [[ 9.96338300e-01 -1.26373978e-02 -8.45593727e-02 3.31800268e+02] [ 1.26501307e-02 9.99919910e-01 -3.85242891e-04 1.62105808e+00] [ 8.45574688e-02 -6.85854870e-04 9.96418368e-01 3.82115611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters Centerline goodness : 0.992946 with order 1 Centerline is valid? [True, True] Translation: X:331.86, Y:1.62, Z:3.83 [[ 9.96352171e-01 -1.14933402e-02 -8.45591751e-02 3.31858814e+02] [ 1.14986198e-02 9.99933799e-01 -4.24608466e-04 1.62061845e+00] [ 8.45584574e-02 -5.49254236e-04 9.96418369e-01 3.82585043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters Centerline goodness : 0.990559 with order 1 Centerline is valid? [True, True] Translation: X:331.92, Y:1.62, Z:3.83 [[ 9.96412770e-01 -3.37269378e-03 -8.45589570e-02 3.31917047e+02] [ 3.34541102e-03 9.99994296e-01 -4.64342189e-04 1.62420332e+00] [ 8.45600408e-02 1.79792021e-04 9.96418370e-01 3.83380361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters Centerline goodness : 0.990812 with order 1 Centerline is valid? [True, True] Translation: X:331.98, Y:1.63, Z:3.84 [[ 9.96415093e-01 2.60481018e-03 -8.45587212e-02 3.31976752e+02] [-2.65693674e-03 9.99996343e-01 -5.03924510e-04 1.63132726e+00] [ 8.45570994e-02 7.26785161e-04 9.96418370e-01 3.83622743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters Centerline goodness : 0.996614 with order 1 Centerline is valid? [True, True] Translation: X:332.04, Y:1.64, Z:3.82 [[ 9.96412825e-01 3.36301052e-03 -8.45586871e-02 3.32038158e+02] [-3.41834162e-03 9.99994028e-01 -5.09574985e-04 1.63852506e+00] [ 8.45564684e-02 7.96797530e-04 9.96418370e-01 3.82009231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters Centerline goodness : 0.995125 with order 1 Centerline is valid? [True, True] Translation: X:332.10, Y:1.64, Z:3.83 [[ 9.96417303e-01 -1.54619523e-03 -8.45586610e-02 3.32096653e+02] [ 1.50814330e-03 9.99998731e-01 -5.13882239e-04 1.64255090e+00] [ 8.45593482e-02 3.84514577e-04 9.96418370e-01 3.82566754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters Centerline goodness : 0.988620 with order 1 Centerline is valid? [True, True] Translation: X:332.15, Y:1.64, Z:3.85 [[ 9.96393425e-01 -7.07244313e-03 -8.45584020e-02 3.32153519e+02] [ 7.05089576e-03 9.99974989e-01 -5.53464411e-04 1.64452032e+00] [ 8.45602014e-02 -4.47441781e-05 9.96418371e-01 3.85068244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters Centerline goodness : 0.989225 with order 1 Centerline is valid? [True, True] Translation: X:332.21, Y:1.64, Z:3.85 [[ 9.96385139e-01 -8.15751015e-03 -8.45583268e-02 3.32211849e+02] [ 8.13890791e-03 9.99966719e-01 -5.64719928e-04 1.64446569e+00] [ 8.45601193e-02 -1.25533891e-04 9.96418371e-01 3.85359513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters Centerline goodness : 0.989231 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:1.65, Z:3.86 [[ 9.96415682e-01 -2.38632344e-03 -8.45582302e-02 3.32270838e+02] [ 2.34577991e-03 9.99997081e-01 -5.78827057e-04 1.64538441e+00] [ 8.45593647e-02 3.78397359e-04 9.96418371e-01 3.85919065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters Centerline goodness : 0.989931 with order 1 Centerline is valid? [True, True] Translation: X:332.33, Y:1.64, Z:3.86 [[ 9.96417242e-01 -1.60970436e-03 -8.45581919e-02 3.32330748e+02] [ 1.56589904e-03 9.99998603e-01 -5.84370477e-04 1.64295151e+00] [ 8.45590145e-02 4.49867228e-04 9.96418371e-01 3.86146264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters Centerline goodness : 0.990213 with order 1 Centerline is valid? [True, True] Translation: X:332.39, Y:1.64, Z:3.87 [[ 9.96417961e-01 -1.08014432e-03 -8.45581517e-02 3.32389650e+02] [ 1.03394649e-03 9.99999291e-01 -5.90134780e-04 1.64442491e+00] [ 8.45587292e-02 5.00592290e-04 9.96418371e-01 3.86724053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters Centerline goodness : 0.990505 with order 1 Centerline is valid? [True, True] Translation: X:332.45, Y:1.65, Z:3.87 [[ 9.96410422e-01 -4.03009916e-03 -8.45578510e-02 3.32447979e+02] [ 3.99108143e-03 9.99991837e-01 -6.30469284e-04 1.64599163e+00] [ 8.45597016e-02 2.90728895e-04 9.96418372e-01 3.87284077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters Centerline goodness : 0.995079 with order 1 Centerline is valid? [True, True] Translation: X:332.51, Y:1.65, Z:3.86 [[ 9.96405869e-01 -5.03672028e-03 -8.45575327e-02 3.32508455e+02] [ 4.99791405e-03 9.99987285e-01 -6.70612608e-04 1.64776688e+00] [ 8.45598353e-02 2.45591057e-04 9.96418373e-01 3.85798578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters Centerline goodness : 0.994338 with order 1 Centerline is valid? [True, True] Translation: X:332.57, Y:1.65, Z:3.86 [[ 9.96370332e-01 -9.81024775e-03 -8.45572008e-02 3.32566683e+02] [ 9.78524504e-03 9.99951871e-01 -7.10143501e-04 1.64804695e+00] [ 8.45600978e-02 -1.19847014e-04 9.96418374e-01 3.86250271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters Centerline goodness : 0.991607 with order 1 Centerline is valid? [True, True] Translation: X:332.62, Y:1.64, Z:3.89 [[ 9.96278778e-01 -1.66953611e-02 -8.45568518e-02 3.32624113e+02] [ 1.66917668e-02 9.99860402e-01 -7.49524472e-04 1.64374541e+00] [ 8.45575614e-02 -6.64667929e-04 9.96418374e-01 3.88588749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters Centerline goodness : 0.994636 with order 1 Centerline is valid? [True, True] Translation: X:332.68, Y:1.64, Z:3.87 [[ 9.96221935e-01 -1.98004657e-02 -8.45564816e-02 3.32683530e+02] [ 1.98046682e-02 9.99803557e-01 -7.89190018e-04 1.64167765e+00] [ 8.45554974e-02 -8.88404658e-04 9.96418375e-01 3.87208385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters Centerline goodness : 0.990216 with order 1 Centerline is valid? [True, True] Translation: X:332.74, Y:1.64, Z:3.90 [[ 9.96229789e-01 -1.94031481e-02 -8.45560450e-02 3.32741800e+02] [ 1.94021621e-02 9.99811413e-01 -8.33494540e-04 1.63708061e+00] [ 8.45562712e-02 -8.10218005e-04 9.96418376e-01 3.89976011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:332.80, Y:1.63, Z:3.88 [[ 9.96250524e-01 -1.83076146e-02 -8.45560450e-02 3.32803349e+02] [ 1.83026901e-02 9.99832144e-01 -8.33494540e-04 1.63172634e+00] [ 8.45571111e-02 -7.17233716e-04 9.96418376e-01 3.88181322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters Centerline goodness : 0.994284 with order 1 Centerline is valid? [True, True] Translation: X:332.86, Y:1.63, Z:3.89 [[ 9.96278408e-01 -1.67216688e-02 -8.45560116e-02 3.32862312e+02] [ 1.67107564e-02 9.99860015e-01 -8.36868169e-04 1.62600544e+00] [ 8.45581689e-02 -5.79241228e-04 9.96418376e-01 3.88747523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters Centerline goodness : 0.994135 with order 1 Centerline is valid? [True, True] Translation: X:332.92, Y:1.62, Z:3.90 [[ 9.96327818e-01 -1.34621138e-02 -8.45556119e-02 3.32920299e+02] [ 1.34362066e-02 9.99909347e-01 -8.75482425e-04 1.62359759e+00] [ 8.45597325e-02 -2.63839178e-04 9.96418377e-01 3.89570842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters Centerline goodness : 0.994390 with order 1 Centerline is valid? [True, True] Translation: X:332.98, Y:1.62, Z:3.90 [[ 9.96332111e-01 -1.31432314e-02 -8.45551894e-02 3.32978221e+02] [ 1.31128625e-02 9.99913604e-01 -9.14549464e-04 1.62063520e+00] [ 8.45599043e-02 -1.97565577e-04 9.96418378e-01 3.90151293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters Centerline goodness : 0.994335 with order 1 Centerline is valid? [True, True] Translation: X:333.04, Y:1.62, Z:3.91 [[ 9.96311300e-01 -1.46389868e-02 -8.45546755e-02 3.33037178e+02] [ 1.46101521e-02 9.99892805e-01 -9.59827885e-04 1.61585484e+00] [ 8.45596626e-02 -2.79069301e-04 9.96418379e-01 3.90655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters Centerline goodness : 0.995571 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:1.61, Z:3.91 [[ 9.96329636e-01 -1.33357860e-02 -8.45542083e-02 3.33094790e+02] [ 1.32989120e-02 9.99911066e-01 -9.99357378e-04 1.61092114e+00] [ 8.45600158e-02 -1.28789604e-04 9.96418380e-01 3.91258620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters Centerline goodness : 0.993244 with order 1 Centerline is valid? [True, True] Translation: X:333.15, Y:1.61, Z:3.94 [[ 9.96365001e-01 -1.03665234e-02 -8.45536503e-02 3.33152761e+02] [ 1.03151420e-02 9.99946252e-01 -1.04454117e-03 1.60927322e+00] [ 8.45599339e-02 1.68561355e-04 9.96418381e-01 3.93805837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters Centerline goodness : 0.995182 with order 1 Centerline is valid? [True, True] Translation: X:333.21, Y:1.61, Z:3.94 [[ 9.96376418e-01 -9.20434781e-03 -8.45536163e-02 3.33210420e+02] [ 9.14855687e-03 9.99957603e-01 -1.04727924e-03 1.60606334e+00] [ 8.45596710e-02 2.69940773e-04 9.96418381e-01 3.94332395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters Centerline goodness : 0.995285 with order 1 Centerline is valid? [True, True] Translation: X:333.27, Y:1.60, Z:3.95 [[ 9.96383378e-01 -8.42334179e-03 -8.45530138e-02 3.33268926e+02] [ 8.36079081e-03 9.99964450e-01 -1.09386228e-03 1.60390050e+00] [ 8.45592219e-02 3.82976129e-04 9.96418382e-01 3.94909821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters Centerline goodness : 0.996372 with order 1 Centerline is valid? [True, True] Translation: X:333.33, Y:1.60, Z:3.95 [[ 9.96398509e-01 -6.39461249e-03 -8.45524687e-02 3.33326996e+02] [ 6.32132262e-03 9.99979377e-01 -1.13449295e-03 1.60484656e+00] [ 8.45579796e-02 5.95923647e-04 9.96418382e-01 3.95390619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters Centerline goodness : 0.996221 with order 1 Centerline is valid? [True, True] Translation: X:333.39, Y:1.61, Z:3.96 [[ 9.96419045e-01 1.28552425e-04 -8.45521736e-02 3.33385564e+02] [-2.27114283e-04 9.99999306e-01 -1.15607509e-03 1.60711540e+00] [ 8.45519663e-02 1.17113824e-03 9.96418383e-01 3.95842509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters Centerline goodness : 0.996570 with order 1 Centerline is valid? [True, True] Translation: X:333.44, Y:1.61, Z:3.96 [[ 9.96408928e-01 4.50270644e-03 -8.45516068e-02 3.33443398e+02] [-4.62038345e-03 9.99988611e-01 -1.19614720e-03 1.61025161e+00] [ 8.45452579e-02 1.58251260e-03 9.96418384e-01 3.96320275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:333.51, Y:1.62, Z:3.95 [[ 9.96332776e-01 1.31202296e-02 -8.45509289e-02 3.33505090e+02] [-1.32727748e-02 9.99911141e-01 -1.24228949e-03 1.61631719e+00] [ 8.45271167e-02 2.35995917e-03 9.96418385e-01 3.94861573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters Centerline goodness : 0.861523 with order 3 Centerline is valid? [True, False] Translation: X:333.48, Y:1.63, Z:3.95 [[ 9.97953295e-01 1.18898656e-02 -6.28319424e-02 3.33475385e+02] [-1.22794573e-02 9.99907679e-01 -5.81801238e-03 1.62513114e+00] [ 6.27569663e-02 6.57764678e-03 9.98007163e-01 3.94580175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters Centerline goodness : 0.997366 with order 1 Centerline is valid? [False, True] Translation: X:333.46, Y:1.63, Z:3.94 [[ 9.98825324e-01 1.45704159e-03 -4.84339663e-02 3.33459667e+02] [-1.60594872e-03 9.99994103e-01 -3.03566411e-03 1.62768778e+00] [ 4.84292576e-02 3.10988065e-03 9.98821774e-01 3.94455779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters Centerline goodness : 0.990418 with order 1 Centerline is valid? [True, True] Translation: X:333.52, Y:1.63, Z:3.96 [[ 9.98823013e-01 1.48883965e-03 -4.84806304e-02 3.33519659e+02] [-1.55396272e-03 9.99997940e-01 -1.30561709e-03 1.62924987e+00] [ 4.84785867e-02 1.37941749e-03 9.98823270e-01 3.95820419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:333.58, Y:1.64, Z:3.95 [[ 9.98824066e-01 3.42153698e-04 -4.84805869e-02 3.33580577e+02] [-4.06005952e-04 9.99999063e-01 -1.30722712e-03 1.63536665e+00] [ 4.84800943e-02 1.32537332e-03 9.98823270e-01 3.95193764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters Centerline goodness : 0.996324 with order 1 Centerline is valid? [True, True] Translation: X:333.64, Y:1.64, Z:3.96 [[ 9.98818517e-01 -3.34729756e-03 -4.84805614e-02 3.33639339e+02] [ 3.28773997e-03 9.99993740e-01 -1.30817459e-03 1.63761693e+00] [ 4.84846367e-02 1.14723752e-03 9.98823270e-01 3.95545324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters Centerline goodness : 0.996874 with order 1 Centerline is valid? [True, True] Translation: X:333.70, Y:1.65, Z:3.96 [[ 9.98804815e-01 -6.21594272e-03 -4.84799348e-02 3.33697798e+02] [ 6.15865339e-03 9.99980150e-01 -1.33099750e-03 1.64561244e+00] [ 4.84872459e-02 1.03083560e-03 9.98823270e-01 3.95826344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters Centerline goodness : 0.995036 with order 1 Centerline is valid? [True, True] Translation: X:333.76, Y:1.65, Z:3.96 [[ 9.98807869e-01 -5.70942966e-03 -4.84793024e-02 3.33758026e+02] [ 5.65044555e-03 9.99983120e-01 -1.35364577e-03 1.65203221e+00] [ 4.84862126e-02 1.07810239e-03 9.98823270e-01 3.96407631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters Centerline goodness : 0.990442 with order 1 Centerline is valid? [True, True] Translation: X:333.82, Y:1.66, Z:3.97 [[ 9.98818213e-01 -3.45507027e-03 -4.84792737e-02 3.33817926e+02] [ 3.39338393e-03 9.99993325e-01 -1.35467242e-03 1.66048014e+00] [ 4.84836306e-02 1.18856270e-03 9.98823270e-01 3.97191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters Centerline goodness : 0.993347 with order 1 Centerline is valid? [True, True] Translation: X:333.88, Y:1.67, Z:3.97 [[ 9.98811347e-01 -5.06560270e-03 -4.84791956e-02 3.33877628e+02] [ 5.00567592e-03 9.99986550e-01 -1.35746187e-03 1.66892657e+00] [ 4.84854200e-02 1.11317717e-03 9.98823270e-01 3.97066405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:333.94, Y:1.68, Z:3.95 [[ 9.98766905e-01 -1.06977210e-02 -4.84791489e-02 3.33939147e+02] [ 1.06443411e-02 9.99942424e-01 -1.35912889e-03 1.67664993e+00] [ 4.84908972e-02 8.41424354e-04 9.98823270e-01 3.94663883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters Centerline goodness : 0.992604 with order 1 Centerline is valid? [True, True] Translation: X:334.00, Y:1.68, Z:3.97 [[ 9.98635224e-01 -1.94283463e-02 -4.84791532e-02 3.33997734e+02] [ 1.93852521e-02 9.99811165e-01 -1.35897659e-03 1.67849684e+00] [ 4.84964013e-02 4.17341289e-04 9.98823270e-01 3.97336785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters Centerline goodness : 0.979605 with order 1 Centerline is valid? [True, True] Translation: X:334.06, Y:1.71, Z:3.97 [[ 9.98381760e-01 2.97260017e-02 -4.84791224e-02 3.34055691e+02] [-2.98269508e-02 9.99554152e-01 -1.36007383e-03 1.70837067e+00] [ 4.84170785e-02 2.80385730e-03 9.98823270e-01 3.96629213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters Centerline goodness : 0.991164 with order 1 Centerline is valid? [True, True] Translation: X:334.12, Y:1.68, Z:3.97 [[ 9.98619482e-01 -2.02219232e-02 -4.84788976e-02 3.34115816e+02] [ 2.01793234e-02 9.99795441e-01 -1.36804106e-03 1.68253497e+00] [ 4.84966452e-02 3.87881103e-04 9.98823270e-01 3.97387503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:334.18, Y:1.67, Z:3.96 [[ 9.97578741e-01 -4.98644327e-02 -4.84788070e-02 3.34176918e+02] [ 4.98566133e-02 9.98755444e-01 -1.37124082e-03 1.66750772e+00] [ 4.84868486e-02 -1.04906845e-03 9.98823270e-01 3.96146509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters Centerline goodness : 0.990315 with order 1 Centerline is valid? [True, True] Translation: X:334.24, Y:1.68, Z:3.98 [[ 9.98528830e-01 -2.42896870e-02 -4.84787152e-02 3.34235958e+02] [ 2.42515653e-02 9.99704943e-01 -1.37448138e-03 1.67782598e+00] [ 4.84977969e-02 1.96774558e-04 9.98823270e-01 3.98009169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters Centerline goodness : 0.830171 with order 3 Centerline is valid? [True, False] Translation: X:334.24, Y:1.69, Z:3.99 [[ 9.98177163e-01 -2.60401341e-02 -5.44450421e-02 3.34241415e+02] [ 2.47342906e-02 9.99393246e-01 -2.45225294e-02 1.68989565e+00] [ 5.50505773e-02 2.31311693e-02 9.98215599e-01 3.98597583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters Centerline goodness : 0.928816 with order 3 Centerline is valid? [False, False] Translation: X:334.24, Y:1.69, Z:3.99 [[ 9.98660260e-01 -1.91080970e-02 -4.80891338e-02 3.34237608e+02] [ 1.74342183e-02 9.99235589e-01 -3.49898071e-02 1.69090248e+00] [ 4.87209625e-02 3.41045334e-02 9.98230008e-01 3.98679798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters Centerline goodness : 0.976038 with order 1 Centerline is valid? [False, True] Translation: X:334.24, Y:1.70, Z:3.99 [[ 9.98692652e-01 -1.46750161e-02 -4.89656087e-02 3.34237794e+02] [ 1.21464472e-02 9.98596882e-01 -5.15434782e-02 1.70038690e+00] [ 4.96533055e-02 5.08813348e-02 9.97469618e-01 3.98938153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters Centerline goodness : 0.990517 with order 1 Centerline is valid? [True, True] Translation: X:334.29, Y:1.65, Z:3.99 [[ 9.98948097e-01 1.06317946e-03 -4.58428850e-02 3.34293010e+02] [-9.40540095e-04 9.99995922e-01 2.69669743e-03 1.65197004e+00] [ 4.58455651e-02 -2.65074369e-03 9.98945022e-01 3.98777583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters Centerline goodness : 0.988029 with order 1 Centerline is valid? [True, True] Translation: X:334.35, Y:1.68, Z:4.01 [[ 9.96607366e-01 6.83524304e-02 -4.58443269e-02 3.34353569e+02] [-6.83017916e-02 9.97661128e-01 2.67195809e-03 1.68130152e+00] [ 4.59197377e-02 4.68356542e-04 9.98945023e-01 4.01246052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:334.41, Y:1.66, Z:3.96 [[ 9.98689411e-01 2.27541313e-02 -4.58444005e-02 3.34412375e+02] [-2.26554654e-02 9.99739765e-01 2.67069552e-03 1.66286836e+00] [ 4.58932395e-02 -1.62856910e-03 9.98945023e-01 3.96228245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters Centerline goodness : 0.989027 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:1.68, Z:4.01 [[ 9.96886488e-01 6.41526469e-02 -4.58450506e-02 3.34471754e+02] [-6.40981420e-02 9.97940056e-01 2.65948747e-03 1.68165970e+00] [ 4.59212256e-02 2.87375444e-04 9.98945023e-01 4.01381070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters Centerline goodness : 0.988322 with order 1 Centerline is valid? [True, True] Translation: X:334.53, Y:1.69, Z:4.02 [[ 9.96677838e-01 6.73164974e-02 -4.58451369e-02 3.34532362e+02] [-6.72654053e-02 9.97731577e-01 2.65799956e-03 1.68877192e+00] [ 4.59200680e-02 4.34622457e-04 9.98945023e-01 4.02043512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters Centerline goodness : 0.988435 with order 1 Centerline is valid? [True, True] Translation: X:334.59, Y:1.69, Z:4.02 [[ 9.96586977e-01 6.86483687e-02 -4.58453797e-02 3.34592796e+02] [-6.85988778e-02 9.97640793e-01 2.65380512e-03 1.68884493e+00] [ 4.59194004e-02 5.00193984e-04 9.98945023e-01 4.01891102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters Centerline goodness : 0.989773 with order 1 Centerline is valid? [True, True] Translation: X:334.65, Y:1.67, Z:4.00 [[ 9.98908998e-01 -8.88854320e-03 -4.58454671e-02 3.34651712e+02] [ 9.01958645e-03 9.99955805e-01 2.65229471e-03 1.66533348e+00] [ 4.58198659e-02 -3.06290820e-03 9.98945023e-01 3.99875924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters Centerline goodness : 0.988395 with order 1 Centerline is valid? [True, True] Translation: X:334.71, Y:1.69, Z:4.03 [[ 9.96993933e-01 6.24601250e-02 -4.58457260e-02 3.34711877e+02] [-6.24043685e-02 9.98047436e-01 2.64781204e-03 1.68686904e+00] [ 4.59215919e-02 2.21121036e-04 9.98945023e-01 4.02760348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters Centerline goodness : 0.989831 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:1.68, Z:4.03 [[ 9.97222079e-01 5.87051136e-02 -4.58457692e-02 3.34771668e+02] [-5.86454244e-02 9.98275366e-01 2.64706430e-03 1.68499703e+00] [ 4.59220982e-02 4.89336241e-05 9.98945023e-01 4.02916730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters Centerline goodness : 0.809287 with order 3 Centerline is valid? [True, False] Translation: X:334.76, Y:1.69, Z:4.03 [[ 9.98494354e-01 4.45493739e-02 -3.20058998e-02 3.34756916e+02] [-4.45206645e-02 9.99007167e-01 1.60944157e-03 1.68604988e+00] [ 3.20458229e-02 -1.82094396e-04 9.99486384e-01 4.02788354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters Centerline goodness : 0.991658 with order 1 Centerline is valid? [False, True] Translation: X:334.74, Y:1.69, Z:4.03 [[ 9.99393738e-01 3.01473984e-02 -1.74152306e-02 3.34742284e+02] [-3.01617038e-02 9.99544876e-01 -5.59300872e-04 1.68604416e+00] [ 1.73904430e-02 1.08423482e-03 9.99848187e-01 4.02592031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters Centerline goodness : 0.993206 with order 1 Centerline is valid? [True, True] Translation: X:334.80, Y:1.69, Z:4.03 [[ 9.99376223e-01 3.07425619e-02 -1.73798438e-02 3.34800325e+02] [-3.07375923e-02 9.99527336e-01 5.53060961e-04 1.68523531e+00] [ 1.73886315e-02 -1.85014205e-05 9.99848806e-01 4.03005451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters Centerline goodness : 0.993746 with order 1 Centerline is valid? [True, True] Translation: X:334.86, Y:1.68, Z:4.03 [[ 9.99365743e-01 3.10812105e-02 -1.73801350e-02 3.34859146e+02] [-3.10764539e-02 9.99516862e-01 5.43753575e-04 1.68440217e+00] [ 1.73886385e-02 -3.29573115e-06 9.99848806e-01 4.02803782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters Centerline goodness : 0.996678 with order 1 Centerline is valid? [True, True] Translation: X:334.92, Y:1.69, Z:4.01 [[ 9.99117998e-01 3.82249759e-02 -1.73803837e-02 3.34917986e+02] [-3.82214402e-02 9.99269150e-01 5.35686718e-04 1.68943607e+00] [ 1.73881578e-02 1.29089052e-04 9.99848806e-01 4.01174501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters Centerline goodness : 0.997819 with order 1 Centerline is valid? [True, True] Translation: X:334.98, Y:1.69, Z:4.01 [[ 9.98924797e-01 4.29786464e-02 -1.73806269e-02 3.34976407e+02] [-4.29759693e-02 9.99075967e-01 5.27673915e-04 1.69359613e+00] [ 1.73872454e-02 2.19842731e-04 9.99848806e-01 4.01380109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:335.03, Y:1.69, Z:4.01 [[ 9.99017026e-01 4.07784892e-02 -1.73808993e-02 3.35034950e+02] [-4.07756380e-02 9.99168193e-01 5.18544316e-04 1.69479129e+00] [ 1.73875872e-02 1.90682657e-04 9.99848806e-01 4.01391537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:1.70, Z:4.02 [[ 9.99070622e-01 3.94434832e-02 -1.73811374e-02 3.35093254e+02] [-3.94405711e-02 9.99221788e-01 5.10436042e-04 1.69702606e+00] [ 1.73877446e-02 1.75560332e-04 9.99848806e-01 4.01545577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:335.15, Y:1.70, Z:4.03 [[ 9.98999408e-01 4.12076478e-02 -1.73814006e-02 3.35151938e+02] [-4.12051613e-02 9.99150581e-01 5.01310363e-04 1.70099892e+00] [ 1.73872943e-02 2.15394661e-04 9.99848806e-01 4.03387366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:335.21, Y:1.70, Z:4.04 [[ 9.99164468e-01 3.69898015e-02 -1.73816251e-02 3.35210449e+02] [-3.69868144e-02 9.99315632e-01 4.93403126e-04 1.70035618e+00] [ 1.73879805e-02 1.49900070e-04 9.99848806e-01 4.03903217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.27, Y:1.70, Z:4.02 [[ 9.99333907e-01 3.20875793e-02 -1.73818510e-02 3.35269059e+02] [-3.20839914e-02 9.99485058e-01 4.85311709e-04 1.69799738e+00] [ 1.73884728e-02 7.26907105e-05 9.99848806e-01 4.01549824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:335.33, Y:1.69, Z:4.01 [[ 9.99567534e-01 2.37194738e-02 -1.73819307e-02 3.35326562e+02] [-2.37146704e-02 9.99718651e-01 4.82438621e-04 1.69184848e+00] [ 1.73884835e-02 -7.00232245e-05 9.99848806e-01 4.01498018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters Centerline goodness : 0.995823 with order 1 Centerline is valid? [True, True] Translation: X:335.39, Y:1.69, Z:4.05 [[ 9.99673043e-01 1.87528111e-02 -1.73821753e-02 3.35386260e+02] [-1.87474131e-02 9.99824140e-01 4.73459909e-04 1.68623026e+00] [ 1.73879972e-02 -1.47434287e-04 9.99848806e-01 4.04593854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:335.45, Y:1.68, Z:4.02 [[ 9.99744829e-01 1.44269289e-02 -1.73821788e-02 3.35446566e+02] [-1.44208794e-02 9.99895902e-01 4.73332478e-04 1.67690278e+00] [ 1.73871980e-02 -2.22545394e-04 9.99848806e-01 4.01533768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.50, Y:1.67, Z:4.02 [[ 9.99774512e-01 1.21977435e-02 -1.73821862e-02 3.35504456e+02] [-1.21913619e-02 9.99925571e-01 4.73057843e-04 1.67084912e+00] [ 1.73866627e-02 -2.61038652e-04 9.99848806e-01 4.01572733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.56, Y:1.66, Z:4.02 [[ 9.99798244e-01 1.00659095e-02 -1.73824192e-02 3.35562330e+02] [-1.00593574e-02 9.99949296e-01 4.64337078e-04 1.66499015e+00] [ 1.73862118e-02 -2.89387429e-04 9.99848807e-01 4.01639953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters Centerline goodness : 0.996321 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:1.66, Z:4.05 [[ 9.99821950e-01 7.34245785e-03 -1.73826473e-02 3.35621034e+02] [-7.33564553e-03 9.99972990e-01 4.55633236e-04 1.65526146e+00] [ 1.73855233e-02 -3.28039171e-04 9.99848807e-01 4.04593231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters Centerline goodness : 0.997421 with order 1 Centerline is valid? [True, True] Translation: X:335.68, Y:1.65, Z:4.05 [[ 9.99783124e-01 1.14694515e-02 -1.73826757e-02 3.35679810e+02] [-1.14632816e-02 9.99934191e-01 4.54549055e-04 1.65358446e+00] [ 1.73867452e-02 -2.55187968e-04 9.99848807e-01 4.04707305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters Centerline goodness : 0.996624 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:1.65, Z:4.05 [[ 9.99791801e-01 1.06860200e-02 -1.73828745e-02 3.35737879e+02] [-1.06798662e-02 9.99942869e-01 4.46814044e-04 1.64949759e+00] [ 1.73866561e-02 -2.61074245e-04 9.99848807e-01 4.04596398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:335.80, Y:1.64, Z:4.04 [[ 9.99808108e-01 9.03192074e-03 -1.73831025e-02 3.35796921e+02] [-9.02567432e-03 9.99959172e-01 4.37759705e-04 1.64437248e+00] [ 1.73863466e-02 -2.80781480e-04 9.99848807e-01 4.04427872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters Centerline goodness : 0.995129 with order 1 Centerline is valid? [True, True] Translation: X:335.86, Y:1.64, Z:4.05 [[ 9.99810425e-01 8.77160846e-03 -1.73831451e-02 3.35855535e+02] [-8.76535220e-03 9.99961488e-01 4.36063184e-04 1.64043579e+00] [ 1.73863006e-02 -2.83611128e-04 9.99848807e-01 4.05074527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:335.92, Y:1.64, Z:4.04 [[ 9.99815007e-01 8.23259745e-03 -1.73832006e-02 3.35915484e+02] [-8.22629839e-03 9.99966069e-01 4.33839996e-04 1.63720289e+00] [ 1.73861824e-02 -2.90760343e-04 9.99848807e-01 4.04362675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:335.97, Y:1.63, Z:4.04 [[ 9.99802913e-01 9.58949482e-03 -1.73832284e-02 3.35974776e+02] [-9.58342021e-03 9.99953984e-01 4.32722183e-04 1.63231104e+00] [ 1.73865781e-02 -2.66046117e-04 9.99848807e-01 4.04057396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters Centerline goodness : 0.996828 with order 1 Centerline is valid? [True, True] Translation: X:336.03, Y:1.63, Z:4.05 [[ 9.99808799e-01 8.95472798e-03 -1.73832557e-02 3.36034265e+02] [-8.94857657e-03 9.99959868e-01 4.31623064e-04 1.62718867e+00] [ 1.73864231e-02 -2.75985143e-04 9.99848807e-01 4.05020073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters Centerline goodness : 0.997963 with order 1 Centerline is valid? [True, True] Translation: X:336.09, Y:1.62, Z:4.05 [[ 9.99800855e-01 9.80159068e-03 -1.73832838e-02 3.36093359e+02] [-9.79558694e-03 9.99951929e-01 4.30489191e-04 1.62327453e+00] [ 1.73866676e-02 -2.60123994e-04 9.99848807e-01 4.04789362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters Centerline goodness : 0.998312 with order 1 Centerline is valid? [True, True] Translation: X:336.15, Y:1.62, Z:4.05 [[ 9.99835607e-01 5.15497091e-03 -1.73834774e-02 3.36151024e+02] [-5.14840359e-03 9.99986658e-01 4.22521782e-04 1.62049278e+00] [ 1.73854236e-02 -3.32955165e-04 9.99848807e-01 4.04826159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters Centerline goodness : 0.998113 with order 1 Centerline is valid? [True, True] Translation: X:336.21, Y:1.62, Z:4.05 [[ 9.99843333e-01 3.33430849e-03 -1.73836909e-02 3.36209962e+02] [-3.32762208e-03 9.99994378e-01 4.13548237e-04 1.61617646e+00] [ 1.73849721e-02 -3.55637094e-04 9.99848807e-01 4.04754254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:336.27, Y:1.61, Z:4.05 [[ 9.99847122e-01 -1.87983580e-03 -1.73838716e-02 3.36268279e+02] [ 1.88717535e-03 9.99998137e-01 4.05809676e-04 1.61035399e+00] [ 1.73830763e-02 -4.38554051e-04 9.99848807e-01 4.05281983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:336.33, Y:1.60, Z:4.03 [[ 9.99831928e-01 -5.82336164e-03 -1.73840463e-02 3.36326855e+02] [ 5.83116420e-03 9.99982919e-01 3.98179175e-04 1.60462027e+00] [ 1.73814307e-02 -4.99481481e-04 9.99848807e-01 4.03152011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters Centerline goodness : 0.988819 with order 1 Centerline is valid? [True, True] Translation: X:336.39, Y:1.60, Z:4.06 [[ 9.99843222e-01 -3.36435267e-03 -1.73842430e-02 3.36386441e+02] [ 3.37163132e-03 9.99994240e-01 3.89400063e-04 1.59642896e+00] [ 1.73828328e-02 -4.47952272e-04 9.99848807e-01 4.06227270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:336.45, Y:1.59, Z:4.03 [[ 9.99842295e-01 -3.62946513e-03 -1.73842552e-02 3.36447212e+02] [ 3.63677432e-03 9.99993311e-01 3.88853371e-04 1.59338657e+00] [ 1.73827276e-02 -4.52014660e-04 9.99848807e-01 4.03385779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:336.51, Y:1.59, Z:4.04 [[ 9.99848238e-01 -1.13472181e-03 -1.73842673e-02 3.36505905e+02] [ 1.14164480e-03 9.99999273e-01 3.88314113e-04 1.59037209e+00] [ 1.73838140e-02 -4.08101840e-04 9.99848807e-01 4.03642061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters Centerline goodness : 0.993989 with order 1 Centerline is valid? [True, True] Translation: X:336.57, Y:1.59, Z:4.06 [[ 9.99845732e-01 2.50882769e-03 -1.73844338e-02 3.36565788e+02] [-2.50258728e-03 9.99996796e-01 3.80710684e-04 1.58829664e+00] [ 1.73853332e-02 -3.37145890e-04 9.99848807e-01 4.06096633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:336.63, Y:1.59, Z:4.04 [[ 9.99838806e-01 4.48820700e-03 -1.73844457e-02 3.36625723e+02] [-4.48227515e-03 9.99989882e-01 3.80164893e-04 1.58905009e+00] [ 1.73859761e-02 -3.02181744e-04 9.99848807e-01 4.03751183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:336.68, Y:1.59, Z:4.04 [[ 9.99827439e-01 6.54767133e-03 -1.73844699e-02 3.36683630e+02] [-6.54206996e-03 9.99978529e-01 3.79055810e-04 1.58846782e+00] [ 1.73865786e-02 -2.65259982e-04 9.99848807e-01 4.03986333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:336.74, Y:1.59, Z:4.04 [[ 9.99830768e-01 6.01740471e-03 -1.73846584e-02 3.36741980e+02] [-6.01187711e-03 9.99981860e-01 3.70202818e-04 1.58628271e+00] [ 1.73865707e-02 -2.65625738e-04 9.99848807e-01 4.04063082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:336.80, Y:1.58, Z:4.04 [[ 9.99837325e-01 4.80529798e-03 -1.73848196e-02 3.36801184e+02] [-4.79972163e-03 9.99988416e-01 3.62470046e-04 1.58478379e+00] [ 1.73863600e-02 -2.78968787e-04 9.99848807e-01 4.04096088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters Centerline goodness : 0.983980 with order 1 Centerline is valid? [True, True] Translation: X:336.86, Y:1.61, Z:4.04 [[ 9.97879292e-01 6.27270372e-02 -1.73849671e-02 3.36860223e+02] [-6.27303497e-02 9.98030449e-01 3.55255747e-04 1.60900854e+00] [ 1.73730106e-02 7.36062710e-04 9.99848807e-01 4.04398252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters Centerline goodness : 0.986743 with order 1 Centerline is valid? [True, True] Translation: X:336.92, Y:1.60, Z:4.05 [[ 9.98518594e-01 5.15594233e-02 -1.73851224e-02 3.36918240e+02] [-5.15611797e-02 9.98669777e-01 3.47481899e-04 1.59859229e+00] [ 1.73799123e-02 5.49430286e-04 9.99848807e-01 4.05077239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters Centerline goodness : 0.996313 with order 1 Centerline is valid? [True, True] Translation: X:336.98, Y:1.57, Z:4.07 [[ 9.99819926e-01 7.60707125e-03 -1.73852796e-02 3.36976460e+02] [-7.60231882e-03 9.99971044e-01 3.39433152e-04 1.57388125e+00] [ 1.73873583e-02 -2.07203591e-04 9.99848807e-01 4.06579706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters Centerline goodness : 0.997073 with order 1 Centerline is valid? [True, True] Translation: X:337.04, Y:1.57, Z:4.07 [[ 9.99820519e-01 7.52840768e-03 -1.73854314e-02 3.37035197e+02] [-7.52378184e-03 9.99971641e-01 3.31468141e-04 1.56817245e+00] [ 1.73874338e-02 -2.00604455e-04 9.99848807e-01 4.06660776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:337.09, Y:1.56, Z:4.05 [[ 9.99843312e-01 3.33057788e-03 -1.73855797e-02 3.37094109e+02] [-3.32545612e-03 9.99994418e-01 3.23499769e-04 1.56214458e+00] [ 1.73865601e-02 -2.65634098e-04 9.99848807e-01 4.04847500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:337.15, Y:1.56, Z:4.05 [[ 9.99846924e-01 1.96592546e-03 -1.73857245e-02 3.37152839e+02] [-1.96073615e-03 9.99998028e-01 3.15521435e-04 1.55534714e+00] [ 1.73863105e-02 -2.81384317e-04 9.99848807e-01 4.04904861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:1.55, Z:4.05 [[ 9.99845480e-01 2.59770105e-03 -1.73858625e-02 3.37211495e+02] [-2.59274270e-03 9.99996591e-01 3.07728332e-04 1.55270941e+00] [ 1.73866026e-02 -2.62603714e-04 9.99848807e-01 4.05187299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters Centerline goodness : 0.997316 with order 1 Centerline is valid? [True, True] Translation: X:337.27, Y:1.54, Z:4.07 [[ 9.99846089e-01 2.35059028e-03 -1.73859975e-02 3.37269867e+02] [-2.34573068e-03 9.99997204e-01 2.99900042e-04 1.54315397e+00] [ 1.73866538e-02 -2.59071016e-04 9.99848807e-01 4.07005761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:337.33, Y:1.54, Z:4.05 [[ 9.99846486e-01 2.17437156e-03 -1.73861306e-02 3.37327757e+02] [-2.16962317e-03 9.99997604e-01 2.91971075e-04 1.53775060e+00] [ 1.73867238e-02 -2.54204901e-04 9.99848807e-01 4.05213717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:337.39, Y:1.53, Z:4.05 [[ 9.99843936e-01 3.13377484e-03 -1.73862763e-02 3.37386873e+02] [-3.12932704e-03 9.99995064e-01 2.83022279e-04 1.53390726e+00] [ 1.73870774e-02 -2.28570765e-04 9.99848807e-01 4.05358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:337.45, Y:1.53, Z:4.07 [[ 9.99804015e-01 9.46813700e-03 -1.73864001e-02 3.37446423e+02] [-9.46478270e-03 9.99955170e-01 2.75203490e-04 1.53013032e+00] [ 1.73882263e-02 -1.10591055e-04 9.99848807e-01 4.07160777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:337.51, Y:1.53, Z:4.06 [[ 9.99779552e-01 1.17711151e-02 -1.73864178e-02 3.37506035e+02] [-1.17681286e-02 9.99930716e-01 2.74077825e-04 1.52856543e+00] [ 1.73884394e-02 -6.94118047e-05 9.99848807e-01 4.05757129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:337.56, Y:1.52, Z:4.08 [[ 9.99806231e-01 9.23084782e-03 -1.73865339e-02 3.37564529e+02] [-9.22760888e-03 9.99957389e-01 2.66506401e-04 1.52262807e+00] [ 1.73882531e-02 -1.06018626e-04 9.99848807e-01 4.08141445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:337.62, Y:1.52, Z:4.08 [[ 9.99788894e-01 1.09487899e-02 -1.73865510e-02 3.37623659e+02] [-1.09458301e-02 9.99940057e-01 2.65386473e-04 1.52006486e+00] [ 1.73884144e-02 -7.50202144e-05 9.99848807e-01 4.08046982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.68, Y:1.52, Z:4.06 [[ 9.99724788e-01 1.57496626e-02 -1.73866692e-02 3.37682690e+02] [-1.57475677e-02 9.99875966e-01 2.57400933e-04 1.51690665e+00] [ 1.73885666e-02 1.64676578e-05 9.99848807e-01 4.05790784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:337.74, Y:1.51, Z:4.08 [[ 9.99684932e-01 1.81034680e-02 -1.73867855e-02 3.37741529e+02] [-1.81018702e-02 9.99836117e-01 2.49286610e-04 1.51470042e+00] [ 1.73884491e-02 6.55252669e-05 9.99848807e-01 4.08016426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:337.80, Y:1.52, Z:4.08 [[ 9.99652596e-01 1.98086489e-02 -1.73868980e-02 3.37800747e+02] [-1.98074500e-02 9.99803784e-01 2.41175648e-04 1.51542432e+00] [ 1.73882638e-02 1.03298251e-04 9.99848807e-01 4.08260615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.86, Y:1.52, Z:4.06 [[ 9.99489765e-01 2.67936795e-02 -1.73870069e-02 3.37860311e+02] [-2.67936784e-02 9.99640958e-01 2.33054384e-04 1.51812863e+00] [ 1.73870086e-02 2.32926401e-04 9.99848807e-01 4.06003447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:337.92, Y:1.52, Z:4.08 [[ 9.99440123e-01 2.85854533e-02 -1.73871120e-02 3.37918509e+02] [-2.85858645e-02 9.99591315e-01 2.24933071e-04 1.52292325e+00] [ 1.73864359e-02 2.72218491e-04 9.99848807e-01 4.08226226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:337.98, Y:1.53, Z:4.08 [[ 9.99401814e-01 2.98947927e-02 -1.73872132e-02 3.37977764e+02] [-2.98955433e-02 9.99553005e-01 2.16811710e-04 1.52735988e+00] [ 1.73859228e-02 3.03118169e-04 9.99848807e-01 4.08206292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters Centerline goodness : 0.995728 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:1.54, Z:4.09 [[ 9.99455998e-01 2.80248112e-02 -1.73873113e-02 3.38038213e+02] [-2.80254210e-02 9.99607189e-01 2.08638143e-04 1.53660287e+00] [ 1.73863284e-02 2.78762077e-04 9.99848808e-01 4.09345863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:338.10, Y:1.54, Z:4.09 [[ 9.99476919e-01 2.72684653e-02 -1.73873157e-02 3.38098936e+02] [-2.72689670e-02 9.99628111e-01 2.08273229e-04 1.54453461e+00] [ 1.73865288e-02 2.65969852e-04 9.99848808e-01 4.08575317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:338.16, Y:1.55, Z:4.08 [[ 9.99514546e-01 2.58525363e-02 -1.73873178e-02 3.38157842e+02] [-2.58528269e-02 9.99665738e-01 2.08097522e-04 1.54732154e+00] [ 1.73868857e-02 2.41514816e-04 9.99848808e-01 4.08426497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:338.22, Y:1.55, Z:4.06 [[ 9.99445654e-01 2.83912342e-02 -1.73874122e-02 3.38216794e+02] [-2.83920516e-02 9.99596844e-01 1.99885262e-04 1.55329124e+00] [ 1.73860774e-02 2.93889848e-04 9.99848808e-01 4.06491035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:338.28, Y:1.56, Z:4.09 [[ 9.99582696e-01 2.30674860e-02 -1.73875021e-02 3.38275330e+02] [-2.30676400e-02 9.99733888e-01 1.91729066e-04 1.55532560e+00] [ 1.73872978e-02 2.09439583e-04 9.99848808e-01 4.08844847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:1.55, Z:4.08 [[ 9.99740150e-01 1.47412473e-02 -1.73875880e-02 3.38334455e+02] [-1.47402835e-02 9.99891339e-01 1.83597084e-04 1.55329414e+00] [ 1.73884051e-02 7.27485996e-05 9.99848808e-01 4.08243318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:1.55, Z:4.09 [[ 9.99817509e-01 7.91308657e-03 -1.73876709e-02 3.38393557e+02] [-7.91123307e-03 9.99968690e-01 1.75381202e-04 1.54716985e+00] [ 1.73885143e-02 -3.77912796e-05 9.99848808e-01 4.08992939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters Centerline goodness : 0.998560 with order 1 Centerline is valid? [True, True] Translation: X:338.45, Y:1.54, Z:4.09 [[ 9.99839059e-01 4.41854984e-03 -1.73877099e-02 3.38452754e+02] [-4.41623674e-03 9.99990234e-01 1.71426163e-04 1.54306117e+00] [ 1.73882975e-02 -9.46103303e-05 9.99848808e-01 4.09134517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:338.51, Y:1.54, Z:4.09 [[ 9.99837369e-01 4.78545509e-03 -1.73877810e-02 3.38511511e+02] [-4.78332870e-03 9.99988546e-01 1.63879467e-04 1.53755421e+00] [ 1.73883661e-02 -8.06813436e-05 9.99848808e-01 4.09082588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters Centerline goodness : 0.997759 with order 1 Centerline is valid? [True, True] Translation: X:338.57, Y:1.53, Z:4.10 [[ 9.99832576e-01 5.69926986e-03 -1.73878542e-02 3.38570296e+02] [-5.69742385e-03 9.99983757e-01 1.55702178e-04 1.53282689e+00] [ 1.73884592e-02 -5.66101341e-05 9.99848808e-01 4.09507860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:338.63, Y:1.53, Z:4.09 [[ 9.99832112e-01 5.77996957e-03 -1.73879252e-02 3.38629255e+02] [-5.77828146e-03 9.99983295e-01 1.47324269e-04 1.52963406e+00] [ 1.73884863e-02 -4.68272091e-05 9.99848808e-01 4.09469826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:1.53, Z:4.09 [[ 9.99632885e-01 2.07786691e-02 -1.73879910e-02 3.38687770e+02] [-2.07793923e-02 9.99784075e-01 1.39097717e-04 1.53101875e+00] [ 1.73871268e-02 2.22265234e-04 9.99848808e-01 4.08863842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:338.75, Y:1.53, Z:4.10 [[ 9.99615148e-01 2.16150828e-02 -1.73880480e-02 3.38746267e+02] [-2.16160636e-02 9.99766337e-01 1.31561226e-04 1.53046085e+00] [ 1.73868288e-02 2.44350557e-04 9.99848808e-01 4.09552670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:338.80, Y:1.53, Z:4.10 [[ 9.99486776e-01 2.69042564e-02 -1.73881070e-02 3.38804918e+02] [-2.69061817e-02 9.99637956e-01 1.23248788e-04 1.53095058e+00] [ 1.73851276e-02 3.44662032e-04 9.99848808e-01 4.09862312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters Centerline goodness : 0.996775 with order 1 Centerline is valid? [True, True] Translation: X:338.86, Y:1.54, Z:4.10 [[ 9.99368999e-01 3.09718465e-02 -1.73881616e-02 3.38863648e+02] [-3.09745309e-02 9.99520167e-01 1.14979463e-04 1.53544735e+00] [ 1.73833794e-02 4.23683239e-04 9.99848808e-01 4.10249409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters Centerline goodness : 0.998066 with order 1 Centerline is valid? [True, True] Translation: X:338.92, Y:1.54, Z:4.10 [[ 9.99204025e-01 3.59021814e-02 -1.73882117e-02 3.38923314e+02] [-3.59057531e-02 9.99355175e-01 1.06836884e-04 1.54319482e+00] [ 1.73808350e-02 5.17584991e-04 9.99848808e-01 4.10053150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters Centerline goodness : 0.997518 with order 1 Centerline is valid? [True, True] Translation: X:338.98, Y:1.55, Z:4.11 [[ 9.99194294e-01 3.61719899e-02 -1.73882186e-02 3.38982686e+02] [-3.61756223e-02 9.99345442e-01 1.05694148e-04 1.55394718e+00] [ 1.73806602e-02 5.23420639e-04 9.99848808e-01 4.10530532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters Centerline goodness : 0.996428 with order 1 Centerline is valid? [True, True] Translation: X:339.04, Y:1.56, Z:4.10 [[ 9.99164898e-01 3.69750743e-02 -1.73882255e-02 3.39041446e+02] [-3.69788480e-02 9.99316043e-01 1.04557120e-04 1.56041051e+00] [ 1.73801987e-02 5.38526741e-04 9.99848808e-01 4.10411196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:339.10, Y:1.58, Z:4.10 [[ 9.99123038e-01 3.80894174e-02 -1.73882700e-02 3.39100732e+02] [-3.80934993e-02 9.99274175e-01 9.65272725e-05 1.57564717e+00] [ 1.73793258e-02 5.65937430e-04 9.99848808e-01 4.09825888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:339.16, Y:1.58, Z:4.09 [[ 9.99844288e-01 3.00774919e-03 -1.73882792e-02 3.39159776e+02] [-3.00655451e-03 9.99995476e-01 9.48469531e-05 1.57684540e+00] [ 1.73884858e-02 -4.25533750e-05 9.99848808e-01 4.09124513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters Centerline goodness : 0.996576 with order 1 Centerline is valid? [True, True] Translation: X:339.22, Y:1.59, Z:4.11 [[ 9.99689613e-01 1.78416586e-02 -1.73883196e-02 3.39220012e+02] [-1.78428482e-02 9.99840800e-01 8.67387397e-05 1.59325119e+00] [ 1.73870990e-02 2.23545330e-04 9.99848808e-01 4.11017207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters Centerline goodness : 0.997372 with order 1 Centerline is valid? [True, True] Translation: X:339.28, Y:1.60, Z:4.11 [[ 9.99811294e-01 8.66154876e-03 -1.73883226e-02 3.39279084e+02] [-8.66136027e-03 9.99962486e-01 8.61500358e-05 1.59668025e+00] [ 1.73884164e-02 6.44727474e-05 9.99848808e-01 4.10908891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters Centerline goodness : 0.994684 with order 1 Centerline is valid? [True, True] Translation: X:339.34, Y:1.59, Z:4.12 [[ 9.99848795e-01 -1.77578778e-04 -1.73883592e-02 3.39338711e+02] [ 1.78961952e-04 9.99999981e-01 7.79899859e-05 1.59413763e+00] [ 1.73883450e-02 -8.10900481e-05 9.99848808e-01 4.11711982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:339.40, Y:1.59, Z:4.09 [[ 9.99843701e-01 -3.19667712e-03 -1.73883650e-02 3.39399159e+02] [ 3.19849376e-03 9.99994882e-01 7.66654398e-05 1.59141473e+00] [ 1.73880309e-02 -1.32270034e-04 9.99848808e-01 4.08859013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters Centerline goodness : 0.997371 with order 1 Centerline is valid? [True, True] Translation: X:339.46, Y:1.58, Z:4.11 [[ 9.99823163e-01 -7.16152930e-03 -1.73883675e-02 3.39457163e+02] [ 7.16393543e-03 9.99974336e-01 7.60897453e-05 1.58173442e+00] [ 1.73873763e-02 -2.00645432e-04 9.99848808e-01 4.11293254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters Centerline goodness : 0.993644 with order 1 Centerline is valid? [True, True] Translation: X:339.52, Y:1.57, Z:4.12 [[ 9.99799477e-01 -9.93224568e-03 -1.73883981e-02 3.39517843e+02] [ 9.93493526e-03 9.99950645e-01 6.82986561e-05 1.57112465e+00] [ 1.73868616e-02 -2.41037570e-04 9.99848808e-01 4.12257266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters Centerline goodness : 0.992607 with order 1 Centerline is valid? [True, True] Translation: X:339.58, Y:1.57, Z:4.12 [[ 9.99801923e-01 -9.68286708e-03 -1.73883986e-02 3.39577993e+02] [ 9.68551681e-03 9.99953092e-01 6.81753231e-05 1.56739402e+00] [ 1.73869228e-02 -2.36577446e-04 9.99848808e-01 4.12489330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:339.64, Y:1.57, Z:4.12 [[ 9.99846663e-01 -2.07203867e-03 -1.73884008e-02 3.39638429e+02] [ 2.07352783e-03 9.99997848e-01 6.76118401e-05 1.56932246e+00] [ 1.73882233e-02 -1.03656806e-04 9.99848808e-01 4.12014704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:339.70, Y:1.57, Z:4.09 [[ 9.99834749e-01 5.30264191e-03 -1.73884030e-02 3.39699591e+02] [-5.30227786e-03 9.99985941e-01 6.70390417e-05 1.57021855e+00] [ 1.73885140e-02 2.51701809e-05 9.99848808e-01 4.09412376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters Centerline goodness : 0.996325 with order 1 Centerline is valid? [True, True] Translation: X:339.76, Y:1.57, Z:4.12 [[ 9.99831120e-01 5.94772168e-03 -1.73884035e-02 3.39758385e+02] [-5.94745720e-03 9.99982311e-01 6.69224575e-05 1.57383496e+00] [ 1.73884939e-02 3.65056298e-05 9.99848808e-01 4.11660056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters Centerline goodness : 0.995334 with order 1 Centerline is valid? [True, True] Translation: X:339.82, Y:1.57, Z:4.12 [[ 9.99842919e-01 3.43216724e-03 -1.73884291e-02 3.39817120e+02] [-3.43165268e-03 9.99994110e-01 5.94298566e-05 1.57456680e+00] [ 1.73885306e-02 2.50527816e-07 9.99848808e-01 4.12219121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters Centerline goodness : 0.994885 with order 1 Centerline is valid? [True, True] Translation: X:339.88, Y:1.58, Z:4.13 [[ 9.99846027e-01 2.35885850e-03 -1.73884366e-02 3.39876494e+02] [-2.35822130e-03 9.99997218e-01 5.71498016e-05 1.57584140e+00] [ 1.73885230e-02 -1.61352207e-05 9.99848808e-01 4.12512996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters Centerline goodness : 0.996674 with order 1 Centerline is valid? [True, True] Translation: X:339.94, Y:1.57, Z:4.12 [[ 9.99848177e-01 -1.12476198e-03 -1.73884403e-02 3.39937166e+02] [ 1.12590593e-03 9.99999365e-01 5.59983806e-05 1.56896754e+00] [ 1.73883662e-02 -7.55676267e-05 9.99848808e-01 4.12198352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters Centerline goodness : 0.992803 with order 1 Centerline is valid? [True, True] Translation: X:340.00, Y:1.57, Z:4.13 [[ 9.99845343e-01 -2.63301970e-03 -1.73884403e-02 3.39997519e+02] [ 2.63439171e-03 9.99996528e-01 5.59983806e-05 1.56652608e+00] [ 1.73882325e-02 -1.01797683e-04 9.99848808e-01 4.13227611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters Centerline goodness : 0.997566 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:1.56, Z:4.12 [[ 9.99847980e-01 -1.28796999e-03 -1.73884406e-02 3.40058326e+02] [ 1.28913664e-03 9.99999168e-01 5.58848211e-05 1.56411957e+00] [ 1.73883542e-02 -7.82924014e-05 9.99848808e-01 4.12499934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters Centerline goodness : 0.972586 with order 3 Centerline is valid? [True, True] Translation: X:340.02, Y:1.52, Z:4.10 [[ 9.95883616e-01 -8.89576602e-02 -1.73884405e-02 3.40020568e+02] [ 8.89720804e-02 9.96034119e-01 5.59239462e-05 1.51767773e+00] [ 1.73145051e-02 -1.60277947e-03 9.99848808e-01 4.09797473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:340.15, Y:1.57, Z:4.12 [[ 9.99848565e-01 1.56327685e-03 -1.73321220e-02 3.40153541e+02] [-1.66677720e-03 9.99980857e-01 -5.95875494e-03 1.57063227e+00] [ 1.73224750e-02 5.98674136e-03 9.99832031e-01 4.12268678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters Centerline goodness : 0.952079 with order 3 Centerline is valid? [True, True] Translation: X:340.33, Y:1.60, Z:4.10 [[ 9.96515926e-01 8.15845382e-02 -1.73197214e-02 3.40330498e+02] [-8.15961435e-02 9.96665474e-01 3.67219079e-05 1.59635862e+00] [ 1.72649643e-02 1.37662851e-03 9.99850002e-01 4.10325711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters Centerline goodness : 0.996080 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:1.54, Z:4.13 [[ 9.99742283e-01 -1.46095530e-02 -1.73760849e-02 3.40252708e+02] [ 1.48209772e-02 9.99816928e-01 1.21016451e-02 1.54141025e+00] [ 1.71961042e-02 -1.23560569e-02 9.99775786e-01 4.12709065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters Centerline goodness : 0.995785 with order 1 Centerline is valid? [True, True] Translation: X:340.31, Y:1.55, Z:4.13 [[ 9.99765251e-01 -1.31524035e-02 -1.72179425e-02 3.40311628e+02] [ 1.31505174e-02 9.99913503e-01 -2.22762058e-04 1.55316662e+00] [ 1.72193830e-02 -3.71508804e-06 9.99851735e-01 4.12873805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters Centerline goodness : 0.995233 with order 1 Centerline is valid? [True, True] Translation: X:340.37, Y:1.55, Z:4.13 [[ 9.99787046e-01 -1.13756657e-02 -1.72179128e-02 3.40370639e+02] [ 1.13734770e-02 9.99935295e-01 -2.25032776e-04 1.55442930e+00] [ 1.72193586e-02 2.91573187e-05 9.99851735e-01 4.13069629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:340.43, Y:1.55, Z:4.13 [[ 9.99817476e-01 -8.28020202e-03 -1.72178019e-02 3.40428967e+02] [ 8.27741346e-03 9.99965714e-01 -2.33217548e-04 1.55481938e+00] [ 1.72191427e-02 9.06561151e-05 9.99851735e-01 4.13100383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters Centerline goodness : 0.996725 with order 1 Centerline is valid? [True, True] Translation: X:340.49, Y:1.56, Z:4.13 [[ 9.99845455e-01 -3.55177382e-03 -1.72177629e-02 3.40487584e+02] [ 3.54823516e-03 9.99993677e-01 -2.36067934e-04 1.55764684e+00] [ 1.72184925e-02 1.74938779e-04 9.99851735e-01 4.12986434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters Centerline goodness : 0.995936 with order 1 Centerline is valid? [True, True] Translation: X:340.55, Y:1.56, Z:4.13 [[ 9.99851376e-01 8.82818416e-04 -1.72176496e-02 3.40546015e+02] [-8.87151964e-04 9.99999577e-01 -2.44055893e-04 1.56279752e+00] [ 1.72174269e-02 2.59294292e-04 9.99851735e-01 4.13212051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters Centerline goodness : 0.995879 with order 1 Centerline is valid? [True, True] Translation: X:340.61, Y:1.56, Z:4.14 [[ 9.99772652e-01 -1.25778168e-02 -1.72175313e-02 3.40605178e+02] [ 1.25753397e-02 9.99920896e-01 -2.52135753e-04 1.56475344e+00] [ 1.72193406e-02 3.55621251e-05 9.99851736e-01 4.13645041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters Centerline goodness : 0.995235 with order 1 Centerline is valid? [True, True] Translation: X:340.66, Y:1.58, Z:4.14 [[ 9.99850449e-01 -1.62420302e-03 -1.72174972e-02 3.40663796e+02] [ 1.62006218e-03 9.99998655e-01 -2.54446723e-04 1.57839524e+00] [ 1.72178873e-02 2.26515255e-04 9.99851736e-01 4.13532750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters Centerline goodness : 0.995526 with order 1 Centerline is valid? [True, True] Translation: X:340.72, Y:1.59, Z:4.14 [[ 9.99846831e-01 -3.14280965e-03 -1.72173723e-02 3.40721977e+02] [ 3.13875293e-03 9.99995040e-01 -2.62634802e-04 1.58687867e+00] [ 1.72181123e-02 2.08553497e-04 9.99851736e-01 4.13555124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters Centerline goodness : 0.868567 with order 3 Centerline is valid? [True, False] Translation: X:340.76, Y:1.63, Z:4.15 [[ 9.99119294e-01 -7.32140960e-06 -4.19599362e-02 3.40763948e+02] [-1.94894621e-03 9.98912607e-01 -4.65811769e-02 1.63123238e+00] [ 4.19146503e-02 4.66219303e-02 9.98032844e-01 4.15050997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters Centerline goodness : 0.995285 with order 1 Centerline is valid? [False, True] Translation: X:340.78, Y:1.65, Z:4.16 [[ 9.98728715e-01 -9.67983475e-04 -5.03985747e-02 3.40775597e+02] [-2.65993408e-03 9.97410627e-01 -7.18676981e-02 1.65152167e+00] [ 5.03376407e-02 7.19103907e-02 9.96140059e-01 4.15789469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters Centerline goodness : 0.994388 with order 1 Centerline is valid? [True, True] Translation: X:340.83, Y:1.58, Z:4.15 [[ 9.98738500e-01 -5.46542794e-03 -4.99152992e-02 3.40834669e+02] [ 5.49343279e-03 9.99984821e-01 4.23874928e-04 1.58414683e+00] [ 4.99122249e-02 -6.97546551e-04 9.98753365e-01 4.15258856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters Centerline goodness : 0.921916 with order 3 Centerline is valid? [True, False] Translation: X:340.88, Y:1.60, Z:4.16 [[ 9.97651267e-01 1.09136981e-03 -6.84891163e-02 3.40882791e+02] [-2.67342069e-03 9.99731617e-01 -2.30118991e-02 1.60349110e+00] [ 6.84456204e-02 2.31409505e-02 9.97386431e-01 4.15908693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters Centerline goodness : 0.996776 with order 1 Centerline is valid? [False, True] Translation: X:340.91, Y:1.60, Z:4.16 [[ 9.97543730e-01 2.43292012e-03 -7.00041999e-02 3.40908888e+02] [-4.53213402e-03 9.99544300e-01 -2.98437870e-02 1.59836151e+00] [ 6.98996914e-02 3.00877510e-02 9.97100176e-01 4.15910901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:340.97, Y:1.56, Z:4.14 [[ 9.97604794e-01 3.73239910e-03 -6.90705774e-02 3.40968179e+02] [-3.59625258e-03 9.99991338e-01 2.09536330e-03 1.55947510e+00] [ 6.90777999e-02 -1.84194923e-03 9.97609575e-01 4.13521471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:341.03, Y:1.54, Z:4.14 [[ 9.97611757e-01 -5.33549050e-05 -6.90708341e-02 3.41026136e+02] [ 1.97969408e-04 9.99997803e-01 2.08686955e-03 1.54402126e+00] [ 6.90705710e-02 -2.09555951e-03 9.97609575e-01 4.13818365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:341.08, Y:1.53, Z:4.16 [[ 9.97604428e-01 -3.80826130e-03 -6.90717152e-02 3.41083834e+02] [ 3.95980968e-03 9.99990044e-01 2.05728616e-03 1.53357528e+00] [ 6.90631928e-02 -2.32586863e-03 9.97609576e-01 4.16285984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:341.14, Y:1.52, Z:4.17 [[ 9.97609041e-01 -2.29815858e-03 -6.90718385e-02 3.41142305e+02] [ 2.44580880e-03 9.99994901e-01 2.05313937e-03 1.52017608e+00] [ 6.90667679e-02 -2.21716691e-03 9.97609576e-01 4.16884815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters Centerline goodness : 0.996973 with order 1 Centerline is valid? [True, True] Translation: X:341.20, Y:1.51, Z:4.17 [[ 9.97611442e-01 -6.07937312e-04 -6.90727242e-02 3.41199827e+02] [ 7.49453057e-04 9.99997673e-01 2.02289759e-03 1.51159972e+00] [ 6.90713337e-02 -2.06983255e-03 9.97609576e-01 4.16893091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters Centerline goodness : 0.997071 with order 1 Centerline is valid? [True, True] Translation: X:341.26, Y:1.51, Z:4.17 [[ 9.97556031e-01 1.05300502e-02 -6.90730270e-02 3.41258809e+02] [-1.04159040e-02 9.99943728e-01 2.01250458e-03 1.50739056e+00] [ 6.90903319e-02 -1.28812807e-03 9.97609576e-01 4.17369454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters Centerline goodness : 0.992559 with order 1 Centerline is valid? [True, True] Translation: X:341.32, Y:1.51, Z:4.19 [[ 9.97385063e-01 2.12587900e-02 -6.90731561e-02 3.41318255e+02] [-2.11706390e-02 9.99773860e-01 2.00806586e-03 1.50675035e+00] [ 6.91002249e-02 -5.40492048e-04 9.97609576e-01 4.18972531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters Centerline goodness : 0.986250 with order 1 Centerline is valid? [True, True] Translation: X:341.38, Y:1.53, Z:4.17 [[ 9.93859814e-01 8.64382018e-02 -6.90732026e-02 3.41380434e+02] [-8.65065682e-02 9.96249260e-01 2.00646270e-03 1.53162715e+00] [ 6.89875620e-02 3.98114307e-03 9.97609576e-01 4.16676914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters Centerline goodness : 0.993254 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:1.50, Z:4.20 [[ 9.97191829e-01 2.89367224e-02 -6.90733076e-02 3.41437295e+02] [-2.88673264e-02 9.99581245e-01 2.00284332e-03 1.50229361e+00] [ 6.91023385e-02 -3.25728645e-06 9.97609576e-01 4.19630053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters Centerline goodness : 0.996726 with order 1 Centerline is valid? [True, True] Translation: X:341.50, Y:1.50, Z:4.20 [[ 9.97144132e-01 3.05358669e-02 -6.90734403e-02 3.41497415e+02] [-3.04706206e-02 9.99533665e-01 1.99825647e-03 1.50138647e+00] [ 6.91022474e-02 1.12160880e-04 9.97609576e-01 4.19587286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters Centerline goodness : 0.998160 with order 1 Centerline is valid? [True, True] Translation: X:341.56, Y:1.50, Z:4.20 [[ 9.97061845e-01 3.31137238e-02 -6.90735736e-02 3.41555071e+02] [-3.30549754e-02 9.99451547e-01 1.99363814e-03 1.50136004e+00] [ 6.91017067e-02 2.95444750e-04 9.97609576e-01 4.19681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters Centerline goodness : 0.997372 with order 1 Centerline is valid? [True, True] Translation: X:341.61, Y:1.50, Z:4.20 [[ 9.97034674e-01 3.39198484e-02 -6.90746107e-02 3.41613860e+02] [-3.38655680e-02 9.99424481e-01 1.95703231e-03 1.50173283e+00] [ 6.91012392e-02 3.88021852e-04 9.97609577e-01 4.20158024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:341.67, Y:1.50, Z:4.20 [[ 9.96956198e-01 3.61512505e-02 -6.90755186e-02 3.41673416e+02] [-3.61045766e-02 9.99346164e-01 1.92444640e-03 1.50361489e+00] [ 6.90999257e-02 5.75353586e-04 9.97609578e-01 4.20000580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:341.73, Y:1.51, Z:4.21 [[ 9.96980697e-01 3.54687923e-02 -6.90757096e-02 3.41732095e+02] [-3.54209592e-02 9.99370641e-01 1.91756480e-03 1.50548606e+00] [ 6.91002500e-02 5.34952803e-04 9.97609578e-01 4.20844152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters Centerline goodness : 0.793098 with order 3 Centerline is valid? [True, False] Translation: X:341.71, Y:1.51, Z:4.21 [[ 9.98328373e-01 2.31584104e-02 -5.29542015e-02 3.41714865e+02] [-2.32173720e-02 9.99730316e-01 -4.98475028e-04 1.50960320e+00] [ 5.29283767e-02 1.72709916e-03 9.98596818e-01 4.20724261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters Centerline goodness : 0.996776 with order 1 Centerline is valid? [False, True] Translation: X:341.70, Y:1.51, Z:4.21 [[ 9.99157886e-01 1.29298734e-02 -3.89401627e-02 3.41699585e+02] [-1.28600695e-02 9.99915220e-01 2.04255166e-03 1.51079177e+00] [ 3.89632713e-02 -1.54005840e-03 9.99239457e-01 4.20554332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters Centerline goodness : 0.998215 with order 1 Centerline is valid? [True, True] Translation: X:341.76, Y:1.52, Z:4.21 [[ 9.99110923e-01 1.61400172e-02 -3.89469416e-02 3.41758169e+02] [-1.61469285e-02 9.99869620e-01 1.37115806e-04 1.51997243e+00] [ 3.89440768e-02 4.91879582e-04 9.99241271e-01 4.20649031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters Centerline goodness : 0.995986 with order 1 Centerline is valid? [True, True] Translation: X:341.82, Y:1.53, Z:4.21 [[ 9.99098489e-01 1.68920131e-02 -3.89469976e-02 3.41817149e+02] [-1.69002100e-02 9.99857174e-01 1.18780608e-04 1.52558947e+00] [ 3.89434414e-02 5.39538913e-04 9.99241271e-01 4.21036522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters Centerline goodness : 0.997123 with order 1 Centerline is valid? [True, True] Translation: X:341.88, Y:1.54, Z:4.19 [[ 9.96944691e-01 6.77082763e-02 -3.89470448e-02 3.41877643e+02] [-6.77557800e-02 9.97701932e-01 1.00468699e-04 1.53786176e+00] [ 3.88643444e-02 2.53872566e-03 9.99241271e-01 4.18896420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters Centerline goodness : 0.998165 with order 1 Centerline is valid? [True, True] Translation: X:341.94, Y:1.53, Z:4.21 [[ 9.99238576e-01 2.32291194e-03 -3.89470488e-02 3.41937884e+02] [-2.32082150e-03 9.99997302e-01 9.88857303e-05 1.53109466e+00] [ 3.89471735e-02 -8.42128807e-06 9.99241271e-01 4.20506988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters Centerline goodness : 0.917795 with order 3 Centerline is valid? [True, False] Translation: X:341.90, Y:1.57, Z:4.22 [[ 9.99483571e-01 -3.80834207e-03 -3.19074977e-02 3.41896997e+02] [ 2.39375017e-03 9.99017372e-01 -4.42556146e-02 1.57428518e+00] [ 3.20446850e-02 4.41563811e-02 9.98510567e-01 4.21587319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters Centerline goodness : 0.920451 with order 3 Centerline is valid? [False, False] Translation: X:341.90, Y:1.60, Z:4.22 [[ 9.99341880e-01 -4.96896593e-03 -3.59320929e-02 3.41896759e+02] [ 2.47605469e-03 9.97607161e-01 -6.90928539e-02 1.59564318e+00] [ 3.61894332e-02 6.89584127e-02 9.96962919e-01 4.22347688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters Centerline goodness : 0.959147 with order 1 Centerline is valid? [False, True] Translation: X:341.87, Y:1.62, Z:4.24 [[ 9.99608379e-01 -1.38805376e-02 -2.42985313e-02 3.41873290e+02] [ 1.12850555e-02 9.94526683e-01 -1.03871670e-01 1.62338716e+00] [ 2.56073324e-02 1.03556782e-01 9.94293849e-01 4.23552183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:341.94, Y:1.50, Z:4.22 [[ 9.94868325e-01 -9.51142902e-02 -3.45005463e-02 3.41944930e+02] [ 9.50520451e-02 9.95466348e-01 -3.44360477e-03 1.50352051e+00] [ 3.46716689e-02 1.46585826e-04 9.99398746e-01 4.21765356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:342.00, Y:1.51, Z:4.24 [[ 9.94406986e-01 -9.98222910e-02 -3.45000981e-02 3.42001954e+02] [ 9.97627217e-02 9.95005281e-01 -3.44808898e-03 1.51444861e+00] [ 3.46719760e-02 -1.30199176e-05 9.99398746e-01 4.23886297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:342.06, Y:1.52, Z:4.24 [[ 9.94469000e-01 -9.92027355e-02 -3.44996520e-02 3.42060552e+02] [ 9.91426388e-02 9.95067242e-01 -3.45254678e-03 1.52374871e+00] [ 3.46719757e-02 1.30642035e-05 9.99398746e-01 4.23736798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters Centerline goodness : 0.972501 with order 1 Centerline is valid? [True, True] Translation: X:342.12, Y:1.57, Z:4.23 [[ 9.99159435e-01 -2.21410956e-02 -3.44991997e-02 3.42115236e+02] [ 2.20348433e-02 9.99751226e-01 -3.45706102e-03 1.56953607e+00] [ 3.45671603e-02 2.69397068e-03 9.99398746e-01 4.22666128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:342.18, Y:1.54, Z:4.23 [[ 9.94454560e-01 -9.93476862e-02 -3.44987589e-02 3.42176657e+02] [ 9.92873676e-02 9.95052781e-01 -3.46145370e-03 1.54341999e+00] [ 3.46719734e-02 1.69674546e-05 9.99398746e-01 4.22577042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters Centerline goodness : 0.892905 with order 1 Centerline is valid? [True, False] Translation: X:342.22, Y:1.58, Z:4.24 [[ 9.94574305e-01 -8.81324949e-02 -5.52685769e-02 3.42219838e+02] [ 8.60336853e-02 9.95517861e-01 -3.92733117e-02 1.57847000e+00] [ 5.84821104e-02 3.43052673e-02 9.97698848e-01 4.23731371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters Centerline goodness : 0.956122 with order 2 Centerline is valid? [False, True] Translation: X:342.30, Y:1.61, Z:4.25 [[ 9.94062061e-01 -7.08069666e-02 -8.26256210e-02 3.42301412e+02] [ 6.59771555e-02 9.96028086e-01 -5.97918685e-02 1.60518898e+00] [ 8.65311199e-02 5.39854246e-02 9.94785373e-01 4.24620668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:342.36, Y:1.52, Z:4.24 [[ 9.83874151e-01 -1.54156599e-01 -9.07050089e-02 3.42363213e+02] [ 1.54219470e-01 9.88016162e-01 -6.35754408e-03 1.52368378e+00] [ 9.05980722e-02 -7.73345516e-03 9.95857511e-01 4.24222006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:342.42, Y:1.54, Z:4.25 [[ 9.83434480e-01 -1.57562951e-01 -8.96132791e-02 3.42419828e+02] [ 1.56978385e-01 9.87508687e-01 -1.35786357e-02 1.53944850e+00] [ 9.06333815e-02 -7.13649269e-04 9.95884070e-01 4.24786725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.48, Y:1.55, Z:4.25 [[ 9.83290493e-01 -1.58462464e-01 -8.96072245e-02 3.42477101e+02] [ 1.57877995e-01 9.87364713e-01 -1.36184743e-02 1.55078732e+00] [ 9.06330285e-02 -7.56092570e-04 9.95884071e-01 4.25435011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:342.53, Y:1.56, Z:4.28 [[ 9.83131377e-01 -1.59450071e-01 -8.96011791e-02 3.42533852e+02] [ 1.58866081e-01 9.87205664e-01 -1.36581345e-02 1.55952885e+00] [ 9.06325820e-02 -8.06847607e-04 9.95884072e-01 4.27734591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters Centerline goodness : 0.998415 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:1.57, Z:4.29 [[ 9.83337261e-01 -1.58176465e-01 -8.95993175e-02 3.42590836e+02] [ 1.57586086e-01 9.87410628e-01 -1.36703360e-02 1.56795942e+00] [ 9.06336437e-02 -6.77055020e-04 9.95884072e-01 4.28577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters Centerline goodness : 0.989187 with order 1 Centerline is valid? [True, True] Translation: X:342.65, Y:1.58, Z:4.30 [[ 9.83062553e-01 -1.59878955e-01 -8.95920603e-02 3.42648452e+02] [ 1.59291311e-01 9.87136314e-01 -1.37177338e-02 1.57607657e+00] [ 9.06327531e-02 -7.85846292e-04 9.95884073e-01 4.30224077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters Centerline goodness : 0.992514 with order 1 Centerline is valid? [True, True] Translation: X:342.71, Y:1.58, Z:4.30 [[ 9.82172415e-01 -1.65259706e-01 -8.95911676e-02 3.42707836e+02] [ 1.64693846e-01 9.86249259e-01 -1.37235619e-02 1.57878367e+00] [ 9.06271744e-02 -1.27621011e-03 9.95884073e-01 4.30351785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:342.77, Y:1.58, Z:4.31 [[ 9.82494211e-01 -1.63339069e-01 -8.95850063e-02 3.42766813e+02] [ 1.62761583e-01 9.86569424e-01 -1.37636653e-02 1.58380808e+00] [ 9.06299723e-02 -1.05827599e-03 9.95884074e-01 4.30629857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters Centerline goodness : 0.995146 with order 1 Centerline is valid? [True, True] Translation: X:342.82, Y:1.59, Z:4.31 [[ 9.82776930e-01 -1.61632651e-01 -8.95789670e-02 3.42824498e+02] [ 1.61044517e-01 9.86850619e-01 -1.38028597e-02 1.58995527e+00] [ 9.06320519e-02 -8.61069353e-04 9.95884074e-01 4.31242081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters Centerline goodness : 0.989694 with order 1 Centerline is valid? [True, True] Translation: X:342.88, Y:1.60, Z:4.32 [[ 9.83907945e-01 -1.54600003e-01 -8.95767490e-02 3.42881481e+02] [ 1.53981441e-01 9.87977125e-01 -1.38172390e-02 1.60140456e+00] [ 9.06359242e-02 -1.98265677e-04 9.95884075e-01 4.32240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters Centerline goodness : 0.932828 with order 3 Centerline is valid? [True, False] Translation: X:342.94, Y:1.63, Z:4.34 [[ 9.84190098e-01 -1.34374451e-01 -1.15383527e-01 3.42942314e+02] [ 1.30252795e-01 9.90565995e-01 -4.25819027e-02 1.63204499e+00] [ 1.20016918e-01 2.68796601e-02 9.92407892e-01 4.33548682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [False, True] Translation: X:343.01, Y:1.66, Z:4.35 [[ 9.83039235e-01 -1.19966081e-01 -1.38715544e-01 3.43007272e+02] [ 1.12320140e-01 9.91753350e-01 -6.17209733e-02 1.65851585e+00] [ 1.44976029e-01 4.50935889e-02 9.88407062e-01 4.34785780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters Centerline goodness : 0.993902 with order 1 Centerline is valid? [True, True] Translation: X:343.07, Y:1.63, Z:4.35 [[ 9.82796786e-01 -1.15461072e-01 -1.44149986e-01 3.43069388e+02] [ 1.14193494e-01 9.93311957e-01 -1.70646222e-02 1.62904989e+00] [ 1.45156204e-01 3.10065300e-04 9.89408702e-01 4.34756238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters Centerline goodness : 0.996282 with order 1 Centerline is valid? [True, True] Translation: X:343.13, Y:1.64, Z:4.35 [[ 9.82638839e-01 -1.16808868e-01 -1.44140904e-01 3.43126348e+02] [ 1.15544509e-01 9.93154395e-01 -1.71409934e-02 1.64397282e+00] [ 1.45156393e-01 1.88715847e-04 9.89408705e-01 4.35465329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters Centerline goodness : 0.991958 with order 1 Centerline is valid? [True, True] Translation: X:343.18, Y:1.66, Z:4.37 [[ 9.82576519e-01 -1.17341613e-01 -1.44133030e-01 3.43183333e+02] [ 1.16073280e-01 9.93091594e-01 -1.72069539e-02 1.65664668e+00] [ 1.45156392e-01 1.77155264e-04 9.89408707e-01 4.36802690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters Centerline goodness : 0.992401 with order 1 Centerline is valid? [True, True] Translation: X:343.24, Y:1.67, Z:4.38 [[ 9.81900294e-01 -1.22873130e-01 -1.44131906e-01 3.43240868e+02] [ 1.21662650e-01 9.92422186e-01 -1.72163679e-02 1.66667615e+00] [ 1.45155130e-01 -6.30712872e-04 9.89408708e-01 4.37766209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters Centerline goodness : 0.995490 with order 1 Centerline is valid? [True, True] Translation: X:343.30, Y:1.68, Z:4.38 [[ 9.81941189e-01 -1.22555482e-01 -1.44123747e-01 3.43300666e+02] [ 1.21331614e-01 9.92461530e-01 -1.72843968e-02 1.67519101e+00] [ 1.45155572e-01 -5.14505740e-04 9.89408710e-01 4.37820348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters Centerline goodness : 0.995688 with order 1 Centerline is valid? [True, True] Translation: X:343.36, Y:1.68, Z:4.39 [[ 9.81448057e-01 -1.26445158e-01 -1.44122631e-01 3.43358383e+02] [ 1.25261617e-01 9.91973011e-01 -1.72937000e-02 1.68301624e+00] [ 1.45152465e-01 -1.08016556e-03 9.89408710e-01 4.38605812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:343.42, Y:1.69, Z:4.37 [[ 9.80534844e-01 -1.33350647e-01 -1.44114624e-01 3.43419642e+02] [ 1.32231455e-01 9.91066833e-01 -1.73601719e-02 1.68681080e+00] [ 1.45142214e-01 -2.03423299e-03 9.89408712e-01 4.37440526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters Centerline goodness : 0.996382 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:1.69, Z:4.40 [[ 9.79500984e-01 -1.40751762e-01 -1.44106783e-01 3.43475392e+02] [ 1.39702601e-01 9.90040177e-01 -1.74250251e-02 1.68684414e+00] [ 1.45124107e-01 -3.06426312e-03 9.89408714e-01 4.40377604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters Centerline goodness : 0.988449 with order 1 Centerline is valid? [True, True] Translation: X:343.53, Y:1.69, Z:4.42 [[ 9.80185947e-01 -1.35907912e-01 -1.44099096e-01 3.43533368e+02] [ 1.34797355e-01 9.90718845e-01 -1.74883613e-02 1.69309148e+00] [ 1.45138497e-01 -2.28233099e-03 9.89408716e-01 4.41973777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters Centerline goodness : 0.996282 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:1.69, Z:4.42 [[ 9.79584078e-01 -1.40180751e-01 -1.44098544e-01 3.43593853e+02] [ 1.39115465e-01 9.90121652e-01 -1.74929079e-02 1.69470370e+00] [ 1.45127258e-01 -2.91056189e-03 9.89408716e-01 4.42174106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters Centerline goodness : 0.996433 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:1.70, Z:4.43 [[ 9.79943639e-01 -1.37645890e-01 -1.44097444e-01 3.43652133e+02] [ 1.36552014e-01 9.90478283e-01 -1.75019627e-02 1.69681994e+00] [ 1.45134463e-01 -2.52585912e-03 9.89408716e-01 4.42875743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters Centerline goodness : 0.994501 with order 1 Centerline is valid? [True, True] Translation: X:343.71, Y:1.70, Z:4.44 [[ 9.79717774e-01 -1.39252562e-01 -1.44089584e-01 3.43710059e+02] [ 1.38166481e-01 9.90253222e-01 -1.75664430e-02 1.70117981e+00] [ 1.45131347e-01 -2.69819427e-03 9.89408718e-01 4.44110587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters Centerline goodness : 0.992741 with order 1 Centerline is valid? [True, True] Translation: X:343.77, Y:1.71, Z:4.45 [[ 9.80266690e-01 -1.35342447e-01 -1.44082058e-01 3.43767067e+02] [ 1.34205298e-01 9.90796747e-01 -1.76279605e-02 1.70713393e+00] [ 1.45141845e-01 -2.05647297e-03 9.89408720e-01 4.45225498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters Centerline goodness : 0.987056 with order 1 Centerline is valid? [True, True] Translation: X:343.82, Y:1.71, Z:4.46 [[ 9.80602468e-01 -1.32896413e-01 -1.44074092e-01 3.43824656e+02] [ 1.31723468e-01 9.91128595e-01 -1.76928251e-02 1.71461476e+00] [ 1.45147266e-01 -1.62831112e-03 9.89408722e-01 4.46444710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters Centerline goodness : 0.992957 with order 1 Centerline is valid? [True, True] Translation: X:343.88, Y:1.72, Z:4.47 [[ 9.80725169e-01 -1.31996147e-01 -1.44066509e-01 3.43883547e+02] [ 1.30804501e-01 9.91249194e-01 -1.77543595e-02 1.72231048e+00] [ 1.45149318e-01 -1.43240056e-03 9.89408724e-01 4.46704418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters Centerline goodness : 0.988775 with order 1 Centerline is valid? [True, True] Translation: X:343.94, Y:1.73, Z:4.48 [[ 9.80762242e-01 -1.31723103e-01 -1.44064041e-01 3.43941115e+02] [ 1.30525588e-01 9.91285601e-01 -1.77743644e-02 1.72875864e+00] [ 1.45149904e-01 -1.37161826e-03 9.89408724e-01 4.48163093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:344.00, Y:1.73, Z:4.46 [[ 9.80396831e-01 -1.34417042e-01 -1.44062879e-01 3.44004940e+02] [ 1.33247059e-01 9.90923286e-01 -1.77837811e-02 1.73132128e+00] [ 1.45145704e-01 -1.76079229e-03 9.89408725e-01 4.45824688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:344.06, Y:1.74, Z:4.47 [[ 9.80212014e-01 -1.35759438e-01 -1.44061733e-01 3.44061615e+02] [ 1.34602507e-01 9.90739911e-01 -1.77930602e-02 1.73702150e+00] [ 1.45143284e-01 -1.95009902e-03 9.89408725e-01 4.46766236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters Centerline goodness : 0.994845 with order 1 Centerline is valid? [True, True] Translation: X:344.12, Y:1.74, Z:4.50 [[ 9.80688955e-01 -1.32279940e-01 -1.44052736e-01 3.44115877e+02] [ 1.31074999e-01 9.91211463e-01 -1.78656046e-02 1.74118878e+00] [ 1.45149984e-01 -1.36111106e-03 9.89408727e-01 4.50169945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters Centerline goodness : 0.996978 with order 1 Centerline is valid? [True, True] Translation: X:344.17, Y:1.75, Z:4.51 [[ 9.80986939e-01 -1.30060451e-01 -1.44044799e-01 3.44174179e+02] [ 1.28822339e-01 9.91505594e-01 -1.79293709e-02 1.74723606e+00] [ 1.45153126e-01 -9.67709214e-04 9.89408729e-01 4.50750837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters Centerline goodness : 0.996476 with order 1 Centerline is valid? [True, True] Translation: X:344.23, Y:1.75, Z:4.52 [[ 9.81133188e-01 -1.28961746e-01 -1.44036578e-01 3.44232606e+02] [ 1.27702194e-01 9.91649294e-01 -1.79951784e-02 1.75056992e+00] [ 1.45154460e-01 -7.38120261e-04 9.89408731e-01 4.51758009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:344.29, Y:1.75, Z:4.52 [[ 9.80896900e-01 -1.30751536e-01 -1.44032316e-01 3.44291520e+02] [ 1.29506173e-01 9.91414695e-01 -1.80292266e-02 1.75311307e+00] [ 1.45153104e-01 -9.68261520e-04 9.89408732e-01 4.52399218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters Centerline goodness : 0.989586 with order 1 Centerline is valid? [True, True] Translation: X:344.35, Y:1.76, Z:4.54 [[ 9.81794105e-01 -1.23844499e-01 -1.44023871e-01 3.44349745e+02] [ 1.22515280e-01 9.92301630e-01 -1.80964382e-02 1.75665893e+00] [ 1.45156266e-01 1.21851426e-04 9.89408734e-01 4.53965256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:344.41, Y:1.76, Z:4.54 [[ 9.81086618e-01 -1.29330683e-01 -1.44022991e-01 3.44411216e+02] [ 1.28059192e-01 9.91601285e-01 -1.81034428e-02 1.75551198e+00] [ 1.45154713e-01 -6.82422444e-04 9.89408734e-01 4.54221695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:344.47, Y:1.75, Z:4.55 [[ 9.81260668e-01 -1.28003512e-01 -1.44022926e-01 3.44469696e+02] [ 1.26717723e-01 9.91773596e-01 -1.81039606e-02 1.75083447e+00] [ 1.45155505e-01 -4.85552705e-04 9.89408734e-01 4.55406156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters Centerline goodness : 0.995783 with order 1 Centerline is valid? [True, True] Translation: X:344.53, Y:1.75, Z:4.56 [[ 9.81624093e-01 -1.25196181e-01 -1.44014081e-01 3.44528910e+02] [ 1.23870043e-01 9.92132005e-01 -1.81740518e-02 1.75123673e+00] [ 1.45156301e-01 1.05664246e-06 9.89408737e-01 4.55911721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters Centerline goodness : 0.994893 with order 1 Centerline is valid? [True, True] Translation: X:344.59, Y:1.75, Z:4.57 [[ 9.81914090e-01 -1.22911036e-01 -1.44005547e-01 3.44586812e+02] [ 1.21550563e-01 9.92417609e-01 -1.82414246e-02 1.75222955e+00] [ 1.45155713e-01 4.07556485e-04 9.89408739e-01 4.56960897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:1.76, Z:4.57 [[ 9.82018421e-01 -1.22084821e-01 -1.43996934e-01 3.44646315e+02] [ 1.20705578e-01 9.92519490e-01 -1.83091639e-02 1.75697079e+00] [ 1.45155035e-01 5.98703003e-04 9.89408741e-01 4.57479600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters Centerline goodness : 0.997817 with order 1 Centerline is valid? [True, True] Translation: X:344.71, Y:1.76, Z:4.58 [[ 9.82033015e-01 -1.21968824e-01 -1.43995705e-01 3.44705061e+02] [ 1.20586923e-01 9.92533735e-01 -1.83188240e-02 1.76019327e+00] [ 1.45154921e-01 6.25690840e-04 9.89408741e-01 4.58116187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:344.76, Y:1.76, Z:4.59 [[ 9.82146086e-01 -1.21065331e-01 -1.43986982e-01 3.44762740e+02] [ 1.19663756e-01 9.92644195e-01 -1.83871365e-02 1.76421544e+00] [ 1.45153887e-01 8.28831033e-04 9.89408744e-01 4.59089351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters Centerline goodness : 0.992900 with order 1 Centerline is valid? [True, True] Translation: X:344.82, Y:1.77, Z:4.61 [[ 9.82378787e-01 -1.19172730e-01 -1.43978396e-01 3.44820122e+02] [ 1.17741112e-01 9.92872840e-01 -1.84541301e-02 1.76982699e+00] [ 1.45151468e-01 1.17676952e-03 9.89408746e-01 4.60784434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:1.78, Z:4.59 [[ 9.82891792e-01 -1.14866448e-01 -1.43977164e-01 3.44882024e+02] [ 1.13387449e-01 9.93379271e-01 -1.84637310e-02 1.77621881e+00] [ 1.45144794e-01 1.82264624e-03 9.89408746e-01 4.59219743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters Centerline goodness : 0.992211 with order 1 Centerline is valid? [True, True] Translation: X:344.94, Y:1.79, Z:4.63 [[ 9.82681395e-01 -1.16654982e-01 -1.43975316e-01 3.44937358e+02] [ 1.15192961e-01 9.93171254e-01 -1.84781344e-02 1.78564494e+00] [ 1.45147711e-01 1.57317585e-03 9.89408746e-01 4.62615064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters Centerline goodness : 0.996475 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:1.80, Z:4.63 [[ 9.82975496e-01 -1.14151032e-01 -1.43974705e-01 3.44997290e+02] [ 1.12661594e-01 9.93461498e-01 -1.84828927e-02 1.79539687e+00] [ 1.45143167e-01 1.94781079e-03 9.89408746e-01 4.62610106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters Centerline goodness : 0.996128 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:1.81, Z:4.64 [[ 9.83054580e-01 -1.13468811e-01 -1.43974031e-01 3.45052955e+02] [ 1.11971328e-01 9.93539436e-01 -1.84881429e-02 1.80730916e+00] [ 1.45141705e-01 2.05389016e-03 9.89408746e-01 4.63624103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters Centerline goodness : 0.998510 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:1.82, Z:4.63 [[ 9.84004412e-01 -1.04927138e-01 -1.43963927e-01 3.45111937e+02] [ 1.03327198e-01 9.94474120e-01 -1.85664890e-02 1.82208448e+00] [ 1.45116528e-01 3.39411792e-03 9.89408749e-01 4.62847136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters Centerline goodness : 0.995886 with order 1 Centerline is valid? [True, True] Translation: X:345.17, Y:1.83, Z:4.66 [[ 9.83851827e-01 -1.06360116e-01 -1.43955228e-01 3.45165812e+02] [ 1.04765596e-01 9.94322360e-01 -1.86336966e-02 1.83490412e+00] [ 1.45119784e-01 3.25124106e-03 9.89408752e-01 4.65517148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters Centerline goodness : 0.992908 with order 1 Centerline is valid? [True, True] Translation: X:345.22, Y:1.85, Z:4.66 [[ 9.83722118e-01 -1.07564791e-01 -1.43946556e-01 3.45222552e+02] [ 1.05973331e-01 9.94193113e-01 -1.87004509e-02 1.84900737e+00] [ 1.45122185e-01 3.14155115e-03 9.89408754e-01 4.66415249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters Centerline goodness : 0.996729 with order 1 Centerline is valid? [True, True] Translation: X:345.28, Y:1.87, Z:4.67 [[ 9.83670175e-01 -1.08042115e-01 -1.43944049e-01 3.45280288e+02] [ 1.06452915e-01 9.94141513e-01 -1.87197319e-02 1.86546646e+00] [ 1.45123274e-01 3.09077835e-03 9.89408754e-01 4.66753997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters Centerline goodness : 0.996484 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:1.88, Z:4.68 [[ 9.83364415e-01 -1.10792943e-01 -1.43942181e-01 3.45337285e+02] [ 1.09230937e-01 9.93839844e-01 -1.87340819e-02 1.87712923e+00] [ 1.45131079e-01 2.69949012e-03 9.89408754e-01 4.67770769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters Centerline goodness : 0.995138 with order 1 Centerline is valid? [True, True] Translation: X:345.39, Y:1.89, Z:4.69 [[ 9.83264381e-01 -1.11688603e-01 -1.43933367e-01 3.45393811e+02] [ 1.10126264e-01 9.93739758e-01 -1.88015633e-02 1.89220956e+00] [ 1.45132229e-01 2.63606350e-03 9.89408756e-01 4.68645687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters Centerline goodness : 0.996186 with order 1 Centerline is valid? [True, True] Translation: X:345.45, Y:1.91, Z:4.69 [[ 9.83086325e-01 -1.13256310e-01 -1.43924584e-01 3.45451084e+02] [ 1.11700871e-01 9.93562727e-01 -1.88685597e-02 1.90818630e+00] [ 1.45135085e-01 2.47292167e-03 9.89408759e-01 4.69287943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters Centerline goodness : 0.993958 with order 1 Centerline is valid? [True, True] Translation: X:345.51, Y:1.92, Z:4.71 [[ 9.82738353e-01 -1.16247710e-01 -1.43915948e-01 3.45506997e+02] [ 1.14714551e-01 9.93218036e-01 -1.89342050e-02 1.92348306e+00] [ 1.45140973e-01 2.09811613e-03 9.89408761e-01 4.70507913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters Centerline goodness : 0.994604 with order 1 Centerline is valid? [True, True] Translation: X:345.57, Y:1.93, Z:4.71 [[ 9.82199103e-01 -1.20729660e-01 -1.43907166e-01 3.45565085e+02] [ 1.19234579e-01 9.92684284e-01 -1.90007194e-02 1.93464522e+00] [ 1.45148332e-01 1.50377933e-03 9.89408763e-01 4.71044549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters Centerline goodness : 0.992523 with order 1 Centerline is valid? [True, True] Translation: X:345.62, Y:1.95, Z:4.73 [[ 9.81415970e-01 -1.26948597e-01 -1.43898390e-01 3.45621202e+02] [ 1.25510249e-01 9.91909083e-01 -1.90669539e-02 1.94658518e+00] [ 1.45154643e-01 6.51890351e-04 9.89408765e-01 4.72559706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters Centerline goodness : 0.994106 with order 1 Centerline is valid? [True, True] Translation: X:345.68, Y:1.96, Z:4.73 [[ 9.80726695e-01 -1.32177649e-01 -1.43889605e-01 3.45678928e+02] [ 1.30785555e-01 9.91226042e-01 -1.91330202e-02 1.96184893e+00] [ 1.45156081e-01 -5.44181882e-05 9.89408767e-01 4.73011939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters Centerline goodness : 0.989890 with order 1 Centerline is valid? [True, True] Translation: X:345.74, Y:1.98, Z:4.75 [[ 9.80231473e-01 -1.35803453e-01 -1.43887741e-01 3.45735262e+02] [ 1.34448139e-01 9.90735630e-01 -1.91470264e-02 1.97519858e+00] [ 1.45154945e-01 -5.76921158e-04 9.89408768e-01 4.74870207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters Centerline goodness : 0.989938 with order 1 Centerline is valid? [True, True] Translation: X:345.79, Y:1.98, Z:4.76 [[ 9.79530701e-01 -1.40770318e-01 -1.43886498e-01 3.45792766e+02] [ 1.39466892e-01 9.90041423e-01 -1.91563695e-02 1.98321533e+00] [ 1.45150241e-01 -1.30315066e-03 9.89408768e-01 4.75613183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:345.85, Y:1.99, Z:4.76 [[ 9.78721280e-01 -1.46300532e-01 -1.43877759e-01 3.45852307e+02] [ 1.45046878e-01 9.89238053e-01 -1.92217816e-02 1.98963924e+00] [ 1.45141511e-01 -2.05625304e-03 9.89408770e-01 4.75635590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters Centerline goodness : 0.990325 with order 1 Centerline is valid? [True, True] Translation: X:345.91, Y:1.99, Z:4.77 [[ 9.78477223e-01 -1.47925800e-01 -1.43875927e-01 3.45910008e+02] [ 1.46687600e-01 9.88995826e-01 -1.92354843e-02 1.99304303e+00] [ 1.45138116e-01 -2.28333118e-03 9.89408770e-01 4.77086847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:345.97, Y:2.00, Z:4.75 [[ 9.77938287e-01 -1.51455271e-01 -1.43868023e-01 3.45972814e+02] [ 1.50246364e-01 9.88460295e-01 -1.92944229e-02 1.99545370e+00] [ 1.45130070e-01 -2.74689244e-03 9.89408772e-01 4.75279701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters Centerline goodness : 0.994746 with order 1 Centerline is valid? [True, True] Translation: X:346.03, Y:1.99, Z:4.78 [[ 9.77578437e-01 -1.53768144e-01 -1.43860204e-01 3.46031266e+02] [ 1.52575579e-01 9.88102308e-01 -1.93525489e-02 1.99352037e+00] [ 1.45124405e-01 -3.03091942e-03 9.89408773e-01 4.77610753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters Centerline goodness : 0.995040 with order 1 Centerline is valid? [True, True] Translation: X:346.09, Y:2.00, Z:4.79 [[ 9.79298792e-01 -1.42401374e-01 -1.43860089e-01 3.46088675e+02] [ 1.41086510e-01 9.89808084e-01 -1.93534037e-02 1.99868193e+00] [ 1.45149830e-01 -1.34395302e-03 9.89408773e-01 4.78776386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters Centerline goodness : 0.996387 with order 1 Centerline is valid? [True, True] Translation: X:346.15, Y:2.01, Z:4.78 [[ 9.81175650e-01 -1.28845028e-01 -1.43851668e-01 3.46148591e+02] [ 1.27375810e-01 9.91664475e-01 -1.94157929e-02 2.00822538e+00] [ 1.45154218e-01 7.27080550e-04 9.89408775e-01 4.78010328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters Centerline goodness : 0.996228 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:2.02, Z:4.79 [[ 9.82155244e-01 -1.21161378e-01 -1.43843655e-01 3.46204359e+02] [ 1.19601441e-01 9.92630959e-01 -1.94749818e-02 2.02012671e+00] [ 1.45143281e-01 1.92354710e-03 9.89408777e-01 4.78970972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters Centerline goodness : 0.994094 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:2.04, Z:4.82 [[ 9.82790144e-01 -1.15911367e-01 -1.43833541e-01 3.46258890e+02] [ 1.14284587e-01 9.93255684e-01 -1.95493957e-02 2.03646202e+00] [ 1.45129480e-01 2.77499654e-03 9.89408780e-01 4.81584254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters Centerline goodness : 0.991672 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:2.07, Z:4.81 [[ 9.86447176e-01 -7.89572360e-02 -1.43832279e-01 3.46315551e+02] [ 7.69376040e-02 9.96844052e-01 -1.95586756e-02 2.06612421e+00] [ 1.44922651e-01 8.22748934e-03 9.89408780e-01 4.81224371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters Centerline goodness : 0.993907 with order 1 Centerline is valid? [True, True] Translation: X:346.37, Y:2.07, Z:4.83 [[ 9.83058116e-01 -1.13629263e-01 -1.43823262e-01 3.46372248e+02] [ 1.11967166e-01 9.93518104e-01 -1.96247669e-02 2.06828462e+00] [ 1.45120962e-01 3.18880331e-03 9.89408782e-01 4.83394245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters Centerline goodness : 0.996634 with order 1 Centerline is valid? [True, True] Translation: X:346.43, Y:2.08, Z:4.83 [[ 9.83481129e-01 -1.09919693e-01 -1.43814221e-01 3.46431376e+02] [ 1.08208497e-01 9.93933194e-01 -1.96907985e-02 2.08179083e+00] [ 1.45106134e-01 3.80360811e-03 9.89408784e-01 4.82743102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:346.49, Y:2.10, Z:4.85 [[ 9.83403330e-01 -1.10625223e-01 -1.43805250e-01 3.46485270e+02] [ 1.08911983e-01 9.93855058e-01 -1.97560982e-02 2.09651033e+00] [ 1.45107098e-01 3.76609787e-03 9.89408786e-01 4.85411229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters Centerline goodness : 0.993004 with order 1 Centerline is valid? [True, True] Translation: X:346.54, Y:2.11, Z:4.86 [[ 9.83180644e-01 -1.12598711e-01 -1.43796217e-01 3.46542939e+02] [ 1.10896871e-01 9.93634232e-01 -1.98216342e-02 2.10520325e+00] [ 1.45112734e-01 3.54169654e-03 9.89408789e-01 4.86296023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters Centerline goodness : 0.992625 with order 1 Centerline is valid? [True, True] Translation: X:346.60, Y:2.11, Z:4.87 [[ 9.82432628e-01 -1.18959806e-01 -1.43786979e-01 3.46599647e+02] [ 1.17315889e-01 9.92895479e-01 -1.98884265e-02 2.11381763e+00] [ 1.45131364e-01 2.67054196e-03 9.89408791e-01 4.87351679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:346.66, Y:2.12, Z:4.88 [[ 9.81431326e-01 -1.26959960e-01 -1.43783593e-01 3.46657398e+02] [ 1.25397760e-01 9.91906689e-01 -1.99128710e-02 2.12205107e+00] [ 1.45148045e-01 1.51297494e-03 9.89408791e-01 4.87907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters Centerline goodness : 0.994655 with order 1 Centerline is valid? [True, True] Translation: X:346.71, Y:2.13, Z:4.89 [[ 9.79897015e-01 -1.38313862e-01 -1.43774533e-01 3.46714043e+02] [ 1.36863476e-01 9.90388442e-01 -1.99780762e-02 2.12593952e+00] [ 1.45155881e-01 -1.01025080e-04 9.89408793e-01 4.88977240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters Centerline goodness : 0.993788 with order 1 Centerline is valid? [True, True] Translation: X:346.77, Y:2.13, Z:4.90 [[ 9.78809293e-01 -1.45822859e-01 -1.43763908e-01 3.46770866e+02] [ 1.44441768e-01 9.89310064e-01 -2.00542477e-02 2.13397907e+00] [ 1.45151449e-01 -1.13622905e-03 9.89408796e-01 4.90143632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:346.83, Y:2.14, Z:4.89 [[ 9.78487503e-01 -1.47975539e-01 -1.43754810e-01 3.46833063e+02] [ 1.46607999e-01 9.88990045e-01 -2.01192585e-02 2.14140353e+00] [ 1.45149234e-01 -1.38916207e-03 9.89408798e-01 4.88698458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:346.89, Y:2.15, Z:4.91 [[ 9.77851099e-01 -1.52125436e-01 -1.43753538e-01 3.46888178e+02] [ 1.50801130e-01 9.88359180e-01 -2.01283408e-02 2.14772142e+00] [ 1.45142162e-01 -1.99567579e-03 9.89408798e-01 4.91492355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:346.95, Y:2.15, Z:4.90 [[ 9.78168459e-01 -1.50079845e-01 -1.43744585e-01 3.46948703e+02] [ 1.48724199e-01 9.88672541e-01 -2.01920762e-02 2.15203282e+00] [ 1.45146748e-01 -1.62704623e-03 9.89408800e-01 4.90295621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters Centerline goodness : 0.995292 with order 1 Centerline is valid? [True, True] Translation: X:347.00, Y:2.16, Z:4.93 [[ 9.77979376e-01 -1.51316816e-01 -1.43734343e-01 3.47004226e+02] [ 1.49963779e-01 9.88483791e-01 -2.02647279e-02 2.15596812e+00] [ 1.45145462e-01 -1.73645915e-03 9.89408803e-01 4.93171185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:347.07, Y:2.16, Z:4.92 [[ 9.78003319e-01 -1.51170742e-01 -1.43725138e-01 3.47065357e+02] [ 1.49806573e-01 9.88506292e-01 -2.03298053e-02 2.15828080e+00] [ 1.45146475e-01 -1.64835331e-03 9.89408805e-01 4.91898691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [True, True] Translation: X:347.12, Y:2.16, Z:4.95 [[ 9.78288879e-01 -1.49320218e-01 -1.43716182e-01 3.47119615e+02] [ 1.47926909e-01 9.88788025e-01 -2.03929237e-02 2.16114445e+00] [ 1.45149915e-01 -1.30932012e-03 9.89408807e-01 4.95083490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters Centerline goodness : 0.994200 with order 1 Centerline is valid? [True, True] Translation: X:347.18, Y:2.16, Z:4.96 [[ 9.78574549e-01 -1.47446702e-01 -1.43705680e-01 3.47178492e+02] [ 1.46022463e-01 9.89069540e-01 -2.04666648e-02 2.16470093e+00] [ 1.45152653e-01 -9.56100082e-04 9.89408810e-01 4.95555098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters Centerline goodness : 0.993811 with order 1 Centerline is valid? [True, True] Translation: X:347.24, Y:2.17, Z:4.97 [[ 9.78605315e-01 -1.47251412e-01 -1.43696414e-01 3.47236686e+02] [ 1.45815555e-01 9.89098721e-01 -2.05315170e-02 2.16856954e+00] [ 1.45153234e-01 -8.60920802e-04 9.89408812e-01 4.96534354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:347.30, Y:2.17, Z:4.95 [[ 9.78522644e-01 -1.47808993e-01 -1.43686941e-01 3.47296617e+02] [ 1.46369413e-01 9.89015538e-01 -2.05975998e-02 2.17135757e+00] [ 1.45153128e-01 -8.76155382e-04 9.89408814e-01 4.95432370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters Centerline goodness : 0.998414 with order 1 Centerline is valid? [True, True] Translation: X:347.35, Y:2.18, Z:4.96 [[ 9.78183118e-01 -1.50049871e-01 -1.43676109e-01 3.47354592e+02] [ 1.48623270e-01 9.88677781e-01 -2.06728859e-02 2.17559002e+00] [ 1.45151341e-01 -1.13174517e-03 9.89408817e-01 4.96359014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters Centerline goodness : 0.990879 with order 1 Centerline is valid? [True, True] Translation: X:347.41, Y:2.18, Z:5.00 [[ 9.77715687e-01 -1.53074821e-01 -1.43666750e-01 3.47409526e+02] [ 1.51671162e-01 9.88213441e-01 -2.07377247e-02 2.17867814e+00] [ 1.45147837e-01 -1.51450423e-03 9.89408819e-01 4.99590670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters Centerline goodness : 0.988210 with order 1 Centerline is valid? [True, True] Translation: X:347.47, Y:2.18, Z:5.01 [[ 9.76833543e-01 -1.58615305e-01 -1.43657281e-01 3.47468289e+02] [ 1.57261569e-01 9.87337850e-01 -2.08031175e-02 2.17750693e+00] [ 1.45137964e-01 -2.27058636e-03 9.89408821e-01 5.00715969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters Centerline goodness : 0.991018 with order 1 Centerline is valid? [True, True] Translation: X:347.53, Y:2.18, Z:5.01 [[ 9.77376524e-01 -1.55243204e-01 -1.43647755e-01 3.47527133e+02] [ 1.53843587e-01 9.87874814e-01 -2.08686939e-02 2.18350853e+00] [ 1.45145722e-01 -1.70271437e-03 9.89408824e-01 5.01128506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters Centerline goodness : 0.998017 with order 1 Centerline is valid? [True, True] Translation: X:347.59, Y:2.18, Z:5.00 [[ 9.77514272e-01 -1.54375367e-01 -1.43645725e-01 3.47588902e+02] [ 1.52964378e-01 9.88011039e-01 -2.08826529e-02 2.18498503e+00] [ 1.45147330e-01 -1.55958782e-03 9.89408824e-01 4.99852139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters Centerline goodness : 0.989692 with order 1 Centerline is valid? [True, True] Translation: X:347.64, Y:2.19, Z:5.03 [[ 9.77636152e-01 -1.53610544e-01 -1.43636190e-01 3.47644103e+02] [ 1.52181738e-01 9.88130507e-01 -2.09480361e-02 2.18687928e+00] [ 1.45149141e-01 -1.37924768e-03 9.89408826e-01 5.02967561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters Centerline goodness : 0.990015 with order 1 Centerline is valid? [True, True] Translation: X:347.70, Y:2.19, Z:5.04 [[ 9.78269811e-01 -1.49531016e-01 -1.43626784e-01 3.47702723e+02] [ 1.48049005e-01 9.88756782e-01 -2.10123350e-02 2.18955630e+00] [ 1.45153952e-01 -7.08069377e-04 9.89408828e-01 5.03675381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters Centerline goodness : 0.998114 with order 1 Centerline is valid? [True, True] Translation: X:347.76, Y:2.19, Z:5.03 [[ 9.78385825e-01 -1.48779441e-01 -1.43617045e-01 3.47764077e+02] [ 1.47279634e-01 9.88870264e-01 -2.10786880e-02 2.19315652e+00] [ 1.45154701e-01 -5.28776309e-04 9.89408830e-01 5.02725654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters Centerline goodness : 0.983790 with order 1 Centerline is valid? [True, True] Translation: X:347.82, Y:2.19, Z:5.07 [[ 9.78329094e-01 -1.49161575e-01 -1.43607132e-01 3.47819516e+02] [ 1.47655980e-01 9.88812701e-01 -2.11460164e-02 2.19299602e+00] [ 1.45154729e-01 -5.16688701e-04 9.89408832e-01 5.06605249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters Centerline goodness : 0.988537 with order 1 Centerline is valid? [True, True] Translation: X:347.88, Y:2.20, Z:5.07 [[ 9.78279125e-01 -1.49490053e-01 -1.43605979e-01 3.47879905e+02] [ 1.47986830e-01 9.88763072e-01 -2.11538399e-02 2.19587082e+00] [ 1.45154578e-01 -5.57433605e-04 9.89408832e-01 5.06907385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters Centerline goodness : 0.997669 with order 1 Centerline is valid? [True, True] Translation: X:347.94, Y:2.20, Z:5.06 [[ 9.78816340e-01 -1.45931825e-01 -1.43605277e-01 3.47942718e+02] [ 1.44389790e-01 9.89294649e-01 -2.11586084e-02 2.19806148e+00] [ 1.45155646e-01 -2.47440661e-05 9.89408832e-01 5.05564357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters Centerline goodness : 0.997920 with order 1 Centerline is valid? [True, True] Translation: X:348.00, Y:2.20, Z:5.07 [[ 9.79723507e-01 -1.39712486e-01 -1.43604567e-01 3.48000496e+02] [ 1.38103230e-01 9.90191702e-01 -2.11634215e-02 2.20216753e+00] [ 1.45152845e-01 9.02046944e-04 9.89408832e-01 5.06649338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters Centerline goodness : 0.991423 with order 1 Centerline is valid? [True, True] Translation: X:348.06, Y:2.20, Z:5.09 [[ 9.79565876e-01 -1.40823455e-01 -1.43594739e-01 3.48057465e+02] [ 1.39216326e-01 9.90034396e-01 -2.12299026e-02 2.20348892e+00] [ 1.45153399e-01 8.05356219e-04 9.89408835e-01 5.09462080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters Centerline goodness : 0.990579 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:2.21, Z:5.10 [[ 9.79287100e-01 -1.42749883e-01 -1.43594032e-01 3.48115814e+02] [ 1.41162647e-01 9.89758655e-01 -2.12346795e-02 2.20840081e+00] [ 1.45154684e-01 5.24734121e-04 9.89408835e-01 5.10446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters Centerline goodness : 0.988187 with order 1 Centerline is valid? [True, True] Translation: X:348.18, Y:2.21, Z:5.12 [[ 9.79291668e-01 -1.42728488e-01 -1.43584146e-01 3.48175149e+02] [ 1.41131252e-01 9.89761700e-01 -2.13013223e-02 2.21084899e+00] [ 1.45154394e-01 5.95997204e-04 9.89408837e-01 5.11575792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters Centerline goodness : 0.986191 with order 1 Centerline is valid? [True, True] Translation: X:348.23, Y:2.22, Z:5.13 [[ 9.80126081e-01 -1.36883375e-01 -1.43582055e-01 3.48232628e+02] [ 1.35221638e-01 9.90586070e-01 -2.13154045e-02 2.21936995e+00] [ 1.45148108e-01 1.47638306e-03 9.89408837e-01 5.12982129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters Centerline goodness : 0.990873 with order 1 Centerline is valid? [True, True] Translation: X:348.29, Y:2.23, Z:5.13 [[ 9.81379730e-01 -1.27587597e-01 -1.43580050e-01 3.48292363e+02] [ 1.25824821e-01 9.91823166e-01 -2.13289009e-02 2.22559786e+00] [ 1.45127323e-01 2.86581681e-03 9.89408837e-01 5.13173702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters Centerline goodness : 0.990173 with order 1 Centerline is valid? [True, True] Translation: X:348.35, Y:2.24, Z:5.14 [[ 9.81978634e-01 -1.22894853e-01 -1.43578611e-01 3.48348788e+02] [ 1.21080759e-01 9.92413278e-01 -2.13385894e-02 2.23795848e+00] [ 1.45111722e-01 3.56943173e-03 9.89408837e-01 5.14128133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters Centerline goodness : 0.997717 with order 1 Centerline is valid? [True, True] Translation: X:348.41, Y:2.25, Z:5.13 [[ 9.83159690e-01 -1.13073104e-01 -1.43567051e-01 3.48409690e+02] [ 1.11143496e-01 9.93573588e-01 -2.14160854e-02 2.25131219e+00] [ 1.45066013e-01 5.09888794e-03 9.89408840e-01 5.13391562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:348.47, Y:2.26, Z:5.15 [[ 9.82929830e-01 -1.15055106e-01 -1.43566266e-01 3.48465305e+02] [ 1.13145732e-01 9.93347457e-01 -2.14213443e-02 2.26329787e+00] [ 1.45075820e-01 4.81176801e-03 9.89408840e-01 5.15230070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters Centerline goodness : 0.994846 with order 1 Centerline is valid? [True, True] Translation: X:348.52, Y:2.28, Z:5.16 [[ 9.82855069e-01 -1.15704473e-01 -1.43556217e-01 3.48521471e+02] [ 1.13792186e-01 9.93272160e-01 -2.14884788e-02 2.27764162e+00] [ 1.45076707e-01 4.78448457e-03 9.89408843e-01 5.16136329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters Centerline goodness : 0.995825 with order 1 Centerline is valid? [True, True] Translation: X:348.58, Y:2.29, Z:5.17 [[ 9.82436775e-01 -1.19218001e-01 -1.43544596e-01 3.48578272e+02] [ 1.17331680e-01 9.92858596e-01 -2.15658375e-02 2.29155614e+00] [ 1.45090522e-01 4.34474332e-03 9.89408846e-01 5.16720675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters Centerline goodness : 0.994485 with order 1 Centerline is valid? [True, True] Translation: X:348.63, Y:2.31, Z:5.18 [[ 9.82202140e-01 -1.21147962e-01 -1.43534411e-01 3.48634589e+02] [ 1.19272253e-01 9.92625874e-01 -2.16334160e-02 2.30626134e+00] [ 1.45096814e-01 4.12871496e-03 9.89408848e-01 5.18271782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters Centerline goodness : 0.996277 with order 1 Centerline is valid? [True, True] Translation: X:348.69, Y:2.32, Z:5.19 [[ 9.82259250e-01 -1.20685787e-01 -1.43532948e-01 3.48692810e+02] [ 1.18803757e-01 9.92681844e-01 -2.16431170e-02 2.31994354e+00] [ 1.45094568e-01 4.20689838e-03 9.89408848e-01 5.18680567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters Centerline goodness : 0.997324 with order 1 Centerline is valid? [True, True] Translation: X:348.75, Y:2.33, Z:5.20 [[ 9.82110900e-01 -1.21888863e-01 -1.43531481e-01 3.48748818e+02] [ 1.20018180e-01 9.92535536e-01 -2.16528428e-02 2.33473607e+00] [ 1.45099335e-01 4.03910577e-03 9.89408848e-01 5.19559458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters Centerline goodness : 0.998018 with order 1 Centerline is valid? [True, True] Translation: X:348.81, Y:2.35, Z:5.21 [[ 9.81392816e-01 -1.27554884e-01 -1.43519660e-01 3.48805741e+02] [ 1.25732986e-01 9.91826086e-01 -2.17309104e-02 2.34629014e+00] [ 1.45118427e-01 3.28140399e-03 9.89408851e-01 5.20613196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters Centerline goodness : 0.996876 with order 1 Centerline is valid? [True, True] Translation: X:348.86, Y:2.36, Z:5.22 [[ 9.80675822e-01 -1.32966270e-01 -1.43509247e-01 3.48862709e+02] [ 1.31191920e-01 9.91117280e-01 -2.17994650e-02 2.35675601e+00] [ 1.45133088e-01 2.55095468e-03 9.89408853e-01 5.21748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:348.92, Y:2.37, Z:5.21 [[ 9.80558541e-01 -1.33831577e-01 -1.43506297e-01 3.48922556e+02] [ 1.32063601e-01 9.91001081e-01 -2.18188687e-02 2.36776494e+00] [ 1.45134949e-01 2.44271968e-03 9.89408854e-01 5.20770445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters Centerline goodness : 0.996333 with order 1 Centerline is valid? [True, True] Translation: X:348.98, Y:2.38, Z:5.23 [[ 9.80215588e-01 -1.36331574e-01 -1.43496002e-01 3.48977312e+02] [ 1.34580353e-01 9.90660949e-01 -2.18863724e-02 2.37574768e+00] [ 1.45139689e-01 2.14162080e-03 9.89408856e-01 5.23427727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:349.03, Y:2.39, Z:5.24 [[ 9.80298265e-01 -1.35746635e-01 -1.43485757e-01 3.49034766e+02] [ 1.33979382e-01 9.90740923e-01 -2.19533328e-02 2.38675371e+00] [ 1.45137302e-01 2.29668107e-03 9.89408858e-01 5.24233943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters Centerline goodness : 0.995439 with order 1 Centerline is valid? [True, True] Translation: X:349.09, Y:2.40, Z:5.25 [[ 9.80188410e-01 -1.36548524e-01 -1.43475367e-01 3.49092435e+02] [ 1.34779908e-01 9.90630835e-01 -2.20210271e-02 2.39677375e+00] [ 1.45138062e-01 2.24715883e-03 9.89408861e-01 5.25086924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters Centerline goodness : 0.997420 with order 1 Centerline is valid? [True, True] Translation: X:349.15, Y:2.41, Z:5.24 [[ 9.80152593e-01 -1.36816438e-01 -1.43464825e-01 3.49151847e+02] [ 1.35040655e-01 9.90593799e-01 -2.20895021e-02 2.40902196e+00] [ 1.45137573e-01 2.27749894e-03 9.89408863e-01 5.24105173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters Centerline goodness : 0.997423 with order 1 Centerline is valid? [True, True] Translation: X:349.21, Y:2.42, Z:5.25 [[ 9.80054415e-01 -1.37528850e-01 -1.43454380e-01 3.49208023e+02] [ 1.35750761e-01 9.90495226e-01 -2.21571296e-02 2.41892748e+00] [ 1.45138123e-01 2.24115151e-03 9.89408865e-01 5.24904752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters Centerline goodness : 0.993847 with order 1 Centerline is valid? [True, True] Translation: X:349.26, Y:2.43, Z:5.28 [[ 9.80027059e-01 -1.37735911e-01 -1.43442613e-01 3.49262198e+02] [ 1.35948918e-01 9.90466346e-01 -2.22330451e-02 2.43146857e+00] [ 1.45137370e-01 2.28811770e-03 9.89408868e-01 5.27616084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters Centerline goodness : 0.994697 with order 1 Centerline is valid? [True, True] Translation: X:349.32, Y:2.45, Z:5.28 [[ 9.80305899e-01 -1.35748045e-01 -1.43432255e-01 3.49318337e+02] [ 1.33930138e-01 9.90739846e-01 -2.22996726e-02 2.44903217e+00] [ 1.45131187e-01 2.65059882e-03 9.89408870e-01 5.28142559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters Centerline goodness : 0.995392 with order 1 Centerline is valid? [True, True] Translation: X:349.38, Y:2.47, Z:5.27 [[ 9.80712552e-01 -1.32782406e-01 -1.43428459e-01 3.49377404e+02] [ 1.30929384e-01 9.91140319e-01 -2.23240614e-02 2.46727600e+00] [ 1.45121971e-01 3.11448740e-03 9.89408871e-01 5.27441295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters Centerline goodness : 0.970319 with order 1 Centerline is valid? [True, True] Translation: X:349.43, Y:2.52, Z:5.28 [[ 9.87589892e-01 -6.39915256e-02 -1.43426948e-01 3.49429392e+02] [ 6.14136300e-02 9.97862500e-01 -2.23337629e-02 2.51781613e+00] [ 1.44549545e-01 1.32482289e-02 9.89408871e-01 5.28313271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters Centerline goodness : 0.993071 with order 1 Centerline is valid? [True, True] Translation: X:349.49, Y:2.50, Z:5.31 [[ 9.80598698e-01 -1.33623972e-01 -1.43425336e-01 3.49488589e+02] [ 1.31776968e-01 9.91027533e-01 -2.23441136e-02 2.49979307e+00] [ 1.45124166e-01 3.01045289e-03 9.89408871e-01 5.30835710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters Centerline goodness : 0.992727 with order 1 Centerline is valid? [True, True] Translation: X:349.54, Y:2.52, Z:5.32 [[ 9.80605192e-01 -1.33587652e-01 -1.43414771e-01 3.49543670e+02] [ 1.31730378e-01 9.91032200e-01 -2.24117224e-02 2.51910792e+00] [ 1.45122585e-01 3.08496937e-03 9.89408873e-01 5.31698261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:349.60, Y:2.54, Z:5.33 [[ 9.80523004e-01 -1.34202425e-01 -1.43402744e-01 3.49600070e+02] [ 1.32340476e-01 9.90949176e-01 -2.24884189e-02 2.53701857e+00] [ 1.45122831e-01 3.07242466e-03 9.89408876e-01 5.32621405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters Centerline goodness : 0.992134 with order 1 Centerline is valid? [True, True] Translation: X:349.66, Y:2.55, Z:5.34 [[ 9.80204208e-01 -1.36521872e-01 -1.43392776e-01 3.49656075e+02] [ 1.34675327e-01 9.90633117e-01 -2.25517963e-02 2.55237821e+00] [ 1.45128447e-01 2.79389649e-03 9.89408878e-01 5.33607051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:349.72, Y:2.57, Z:5.32 [[ 9.78778376e-01 -1.46405020e-01 -1.43382217e-01 3.49715976e+02] [ 1.44653990e-01 9.89223744e-01 -2.26187363e-02 2.56663600e+00] [ 1.45148590e-01 1.39792016e-03 9.89408880e-01 5.32246498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters Centerline goodness : 0.995589 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:2.58, Z:5.33 [[ 9.76695901e-01 -1.59717514e-01 -1.43371657e-01 3.49773588e+02] [ 1.58099063e-01 9.87162629e-01 -2.26854754e-02 2.57537285e+00] [ 1.45154410e-01 -5.10113881e-04 9.89408883e-01 5.33097359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters Centerline goodness : 0.992076 with order 1 Centerline is valid? [True, True] Translation: X:349.83, Y:2.58, Z:5.36 [[ 9.75330091e-01 -1.67865372e-01 -1.43361190e-01 3.49828439e+02] [ 1.66324659e-01 9.85808541e-01 -2.27514355e-02 2.58124201e+00] [ 1.45145863e-01 -1.65434131e-03 9.89408885e-01 5.35967782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters Centerline goodness : 0.995503 with order 1 Centerline is valid? [True, True] Translation: X:349.89, Y:2.59, Z:5.35 [[ 9.74760905e-01 -1.71148155e-01 -1.43350926e-01 3.49890298e+02] [ 1.69633247e-01 9.85243115e-01 -2.28159226e-02 2.58635416e+00] [ 1.45140416e-01 -2.07701370e-03 9.89408887e-01 5.34603673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters Centerline goodness : 0.992534 with order 1 Centerline is valid? [True, True] Translation: X:349.95, Y:2.59, Z:5.38 [[ 9.74791711e-01 -1.70976572e-01 -1.43346199e-01 3.49945402e+02] [ 1.69455458e-01 9.85273022e-01 -2.28455855e-02 2.58821320e+00] [ 1.45141202e-01 -2.02110835e-03 9.89408887e-01 5.37613329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters Centerline goodness : 0.991886 with order 1 Centerline is valid? [True, True] Translation: X:350.00, Y:2.59, Z:5.38 [[ 9.75018761e-01 -1.69685664e-01 -1.43335935e-01 3.50004393e+02] [ 1.68141233e-01 9.85496660e-01 -2.29098056e-02 2.59123997e+00] [ 1.45144550e-01 -1.76319060e-03 9.89408890e-01 5.38384677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters Centerline goodness : 0.992867 with order 1 Centerline is valid? [True, True] Translation: X:350.06, Y:2.59, Z:5.39 [[ 9.75529233e-01 -1.66734303e-01 -1.43326159e-01 3.50062455e+02] [ 1.65149210e-01 9.86001055e-01 -2.29708021e-02 2.59415129e+00] [ 1.45149765e-01 -1.26151294e-03 9.89408891e-01 5.39341886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters Centerline goodness : 0.992028 with order 1 Centerline is valid? [True, True] Translation: X:350.12, Y:2.60, Z:5.40 [[ 9.74891535e-01 -1.70432078e-01 -1.43315742e-01 3.50120688e+02] [ 1.68877176e-01 9.85367880e-01 -2.30356143e-02 2.59868910e+00] [ 1.45144736e-01 -1.74553243e-03 9.89408894e-01 5.40150485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters Centerline goodness : 0.988670 with order 1 Centerline is valid? [True, True] Translation: X:350.18, Y:2.60, Z:5.42 [[ 9.74715762e-01 -1.71443233e-01 -1.43305274e-01 3.50179357e+02] [ 1.69889652e-01 9.85192301e-01 -2.31005541e-02 2.59968660e+00] [ 1.45143686e-01 -1.82960902e-03 9.89408896e-01 5.41642595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:350.24, Y:2.60, Z:5.42 [[ 9.74910721e-01 -1.70332353e-01 -1.43303789e-01 3.50240434e+02] [ 1.68765481e-01 9.85385281e-01 -2.31097619e-02 2.60258756e+00] [ 1.45145785e-01 -1.65477826e-03 9.89408896e-01 5.41704088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters Centerline goodness : 0.994684 with order 1 Centerline is valid? [True, True] Translation: X:350.30, Y:2.61, Z:5.43 [[ 9.74736885e-01 -1.71324953e-01 -1.43303055e-01 3.50297747e+02] [ 1.69768079e-01 9.85212935e-01 -2.31143099e-02 2.60722536e+00] [ 1.45144082e-01 -1.79791405e-03 9.89408896e-01 5.42805421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters Centerline goodness : 0.996676 with order 1 Centerline is valid? [True, True] Translation: X:350.36, Y:2.61, Z:5.43 [[ 9.75609142e-01 -1.66294680e-01 -1.43292992e-01 3.50355730e+02] [ 1.64674650e-01 9.86075610e-01 -2.31765291e-02 2.61226587e+00] [ 1.45151858e-01 -9.85489644e-04 9.89408898e-01 5.43384944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters Centerline goodness : 0.995590 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:2.62, Z:5.44 [[ 9.76455856e-01 -1.61251797e-01 -1.43289286e-01 3.50412349e+02] [ 1.59574353e-01 9.86913275e-01 -2.31994188e-02 2.62137379e+00] [ 1.45155047e-01 -2.12086788e-04 9.89408898e-01 5.44476361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:350.47, Y:2.63, Z:5.45 [[ 9.77458225e-01 -1.55069659e-01 -1.43278813e-01 3.50469152e+02] [ 1.53316619e-01 9.87903236e-01 -2.32639253e-02 2.63245571e+00] [ 1.45153132e-01 7.72491918e-04 9.89408900e-01 5.45459519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:350.53, Y:2.65, Z:5.44 [[ 9.79214097e-01 -1.43575650e-01 -1.43268224e-01 3.50527963e+02] [ 1.41690510e-01 9.89636074e-01 -2.33289548e-02 2.65040154e+00] [ 1.45132873e-01 2.54429364e-03 9.89408902e-01 5.44207355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters Centerline goodness : 0.914952 with order 3 Centerline is valid? [True, False] Translation: X:350.48, Y:2.68, Z:5.45 [[ 9.81645660e-01 -1.40392007e-01 -1.29080917e-01 3.50481457e+02] [ 1.34511785e-01 9.89480711e-01 -5.32400387e-02 2.68123641e+00] [ 1.35197554e-01 3.48999483e-02 9.90203825e-01 5.44586049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters Centerline goodness : 0.995945 with order 1 Centerline is valid? [False, True] Translation: X:350.49, Y:2.71, Z:5.45 [[ 9.82218087e-01 -1.29070265e-01 -1.36339633e-01 3.50492118e+02] [ 1.18725911e-01 9.89577471e-01 -8.14897972e-02 2.71095117e+00] [ 1.45436539e-01 6.38537056e-02 9.87304876e-01 5.45437229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters Centerline goodness : 0.995701 with order 1 Centerline is valid? [True, True] Translation: X:350.56, Y:2.68, Z:5.45 [[ 9.82710038e-01 -1.14929097e-01 -1.45162955e-01 3.50556353e+02] [ 1.13185901e-01 9.93367677e-01 -2.02388336e-02 2.68139264e+00] [ 1.46526218e-01 3.45850508e-03 9.89200741e-01 5.44692217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters Centerline goodness : 0.999950 with order 1 Centerline is valid? [True, True] Translation: X:350.62, Y:2.70, Z:5.43 [[ 9.81719991e-01 -1.23112237e-01 -1.45152460e-01 3.50617056e+02] [ 1.21446806e-01 9.92390055e-01 -2.03138293e-02 2.69760031e+00] [ 1.46548739e-01 2.31418968e-03 9.89200744e-01 5.43218660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.67, Y:2.71, Z:5.44 [[ 9.80763353e-01 -1.30515841e-01 -1.45151162e-01 3.50673432e+02] [ 1.28929592e-01 9.91445476e-01 -2.03230972e-02 2.71345306e+00] [ 1.46561950e-01 1.21786891e-03 9.89200744e-01 5.43840217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.73, Y:2.73, Z:5.45 [[ 9.80112227e-01 -1.35328749e-01 -1.45141834e-01 3.50729806e+02] [ 1.33785122e-01 9.90800590e-01 -2.03895062e-02 2.72607320e+00] [ 1.46565901e-01 5.66186360e-04 9.89200746e-01 5.44524890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:350.78, Y:2.74, Z:5.48 [[ 9.79109671e-01 -1.42411847e-01 -1.45131382e-01 3.50784401e+02] [ 1.40934554e-01 9.89807401e-01 -2.04636351e-02 2.73917524e+00] [ 1.46566380e-01 -4.17883499e-04 9.89200749e-01 5.47510909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:350.84, Y:2.74, Z:5.48 [[ 9.77350900e-01 -1.54020417e-01 -1.45130732e-01 3.50842086e+02] [ 1.52669488e-01 9.88065321e-01 -2.04682455e-02 2.74475902e+00] [ 1.46551171e-01 -2.15237628e-03 9.89200749e-01 5.48057244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:350.90, Y:2.75, Z:5.47 [[ 9.77617758e-01 -1.52327207e-01 -1.45120435e-01 3.50903914e+02] [ 1.50946922e-01 9.88328434e-01 -2.05409968e-02 2.75428668e+00] [ 1.46555605e-01 -1.82423968e-03 9.89200752e-01 5.46602141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters Centerline goodness : 0.998513 with order 1 Centerline is valid? [True, True] Translation: X:350.96, Y:2.76, Z:5.49 [[ 9.74518711e-01 -1.71036803e-01 -1.45119588e-01 3.50961680e+02] [ 1.69861169e-01 9.85253777e-01 -2.05469754e-02 2.75553125e+00] [ 1.46493911e-01 -4.62677097e-03 9.89200752e-01 5.49075551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters Centerline goodness : 0.997128 with order 1 Centerline is valid? [True, True] Translation: X:351.03, Y:2.76, Z:5.48 [[ 9.74742073e-01 -1.69759592e-01 -1.45119163e-01 3.51025079e+02] [ 1.68569444e-01 9.85475540e-01 -2.05499786e-02 2.75924973e+00] [ 1.46499941e-01 -4.43172790e-03 9.89200752e-01 5.47626423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters Centerline goodness : 0.995332 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:2.76, Z:5.48 [[ 9.74856839e-01 -1.69099620e-01 -1.45118784e-01 3.51084836e+02] [ 1.67901809e-01 9.85589454e-01 -2.05526535e-02 2.76039108e+00] [ 1.46502989e-01 -4.32981140e-03 9.89200752e-01 5.48283373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:351.14, Y:2.77, Z:5.49 [[ 9.75540944e-01 -1.65108262e-01 -1.45117634e-01 3.51142948e+02] [ 1.63865327e-01 9.86268427e-01 -2.05607713e-02 2.76682986e+00] [ 1.46519694e-01 -3.72187425e-03 9.89200752e-01 5.49085714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:2.78, Z:5.50 [[ 9.76717529e-01 -1.58006667e-01 -1.45109482e-01 3.51201934e+02] [ 1.56677199e-01 9.87434629e-01 -2.06181433e-02 2.77635097e+00] [ 1.46543932e-01 -2.59724525e-03 9.89200753e-01 5.49760725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters Centerline goodness : 0.936999 with order 1 Centerline is valid? [True, False] Translation: X:351.24, Y:2.79, Z:5.50 [[ 9.78327719e-01 -1.39885299e-01 -1.52666226e-01 3.51238801e+02] [ 1.36439054e-01 9.90102871e-01 -3.28738539e-02 2.79092536e+00] [ 1.55753837e-01 1.13317671e-02 9.87730901e-01 5.50405707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters Centerline goodness : 0.984942 with order 1 Centerline is valid? [False, True] Translation: X:351.26, Y:2.79, Z:5.51 [[ 9.80047063e-01 -1.28197560e-01 -1.51898450e-01 3.51257093e+02] [ 1.24954826e-01 9.91685958e-01 -3.07449434e-02 2.79433321e+00] [ 1.54576987e-01 1.11510470e-02 9.87917815e-01 5.50806057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters Centerline goodness : 0.979286 with order 1 Centerline is valid? [True, True] Translation: X:351.32, Y:2.79, Z:5.51 [[ 9.81088298e-01 -1.18031651e-01 -1.53408870e-01 3.51317356e+02] [ 1.16660914e-01 9.93009789e-01 -1.79385155e-02 2.79426819e+00] [ 1.54453823e-01 -2.97551381e-04 9.87999964e-01 5.51079308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters Centerline goodness : 0.541114 with order 1 Centerline is valid? [True, False] Translation: X:351.31, Y:2.81, Z:5.51 [[ 9.83156156e-01 -1.12289482e-01 -1.44204870e-01 3.51307273e+02] [ 1.09001317e-01 9.93572688e-01 -3.05291162e-02 2.81035201e+00] [ 1.46706119e-01 1.42963678e-02 9.89076806e-01 5.51466589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters Centerline goodness : 0.969506 with order 1 Centerline is valid? [False, True] Translation: X:351.32, Y:2.82, Z:5.52 [[ 9.84342351e-01 -1.07799636e-01 -1.39461013e-01 3.51318296e+02] [ 1.03778104e-01 9.93955414e-01 -3.58153717e-02 2.82010465e+00] [ 1.42478913e-01 2.07815877e-02 9.89579651e-01 5.52091109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters Centerline goodness : 0.940012 with order 1 Centerline is valid? [True, False] Translation: X:351.33, Y:2.83, Z:5.53 [[ 9.85080374e-01 -1.05113998e-01 -1.36263364e-01 3.51331635e+02] [ 1.00023136e-01 9.94024865e-01 -4.37028644e-02 2.83486390e+00] [ 1.40042955e-01 2.94213449e-02 9.89708217e-01 5.52744058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters Centerline goodness : 0.354807 with order 1 Centerline is valid? [False, False] Translation: X:351.34, Y:2.85, Z:5.54 [[ 9.85800722e-01 -1.05773064e-01 -1.30418539e-01 3.51338112e+02] [ 9.94700686e-02 9.93576951e-01 -5.39494882e-02 2.84575159e+00] [ 1.35287257e-01 4.02107034e-02 9.89990130e-01 5.53642398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters Centerline goodness : 0.417692 with order 1 Centerline is valid? [False, False] Translation: X:351.32, Y:2.85, Z:5.54 [[ 9.88120327e-01 -1.05873352e-01 -1.11395929e-01 3.51315290e+02] [ 1.00151269e-01 9.93407328e-01 -5.57817489e-02 2.84937603e+00] [ 1.16567333e-01 4.39626363e-02 9.92209324e-01 5.53524758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters Centerline goodness : 0.264895 with order 1 Centerline is valid? [False, False] Translation: X:351.30, Y:2.85, Z:5.54 [[ 9.87554832e-01 -1.15814809e-01 -1.06406695e-01 3.51303941e+02] [ 1.09355408e-01 9.91896446e-01 -6.46748345e-02 2.85132762e+00] [ 1.13034726e-01 5.22337977e-02 9.92217104e-01 5.53780141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters Centerline goodness : 0.494626 with order 1 Centerline is valid? [False, False] Translation: X:351.29, Y:2.84, Z:5.53 [[ 9.89976204e-01 -1.07314289e-01 -9.18191675e-02 3.51291831e+02] [ 1.02869005e-01 9.93341988e-01 -5.18619531e-02 2.84239880e+00] [ 9.67733630e-02 4.18967530e-02 9.94424245e-01 5.53097835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters Centerline goodness : 0.405845 with order 1 Centerline is valid? [False, False] Translation: X:351.31, Y:2.84, Z:5.53 [[ 9.90740831e-01 -1.01064857e-01 -9.06559408e-02 3.51311293e+02] [ 9.63605992e-02 9.93833566e-01 -5.48587020e-02 2.84269397e+00] [ 9.56412039e-02 4.56150952e-02 9.94370164e-01 5.53472861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters Centerline goodness : 0.401281 with order 1 Centerline is valid? [False, False] Translation: X:351.34, Y:2.84, Z:5.54 [[ 9.91238683e-01 -9.10273884e-02 -9.57073069e-02 3.51344313e+02] [ 8.60708147e-02 9.94785787e-01 -5.47087926e-02 2.83882761e+00] [ 1.00188267e-01 4.59918656e-02 9.93904955e-01 5.53737583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters Centerline goodness : 0.801619 with order 2 Centerline is valid? [False, False] Translation: X:351.37, Y:2.83, Z:5.54 [[ 9.92126549e-01 -7.66143355e-02 -9.90714647e-02 3.51373047e+02] [ 7.20601396e-02 9.96207571e-01 -4.87628151e-02 2.83337496e+00] [ 1.02431674e-01 4.12397798e-02 9.93884819e-01 5.53739379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters Centerline goodness : 0.354460 with order 1 Centerline is valid? [False, False] Translation: X:351.40, Y:2.82, Z:5.53 [[ 9.92911486e-01 -6.58812938e-02 -9.89264206e-02 3.51400369e+02] [ 6.16740750e-02 9.97081206e-01 -4.50041804e-02 2.82430163e+00] [ 1.01602608e-01 3.85839722e-02 9.94076550e-01 5.53412850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters Centerline goodness : 0.615848 with order 2 Centerline is valid? [False, False] Translation: X:351.42, Y:2.81, Z:5.53 [[ 9.93866875e-01 -5.34112099e-02 -9.68291166e-02 3.51422998e+02] [ 4.97637536e-02 9.97971597e-01 -3.97021504e-02 2.81468924e+00] [ 9.87532480e-02 3.46400718e-02 9.94508854e-01 5.53204751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters Centerline goodness : 0.608644 with order 2 Centerline is valid? [False, False] Translation: X:351.45, Y:2.81, Z:5.53 [[ 9.94484870e-01 -4.15044759e-02 -9.63183361e-02 3.51452985e+02] [ 3.82334814e-02 9.98635855e-01 -3.55616502e-02 2.80856194e+00] [ 9.76629116e-02 3.16829378e-02 9.94715109e-01 5.52676240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters Centerline goodness : 0.604349 with order 2 Centerline is valid? [False, False] Translation: X:351.48, Y:2.80, Z:5.52 [[ 9.94974289e-01 -2.99266851e-02 -9.55539519e-02 3.51483115e+02] [ 2.70237496e-02 9.99137377e-01 -3.15312293e-02 2.79978596e+00] [ 9.64151500e-02 2.87905363e-02 9.94924733e-01 5.52210023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters Centerline goodness : 0.609237 with order 2 Centerline is valid? [False, False] Translation: X:351.51, Y:2.79, Z:5.52 [[ 9.95426227e-01 -2.03333015e-02 -9.33444307e-02 3.51506235e+02] [ 1.76514047e-02 9.99409872e-01 -2.94675433e-02 2.79353422e+00] [ 9.38885180e-02 2.76851051e-02 9.95197710e-01 5.52114157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters Centerline goodness : 0.170204 with order 3 Centerline is valid? [False, False] Translation: X:351.51, Y:2.78, Z:5.51 [[ 9.97300578e-01 -1.45275365e-02 -7.19757485e-02 3.51510487e+02] [ 1.28421656e-02 9.99633692e-01 -2.38235214e-02 2.77788968e+00] [ 7.22954803e-02 2.28348872e-02 9.97121824e-01 5.51398661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters Centerline goodness : 0.103119 with order 1 Centerline is valid? [False, False] Translation: X:351.51, Y:2.76, Z:5.51 [[ 9.98837889e-01 -8.97482398e-03 -4.73531814e-02 3.51511971e+02] [ 8.07907062e-03 9.99785432e-01 -1.90740389e-02 2.76393715e+00] [ 4.75142070e-02 1.86693031e-02 9.98696079e-01 5.50917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04591999999997 meters Centerline goodness : 0.113678 with order 1 Centerline is valid? [False, False] Translation: X:351.53, Y:2.75, Z:5.51 [[ 9.98983422e-01 8.27378824e-05 -4.50789980e-02 3.51534347e+02] [-8.44376512e-04 9.99857219e-01 -1.68768629e-02 2.75477977e+00] [ 4.50711652e-02 1.68977699e-02 9.98840856e-01 5.50730788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10591999999997 meters Centerline goodness : 0.292480 with order 2 Centerline is valid? [False, False] Translation: X:351.54, Y:2.74, Z:5.50 [[ 9.99013428e-01 3.87054490e-03 -4.42401404e-02 3.51543841e+02] [-4.38693128e-03 9.99923312e-01 -1.15812285e-02 2.73966851e+00] [ 4.41919220e-02 1.17638812e-02 9.98953795e-01 5.49777753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16591999999997 meters Centerline goodness : 0.105546 with order 1 Centerline is valid? [False, False] Translation: X:351.57, Y:2.73, Z:5.49 [[ 9.99051454e-01 1.36034886e-02 -4.13658997e-02 3.51567724e+02] [-1.40205427e-02 9.99853596e-01 -9.80872047e-03 2.73316391e+00] [ 4.12264107e-02 1.03793888e-02 9.99095917e-01 5.49468577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22592 meters Centerline goodness : 0.228690 with order 2 Centerline is valid? [False, False] Translation: X:351.60, Y:2.72, Z:5.49 [[ 9.99158001e-01 5.91989814e-03 -4.05985640e-02 3.51601418e+02] [-6.23742646e-03 9.99950909e-01 -7.69896769e-03 2.71962135e+00] [ 4.05509939e-02 7.94571572e-03 9.99145876e-01 5.48776293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28592 meters Centerline goodness : 0.113285 with order 1 Centerline is valid? [False, False] Translation: X:351.61, Y:2.71, Z:5.48 [[ 9.99142932e-01 7.98576387e-03 -4.06156331e-02 3.51608070e+02] [-8.22290614e-03 9.99950088e-01 -5.67498886e-03 2.71435882e+00] [ 4.05682868e-02 6.00410355e-03 9.99158729e-01 5.48197632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34592 meters Centerline goodness : 0.069329 with order 1 Centerline is valid? [False, False] Translation: X:351.63, Y:2.72, Z:5.48 [[ 9.99157316e-01 1.92007404e-02 -3.62765779e-02 3.51632457e+02] [-1.93655674e-02 9.99803658e-01 -4.19768999e-03 2.71599063e+00] [ 3.61888565e-02 4.89666917e-03 9.99332972e-01 5.47788370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters Centerline goodness : 0.072237 with order 1 Centerline is valid? [False, False] Translation: X:351.64, Y:2.71, Z:5.47 [[ 9.99496631e-01 1.99820035e-02 -2.46415158e-02 3.51635754e+02] [-2.00566030e-02 9.99794970e-01 -2.78394378e-03 2.71442544e+00] [ 2.45808348e-02 3.27676753e-03 9.99692475e-01 5.47220822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters Centerline goodness : 0.075044 with order 1 Centerline is valid? [False, False] Translation: X:351.64, Y:2.72, Z:5.47 [[ 9.99734430e-01 1.90532235e-02 -1.29631628e-02 3.51640377e+02] [-1.90869445e-02 9.99814746e-01 -2.48256323e-03 2.71542418e+00] [ 1.29134605e-02 2.72933111e-03 9.99912893e-01 5.46547933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters Centerline goodness : 0.129717 with order 1 Centerline is valid? [False, False] Translation: X:351.67, Y:2.71, Z:5.46 [[ 9.99782384e-01 1.33074866e-02 -1.60653646e-02 3.51667981e+02] [-1.33236128e-02 9.99910834e-01 -8.97168498e-04 2.71137310e+00] [ 1.60519930e-02 1.11102196e-03 9.99870541e-01 5.45988232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters Centerline goodness : 0.080103 with order 1 Centerline is valid? [False, False] Translation: X:351.69, Y:2.71, Z:5.46 [[ 9.99810322e-01 4.71601692e-03 -1.88965164e-02 3.51693342e+02] [-4.71294324e-03 9.99988873e-01 2.07188412e-04 2.70628903e+00] [ 1.88972833e-02 -1.18090903e-04 9.99821423e-01 5.46145009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters Centerline goodness : 0.076895 with order 1 Centerline is valid? [False, False] Translation: X:351.71, Y:2.70, Z:5.45 [[ 9.99779496e-01 4.66181837e-03 -2.04750300e-02 3.51705250e+02] [-4.65589052e-03 9.99989104e-01 3.37176324e-04 2.70418642e+00] [ 2.04763787e-02 -2.41772477e-04 9.99790308e-01 5.45098963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters Centerline goodness : 0.083964 with order 1 Centerline is valid? [False, False] Translation: X:351.74, Y:2.70, Z:5.46 [[ 9.99884948e-01 2.62659855e-03 -1.49395718e-02 3.51741238e+02] [-2.61760516e-03 9.99996381e-01 6.21506939e-04 2.69819458e+00] [ 1.49411502e-02 -5.82329534e-04 9.99888205e-01 5.45591608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters Centerline goodness : 0.130604 with order 1 Centerline is valid? [False, False] Translation: X:351.74, Y:2.69, Z:5.45 [[ 9.99881483e-01 2.77528704e-03 -1.51432563e-02 3.51743036e+02] [-2.74859524e-03 9.99994633e-01 1.78314740e-03 2.69106078e+00] [ 1.51481238e-02 -1.74131338e-03 9.99883744e-01 5.45470152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters Centerline goodness : 0.174870 with order 1 Centerline is valid? [False, False] Translation: X:351.75, Y:2.68, Z:5.45 [[ 9.99879018e-01 1.74155693e-03 -1.54569098e-02 3.51752358e+02] [-1.70024665e-03 9.99994949e-01 2.68534836e-03 2.67887431e+00] [ 1.54615085e-02 -2.65874292e-03 9.99876929e-01 5.44520916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters Centerline goodness : 0.226476 with order 1 Centerline is valid? [False, False] Translation: X:351.78, Y:2.68, Z:5.45 [[ 9.99792066e-01 9.75752870e-03 -1.79057140e-02 3.51777742e+02] [-9.70247945e-03 9.99947941e-01 3.15869839e-03 2.67515800e+00] [ 1.79356030e-02 -2.98431177e-03 9.99834690e-01 5.44604442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters Centerline goodness : 0.139084 with order 2 Centerline is valid? [False, False] Translation: X:351.78, Y:2.67, Z:5.44 [[ 9.99796274e-01 7.35912813e-03 -1.87950216e-02 3.51784121e+02] [-7.34084966e-03 9.99972513e-01 1.04132390e-03 2.67180208e+00] [ 1.88021682e-02 -9.03140327e-04 9.99822816e-01 5.44024503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters Centerline goodness : 0.137582 with order 1 Centerline is valid? [False, False] Translation: X:351.81, Y:2.66, Z:5.44 [[ 9.99760195e-01 -2.94949267e-03 -2.16991526e-02 3.51811828e+02] [ 2.99381923e-03 9.99993497e-01 2.01057691e-03 2.65984201e+00] [ 2.16930813e-02 -2.07505811e-03 9.99762524e-01 5.43885563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters Centerline goodness : 0.128470 with order 1 Centerline is valid? [False, False] Translation: X:351.82, Y:2.65, Z:5.43 [[ 9.99729495e-01 -4.75967896e-03 -2.27658232e-02 3.51818782e+02] [ 4.80314745e-03 9.99986744e-01 1.85507484e-03 2.65184552e+00] [ 2.27566919e-02 -1.96392064e-03 9.99739104e-01 5.43251716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters Centerline goodness : 0.096054 with order 1 Centerline is valid? [False, False] Translation: X:351.84, Y:2.65, Z:5.44 [[ 9.99693204e-01 2.15398765e-03 -2.46750362e-02 3.51840254e+02] [-2.12161085e-03 9.99996854e-01 1.33823225e-03 2.64886628e+00] [ 2.46778411e-02 -1.28547086e-03 9.99694629e-01 5.43703571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters Centerline goodness : 0.091373 with order 1 Centerline is valid? [False, False] Translation: X:351.84, Y:2.64, Z:5.44 [[ 9.99690960e-01 1.53720147e-03 -2.48117096e-02 3.51840721e+02] [-1.46336302e-03 9.99994448e-01 2.99383476e-03 2.63641391e+00] [ 2.48161740e-02 -2.95660100e-03 9.99687659e-01 5.43621610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters Centerline goodness : 0.123787 with order 1 Centerline is valid? [False, False] Translation: X:351.86, Y:2.63, Z:5.44 [[ 9.99611970e-01 8.44121501e-03 -2.65453460e-02 3.51862420e+02] [-8.35396311e-03 9.99959338e-01 3.39608495e-03 2.62668069e+00] [ 2.65729337e-02 -3.17300833e-03 9.99641841e-01 5.44039478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters Centerline goodness : 0.111280 with order 1 Centerline is valid? [False, False] Translation: X:351.87, Y:2.62, Z:5.43 [[ 9.99594791e-01 3.81783022e-03 -2.82077723e-02 3.51873087e+02] [-3.80092797e-03 9.99992563e-01 6.52799809e-04 2.61756187e+00] [ 2.82100548e-02 -5.45319577e-04 9.99601868e-01 5.43020784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters Centerline goodness : 0.117568 with order 1 Centerline is valid? [False, False] Translation: X:351.87, Y:2.60, Z:5.43 [[ 9.99621939e-01 8.18916114e-04 -2.74828834e-02 3.51867871e+02] [-8.23209544e-04 9.99999651e-01 -1.44908099e-04 2.60430673e+00] [ 2.74827551e-02 1.67477486e-04 9.99622264e-01 5.43476222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters Centerline goodness : 0.102506 with order 1 Centerline is valid? [False, False] Translation: X:351.86, Y:2.60, Z:5.44 [[ 9.99637210e-01 -7.27880980e-04 -2.69243064e-02 3.51863567e+02] [ 7.22219828e-04 9.99999715e-01 -2.19985569e-04 2.59785783e+00] [ 2.69244588e-02 2.00460492e-04 9.99637451e-01 5.43865517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters Centerline goodness : 0.141313 with order 1 Centerline is valid? [False, False] Translation: X:351.86, Y:2.58, Z:5.44 [[ 9.99644543e-01 -2.81000853e-03 -2.65120925e-02 3.51859776e+02] [ 2.82403514e-03 9.99995892e-01 4.91637386e-04 2.58409796e+00] [ 2.65106021e-02 -5.66333711e-04 9.99648372e-01 5.44223807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters Centerline goodness : 0.158190 with order 1 Centerline is valid? [False, False] Translation: X:351.86, Y:2.57, Z:5.44 [[ 9.99639119e-01 -3.40967370e-03 -2.66459176e-02 3.51860025e+02] [ 3.47204595e-03 9.99991339e-01 2.29486495e-03 2.57100237e+00] [ 2.66378620e-02 -2.38655263e-03 9.99642300e-01 5.44159377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters Centerline goodness : 0.253657 with order 3 Centerline is valid? [False, False] Translation: X:351.88, Y:2.57, Z:5.45 [[ 9.99604796e-01 5.67412019e-03 -2.75328222e-02 3.51876626e+02] [-5.58385346e-03 9.99978784e-01 3.35429139e-03 2.56567481e+00] [ 2.75512707e-02 -3.19922651e-03 9.99615272e-01 5.45124769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters Centerline goodness : 0.461477 with order 2 Centerline is valid? [False, False] Translation: X:351.87, Y:2.56, Z:5.46 [[ 9.99632965e-01 3.28254218e-03 -2.68916215e-02 3.51871425e+02] [-3.24033488e-03 9.99993449e-01 1.61295994e-03 2.56094585e+00] [ 2.68967399e-02 -1.52523007e-03 9.99637054e-01 5.45633713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters Centerline goodness : 0.788775 with order 1 Centerline is valid? [False, False] Translation: X:351.87, Y:2.56, Z:5.46 [[ 9.99630660e-01 3.29044948e-03 -2.69762120e-02 3.51871651e+02] [-3.24367960e-03 9.99993160e-01 1.77732148e-03 2.55996301e+00] [ 2.69818757e-02 -1.68916286e-03 9.99634496e-01 5.45571139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters Centerline goodness : 0.144262 with order 1 Centerline is valid? [False, False] Translation: X:351.86, Y:2.56, Z:5.47 [[ 9.99667865e-01 3.36549469e-03 -2.55506052e-02 3.51860950e+02] [-3.32081316e-03 9.99992882e-01 1.79097679e-03 2.56003046e+00] [ 2.55564508e-02 -1.70553316e-03 9.99671926e-01 5.46592749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4755.32 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%| | 0/12394 [00:00